CN111642242B

CN111642242B - Fruit harvesting device

Info

Publication number: CN111642242B
Application number: CN202010703810.9A
Authority: CN
Inventors: 贺莹; 卢宇; 卢忠钊; 杨泽南; 郑泽华; 谢雨夏
Original assignee: RENAI COLLEGE OF TIANJIN UNIVERSITY
Current assignee: RENAI COLLEGE OF TIANJIN UNIVERSITY
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2024-08-20
Anticipated expiration: 2040-07-21
Also published as: CN111642242A

Abstract

The invention provides a fruit harvesting device, which comprises a handheld rod, a picking mechanism and a collecting mechanism, wherein the collecting mechanism is sleeved on the handheld rod, and the fruit harvesting device is characterized by further comprising: the front end of the picking wrist mechanism is fixedly connected with the tail end of the picking mechanism, and the tail end of the picking wrist mechanism is rotationally connected with the handheld rod; and the chargeable power supply is fixedly arranged on the handheld rod and used for driving the picking wrist mechanism to rotate. The invention solves the problems that when the long rod opening is clamped at the middle and high position of picking apples, apple stalks are damaged, the storage time of the apples is reduced, fruit tree branches are damaged and the like, and solves the problems that the angle of a picking knife of a fruit picker is not adjustable, the apples with the stalks not visible at the high position are not easy to pick and the like.

Description

Fruit harvesting device

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a fruit harvesting device.

Background

Because apples are of various types, the growth forms are greatly different, the growth positions of the fruits on the branches are different, the time required for ripening is different, and the like, so that the mechanization difficulty in the aspect of apple harvesting is high. Therefore, the picking stage is generally carried out manually and semi-automatically. The picking cannot be done at one time due to the time required for the fruit to ripen. The ripe fruits are required to be timely harvested by people at random. Currently, the main picking mode is also to pick by the following modes:

Picking by using fruit picking scissors: fruit growers can only pick apples growing at low places, but apples growing at medium and high places need to be picked by means of tools such as a ladder, and the soil of an orchard is soft and uneven, so that the apples are dangerous to pick at high places. The picking process also needs to continuously climb up and down the ladder, the ladder is moved, the picking work is long, the labor intensity of fruit farmers is high, and the picking efficiency is low;

Picking by using a long rod opening clamp: the fruit grower drives the opening clamp to be closed by pulling the hand brake below, apples are enclosed in the opening clamp, and then the apples are picked up by pulling. However, the pulling type picking mode is easy to cause damage and falling of apple stalks, so that fruits are not durable to store, easy to wilt, and easy to cause injury and even fracture of branches during picking, and damage fruit trees; and only one apple can be picked at a time, so that the picking efficiency is low;

By utilizing the fruit picker to pick, fruit farmers drive the cutting edge at the top to cut by pulling the hand brake below to pick apples, and the picked apples fall into the collecting bag below. However, as the angle of the picking knife is not adjustable, apples with fruit stalks which are not visible are difficult to pick for special growth positions at high positions;

the large-scale picking machine is used for picking, the picking efficiency is high, but the picking machine is only suitable for apple plantations with standardized and flat terrains, and for widely existing apple plantations in non-standardized, mountain areas and hilly areas in China, the action is limited, the picking work is limited, the practicability is not strong, and the cost is high.

Therefore, in the prior art, a technical scheme for reducing the risk and labor intensity during picking, reducing damage to apples and branches, enabling the angle of a picking working end to be adjustable and being suitable for apple plantation with low standardization level is needed.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention provides a fruit harvesting device.

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

the utility model provides a fruit harvesting device, includes handheld pole, picking mechanism, collection mechanism cover is established on the handheld pole, characterized by, fruit harvesting device still includes:

the front end of the picking wrist mechanism is fixedly connected with the tail end of the picking mechanism, and the tail end of the picking wrist mechanism is rotationally connected with the handheld rod;

and the chargeable power supply is fixedly arranged on the handheld rod and used for driving the picking wrist mechanism to rotate.

The picking mechanism comprises scissors, a hinge piece, a rotary connecting piece, a pull head, a reset spring, a steel wire rope and a spring mounting plate, and a rotatable hand brake is fixedly arranged on the handheld rod;

The scissors are four-bar mechanisms, blades of the scissors are hinged through the hinge parts, the rotating connecting parts are fixedly arranged on the pull heads, and tail ends of the scissors are connected with the rotating connecting parts in a rotating mode;

the spring mounting plate is fixedly connected with the picking wrist mechanism, a through hole is formed in the spring mounting plate, and two ends of the reset spring are respectively fixedly connected with the pull head and the spring mounting plate;

The steel wire rope penetrates through the spring and the through hole, one end of the steel wire rope is fixedly connected with the pull head, and the other end of the steel wire rope is fixedly connected with the hand brake.

