CN103733815A - Method for picking Chinese wolfberries by high-speed air flow and Chinese wolfberry picking device - Google Patents
Method for picking Chinese wolfberries by high-speed air flow and Chinese wolfberry picking device Download PDFInfo
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Abstract
The invention provides a method for picking Chinese wolfberries by high-speed air flow and a Chinese wolfberry picking device. The method is high in picking efficiency, simple and convenient to implement and low in degree of damage to green fruits and flowers. The method for picking the Chinese wolfberries includes utilizing the high-speed air flow to blow the Chinese wolfberries to enable ripe Chinese wolfberry fruits to fall off from branches of wolfberry trees. The Chinese wolfberry picking device comprises a frame, ejection pipelines communicated with a compressed air source and used for ejecting the high-speed air flow are arranged on the frame, sliding rods are arranged on the frame, nozzles which can slide along the corresponding sliding rod and swing relatively to the sliding rod are arranged on each sliding rod, and the each nozzle is communicated with an outlet of the corresponding ejection pipeline.
Description
Technical field
This technology relates to method and the matrimony vine picker that matrimony vine is plucked.
Background technology
Matrimony vine is a kind of economic crops of a large amount of plantations in NORTHWEST CHINA area.In the annual mature period of matrimony vine, the only Yi Ge of Ningxia Hui Autonomous Region district, all will engage tens thousand of guest workers, manual harvesting matrimony vine, and labour intensity is large, and efficiency is low, and the harvesting cost of matrimony vine reaches 1.3～1.5 yuan/jin.And existing matrimony vine semi-mechanization is plucked technology (as technical patent application publication number CN101167419, CN101326879), be mainly to drive the fruit picking head of " mountain " font or " broach " shape directly to shake some branches of matrimony vine fruit tree by driven by motor toggle, ripe Chinese wolfberry fruit and branch are departed from.This method needs workman's both hands to coordinate, and round approximately 1.5 meters of high matrimony vine trees, turns around, and matrimony vine branch is operated one by one.This method fails significantly to improve the picking efficiency of matrimony vine, fails to realize the harvesting cost that significantly reduces matrimony vine.Therefore, fast-developing extensive matrimony vine plantation industry is in the urgent need to a kind of Fully-mechanized medlar-picking machine tool efficiently.
Summary of the invention
The object of this technology be to provide a kind of picking efficiency high, be easy to implement, operation intensity is low utilizes high velocity air to pluck the method for matrimony vine.
The high velocity air that utilizes of this technology is plucked the method for matrimony vine, utilizes high velocity air to blow matrimony vine, and Chinese wolfberry fruit is come off from the branch of fruit tree.
This technology adopts high velocity air to blow matrimony vine, and ripe Chinese wolfberry fruit is come off from the branch of fruit tree, and method is simply effective, and picking efficiency is high, with respect to other picking method, has reduced labour intensity.
The described high velocity air that utilizes is plucked the method for matrimony vine, by the change of high velocity air direction or the break-make of high velocity air, Chinese wolfberry fruit is swung with respect to branch.Chinese wolfberry fruit swings with respect to matrimony vine branch, thereby realize, with lower air velocity, quickly and efficiently ripe Chinese wolfberry fruit is blown off from branch, has reduced the too high injury to Chinese olive and flower of speed because of air-flow simultaneously.
The described high velocity air that utilizes is plucked the method for matrimony vine, and the frequency of the frequency that airflow direction changes or the break-make of high velocity air is 1～20Hz.Or, with nozzle ejection high velocity air, by the swing of nozzle, change airflow direction; Preferably, the hunting frequency of nozzle is 3～7Hz, and now matrimony vine swings maximum with respect to branch.Or, on the ejection pipeline of high velocity air, magnetic valve is set, by the opening and closing of magnetic valve, realize the break-make of high velocity air; Preferably, the switching frequency of magnetic valve is 2～6 Hz, and now matrimony vine swings maximum with respect to branch.
