CN212696717U - Fruit harvesting device - Google Patents

Abstract

The utility model provides a fruit harvesting device, including handheld pole, picking mechanism, collection mechanism, it establishes to collect the mechanism cover handheld pole is last, 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 rotatably connected with the handheld rod; and the rechargeable power supply is fixedly arranged on the handheld rod and used for driving the picking wrist mechanism to rotate. The utility model discloses avoided using the stock opening to press from both sides when picking in eminence apple, can cause the apple stalk to damage, reduced the apple depositing time, damaged fruit tree branch scheduling problem to the picking sword angle of having solved the fruit picker is unadjustable and to the eminence see not the apple of stalk be difficult for picking the scheduling problem.

Description

Fruit harvesting device

Technical Field

The utility model relates to an agricultural machine's technical field, more specifically relates to a fruit harvesting device.

Background

China is a big country for planting apples, and apple planting is a main economic source for vast fruit growers in China. As the apple picking application machinery in China is slowly developed and starts late. And due to geographical constraints, economic constraints and mechanical operability constraints. The level of development of mechanization and automation in this field is not high in China.

Due to a plurality of varieties of apples, great difference exists in growth forms, different growth positions of fruits on branches, non-uniform time required for ripening and the like, the mechanization difficulty in apple harvesting is great. Therefore, the method generally stays in the manual picking and semi-automatic picking stage. Picking cannot be done at one time due to the different time required for fruit ripening. The ripe fruits need to be timely harvested by people at irregular time. At present, the main picking mode is also based on the following picking modes:

picking by using fruit picking scissors: fruit growers can only pick apples growing at low positions, the apples growing at middle and high positions need to be picked by means of tools such as a ladder stand, the land of the orchard is soft and uneven, and the apples growing at high positions are dangerous to pick. The ladder stand is required to be continuously lifted up and down during picking, the ladder stand is moved, the picking operation consumes long time, the labor intensity of fruit growers is high, and the picking efficiency is low;

picking by utilizing a long rod opening clamp: the fruit grower drives the split collet closure through the hand brake below the pulling, and the apple is enclosed in the split collet, then picks the apple through the mode of dragging. However, the pulling picking method easily damages and falls off the apple stem, so that the apple is not durable to store and easy to wilt, and the branches are easy to be injured or even broken during picking, which damages the fruit trees; only one apple can be picked at a time, so that the picking efficiency is low;

the fruit picker is utilized for picking, fruit growers drive the cutting edge at the top to shear the apples by pulling the hand brake below, and the picked apples fall into the collecting bag below. However, because the angle of the picking knife can not be adjusted, the apple with invisible fruit stem is difficult to pick due to special high-position growth position;

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

Therefore, a technical scheme which reduces the danger and labor intensity during picking, reduces the damage to apples and branches, enables the picking working end angle to be adjustable and is suitable for an apple plantation with low standardization degree is urgently needed in the prior art.

SUMMERY OF THE UTILITY MODEL

Not enough to above-mentioned prior art, the utility model provides a fruit harvesting device.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

the utility model provides a fruit harvesting device, includes handheld pole, picking mechanism, collection mechanism, it establishes to collect the mechanism cover handheld pole is last, 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 rotatably connected with the handheld rod;

the rechargeable 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 rotating 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 pieces, the rotating connecting piece is fixedly arranged on the pull head, and the tail end of the scissors is rotatably connected with the rotating connecting piece;

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 fixedly connected with the pull head and the spring mounting plate respectively;

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 an installation shell, and the hinged piece, the pull head and the return spring are all arranged in the installation 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 the output shaft of the direct current motor are fixedly connected with the worm gear and worm transmission mechanism;

the hinge shaft and the transmission shaft are both sleeved with chain wheels, and the chain wheels are sleeved with chains;

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

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

The chain wheel is replaced by a pulley and the chain is replaced by a wire.

The handheld rod is also provided with a travel switch.