The picking mechanism further comprises a mounting shell, and the hinge piece, the pull head and the reset spring are all arranged in the mounting shell.

The picking wrist mechanism comprises a picking wrist, a poking pin, a hinge shaft, a transmission shaft, a worm and gear transmission mechanism, a direct current motor, a three-pin two-position switch and a circuit main switch;

the picking wrist is arranged at the top end of the handheld rod, the hinge shaft penetrates through the picking wrist and the handheld rod, and the transmission shaft penetrates through the handheld rod;

One end of the poking pin is fixedly connected with the picking wrist, and the other end of the poking pin is fixedly connected with the hinge shaft; the direct current motor is fixedly arranged on the handheld rod, and the transmission shaft and an output shaft of the direct current motor are fixedly connected with the worm gear transmission mechanism;

the hinge shaft and the transmission shaft are respectively sleeved with a chain wheel, and the chain wheels are sleeved with chains;

the rechargeable power supply is connected with a circuit master switch, the circuit master switch is connected with the three-leg two-position switch, the three-leg two-position switch is connected with the direct current motor, and the three-leg two-position switch and the circuit master switch are fixedly arranged on the handheld rod.

The sprocket is replaced by a pulley and the chain is replaced by a belt.

The sprocket is replaced by a pulley and the chain is replaced by a steel wire.

And a travel switch is also arranged on the handheld rod.

The collecting mechanism comprises a collecting barrel, a base, a first gear, a second gear, a fixed support, a spiral spring, an electromagnet, an upper iron sheet, a pull rope, a sliding sleeve, a lower iron sheet, a permanent magnet, a rotating shaft, an opening fixed shaft and an electromagnet switch;

The base is arranged at the bottom of the collecting barrel, the collecting barrel is fixedly connected with the sliding sleeve, and the sliding sleeve is sleeved on the handheld rod and can slide along the handheld rod;

The fixed support is fixedly sleeved on the handheld rod, the rotating shaft penetrates through the fixed support and can rotate in the fixed support, and the opening fixed shaft is fixedly arranged on the fixed support;

The first gear is sleeved on the opening fixed shaft, a fixed pin is fixedly arranged on the first gear, the second gear is sleeved on the rotating shaft, and the first gear is meshed with the second gear; the scroll spring is wound on the first gear, one end of the scroll spring is fixedly arranged on the fixed pin, and the other end of the scroll spring is fixedly arranged on the opening fixed shaft; one end of the pull rope is fixedly arranged on the collecting barrel, and the other end of the pull rope is wound on the rotating shaft;

The electromagnet is connected with the electromagnet switch, and the electromagnet switch is connected with the chargeable power supply; the electromagnet and the permanent magnet are fixedly arranged on the handheld rod, the electromagnet is arranged above the sliding sleeve, and the permanent magnet is arranged below the sliding sleeve; the upper iron sheet is arranged at the upper end of the sliding sleeve, and the lower iron sheet is arranged at the lower end of the sliding sleeve.

The side wall of the collecting barrel is provided with a bulge, the base is provided with a hanging lug, an adjusting clamping groove is formed in the hanging lug, and a limiting clamping protrusion is arranged in the adjusting clamping groove.

The hand-held rod is further provided with a visual monitoring system, and the visual monitoring system comprises a camera arranged on the picking mechanism, a screen bracket fixedly arranged on the hand-held rod and a display screen arranged on the screen bracket.

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

1. Through using picking scissors and light stock cooperation, both utilized stock extensible distance's characteristics to have utilized the scissors to pick again and can not harm the apple carpopodium to pick convenient advantage, can improve the quality of picking the apple and reduce fruit growers' intensity of labour, avoided using stock opening to press from both sides when picking mid-high apple, can lead to the fact the apple carpopodium to damage, reduce apple depositing time, damage fruit tree branch scheduling problem, also effectively solved fruit growers and used the problem of the danger that fruit picking scissors upper and lower cat ladder brought when picking mid-high apple, picking inefficiency and high-place picking exist.

2. The picking angle of the picking scissors can be adjusted through a direct current motor so as to meet the requirements of picking apples which are special in growth position and growth angle of fruit stalks at middle and high positions and cannot accurately see the shearing position due to shielding of other apples to be picked or branches and leaves around the apples. The picking wrist is provided with the camera, when the picking sight is blocked, a picking person can be helped to accurately find the shearing position through the picture in the display screen, and the problems that the angle of the picking knife of the fruit picker is not adjustable, apples with fruit handles cannot be seen at high positions are not easy to pick and the like are solved.