The above-mentioned high velocity air that utilizes is plucked the method for matrimony vine, and high velocity air is to being 1.39g～3g under the downward effect of fruit, and high velocity air flow velocity is 12.8～20m/s.For the growth characteristics of matrimony vine, the carpopodium adhesion of Chinese olive is larger, and in the time of fruit maturation, its carpopodium adhesion sharply drops to 2g left and right, and average length, wide footpath are increased to 1.84cm, 0.93cm by 1.15cm, 0.51cm, naked fruit substance is on average increased to 0.6g by 0.127g.The computing formula of wind-force is
, wherein
for atmospheric density, S is front face area (the wide footpath of length * of fruit), and v is air velocity, and the density of getting air is 1.2kg/m
3.Suppose that carpopodium adhesion is 2g, consider the weight 0.6g of naked fruit self, air-flow that fruit is subject to is downward blows power >=1.4g, extrapolates accordingly air velocity v and is about 12.8m/s.The tree crown radius of considering matrimony vine fruit tree is 750mm, high velocity air blows to tree crown center flow velocity from the periphery of tree crown and can diminish, when tree crown center air-flow velocity is 12.8m/s, the periphery air-flow velocity of tree crown is about 20m/s, and the downward power of blowing being subject at the fruit of tree crown periphery is about 3g.The volume of ripe Chinese wolfberry fruit is larger, weight is larger, thereby the wind-force being subject under same air velocity is larger, and the weight of himself is also much larger than Chinese olive, under the wind conditions that just can make ripe Chinese wolfberry fruit carpopodium depart from, the possibility that Chinese olive and flower are directly blown off is very little, thereby has further reduced the injury of air-flow to Chinese olive or flower.
This technology provides a kind of simple in structure, easy to operate, matrimony vine picker that picking efficiency is high simultaneously.
The matrimony vine picker of this technology, it has frame, in frame, be provided with compressed gas source communicate, for spraying the ejection pipeline of high velocity air.
Above-mentioned matrimony vine picker is provided with slide bar in frame, is provided with the nozzle that can simultaneously can swing with respect to slide bar again along slide bar slip on slide bar, and nozzle is connected with bleed pipe way outlet.Nozzle can have varied with the syndeton of slide bar, for example nozzle arranges on nozzle carrier, on nozzle carrier, be provided with the oscillatory gearing mechanism that drives nozzle to swing with respect to slide bar, on nozzle carrier, be provided with the sliding driving device that drives nozzle carrier to slide with respect to slide bar, as long as can realize nozzle, with respect to slide bar, slide and swing.Generally, matrimony vine is ripe in batches, and nozzle can slide up and down to regulate along slide bar the position of nozzle, makes high velocity air blow to targetedly ripe Chinese wolfberry fruit, avoids as far as possible directly blowing to Chinese olive and flower.The swing of nozzle, can change airflow direction, and Chinese wolfberry fruit is swung with respect to branch, is more conducive to coming off of matrimony vine.
Above-mentioned matrimony vine picker, described slide bar has two, the symmetrical left and right sides that is arranged on frame; Frame lower has the running gear of two groups of drive chassis walkings, and running gear is with the symmetry axis symmetry of slide bar.During harvesting, slide bar is in the both sides of fruit tree (around tree crown), and running gear drives this matrimony vine picker along the axis of fruit tree line by line, to move on the ground, the symmetry axis of slide bar basic with the dead in line of fruit tree line by line; Can complete fast the continuous harvesting to each the strain fruit tree in every a line fruit tree, significantly improve picking efficiency.
Above-mentioned matrimony vine picker, nozzle is arranged on nozzle carrier, and what nozzle carrier can slide and can swing with respect to slide bar again simultaneously along slide bar is arranged on slide bar, and sleeve is slidably arranged on slide bar; Slide unit is being parallel to being arranged in frame of square upward sliding of slide bar, and slide unit is connected with respect to the slide unit driving mechanism of machine frame movement with driving slide unit; Sleeve and slide unit are connected; Nozzle carrier be arranged on slide unit, for drive nozzle carrier around slide bar swing nozzle carrier swing mechanism be connected.During work, slide unit driving mechanism action, drives slide unit with respect to machine frame movement, and because sleeve and slide unit are connected, sleeve just moves along slide bar, and like this, sleeve just drives nozzle carrier to move along slide bar; Meanwhile, the action of nozzle carrier swing mechanism, drives nozzle carrier around slide bar axis oscillating.Therefore, the nozzle on nozzle carrier and nozzle carrier has been realized along the movement of slide bar with around the swing of slide bar axis simultaneously.This matrimony vine picker combines various mechanisms effectively, has realized complicated motion.
