CN109258089B - Self-adaptive double-row pineapple automatic harvester and harvesting method thereof - Google Patents
Self-adaptive double-row pineapple automatic harvester and harvesting method thereof Download PDFInfo
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- CN109258089B CN109258089B CN201811327941.0A CN201811327941A CN109258089B CN 109258089 B CN109258089 B CN 109258089B CN 201811327941 A CN201811327941 A CN 201811327941A CN 109258089 B CN109258089 B CN 109258089B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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Abstract
The invention discloses a self-adaptive double-row pineapple automatic harvester which comprises a supporting device and at least one cutting device arranged on the supporting device, wherein each cutting device is connected with an angle self-adaptive device used for adjusting the cutting angle of the cutting device, the angle self-adaptive device is connected with a transverse self-adaptive device used for adjusting the transverse position of the cutting device, the transverse self-adaptive device is connected to the supporting device through a height lifting device, the supporting device is also provided with a collecting and arranging device, and the position of the collecting and arranging device corresponds to the cutting position of the cutting device. The pineapple harvesting and collecting device can fill the domestic vacancy of integrating pineapple harvesting and collecting, and greatly improve the pineapple harvesting efficiency, can be widely applied to the pineapple harvesting process in a pineapple planting base after mass production, can conveniently harvest pineapples, reduces the labor intensity of farmers, improves the harvesting efficiency, reduces the picking cost, and improves the economic benefit of the farmers.
Description
Technical Field
The invention relates to agricultural machinery, in particular to a self-adaptive double-row pineapple automatic harvester and a harvesting method thereof.
Background
At present, most of pineapple picking in China is still manually picking mainly because the pineapple leaves are hard and the edges of the leaves are accompanied by sawteeth, and farmers need to wear protective clothing and eyeshades when picking pineapples to prevent the pineapple leaves from cutting bodies. In the picking process, farmers need to cut pineapples from plants by using a cutter and place the pineapples in a basket on the back. In the picking process, farmers need to carry the heavy bamboo baskets and walk in the pineapples in the field with thorns, which causes great physical strength consumption, and the manual pineapple picking mode has the defects of high labor intensity, low labor efficiency and the like.
Disclosure of Invention
The invention aims to solve the problems that: aiming at the problems of high labor intensity and low picking efficiency of the traditional pineapple picking mode at present, in order to overcome the defects, the self-adaptive double-row pineapple automatic harvester and the harvesting method thereof are provided, which are applied to a pineapple planting base to harvest pineapples, can very conveniently harvest pineapples, reduce the labor intensity of farmers, improve the picking efficiency, reduce the picking cost and improve the economic benefits of the farmers.
The technical scheme of the invention is as follows: the utility model provides an automatic harvester of two line pineapples of self-adaptation formula, includes strutting arrangement and installs at least one cutting device on strutting arrangement, is connected with an angle self-adaptation device that is used for adjusting cutting device's cutting angle on every cutting device, be connected with the horizontal self-adaptation device that is used for adjusting cutting device's lateral position on the angle self-adaptation device, horizontal self-adaptation device connects on strutting arrangement through a high elevating gear, still be equipped with on the strutting arrangement and collect finishing device, the position of collecting finishing device is corresponding with cutting device's cutting position.
Preferably, the support device comprises a frame, a driving wheel arranged at the lower part of the front end of the frame and universal wheels arranged at the rear part of the frame.
The structure facilitates the movement of the device and improves the use flexibility of the device.
Preferably, the number of cutting device is two, and two cutting device install respectively in the both sides of frame, cutting device includes shell fragment baffle, cutting machine and cutting machine mounting bracket, the cutting machine mounting bracket is installed on horizontal self-adaptation device, the shell fragment baffle is installed and is used for preventing the pineapple from falling out at the cutting in-process in the front upper place of cutting machine.
This configuration further facilitates its cutting of the pineapple while increasing the amount of glass cut (double).
Preferably, angle self-adaptation device includes axis of rotation, bearing, rotation axis link, the axis of rotation passes through the bearing to be installed in horizontal self-adaptation device top, rotation axis link is with rotation axis connection on the cutting motor of cutting machine, the shell fragment baffle is connected with the cutting machine mounting bracket through the support baffle, and when angle self-adaptation device passed through the power swing that the shell fragment baffle received, whole cutting device also swung along with it and accomplished the process of self-adaptation.