3. The collecting barrel can collect a plurality of apples at one time, so that the picking efficiency is improved; the collecting barrel can slide up and down along the light long rod, so that the problem that the collected apples are inconvenient to take out easily due to the limited arm length of a person is solved; the buffer designs such as sponge are arranged on the collecting barrel, so that impact on other apples and collision and sliding friction between the apples and the wall of the collecting barrel when the apples fall into the collecting barrel after picking are relieved, and the damage probability of the apples in the collecting process is reduced.

The invention is also suitable for picking fruits of other trees such as peach, pear, apricot, orange, poncirus trifoliata, grapefruit, orange, kumquat, mulberry, longan, litchi, waxberry, coconut, mango, persimmon, grapefruit and the like, and has wide adaptability.

Drawings

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

Fig. 2 is a front view of the picking mechanism of the present invention.

Fig. 3 is a top view of fig. 2.

Fig. 4 is a schematic view of the front view of the picker wrist mechanism with the travel switch removed.

Fig. 5 is a top view of the picking wrist mechanism.

Fig. 6 is a schematic view of the travel switch at view a.

Fig. 7 is a front view of the collection mechanism.

Fig. 8 is a front view of the collection mechanism with the fixed stop removed.

Fig. 9 is a partial enlarged view at B in fig. 8.

Fig. 10 is a schematic view showing the structure of the collection mechanism and the sliding sleeve as a whole.

Fig. 11 is a left side view of fig. 10.

Fig. 12 is a top view of fig. 10.

Fig. 13 is a front view of a visual monitoring system.

Fig. 14 is a top view of fig. 13.

Fig. 15 is a control circuit of the present invention.

Reference numerals: 1-picking mechanism, 101-scissors, 102-reset spring, 103-installation shell, 104-rotation connecting piece, 105-hinging piece, 106-pull head, 107-driving rope and 108-hand brake;

The device comprises a 2-picking wrist mechanism, 201-picking wrists, 202-poking pins, 203-hinge shafts, 204-worm and gear transmission mechanisms, 205-direct current motors, 206-three-pin two-position switches, 207-first hoops, 208-circuit main switches, 209-second hoops, 210-transmission shafts, 211-jackscrews, 212-connecting ropes, 213-chains, 214-spring mounting plates, 215-travel switches, 216-travel switch mounting jackets, 217-limiting blocks, 218-chain wheels and 219-output shafts;

3-vision monitoring system, 301-camera, 302-screen bracket, 303-display screen;

4-a hand-held lever;

5-a rechargeable power source;

6-collecting mechanism, 601-collecting barrel, 602-first gear, 603-fixed baffle, 604-second gear, 605-bracket bolt, 606-fixed bracket, 607-scroll spring, 608-electromagnet, 609-electromagnet fastening, 610-upper iron sheet, 611-stay cord, 612-sliding sleeve, 613-lower iron sheet, 614-self-tapping screw, 615-permanent magnet fixed plate, 616-permanent magnet, 617-base, 618-rotating shaft, 619-opening fixed shaft, 620-fixed pin, 621-electromagnet switch, 622-hanging lug, 623-protrusion, 624-adjusting clamping groove, 625-limit clamping protrusion, 626-sponge.

Detailed Description

The invention is further illustrated below with reference to specific embodiments.

The fruit harvesting device as shown in fig. 1-14, comprising a hand-held rod 4, a picking mechanism 1, a collecting mechanism 6, wherein the collecting mechanism 6 is sleeved on the hand-held rod 4, and the fruit harvesting device further comprises:

the front end of the picking wrist mechanism 2 is fixedly connected with the tail end of the picking mechanism 1, and the tail end of the picking wrist mechanism 2 is rotationally connected with the hand-held rod 4;

And the chargeable power supply 5 is fixedly arranged on the handheld rod 4 and is used for driving the picking wrist mechanism 2 to rotate.

Picking mechanism 1 includes scissors 101, articulated elements 105, rotation connecting piece 104, pull head 106, reset spring 102, drive rope 107 and spring mounting panel 214, still fixedly is provided with rotatable hand brake 108 on the handheld pole 4.

The scissors 101 are four-bar mechanisms, blades of the scissors 101 are hinged through a hinge 105, a rotary connecting piece 104 is fixedly arranged on a pull head 106, and the tail ends of the scissors 101 are rotationally connected with the rotary connecting piece 104.

The spring mounting plate 214 is fixedly connected with the picking wrist mechanism 2, through holes are formed in the spring mounting plate 214, and two ends of the reset spring 102 are fixedly connected with the pull head 106 and the spring mounting plate 214 respectively.