Above-mentioned matrimony vine picker, it also comprises an injection nozzle carrier that can move up and down with respect to frame, injection nozzle carrier be arranged in frame for driving the injection nozzle carrier driving mechanism that injection nozzle carrier moves up and down to be connected; The injection nozzle carrier guide rail that injection nozzle carrier is moved up and down to guiding is arranged in frame; Slide bar is arranged on injection nozzle carrier; Slide unit is being parallel to being arranged on injection nozzle carrier of square upward sliding of slide bar, and slide unit is connected with the slide unit driving mechanism that drives slide unit to move with respect to injection nozzle carrier; Described slide bar tilts.The slide bar tilting can be basically identical with the outline of tree crown, when nozzle moves along slide bar, can guarantee that nozzle is basically identical to the distance of tree crown outline.Injection nozzle carrier band moving slide-bar, nozzle carrier, slide unit, slide unit driving mechanism, nozzle carrier swing mechanism etc. move up and down with respect to frame, can adapt to the fruit tree of differing heights.
Above-mentioned matrimony vine picker, slide bar has two, is separately positioned on the both sides of injection nozzle carrier; Two slide bars have formed two waists of an isosceles trapezoid; Frame lower has the running gear of two groups of drive chassis walkings, and running gear is with the symmetry axis symmetry of isosceles trapezoid.During harvesting, two slide bars are in the both sides of fruit tree (around tree crown), and running gear drives this matrimony vine picker along the axis of fruit tree line by line, to move on the ground, the symmetry axis of isosceles trapezoid basic with the dead in line of fruit tree line by line; Can complete fast the continuous harvesting to each the strain fruit tree in every a line fruit tree, significantly improve picking efficiency.
Above-mentioned matrimony vine picker, has respectively the matrimony vine take-up reel or the matrimony vine conveyer belt that along horizontal direction, extend in frame lower both sides, gapped between matrimony vine take-up reel or matrimony vine conveyer belt.When this matrimony vine picker is walked on the ground, the bottom trunk of fruit tree passes from gap.Matrimony vine take-up reel or the matrimony vine fruit coming off in reception used for conveyer belt.After matrimony vine is blown down, drop on matrimony vine take-up reel or matrimony vine conveyer belt, matrimony vine take-up reel has concurrently catches matrimony vine the temporary transient function that stores matrimony vine, and matrimony vine take-up reel can, by manually pulling it, be transferred to matrimony vine on other transit vehicle in limited time reaching in memory capacity.Matrimony vine conveyer belt can be carried the matrimony vine that falls thereon to a side of conveyer belt, be convenient to people and collect.For the ease of full-automatic matrimony vine, collect, above-mentioned matrimony vine picker, is provided with matrimony vine belt elevator and matrimony vine storage bin in one end of matrimony vine conveyer belt.The lower end of matrimony vine belt elevator is arranged on a side lower part of matrimony vine conveyer belt, and matrimony vine storage bin is in the bottom, upper end of matrimony vine belt elevator.Matrimony vine is by matrimony vine tape transport to matrimony vine belt elevator, and matrimony vine belt elevator promotes matrimony vine to send in matrimony vine storage bin again.
Above-mentioned matrimony vine picker, fill with the flexible material overlapping in described gap.The bottom trunk of fruit tree can squeeze and is filled in the flexible material in gap between matrimony vine take-up reel or matrimony vine conveyer belt and passes.Between flexible material and trunk, can closely fit, prevent that matrimony vine from falling to the ground.