The collecting mechanism comprises a collecting barrel, a base, a first gear, a second gear, a fixed support, a volute 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 bracket is fixedly sleeved on the handheld rod, the rotating shaft penetrates through the fixed bracket and can rotate in the fixed bracket, and the opening fixed shaft is fixedly arranged on the fixed bracket;

a first gear is sleeved on the opening fixing shaft, a fixing 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 volute spiral spring is wound on the first gear, one end of the volute spiral spring is fixedly arranged on the fixed pin, and the other end of the volute spiral 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 rechargeable power supply; the electromagnet and the permanent magnet are both 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 formed in the adjusting clamping groove.

The handheld rod is further provided with a visual monitoring system, and the visual monitoring system comprises a camera arranged on the picking mechanism, a screen support fixedly arranged on the handheld rod and a display screen arranged on the screen support.

Compared with the prior art, the utility model beneficial effect be:

1. through will plucking scissors and light stock cooperation use, not only utilized the characteristics of stock extendible distance but also utilized the scissors to pick and can not harm the apple carpopodium, and pluck convenient advantage, can improve the quality of plucking the apple and reduce fruit grower's intensity of labour, when having avoided using the stock opening to press from both sides in the picking eminence apple, can cause the apple carpopodium to damage, reduce the apple storage time, harm fruit tree branch scheduling problem, it is big also effectively to have solved the fruit grower and used the intensity of labour that the ladder from top to bottom brought of adopting the fruit scissors when the apple of eminence in the picking, pluck the dangerous problem that exists of inefficiency and eminence picking.

2. The picking angle of the picking scissors can be adjusted through the direct current motor, so that the requirements of special growing positions and special growing angles of the fruit stalks at the middle and high positions and picking of apples of which the cutting positions cannot be accurately seen due to shielding of other surrounding apples to be picked or branches and leaves are met. Picking wrist department and being equipped with the camera, when picking the sight and being obstructed, the shearing position that can help the picker to accurately find through the picture in the display screen has solved the not adjustable and difficult harvesting scheduling problem of apple to the unseen carpopodium of picking the fruit of picking the sword angle of fruit picker.

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 due to limited arm length of a person is solved; the collecting barrel is provided with the sponge and other buffer designs, so that the impact on other apples and the collision and sliding friction between the apples and the wall of the collecting barrel when the picked apples fall into the collecting barrel are relieved, and the damage probability of the apples in the collecting process is reduced.

The utility model discloses be applicable to the harvesting of other trees fruit such as peach, pears, apricot, tangerine, mandarin orange, shaddock, orange, kumquat, mulberry, longan, litchi, red bayberry, coconut, mango, persimmon, grapefruit equally, adaptability is wide.

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 front view of the wrist picking mechanism with the travel switch removed.

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

Fig. 6 is a schematic structural diagram of the travel switch in a view angle 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 of 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 vision 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-mounting shell, 104-rotating connecting piece, 105-hinge piece, 106-pulling head, 107-driving rope, 108-hand brake;

2-picking wrist mechanism, 201-picking wrist, 202-poking pin, 203-hinge shaft, 204-worm gear and worm transmission mechanism, 205-direct current motor, 206-three-pin two-position switch, 207-first tightening hoop, 208-circuit main switch, 209-second tightening hoop, 210-transmission shaft, 211-jackscrew, 212-connecting rope, 213-chain, 214-spring mounting plate, 215-travel switch, 216-travel switch mounting jacket, 217-limiting block, 218-chain wheel and 219-output shaft;

3-visual monitoring system, 301-camera, 302-screen support, 303-display screen;

4-holding the rod;

5-a rechargeable power supply;

6-a collecting mechanism, 601-a collecting barrel, 602-a first gear, 603-a fixed baffle, 604-a second gear, 605-a support bolt, 606-a fixed support, 607-a volute spring, 608-an electromagnet, 609-an electromagnet tightening ring, 610-an upper iron sheet, 611-a pull rope, 612-a sliding sleeve, 613-a lower iron sheet, 614-a self-tapping screw, 615-a permanent magnet fixed plate, 616-a permanent magnet, 617-a base, 618-a rotating shaft, 619-an opening fixed shaft, 620-a fixed pin, 621-an electromagnet switch, 622-a hanging lug, 623-a bulge, 624-an adjusting clamping groove, 625-a limiting clamping lug and 626-a sponge.