The driving rope 107 penetrates through the reset spring 102 and the through hole, one end of the driving rope 107 is fixedly connected with the pull head 106, and the other end of the driving rope 107 is fixedly connected with the hand brake 108.

Picking mechanism 1 further comprises a mounting housing 103, and hinge 105, slider 106 and return spring 102 are all disposed in mounting housing 103.

Picking wrist mechanism 2 comprises picking wrist 201, poking pin 202, hinge shaft 203, transmission shaft 210, worm gear transmission mechanism 204, direct current motor 205, three-pin two-position switch 206 and circuit master switch 208.

The picking wrist 201 is arranged at the top end of the handheld rod 4, the hinge shaft 203 penetrates through the picking wrist 201 and the handheld rod 4, and the transmission shaft 210 penetrates through the handheld rod 4.

One end of the poking pin 202 is fixedly connected with the picking wrist 201, and the other end is fixedly connected with the hinge shaft 203. The direct current motor 205 is fixedly arranged on the handheld rod 4 through the second tightening hoop 209, and the transmission shaft 210 and an output shaft 219 of the direct current motor 205 are fixedly connected with the worm gear mechanism 204.

In this embodiment, the hinge shaft 203 is parallel to the drive shaft 210, and the drive shaft 210 is spatially perpendicular to the output shaft 219. The transmission shaft 210 is formed by combining two sections of rotatable shafts, limiting blocks 217 are sleeved on the outer side ends of the two sections, grooves are formed in the side walls of the two sections, the end shapes of jackscrews 211 are matched with the shapes of the grooves, and the jackscrews 211 penetrate through round holes in the limiting blocks 217 and are abutted against the grooves, so that the transmission shaft 210 is limited axially. The hinge shaft 203 is formed by combining two sections of rotatable shafts, one section of the hinge shaft is provided with a horizontal through hole, the outer side end part of the other section is sleeved with a limiting block 217, the side wall of the other section of the hinge shaft is provided with a groove, the shape of the end part of the jackscrew 211 is matched with that of the groove, and the jackscrew 211 passes through a round hole on the limiting block 217 and is abutted in the groove, so that the hinge shaft 203 is axially limited; one end of the pulling pin 202 is inserted into the pipe wall of the picker wrist 201 and fixed, and the other end passes through the horizontal through hole on the hinge shaft 203, thereby being connected with the hinge shaft 203 and fixed at a longitudinal position.

The hinge shaft 203 and the transmission shaft 210 are respectively sleeved with a chain wheel 218, and the chain wheel 218 is sleeved with a chain 213.

In this embodiment, the chain 213 is a non-complete chain, and the chain 213 sleeved on the sprocket 218 on the hinge shaft 203 is connected to the chain 213 sleeved on the sprocket 218 on the transmission shaft 210 by the connecting rope 212.

In other embodiments of the invention, the sprocket is replaced with a pulley or a sheave and the chain is replaced with a belt or wire.

The chargeable power supply 5 is connected with a circuit master switch 208, the circuit master switch 208 is connected with a three-pin two-position switch 206, the three-pin two-position switch 206 is connected with a direct current motor 205, and the three-pin two-position switch 206 and the circuit master switch 208 are fixedly arranged on the handheld rod 4.

In this embodiment, the three-pin two-position switch 206 is located at the lower end of the hand brake 108, and the main circuit switch 208 is disposed near the three-pin two-position switch 206.

The hand-held lever 4 is also provided with a travel switch 215.

The collection mechanism 6 includes a collection tub 601, a base 617, a first gear 602, a second gear 604, a fixed bracket 606, a spiral spring 607, an electromagnet 608, an upper iron piece 610, a pulling rope 611, a slide sleeve 612, a lower iron piece 613, a permanent magnet 616, a rotation shaft 618, an opening fixing shaft 619, and an electromagnet switch 621.

The base 617 is disposed at the bottom of the collection vessel 601, the collection vessel 601 is fixedly connected with the sliding sleeve 612, and the sliding sleeve 612 is sleeved on the hand-held rod 4 and can slide along the hand-held rod 4.

The fixed support 606 is fixedly sleeved on the handheld rod 4, the rotating shaft 618 penetrates through the fixed support 606 and can rotate in the fixed support 606, and the opening fixing shaft 619 is fixedly arranged on the fixed support 606.