In a word, the picking method of this technology and picker can be realized the harvesting work that completes matrimony vine ripening fruits in the traveling process of machine, thereby efficiency can exceed several times than the harvester of existing mechanical fork style, be more than the decades of times of pure manual picking efficiency.
Accompanying drawing explanation
Fig. 1 be this technology matrimony vine picker pluck time schematic diagram.
Fig. 2 is the schematic top plan view of nozzle with respect to tree crown.
Fig. 3 is the schematic diagram of the another kind of matrimony vine picker of this technology.
Fig. 4 is the parts schematic diagrames such as injection nozzle carrier in Fig. 3, slide bar, slide unit.
Fig. 5 is the parts schematic diagrames such as matrimony vine conveyer belt in Fig. 3, matrimony vine belt elevator.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Embodiment 1:
Matrimony vine picker shown in Figure 1, respectively there are two groups of rollers (running gear) 2 both sides, bottom of frame 1, and air compressor and the travel driving unit rotating for driving rolls are separately positioned on the both sides of frame.In frame, have the slide bar upper end of 3,4, two of two slide bars to join, two slide bars have formed the parabola that Open Side Down.Multiple nozzles 5 are arranged on nozzle carrier 6, and each nozzle all communicates with the air duct on nozzle carrier, and the air duct on two nozzle carriers communicates with the gas outlet of air compressor by ejection pipeline respectively.On two ejection pipelines, be respectively provided with magnetic valve.Nozzle carrier can slide along slide bar, and nozzle can swing with respect to nozzle carrier again simultaneously.On nozzle carrier, be provided with the drive unit that drives nozzle carrier to move along slide bar with respect to slide bar and the oscillatory gearing mechanism that drives nozzle to swing with respect to nozzle carrier.In frame lower both sides, there is respectively the matrimony vine take-up reel 7 that extends to parabola lower opening portion along horizontal direction, between relative matrimony vine take-up reel inner side, be provided with left flexible sheet 11, right flexible sheet 12.The half of gap 13 width between matrimony vine take-up reel between left flexible sheet 11, the width of right flexible sheet 12 when normality are greater than,, there is certain extruding force in left flexible sheet 11, the squeezed gap 13 of compressing into of right flexible sheet 12 between left flexible sheet 11, right flexible sheet 12.Trunk 10 is when pushing through between left flexible sheet 11, right flexible sheet 12, and close contact between left flexible sheet 11, right flexible sheet 12 and trunk, prevents that matrimony vine from missing; Contact position between left flexible sheet 11, right flexible sheet 12 is slightly high, and both sides are lower slightly, are inverted v-shaped, makes to drop on left flexible sheet and the matrimony vine above right flexible sheet can tumble in the matrimony vine take-up reel of both sides in time.The roller of frame lower both sides, two matrimony vine take-up reels etc. are with parabolical symmetry axis symmetry.
As shown in Figure 2, with apart from nozzle 5 position farthest, air-flow arrives the about 700mm of center 8(of tree crown) be example, calculate matrimony vine is blown down to needed minimum windspeed.Air compressors is 1.5 m
3/ min, spill pressure is 1.3MPa, nozzle diameter is 3mm, at the hand-held anemobiagraph of the place apart from the about 700mm of nozzle, record wind speed is 12.8m/s.Ripe FRUCTUS LYCII true length 18.4mm, wide footpath 9.3mm, its maximum front face area is 1.34 × 10
-4m
2.The computing formula of wind-force is
, wherein
for atmospheric density, S is front face area, and v is air velocity.The density of getting air is 1.2kg/m
3, can be calculated the wind-force approximately 1.36 × 10 that Chinese wolfberry fruit is subject to
-2n, is equivalent to the suffered gravity of weight of 1.39g.When being 200mm tree crown periphery 9 places apart from nozzle 5, the about 18m/s of wind speed, the power on Chinese wolfberry fruit of acting on is as calculated equivalent to the power of the weight of 2.66g.And rule of thumb, ripe Chinese wolfberry fruit carpopodium adhesion is 2g, and ripe Chinese wolfberry fruit own wt has exceeded 0.6g, thereby exceedes 12.8m/s as long as arrive the wind speed of Chinese wolfberry fruit, just can realize the disengaging of ripe Chinese wolfberry fruit and matrimony vine branch.