Detailed Description

The invention will be further elucidated below on the basis of a specific embodiment.

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

the picking wrist mechanism 2 is characterized in that 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 rotatably connected with the handheld rod 4;

and the rechargeable 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 joint 105, a rotating connecting piece 104, a pull head 106, a return spring 102, a driving rope 107 and a spring mounting plate 214, and a rotatable hand brake 108 is fixedly arranged on the handheld rod 4.

The scissors 101 are a four-bar mechanism, blades of the scissors 101 are hinged through a hinge 105, a rotating connector 104 is fixedly arranged on a slider 106, and the tail end of the scissors 101 is rotatably connected with the rotating connector 104.

The spring mounting plate 214 is fixedly connected with the picking wrist mechanism 2, a through hole is arranged on the spring mounting plate 214, and two ends of the return spring 102 are respectively fixedly connected with the pull head 106 and the spring mounting plate 214.

The driving rope 107 penetrates through the return spring 102 and the through hole, and 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.

The picker mechanism 1 further includes a mounting housing 103, with a hinge 105, a pull head 106 and a return spring 102 all disposed in the mounting housing 103.

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

Picking wrist 201 is arranged at the top end of the hand-held rod 4, a hinge shaft 203 penetrates through the picking wrist 201 and the hand-held rod 4, and a transmission shaft 210 penetrates through the hand-held 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 a second tightening ring 209, and the transmission shaft 210 and an output shaft 219 of the direct current motor 205 are both fixedly connected with the worm gear transmission mechanism 204.

In this embodiment, the hinge axis 203 is parallel to the transmission axis 210, and the transmission axis 210 is spatially perpendicular to the output axis 219. The transmission shaft 210 is formed by combining two sections of rotatable shafts, the outer side ends of the two sections are both sleeved with a limiting block 217, a groove is formed in the side wall of the two sections, the end shape of the jackscrew 211 is matched with the shape of the groove, and the jackscrew 211 penetrates through a round hole in the limiting block 217 and is abutted to the groove, so that the transmission shaft 210 is axially limited. The hinge shaft 203 is formed by combining two sections of rotatable shafts, wherein a horizontal through hole is formed in one section, a limiting block 217 is sleeved at the outer side end of the other section, a groove is formed in the side wall of the other section, the end shape of the jackscrew 211 is matched with the shape of the groove, and the jackscrew 211 penetrates through a circular hole in the limiting block 217 and abuts against the groove, so that the hinge shaft 203 is axially limited; one end of the poking pin 202 is inserted into the pipe wall of the picking wrist 201 and fixed, and the other end passes through a horizontal through hole on the hinge shaft 203, so that the poking pin is connected with the hinge shaft 203 and fixed in the longitudinal position.

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

In this embodiment, the chain 213 is an incomplete 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 through a connecting rope 212.

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

The rechargeable power supply 5 is connected with a circuit main switch 208, the circuit main 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 main 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 circuit main 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 collecting mechanism 6 comprises a collecting barrel 601, a base 617, a first gear 602, a second gear 604, a fixed bracket 606, a scroll 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 bracket 606 is fixedly sleeved on the handheld rod 4, the rotating shaft 618 penetrates through the fixed bracket 606 and can rotate in the fixed bracket 606, and the opening fixing shaft 619 is fixedly arranged on the fixed bracket 606.

The first gear 602 is sleeved on the opening fixing shaft 619, the 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. Scroll spring 607 is wound around first gear 602, and has one end fixedly secured to securing pin 620 and the other end fixedly secured to open securing shaft 619. One end of the pulling 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 an 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 both 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 piece 610 is disposed at an upper end of the sliding sleeve 612, and the lower iron piece 613 is disposed at a lower end of the sliding sleeve 612.