The first gear 602 is sleeved on the opening fixing shaft 619, a fixing pin 620 is fixedly arranged on the first gear 602, the second gear 604 is sleeved on the rotating shaft 618, and the first gear 602 and the second gear 604 are meshed. The wrap spring 607 is wound around the first gear 602, with one end fixedly disposed on the fixed pin 620 and the other end fixedly disposed on the opening fixing shaft 619. One end of the pull rope 611 is fixedly provided on the collecting tank 601, and the other end is wound on the rotating shaft 618.

The electromagnet 608 is connected with an electromagnet switch 621, and the electromagnet switch 621 is connected with a chargeable power supply 5; both the electromagnet 608 and the permanent magnet 616 are fixedly arranged on the hand-held lever 4, the electromagnet 608 is arranged above the slide sleeve 612, and the permanent magnet 616 is arranged below the slide sleeve 612. An upper iron piece 610 is provided at the upper end of the slide sleeve 612 and a lower iron piece 613 is provided at the lower end of the slide sleeve 612.

The side wall of the collecting tank 601 is provided with a protrusion 623, the base 617 is provided with a hanging lug 622, an adjusting clamping groove 624 is arranged in the hanging lug 622, and a limiting clamping protrusion 625 is arranged in the adjusting clamping groove 624. In this embodiment, two lugs 622 are respectively located at two sides of the base 617, and in the adjusting slot 624 of each lug 622, two limiting lugs 625 are set in pairs, and multiple sets of limiting lugs 625 are arranged in the horizontal direction. The lateral length of the longitudinal section of the protrusion 623 matches the width of the adjustment catch 624.

The hand-held rod 4 is also provided with a visual monitoring system 3, and the visual monitoring system 3 comprises a camera 301 arranged on the picking mechanism 1, a screen bracket 302 fixedly arranged on the hand-held rod 4 and a display screen 303 arranged on the screen bracket 302.

In this embodiment, the screen bracket 302 is fixed to the hand lever 4 by a bolt. The camera 301 and the display screen 303 may be directly powered by the rechargeable power source 5.

In other embodiments of the present invention, the display screen 303 may be a cell phone screen.

In this embodiment, rechargeable power source 5 is secured to hand-held pole 4 by first clamp 207 and DC motor 205 is secured to hand-held pole 4 by second clamp 209.

In this embodiment, the hinge member 105 is a hinge, and the rotation connector 104 is a bolt. In this embodiment, the driving rope 107 is a steel wire rope.

In this embodiment, the hand-held lever 4 is a lightweight long lever. The rechargeable power source 5 is a direct current power source or a storage battery.

In this embodiment, spring mounting plate 214 is mounted within picking wrist 201.

In this embodiment, the three-pin two-position switch 206 is divided into 206+ and 206-, which are used to control the forward and reverse rotation of the dc motor 205, the switch 206+ controls the forward rotation of the dc motor 205, and the switch 206-controls the reverse rotation of the dc motor 205, and the jog control is adopted for flexible operation. The main circuit switch 208 is located beside the hand brake 108, proximate to the three-pin two-position switch 206. The circuit main switch 208 is closed, the three-pin two-position switch 206 is closed again, and the rechargeable power supply 5 drives the direct current motor 205 to rotate forward or reversely, so that the design further ensures the safety. The travel switch 215 is fixedly provided on the hand-held lever 4 through a travel switch mounting collet 216, the travel switch mounting collet 216 is fixed on the hand-held lever 4 through a screw, and the two travel switches 215A and 215B are fixed on the travel switch mounting collet 216 through bolts.

There are two extreme positions for the pitch motion of the picking wrist 201, and if the user does not pay attention, the picking wrist 201 may be jammed due to touching the extreme positions, which may cause the dc motor 205 to burn out or even damage the whole device. Therefore, the travel switch 215 is installed at the corresponding position of the two rotation limits of the picking wrist 201, and the travel switches 215A and 215B are respectively installed at the two positions, when the picking wrist 201 moves to the limit position and touches the travel switch, the circuit of the direct current motor 205 is immediately cut off, and the direct current motor 205 stops rotating immediately, so as to play a role in protecting the direct current motor 205 and the parts of the device.

The control circuit of the present invention is shown in fig. 15. In this embodiment, the rechargeable dc power supply 5 is a 12V rechargeable dc power supply, which supplies power to the display screen 303, the electromagnet 608, and the dc motor 205, respectively. The switch S1 (208) is a circuit master switch 208 of the device, and the display screen 303, the electromagnet 608 and the power supply circuit of the direct current motor 205 are in parallel connection and are controlled by the circuit master switch 208; the switch S2 (621) is in a normally closed state, when the number of collected apples reaches the requirement of a picker, the switch S2 (621) is pressed to power off the electromagnet YA (608) and release the collection barrel 601; the rotation direction of the direct current motor M (205) is respectively controlled by a forward rotation three-pin two-position switch S3 (206+) and a reverse rotation three-pin two-position switch S4 (206-); detection of the extreme position of picking wrist 201 is accomplished by two travel switches 215A and 215B, and when picking wrist 201 moves to the extreme position and touches either travel switch 215A or 215B, the circuit in the direction of rotation of dc motor 205 will be cut off, and dc motor 205 will then stop rotating, thereby protecting dc motor 205 and the device components from damage.