Preferably, horizontal self-adaptation device includes the slide rail, installs the slide bar on the slide rail and installs the oil pressure spring damping on the slide bar, and wherein slide rail and slide bar all have two, and every slide bar inboard has two oil pressure spring damping, is equipped with the spring dog between two oil pressure spring damping, the spring dog is fixed on the slide rail, angle self-adaptation device and cutting device pass through slide bar sliding connection on the slide rail, and the slide bar moves in order to satisfy horizontal self-adaptation's requirement above the slide rail, and when the cutting device horizontal position changed, oil pressure spring damping made the slide bar return to original position.
Preferably, high elevating gear is including installing the supporting beam on the frame, installing scissor type crane, lead screw and elevator motor on the supporting beam, the lead screw inserts in the scissor type crane, scissor type crane middle part is equipped with the screw-nut of cooperation lead screw, and elevator motor drives the lead screw through the gear train meshing and rotates, and through driving the lead screw when elevator motor starts positive and negative rotation and rotate the rising and the decline that make the scissor type link.
Preferably, the collecting and tidying device comprises a collecting box arranged on the frame and guide grooves positioned on two sides of the collecting box, and the top of each guide groove corresponds to the cutting position of the cutting device.
Preferably, a gathering plate is arranged on the outer side of the elastic sheet baffle, a spring piece matched with the elastic sheet baffle is arranged on the supporting baffle, a rotating shaft supporting frame is arranged on the frame, a saw blade protecting cover matched with a saw blade is further arranged on the cutting machine, and the saw blade protecting cover is installed on a cutting machine installing frame through a protecting cover installing frame.
Preferably, the rear end of the frame is further provided with a control handle, the lifting motor is fixed on the supporting cross beam through a motor fixing frame, and a motor connecting piece used for connecting the gear set is arranged on the motor fixing frame.
A harvesting method of an adaptive double-row pineapple automatic harvester comprises the following steps:
the method comprises the following steps: an operator maintains the control handle with two hands to control the saw blade double hand-pressing switch on the control handle, starts the harvester and aims the pineapples at the cutting device, and the pineapples enter the elastic piece baffle plate and then enter the cutting device;
step two: after pineapples with different growing angles enter the cutting device, the angle self-adaption device is enabled to deflect to change the relative position of the pineapple due to the pressure of the pineapples on the elastic sheet baffle plate, the vertical position of the saw blade and the stem of the pineapple is achieved, and after pineapples with different distances enter the cutting device, the transverse relative position of the cutting device is changed due to the effect of the pressure promotion type transverse self-adaption device of the pineapples on the elastic sheet baffle plate, and the proper harvesting position is achieved;
step three: if pineapples with different heights are encountered in the harvesting process, an operator presses a button of the height adjusting device to adjust the height, the lifting motor is coaxially connected with the gear, then the gear is meshed to drive the screw rod to rotate, and the lifting function of the height adjusting device is ensured through the forward and reverse rotation of the lifting motor;
step four: the cut pineapples enter the collecting and arranging device through the guide groove due to the self gravity and the rotation direction of the saw blade, and harvesting is completed.
The pineapple harvesting and collecting device can fill the domestic vacancy of integrating pineapple harvesting and collecting, and greatly improve the pineapple harvesting efficiency, can be widely applied to the pineapple harvesting process in a pineapple planting base after mass production, can conveniently harvest pineapples, reduces the labor intensity of farmers, improves the harvesting efficiency, reduces the picking cost, and improves the economic benefit of the farmers.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is an assembled view of the cutting device and the angle adaptive device of the present invention;
FIG. 4 is an assembly view of the height adjustment mechanism and the lateral adaptive mechanism of the present invention;
FIG. 5 is a schematic structural view of the height adjustment device of the present invention;
FIG. 1-guide groove; 2-universal wheels; 3-operating a handle; 4-a spring plate baffle; 5-gathering plate; 6-a frame; 7-a lifting motor; 8-oil pressure spring damping; 9-a rotating shaft; 10-a saw blade; 11-rotating shaft support; 12-a bearing; 13-a cutter mounting frame; 14-rotating shaft connecting frame; 15-spring leaf; 16-a support baffle; 17-a saw blade guard; 18-a supporting beam; 19-motor fixing frame; 20-a motor connection; 21-a slide bar; 22-spring stop; 23-a gear; 24-a screw rod; 25-a driving wheel; 26-a collection box; 27-a scissor lift; 28-a slide rail; 29-shield mounting.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, but the present invention is not limited thereto.