The side wall of the collecting barrel 601 is provided with a protrusion 623, the base 617 is provided with a hanging lug 622, the hanging lug 622 is internally provided with an adjusting clamping groove 624, and the adjusting clamping groove 624 is internally provided with a limiting clamping protrusion 625. In this embodiment, there are two hanging lugs 622, which are respectively located on two sides of the base 617, and in the adjusting clamping groove 624 of each hanging lug 622, two limiting clamping protrusions 625 are in a group, and a plurality of groups of limiting clamping protrusions 625 are arranged in the horizontal direction. The transverse length of the longitudinal section of the protrusion 623 is matched with the width of the adjusting clamping groove 624.

The handheld 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 handheld rod 4 and a display screen 303 arranged on the screen bracket 302.

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

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

In this embodiment, the rechargeable power source 5 is fixed to the handheld wand 4 by a first clamp 207, and the dc motor 205 is fixed to the handheld wand 4 by a second clamp 209.

In this embodiment, the hinge 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 long, lightweight lever. The rechargeable power supply 5 is a direct current power supply 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-, and is used for controlling the forward rotation and the reverse rotation of the dc motor 205, respectively, 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 both of them adopt inching control for flexible operation. The main circuit switch 208 is located next to 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, and the rechargeable power supply 5 drives the direct current motor 205 to rotate forwards or backwards, so that the design further ensures safety. The travel switch 215 is fixedly arranged on the hand-held rod 4 through a travel switch mounting jacket 216, the travel switch mounting jacket 216 is fixed on the hand-held rod 4 through screws, and the two travel switches 215A and 215B are fixed on the travel switch mounting jacket 216 through bolts.

There are two extreme positions for the pitching motion of picking wrist 201, and if the user is not paying attention, the picking wrist 201 may be stuck due to hitting the extreme positions, which may cause the burning out of the dc motor 205 and even the damage to 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 protect 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 respectively supplies power to the display screen 303, the electromagnet 608 and the dc motor 205. The switch S1(208) is a circuit main switch 208 of the device, and the power supply circuits of the display screen 303, the electromagnet 608 and the direct current motor 205 are in parallel connection and are controlled by the circuit main switch 208; the switch S2(621) is in a normally closed state, when the number of the collected apples reaches the requirement of a picker, the switch S2(621) is pressed to cut off the power of the electromagnet YA (608), and the collecting barrel 601 is released; the rotation direction of the direct current motor M (205) is respectively controlled by a forward three-pin two-position switch S3(206+) and a reverse three-pin two-position switch S4 (206-); the detection of the extreme position of the picking wrist 201 is completed by two travel switches 215A and 215B, when the picking wrist 201 moves to the extreme position and touches the travel switches 215A or 215B, the circuit of the rotation direction of the direct current motor 205 is cut off, and the direct current motor 205 stops rotating, thereby protecting the direct current motor 205 and the device parts from being damaged.

In this embodiment, the collecting vessel 601 is fixedly connected to the sliding sleeve 612 by the tapping screw 614, and the sliding sleeve 612 can slide up and down along the handle rod 4. The fixing bracket 606 is fixed to the hand-held lever 4 by 4 bracket bolts 605.

In this embodiment, the pull rope 611 is a nylon rope.

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 baffles 603, and the two fixing baffles 603 are fixedly connected by bolts or other methods, 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 lever 4 by an electromagnet clamp 609, and a connection line between the electromagnet 608 and the electromagnet switch 621 is embedded in the hand-held lever 4. The electromagnet switch 621 is fixedly provided 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, the sponge 626 is adhered to the inner wall of the collecting barrel 601 for buffering the impact force of the falling fruits such as apple, so as to avoid scratching the fruits. The collection barrel 601 adopts a hollow design, so that a user can observe the number of picked apples.