In this embodiment, the collecting vessel 601 is fixedly connected to the slide sleeve 612 by self-tapping screws 614, and the slide sleeve 612 can slide up and down along the hand-held bar 4. The fixing bracket 606 is fixed to the hand lever 4 by 4 bracket bolts 605. In this embodiment, the pull cord 611 is a nylon cord.

In this embodiment, the first gear 602 is a large gear, and the second gear 604 is a small gear.

In this embodiment, the outer sides of the first gear 602 and the second gear 604 are covered by the fixing baffle 603, and the two fixing baffles 603 are fixedly connected by bolts or other manners, so that the first gear 602 and the second gear 604 are axially limited.

In this embodiment, the electromagnet 608 is fixed to the hand-held pole 4 by an electromagnet fastening 609, and a connection line between the electromagnet 608 and the electromagnet switch 621 is buried inside the hand-held pole 4. The electromagnet switch 621 is fixedly arranged on the hand-held lever 4. The permanent magnet 616 is fixed to the hand lever 4 by a permanent magnet fixing plate 615.

In this embodiment, a sponge 626 is adhered to the inner wall of the collecting tank 601 to buffer the impact force of dropping fruits such as apples, so as to avoid scratching the fruits. The collecting vessel 601 is designed to be hollow, so that a user can observe the number of picked apples. In the embodiment, the opening fixing shaft 619 is provided with a hole, and one end of the spiral spring 607 is inserted into the hole and fixed, and the other is fixedly connected to the fixing pin 620. When the first gear 602 rotates, since the opening fixing shaft 619 is fixed to the fixing bracket 606 not to rotate with the rotation of the first gear 602, and at the same time, the fixing pin 620 is fixed to the first gear 602 integrally and moves with the rotation of the first gear 602, the wrap spring 607 is compressed or stretched with the rotation of the first gear 602. The wrap spring 607 serves as a buffer when the collector tank 601 slides down and provides power for the collector tank 601 to rise back to the original position.

The lower part of the collecting tank 601 is provided with an adjustable base 617, and the volume of the collecting tank 601 is adjustable through the adjusting clamping groove 624 on the hanging lugs 622, so that the automatic adjustment of the collecting quantity by different users can be met.

The method of installing the collecting tank 601 is as follows: the base 617 is turned by about 90 degrees to enable the adjusting clamping groove 624 to be in a substantially horizontal direction and sleeved on the boss 623, the boss 623 penetrates out of the adjusting clamping groove 624, then the base 617 is turned by 90 degrees reversely to enable the base 617 to return to a position with an upward opening, and meanwhile, the limit clamping protrusion 625 is clamped above the boss 623, so that the hanging lugs 622 are hung on the limit clamping protrusion 625, and the installation of the base 617 is completed.

The adjustment method of the collecting tank 601 is as follows: when the adjusting slot 624 is sleeved on the protrusion 623, the limit clamping protrusions 625 of different groups are clamped above the protrusion 623, namely, the volume of the collecting tank 601 is adjusted by adjusting the height of the base 617, and the gap between the collecting tank 601 and the base 617 ensures that fruits do not leak.

The working mode of picking apple fruits is as follows:

as shown in fig. 2, when the hand brake 108 is pressed down, the driving rope 107 is pulled, and since the driving rope 107 is wound around the rotation shaft of the hand brake 108 counterclockwise, when the hand brake 108 is pressed down, the driving rope 107 is pulled leftward, driving the pull head 106 to move leftward, the return spring 102 is compressed, and the rotation connector 104 on the pull head 106 also moves leftward. Since the scissors 101 are four bar mechanisms, when the rotary link 104 moves to the left, the blade rotates about the hinge 105, closing the scissors 101, shearing off the stalks of the fruit. When the hand brake 108 is released, the return spring 102 will spontaneously return to the right, the drive line 107 will return to the right, the pull head 106 will move to the right, the rotary connector 104 will also move to the right, the blade will rotate about the hinge 105 and will re-open, ready for the next shearing.