As shown in fig. 1-5, an adaptive double-row pineapple automatic harvester comprises a supporting device and two cutting devices arranged on the supporting device, wherein each cutting device is connected with an angle self-adaptive device used for adjusting the cutting angle of the cutting device, the angle self-adaptive device is connected with a transverse self-adaptive device used for adjusting the transverse position of the cutting device, the transverse self-adaptive device is connected to the supporting device through a height lifting device, the supporting device is further provided with a collecting and arranging device, and the position of the collecting and arranging device corresponds to the cutting position of the cutting device. The support device comprises a frame 6, a driving wheel 25 arranged at the lower part of the front end of the frame 6 and a universal wheel 2 arranged at the rear part of the frame 6. Two cutting device install respectively in the both sides of frame 6, and cutting device includes shell fragment baffle 4, cutting machine and cutting machine mounting bracket 13, and cutting machine mounting bracket 13 is installed on horizontal self-adaptation device, and shell fragment baffle 4 is installed and is used for preventing that the pineapple from falling out in the cutting process in the preceding top of cutting machine. Angle self-adaptation device includes axis of rotation 9, bearing 12, rotation axis connecting frame 14, and axis of rotation 9 passes through bearing 12 to be installed in horizontal self-adaptation device top, and rotation axis connecting frame 14 connects axis of rotation 9 on the cutting motor of cutting machine, and shell fragment baffle 4 is connected with cutting machine mounting bracket 13 through support baffle 16, and when angle self-adaptation device passed through the power swing that shell fragment baffle 4 received, whole cutting device also swung along with it and accomplished the process of self-adaptation. The transverse self-adaptive device comprises a slide rail 28, a slide rod 21 arranged on the slide rail 28 and an oil pressure spring damper 8 arranged on the slide rod 21, wherein the slide rail 28 and the slide rod 21 are respectively provided with two oil pressure spring dampers 8, two oil pressure spring dampers 8 are arranged on the inner side of each slide rod 21, a spring stop 22 is arranged between the two oil pressure spring dampers 8, the spring stop 22 is fixed on the slide rail 28, the angle self-adaptive device and the cutting device are connected on the slide rail 28 in a sliding mode through the slide rod 21, the slide rod 21 moves above the slide rail 28 to meet the requirement of transverse self-adaptation, and when the transverse position of the cutting device changes, the oil pressure spring dampers 8 enable. The height lifting device comprises a supporting cross beam 18 arranged on the frame 6, a scissor type lifting frame 27 arranged on the supporting cross beam 18, a lead screw 24 and a lifting motor 7, wherein the lead screw 24 is inserted into the scissor type lifting frame 27, a lead screw nut matched with the lead screw 24 is arranged in the middle of the scissor type lifting frame 27, the lifting motor 7 is meshed through a gear set 23 to drive the lead screw 24 to rotate, and when the lifting motor 7 is started to rotate forwards and backwards, the lead screw 24 is driven to rotate to enable the scissor type connecting frame 27 to ascend and descend. The collecting and tidying device comprises a collecting box 26 arranged on the frame 6 and guide grooves 1 positioned on two sides of the collecting box 26, and the top of each guide groove 1 corresponds to the cutting position of the cutting device. The gathering plate 5 is arranged on the outer side of the elastic sheet baffle 4, the spring piece 15 matched with the elastic sheet baffle 4 is arranged on the supporting baffle 16, the rotating shaft supporting frame 11 is arranged on the frame 6, the saw blade protecting cover 17 matched with the saw blade 10 is further arranged on the cutting machine, and the saw blade protecting cover 17 is installed on the cutting machine installing frame 13 through the protecting cover installing frame 29. The rear end of the frame 6 is also provided with a control handle 3, the lifting motor 7 is fixed on the supporting beam 18 through a motor fixing frame 19, and a motor connecting piece 20 used for connecting a gear set 23 is arranged on the motor fixing frame 19.