During harvesting, form parabolical slide bar in the both sides of fruit tree (around tree crown), running gear drives this matrimony vine picker along the axis of fruit tree line by line, to move on the ground, parabolical symmetry axis basic with the dead in line of fruit tree line by line; Can complete fast the continuous harvesting to each the strain fruit tree in every a line fruit tree, significantly improve picking efficiency.
In experiment, by oscillatory gearing mechanism Control Nozzle, during with the warble of 5Hz, the relative branch of Chinese wolfberry fruit is done strong swing, and Chinese wolfberry fruit is more easily come off from branch, and the pick up rate of ripe Chinese wolfberry fruit is greater than 90%.
Embodiment 2:
The interval of alternately blowing to matrimony vine branch from both sides by solenoid control nozzle, to realize the swing of the relative branch of matrimony vine.While recording the about 350mm of distance of nozzle distance matrimony vine branch in experiment, air-flow arrives the about 14m/s of speed of matrimony vine branch.The frequency of two electromagnetic valve switch is to equate 3Hz(open mode and closed condition time), two ejection pipelines are alternately blown.According to the computing formula of a kind of embodiment, the power acting on ripe matrimony vine is 1.57 × 10
-2n, is equivalent to the gravity that the weight of 1.6g is subject to, and adds that the deadweight of matrimony vine exceedes 0.6g, so can meet the condition of the carpopodium adhesion (2g) that overcomes ripe matrimony vine, Chinese wolfberry fruit can come off from branch.Add the break-make that realizes high velocity air by the switch of magnetic valve, Chinese wolfberry fruit is swung with respect to branch, be more conducive to fruit and depart from branch.
Embodiment 3:
Referring to the matrimony vine picker shown in Fig. 3,4, injection nozzle carrier 23 comprises two lifter plates 231,232 in left and right; On left lifter plate, be fixed with two left slide bars 241 and a left slide unit guide rod 251; On right lifter plate, be fixed with two right slide bars 242 and a right slide unit guide rod 252.Two left slide bars 241, left slide unit guide rods 251 are parallel to each other, and two right slide bars 242, right slide unit guide rods 252 are parallel to each other.The upper end of left slide bar 241 is tilted to the right, and the upper end of right slide bar 242 is tilted to the left.Left slide bar and right slide bar have formed two waists of an isosceles trapezoid.
Two left slide bar 241 upper ends are connected with left vertical pole 261, and two right slide bar 242 upper ends are connected with right vertical pole 262.Left slide unit 271 is slidably arranged on left slide unit guide rod, and right slide unit 272 is slidably arranged on right slide unit guide rod.
Left slide unit drive motors 281 is arranged on left vertical pole, and the left leading screw 291 being connected with left slide unit drive motors output shaft coordinates with screw pair with left slide unit.Right slide unit drive motors 282 is arranged on right vertical pole, and the right leading screw 292 being connected with right slide unit drive motors output shaft coordinates with screw pair with right slide unit.
On each slide bar, be all set with between 30, two sleeves of upper and lower two sleeves and have nozzle carrier 22.Nozzle carrier 22 can slide along slide bar simultaneously again can being arranged on slide bar with respect to slide bar axis oscillating.On each nozzle carrier, be provided with multiple nozzles 21.Left and right slide unit is connected with sleeve 30 by connecting rod 44 respectively.
On left and right slide unit, be respectively arranged with nozzle carrier oscillating motor 31, the output shaft of nozzle carrier oscillating motor 31 is connected with crank throw 32, and the crank throw of the left and right sides is all connected with nozzle carrier by rocking bar 33.