To adjust the angle of the scissors 101, the circuit main switch 208 is closed, and then the forward three-pin two-position switch 206+ or the reverse three-pin two-position switch 206-is turned on to control the direct current motor 205 to forward or reverse, and the output shaft 219 of the direct current motor 205 drives the transmission shaft 210 to rotate through the worm gear transmission mechanism 204; the sprocket 218 on the drive shaft 210 is fixedly installed with the drive shaft 210, and thus, the sprocket 218 on the drive shaft 210 rotates synchronously while the drive shaft 210 rotates; simultaneously, the chain wheel 218 of the hinge shaft 203 and the hinge shaft 203 are fixedly arranged, the chain 213 correspondingly moves by the rotation of the chain wheel 218, and the connecting rope 212 between the two incomplete chains plays a role of transmission, so that the hinge shaft 203 is driven to rotate clockwise or anticlockwise; because the two ends of the poking pin 202 are respectively and fixedly connected with the hinge shaft 203 and the picking wrist 201, the rotation of the poking pin 202 drives the picking wrist 201 to rotate, so that the angle of the picking mechanism 1 is adjusted left and right (the picking mechanism 1 moves towards the paper surface or away from the paper surface in the view angle in fig. 4), and the adjustment of the working angle of the scissors 101 is realized. When the picker wrist 201 moves to one of the two extreme positions, i.e., touches the travel switch 215A or 215B, the circuit of the dc motor 205 is immediately cut off, the dc motor 205 is stopped, and the scissors 101 are no longer rotated.

When picking personnel stand under the tree, picking sight is sheltered from by apples or branches and leaves, the picture that returns to the display screen 303 through the camera 301 can be clearly observed and accurately find the shearing position, and accurate picking is realized by assisting the manpower, and meanwhile apples are prevented from being scratched during picking.

The initial position of the collection tub 601 is below the scissors 101 for collecting picked apples. When the collecting tank 601 is full and apples need to be poured out, the electromagnet switch 621 is turned off, the electromagnet 608 loses the magnetic force on the upper iron sheet 610, and the collecting tank 601 slides down along with the slide sleeve 612 until the lower iron sheet 613 slides down to be sucked by the permanent magnet 616; during the sliding down, the pull rope 611 is pulled downward, and the pull rope 611 is wound around the rotation shaft 618 clockwise, so that the rotation shaft 618 rotates counterclockwise, and the second gear 604 fixedly installed with the rotation shaft rotates counterclockwise, so that the first gear 602 rotates clockwise.

After the apples in the collecting tank 601 are all taken out, the sliding sleeve 612 is manually separated from the permanent magnet 616, and the collecting tank 601 is lifted up under the action of the elasticity of the spiral spring 607; the electromagnet switch 621 is turned on, and the electromagnet 608 has an upward force on the upper iron piece 610, so that the collecting tank 601 and the slide sleeve 612 finally return to the original positions.

Furthermore, the above definitions of the elements and methods are not limited to the specific structures, shapes or modes mentioned in the embodiments, and may be modified or replaced simply by those skilled in the art, for example:

The closing and opening of the picking scissors can be replaced by a crank-slider mechanism, a cam mechanism, a gear mechanism, other connecting rod mechanisms and the like;

the jackscrews can be replaced by pins and bolts;

the chain wheel and chain drive for driving the picking wrist to rotate can be replaced by belt and belt wheel drive or steel wire and pulley drive.

In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

The above description is of the preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the scope of the present invention.

Claims

1. The utility model provides a fruit harvesting device, includes handheld pole (4), picking mechanism (1), collection mechanism (6) cover is established on handheld pole (4), characterized by, fruit harvesting device still includes:

the picking wrist mechanism (2), the front end of the picking wrist mechanism (2) is fixedly connected with the tail end of the picking mechanism (1), and the tail end of the picking wrist mechanism (2) is rotationally connected with the handheld rod (4); the chargeable power supply (5) is fixedly arranged on the handheld rod (4) and used for driving the picking wrist mechanism (2) to rotate;

The picking mechanism (1) comprises scissors (101), a hinge piece (105), a rotary connecting piece (104), a pull head (106), a reset spring (102), a transmission rope (107) and a spring mounting plate (214), and a rotatable hand brake (108) is fixedly arranged on the hand-held rod (4);

The scissors (101) are four-bar mechanisms, blades of the scissors (101) are hinged through the hinge parts (105), the rotating connecting parts (104) are fixedly arranged on the pull heads (106), and the tail ends of the scissors (101) are connected with the rotating connecting parts (104) in a rotating mode;

The spring mounting plate (214) is fixedly connected with the picking wrist mechanism (2), a through hole is formed in the spring mounting plate (214), and two ends of the return spring (102) are fixedly connected with the pull head (106) and the spring mounting plate (214) respectively;