In this embodiment, the open stationary shaft 619 is provided with a hole, one end of the spiral spring 607 is inserted into the hole and fixed, and the other end is fixedly connected to the fixing pin 620. When the first gear 602 rotates, the opening fixing shaft 619 is fixed to the fixing bracket 606 and does not rotate with the rotation of the first gear 602, and the fixing pin 620 is fixed to the first gear 602 and moves with the rotation of the first gear 602, so that the spiral spring 607 is compressed or stretched with the rotation of the first gear 602. The wrap spring 607 acts as a buffer as the collector vessel 601 slides down and provides power to raise the collector vessel 601 back to the initial position.

The lower part of the collecting barrel 601 is provided with an adjustable base 617, and the volume of the collecting barrel 601 is adjustable through an adjusting clamping groove 624 on a hanging lug 622 of the collecting barrel, so that the self-adjusting of collecting quantity by different users can be met.

The method of installing the collection tank 601 is as follows: the base 617 is turned by about 90 degrees, the adjusting clamping groove 624 is in a roughly horizontal direction and is sleeved on the protrusion 623, the protrusion 623 penetrates through the adjusting clamping groove 624, then the base 617 is turned by 90 degrees in the opposite direction, the base 617 returns to a position with an upward opening, meanwhile, the limiting clamping protrusion 625 is clamped above the protrusion 623, and therefore the hanging lug 622 is hung on the limiting clamping protrusion 625, and installation of the base 617 is completed.

The adjustment method of the collecting tank 601 is as follows: when the adjusting clamping groove 624 is sleeved on the protrusion 623, different groups of limiting clamping protrusions 625 are clamped above the protrusion 623, namely the volume of the collecting barrel 601 is adjusted by adjusting the height of the base 617, and a gap between the collecting barrel 601 and the base 617 ensures that the fruit cannot leak out.

The utility model discloses the working method of picking apple fruit as follows:

as shown in FIG. 2, when the hand brake 108 is pressed down, the driving string 107 is pulled, and since the driving string 107 is wound on the rotating shaft of the hand brake 108 counterclockwise, when the hand brake 108 is pressed down, the driving string 107 is pulled leftward, which drives the slider 106 to move leftward, the return spring 102 is compressed, and the pivotal connection 104 on the slider 106 also moves leftward. Since the scissors 101 are a four-bar linkage, when the rotating link 104 moves to the left, the blades rotate around the hinge 105 and are closed, and the scissors 101 cut off the stem of the fruit. When the hand brake 108 is released, the return spring 102 automatically returns to the right, the driving rope 107 returns to the right, the pulling head 106 moves to the right, the rotating connecting piece 104 also moves to the right, and the blade rotates around the hinge piece 105 to be opened again to prepare for next shearing.

In order to adjust the angle of the scissors 101, the circuit main switch 208 is closed, the forward rotation three-pin two-position switch 206+ or the reverse rotation three-pin two-position switch 206-is switched on, the direct current motor 205 is controlled to rotate 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 and worm transmission mechanism 204; the chain wheel 218 on the transmission shaft 210 is fixedly installed with the transmission shaft 210, so that the chain wheel 218 on the transmission shaft 210 rotates synchronously while the transmission shaft 210 rotates; meanwhile, the chain wheel 218 of the hinge shaft 203 and the hinge shaft 203 are also fixedly arranged, the chain wheel 218 rotates to enable the chain 213 to move correspondingly, and the connecting rope 212 between two sections of incomplete chains plays a role in transmission and drives the hinge shaft 203 to rotate clockwise or anticlockwise; because two ends of the poking pin 202 are respectively 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 (in the view angle in fig. 4, namely, the picking mechanism 1 moves towards the paper surface or away from the paper surface), and the adjustment of the working angle of the scissors 101 is realized. When the picking wrist 201 moves to one of the two extreme positions, namely the picking wrist touches the travel switch 215A or 215B, at the moment, the circuit of the direct current motor 205 is cut off immediately, the direct current motor 205 stops rotating immediately, and the scissors 101 do not rotate any more.