Two lifter plates in left and right are slidably arranged on four injection nozzle carrier guide rails 34 that are fixed in frame 45.In frame, be fixed with two injection nozzle carrier drive motors 35, the output shaft of injection nozzle carrier drive motors 35 is connected with leading screw 36, and two leading screws 36 coordinate with screw pair with two of left and right lifter plate respectively.
In frame lower, there is the crawler type walking mechanism 37 of two groups of drive chassis walkings.In frame lower both sides, there is respectively the matrimony vine conveyer belt 43 extending along horizontal direction.Identical with embodiment 1, with reference to figure 1, between relative matrimony vine conveyer belt inner side, be provided with left flexible sheet, right flexible sheet.Left flexible sheet, the width of right flexible sheet when normality are greater than the half of gap width between two matrimony vine conveyer belts, and, there is certain extruding force in left flexible sheet, the squeezed gap of compressing into of right flexible sheet between left flexible sheet, right flexible sheet.Trunk is when pushing through between left flexible sheet, right flexible sheet, and close contact between left flexible sheet, right flexible sheet and trunk, prevents that matrimony vine from missing; Contact position between left flexible sheet, right flexible sheet is slightly high, and both sides are lower slightly, are inverted v-shaped, makes to drop on left flexible sheet and the matrimony vine above right flexible sheet can tumble in the matrimony vine conveyer belt of both sides in time.
Referring to Fig. 5, in the rear end of two matrimony vine conveyer belts, be respectively arranged with matrimony vine belt elevator 38 and matrimony vine storage bin 39.In frame, be provided with and drive the conveyer belt driven roller of matrimony vine conveyer belt, the belt elevator driven roller of driving matrimony vine belt elevator.Conveyer belt driven roller, belt elevator driven roller respectively with carry that motor is connected 40, lifting motor 41 is connected.In frame, be also provided with generator 42, think that each motor provides electric energy.
The crawler type walking mechanism of frame lower both sides, two matrimony vine conveyer belts, elevating lever, slide unit, slide bar etc. are with the symmetry axis symmetry of isosceles trapezoid.
Each nozzle on nozzle carrier all communicates with the air duct on this nozzle carrier, and the air duct on nozzle carrier communicates with the gas outlet of air compressor by ejection pipeline respectively.On each ejection pipeline, be respectively provided with magnetic valve.By the opening and closing of magnetic valve, realize the break-make of high velocity air.
Injection nozzle carrier drive motors action, drives left and right lifter plate (with being positioned at slide bar on lifter plate, slide unit etc.) to move up and down along injection nozzle carrier guide rail, can regulate for the matrimony vine fruit tree of differing heights like this.Left and right slide unit drive motors action, drive left and right slide unit (with the nozzle carrier oscillating motor being positioned on slide unit) to move along left and right slide unit guide rod, the sleeve being connected with left and right slide unit just moves along slide bar, and nozzle carrier just moves along slide bar under the drive of sleeve.Nozzle carrier oscillating motor 31 moves, and by the crank and rocker mechanism of the compositions such as crank throw 32 and rocking bar 33, drives nozzle carrier to swing around slide bar.The frequency that nozzle carrier swings around slide bar is 3～7Hz; From the high velocity air flow velocity of nozzle ejection, be 14～22m/s.
The high velocity air that the utilization of this technology changes is efficiently plucked the method for matrimony vine, the air velocity that compressed air flows out arrival matrimony vine branch from nozzle is 12.8～18m/s, and the air velocity of 12.8m/s arrives the wind speed at the matrimony vine branch place of tree crown center corresponding to air-flow.The air velocity of 18m/s arrives the wind speed at the matrimony vine branch place nearest apart from nozzle corresponding to air-flow.By controlling the frequency of size, variation of air velocity, can realize and just only have ripe Chinese wolfberry fruit to depart from from matrimony vine branch, and Chinese olive, flower because of its carpopodium adhesion compared with large, volume is little, wind-force that it is subject to is not enough so that it departs from from branch.The position of nozzle can be according to matrimony vine ripe growth characteristic and along branch direction up-down adjustment, make the high velocity air overwhelming majority act on ripe Chinese wolfberry fruit in batches.