The transmission rope (107) penetrates through the reset spring (102) and the through hole, one end of the transmission rope (107) is fixedly connected with the pull head (106), and the other end of the transmission rope is fixedly connected with the hand brake (108);

The picking wrist mechanism (2) comprises a picking wrist (201), a poking pin (202), a hinge shaft (203), a transmission shaft (210), a worm and gear transmission mechanism (204), a direct current motor (205) and a three-pin two-position switch (206);

the picking wrist (201) is arranged at the top end of the handheld rod (4), the hinge shaft (203) penetrates through the picking wrist (201) and the handheld rod (4), and the transmission shaft (210) penetrates through the handheld rod (4);

one end of the poking pin (202) is fixedly connected with the picking wrist (201), and the other end of the poking pin is fixedly connected with the hinge shaft (203); the direct current motor (205) is fixedly arranged on the handheld rod (4), and the transmission shaft (210) and an output shaft (219) of the direct current motor (205) are fixedly connected with the worm gear transmission mechanism (204);

The hinge shaft (203) and the transmission shaft (210) are respectively sleeved with a chain wheel (218), and the chain wheel (218) is sleeved with a chain (213);

The rechargeable power supply (5) is connected with a circuit main switch (208), the circuit main switch (208) is connected with the three-pin two-position switch (206), the three-pin two-position switch (206) is connected with the direct current motor (205), and the three-pin two-position switch (206) and the circuit main switch (208) are fixedly arranged on the handheld rod (4);

The collecting mechanism (6) comprises a collecting barrel (601), a base (617), a first gear (602), a second gear (604), a fixed support (606), a spiral spring (607), an electromagnet (608), an upper iron sheet (610), a pull rope (611), a sliding sleeve (612), a lower iron sheet (613), a permanent magnet (616), a rotating shaft (618), an opening fixed shaft (619) and an electromagnet switch (621);

The base (617) is arranged at the bottom of the collecting barrel (601), the collecting barrel (601) is fixedly connected with the sliding sleeve (612), and the sliding sleeve (612) is sleeved on the handheld rod (4) and can slide along the handheld rod (4);

The fixed support (606) is fixedly sleeved on the handheld rod (4), the rotating shaft (618) penetrates through the fixed support (606) and can rotate in the fixed support (606), and the opening fixed shaft (619) is fixedly arranged on the fixed support (606);

the first gear (602) is sleeved on the opening fixing shaft (619), a fixing pin (620) is fixedly arranged on the first gear (602), the second gear (604) is sleeved on the rotating shaft (618), and the first gear (602) is meshed with the second gear (604); the scroll spring (607) is wound on the first gear (602), one end of the scroll spring is fixedly arranged on the fixed pin (620), and the other end of the scroll spring is fixedly arranged on the opening fixed shaft (619); one end of the pull rope (611) is fixedly arranged on the collecting barrel (601), and the other end is wound on the rotating shaft (618);

The electromagnet (608) is connected with the electromagnet switch (621), and the electromagnet switch (621) is connected with the rechargeable power supply (5); the electromagnet (608) and the permanent magnet (616) are fixedly arranged on the handheld rod (4), the electromagnet (608) is arranged above the sliding sleeve (612), and the permanent magnet (616) is arranged below the sliding sleeve (612); the upper iron sheet (610) is arranged at the upper end of the sliding sleeve (612), and the lower iron sheet (613) is arranged at the lower end of the sliding sleeve (612).

2. Fruit harvesting device according to claim 1, wherein the picking mechanism (1) further comprises a mounting housing (103), the hinge (105), the pull head (106) and the return spring (102) being all arranged in the mounting housing (103).

3. Fruit harvesting device according to claim 1, wherein the sprocket (218) is replaced by a pulley and the chain (213) is replaced by a belt.

4. Fruit harvesting device according to claim 1, wherein the sprocket (218) is replaced by a pulley and the chain (213) is replaced by a wire.

5. Fruit harvesting device according to claim 1, wherein the hand-held lever (4) is further provided with a travel switch (215).

6. Fruit harvesting device according to claim 1, characterized in that a protrusion (623) is provided on the side wall of the collecting tank (601), a suspension loop (622) is provided on the base (617), an adjustment clamping groove (624) is provided in the suspension loop (622), and a limit clamping protrusion (625) is provided in the adjustment clamping groove (624).

7. Fruit harvesting device according to claim 1, characterized in that the hand-held lever (4) is further provided with a visual monitoring system (3), the visual monitoring system (3) comprising a camera (301) arranged on the picking mechanism (1), a screen bracket (302) fixedly arranged on the hand-held lever (4) and a display screen (303) arranged on the screen bracket (302).