When picking personnel stand under the tree, when picking the sight and sheltered from by apple or branch and leaf, the picture of passing back to on display screen 303 through camera 301 can clearly observe and accurately find the shearing position, supplementary artifical realization accuracy is picked, avoids damaging the apple when picking simultaneously.

The initial position of the collection bucket 601 is below the shears 101 for collecting the picked apples. When the collecting barrel 601 is full and the apple needs to be poured out, the electromagnet switch 621 is switched off, the electromagnet 608 loses the magnetic force on the upper iron sheet 610, and the collecting barrel 601 slides downwards along with the slide sleeve 612 until the lower iron sheet 613 slides downwards and is attracted by the permanent magnet 616; during the sliding down process, the pulling rope 611 is pulled downwards, and since the pulling rope 611 is wound on the rotating shaft 618 clockwise, the rotating shaft 618 rotates counterclockwise, and the second gear 604 fixed with the rotating shaft rotates counterclockwise, which drives the first gear 602 to rotate clockwise.

After all apples in the collecting barrel 601 are taken out, the sliding sleeve 612 is manually separated from the permanent magnet 616, and the collecting barrel 601 ascends under the action of the elasticity of the spiral spring 607; the electromagnet switch 621 is turned on, and the electromagnet 608 exerts an upward force on the upper iron sheet 610, so that the collection barrel 601 and the sliding sleeve 612 finally return to the initial position.

Furthermore, the above definitions of the various elements and methods are not limited to the particular structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those skilled in the art, for example:

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

the jackscrew can be replaced by a pin or a bolt;

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

In the description of the present invention, it is to 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 orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The above description is only for the preferred embodiment of the present invention, but the present invention is not limited to the above specific embodiments, and those skilled in the art can make several variations and modifications without departing from the inventive concept, which all fall into the protection scope of the present invention.

Claims (10)

1. The utility model provides a fruit harvesting device, includes handheld pole (4), picking mechanism (1), collects mechanism (6), it establishes to collect mechanism (6) the cover handheld pole (4) is last, characterized by, fruit harvesting device still includes:

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 rotatably connected with the handheld rod (4);

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

2. The fruit harvesting device according to claim 1, wherein the picking mechanism (1) comprises scissors (101), a hinge member (105), a rotating connecting member (104), a pulling head (106), a return 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 of a four-bar linkage mechanism, blades of the scissors (101) are hinged through the hinge pieces (105), the rotating connecting piece (104) is fixedly arranged on the slider (106), and the tail end of the scissors (101) is rotatably connected with the rotating connecting piece (104);

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 driving rope (107) penetrates through the return 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).

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

4. The fruit harvesting device of claim 1, wherein the picking wrist mechanism (2) comprises a picking wrist (201), a poking pin (202), a hinge shaft (203), a transmission shaft (210), a worm gear transmission mechanism (204), a direct current motor (205), and a three-foot 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 and gear transmission mechanism (204);

the hinge shaft (203) and the transmission shaft (210) are sleeved with chain wheels (218), and the chain wheels (218) are sleeved with chains (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).

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

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

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

8. The fruit harvesting device according to claim 1, wherein the collecting mechanism (6) comprises a collecting barrel (601), a base (617), a first gear (602), a second gear (604), a fixed bracket (606), a volute 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);

a first gear (602) is sleeved on the opening fixing shaft (619), a fixing pin (620) is fixedly arranged on the first gear (602), a 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 of the pull rope 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 both 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).

9. The fruit harvesting device as claimed in claim 8, wherein a protrusion (623) is disposed on a side wall of the collecting barrel (601), a hanging lug (622) is disposed on the base (617), an adjusting clamping groove (624) is disposed in the hanging lug (622), and a limiting clamping protrusion (625) is disposed in the adjusting clamping groove (624).

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

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