This technology can integratedly be applied on Field Cultivated Machines, be equipped with larger matrimony vine collecting box realizes complete mechanical, continuous harvesting, thereby can greatly improve picking efficiency, than mechanical, by prong, shake branch and pluck more than the method for matrimony vine exceeds several times, than pure manual efficiency of plucking, exceed decades of times, reduce labor strength simultaneously, can significantly reduce the harvesting cost of matrimony vine.This technology is particularly suitable for the scale plantation of matrimony vine, meets the trend of industry development of carrying forward vigorously now agriculture and forestry mechanization, intelligent development, must promote the fast development of matrimony vine industry, brings larger scale and benefit.
Claims (10)
1. utilize high velocity air to pluck a method for matrimony vine, it is characterized in that: utilize high velocity air to blow matrimony vine, Chinese wolfberry fruit is come off from the branch of fruit tree.
2. the method for utilizing high velocity air to pluck matrimony vine as claimed in claim 1, is characterized in that: by the change of high velocity air direction or the break-make of high velocity air, Chinese wolfberry fruit is swung with respect to branch.
3. the method for utilizing high velocity air to pluck matrimony vine as claimed in claim 2, is characterized in that: the frequency of the frequency that airflow direction changes or the break-make of high velocity air is 1～20Hz.
4. the method for utilizing high velocity air to pluck matrimony vine as claimed in claim 3, is characterized in that: with nozzle ejection high velocity air, by the swing of nozzle, change airflow direction.
5. the method for utilizing high velocity air to pluck matrimony vine as claimed in claim 3, is characterized in that: on the ejection pipeline of high velocity air, magnetic valve is set, realizes the break-make of high velocity air by the opening and closing of magnetic valve.
6. the high velocity air that utilizes as described in as arbitrary in claim 1-5 is plucked the method for matrimony vine, it is characterized in that: high velocity air is to being 1.39g～3g under the downward effect of fruit, and high velocity air flow velocity is 12.8～20m/s.
7. matrimony vine picker, it has frame, it is characterized in that: in frame, be provided with compressed gas source communicate, for spraying the ejection pipeline of high velocity air; In frame, be provided with slide bar, be provided with the nozzle that can simultaneously can swing with respect to slide bar again along slide bar slip on slide bar, nozzle is connected with bleed pipe way outlet.
8. matrimony vine picker as claimed in claim 7, is characterized in that: described slide bar has two, the symmetrical left and right sides that is arranged on frame; Frame lower has the running gear of two groups of drive chassis walkings, and running gear is with the symmetry axis symmetry of slide bar.
9. matrimony vine picker as claimed in claim 7, is characterized in that: nozzle is arranged on nozzle carrier, nozzle carrier can slide along slide bar, and what can swing with respect to slide bar again is arranged on slide bar simultaneously, and sleeve is slidably arranged on slide bar; Slide unit is being parallel to being arranged in frame of square upward sliding of slide bar, and slide unit is connected with respect to the slide unit driving mechanism of machine frame movement with driving slide unit; Sleeve and slide unit are connected; Nozzle carrier be arranged on slide unit, for drive nozzle carrier around slide bar swing nozzle carrier swing mechanism be connected.
10. matrimony vine picker as claimed in claim 9, it is characterized in that: further comprising an injection nozzle carrier that can move up and down with respect to frame, injection nozzle carrier be arranged in frame for driving the injection nozzle carrier driving mechanism that injection nozzle carrier moves up and down to be connected; The injection nozzle carrier guide rail that injection nozzle carrier is moved up and down to guiding is arranged in frame; Slide bar is arranged on injection nozzle carrier; Slide unit is being parallel to being arranged on injection nozzle carrier of slide bar side's upward sliding, and slide unit is connected with the slide unit driving mechanism that drives slide unit to move with respect to injection nozzle carrier; Described slide bar tilts.
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|---|---|---|---|
| CN201410031524.7A CN103733815B (en) | 2014-01-23 | 2014-01-23 | High velocity air is utilized to pluck method and the matrimony vine picker of matrimony vine |
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| CN201410031524.7A CN103733815B (en) | 2014-01-23 | 2014-01-23 | High velocity air is utilized to pluck method and the matrimony vine picker of matrimony vine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104969794A (en) * | 2015-06-24 | 2015-10-14 | 广西科技大学鹿山学院 | Device for planting low under shrubs in large scale and collecting flowers and fruits thereof |
| CN107984482A (en) * | 2017-12-27 | 2018-05-04 | 中国科学院合肥物质科学研究院 | A kind of intelligent matrimony vine picker and method based on TOF depth perceptions |
| CN108307803A (en) * | 2017-01-14 | 2018-07-24 | 西北农林科技大学 | A kind of vibration fruit picking collection device |
| CN109041787A (en) * | 2018-10-18 | 2018-12-21 | 胡昌辉 | A kind of medlar-picking machine |
| CN115245095A (en) * | 2021-04-27 | 2022-10-28 | 西北农林科技大学 | Comb-brushing air-blowing type wolfberry picking machine |
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| CN201015296Y (en) * | 2007-01-10 | 2008-02-06 | 冯云善 | Wind power pimiento picking machine |
| CN202722047U (en) * | 2012-09-03 | 2013-02-13 | 侯巧生 | Electric tea-leaf picker |
| CN203279519U (en) * | 2013-06-09 | 2013-11-13 | 东北农业大学 | Pneumatic type blue berry picking machine |
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| US5622036A (en) * | 1995-06-06 | 1997-04-22 | Orchard-Rite Ltd., Inc. | Oscillating blower for removing tree fruit and nuts |
| US20020108362A1 (en) * | 2001-02-15 | 2002-08-15 | Premier Mechanical Orchard Services, L.L.C. | Mechanical harvester and continuous row harvesting method for use in overhead trellis systems |
| CN201015296Y (en) * | 2007-01-10 | 2008-02-06 | 冯云善 | Wind power pimiento picking machine |
| CN202722047U (en) * | 2012-09-03 | 2013-02-13 | 侯巧生 | Electric tea-leaf picker |
| CN203279519U (en) * | 2013-06-09 | 2013-11-13 | 东北农业大学 | Pneumatic type blue berry picking machine |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104969794A (en) * | 2015-06-24 | 2015-10-14 | 广西科技大学鹿山学院 | Device for planting low under shrubs in large scale and collecting flowers and fruits thereof |
| CN104969794B (en) * | 2015-06-24 | 2017-08-08 | 广西科技大学鹿山学院 | The low undershrub of large-scale plantation and the device for collecting its flowers and fruits |
| CN108307803A (en) * | 2017-01-14 | 2018-07-24 | 西北农林科技大学 | A kind of vibration fruit picking collection device |
| CN107984482A (en) * | 2017-12-27 | 2018-05-04 | 中国科学院合肥物质科学研究院 | A kind of intelligent matrimony vine picker and method based on TOF depth perceptions |
| CN109041787A (en) * | 2018-10-18 | 2018-12-21 | 胡昌辉 | A kind of medlar-picking machine |
| CN115245095A (en) * | 2021-04-27 | 2022-10-28 | 西北农林科技大学 | Comb-brushing air-blowing type wolfberry picking machine |
| CN115245095B (en) * | 2021-04-27 | 2024-05-10 | 西北农林科技大学 | Comb brush air-blowing type medlar picking machine |
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| CN103733815B (en) | 2016-01-06 |
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Application publication date: 20140423 Assignee: Nantong Bolin Mechanical and Electrical Technology Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2018320000372 Denomination of invention: Method for picking Chinese wolfberries by high-speed air flow and Chinese wolfberry picking device Granted publication date: 20160106 License type: Common License Record date: 20181210 Application publication date: 20140423 Assignee: NANTONG GUANGYI MACHINERY AND ELECTRONIC Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2018320000368 Denomination of invention: Method for picking Chinese wolfberries by high-speed air flow and Chinese wolfberry picking device Granted publication date: 20160106 License type: Common License Record date: 20181210 |
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