The harvesting method of the self-adaptive double-row pineapple automatic harvester comprises the following steps:
the method comprises the following steps: an operator maintains the control handle with two hands to control the saw blade double hand-pressing switch on the control handle, starts the harvester and aims the pineapples at the cutting device, and the pineapples enter the elastic piece baffle plate and then enter the cutting device;
step two: after pineapples with different growing angles enter the cutting device, the angle self-adaption device is enabled to deflect to change the relative position of the pineapple due to the pressure of the pineapples on the elastic sheet baffle plate, the vertical position of the saw blade and the stem of the pineapple is achieved, and after pineapples with different distances enter the cutting device, the transverse relative position of the cutting device is changed due to the effect of the pressure promotion type transverse self-adaption device of the pineapples on the elastic sheet baffle plate, and the proper harvesting position is achieved;
step three: if pineapples with different heights are encountered in the harvesting process, an operator presses a button of the height adjusting device to adjust the height, the lifting motor is coaxially connected with the gear, then the gear is meshed to drive the screw rod to rotate, and the lifting function of the height adjusting device is ensured through the forward and reverse rotation of the lifting motor;
step four: the cut pineapples enter the collecting and arranging device through the guide groove due to the self gravity and the rotation direction of the saw blade, and harvesting is completed.
The pineapple harvesting and collecting device can fill the domestic vacancy of integrating pineapple harvesting and collecting, and greatly improve the pineapple harvesting efficiency, can be widely applied to the pineapple harvesting process in a pineapple planting base after mass production, can conveniently harvest pineapples, reduces the labor intensity of farmers, improves the harvesting efficiency, reduces the picking cost, and improves the economic benefit of the farmers.
Claims (7)
1. The utility model provides a self-adaptation formula double row pineapple automatic harvester which characterized in that: the device comprises a supporting device and at least one cutting device arranged on the supporting device, wherein each cutting device is connected with an angle self-adaptive device used for adjusting the cutting angle of the cutting device, the angle self-adaptive device is connected with a transverse self-adaptive device used for adjusting the transverse position of the cutting device, the transverse self-adaptive device is connected to the supporting device through a height lifting device, the supporting device is also provided with a collecting and sorting device, and the position of the collecting and sorting device corresponds to the cutting position of the cutting device; the supporting device comprises a frame, a driving wheel arranged at the lower part of the front end of the frame and universal wheels arranged at the rear part of the frame; the number of the cutting devices is two, the two cutting devices are respectively arranged on two sides of the frame, each cutting device comprises an elastic sheet baffle, a cutting machine and a cutting machine mounting frame, the cutting machine mounting frames are arranged on the transverse self-adaptive devices, and the elastic sheet baffles are arranged in the front upper part of the cutting machine and used for preventing pineapples from falling out in the cutting process; the angle self-adaptation device comprises a rotating shaft, a bearing and a rotating shaft connecting frame, wherein the rotating shaft is installed above the transverse self-adaptation device through the bearing, the rotating shaft connecting frame connects the rotating shaft to a cutting motor of the cutting machine, the elastic sheet baffle is connected with the cutting machine mounting frame through the supporting baffle, and when the angle self-adaptation device swings through the force received by the elastic sheet baffle, the whole cutting device swings along with the elastic sheet baffle to complete the self-adaptation process.
2. The self-adaptive double-row pineapple automatic harvester according to claim 1, characterized in that: the horizontal self-adaptation device includes the slide rail, installs the slide bar on the slide rail and installs the hydraulic spring damping on the slide bar, and wherein slide rail and slide bar all have two, and every slide bar inboard has two hydraulic spring damping, is equipped with the spring dog between two hydraulic spring damping, the spring dog is fixed on the slide rail, angle self-adaptation device and cutting device pass through slide bar sliding connection on the slide rail, and the slide bar removes in order to satisfy horizontal self-adaptation's requirement above the slide rail, and when the cutting device horizontal position changed, hydraulic spring damping made the slide bar return to original position.
3. The self-adaptive double-row pineapple automatic harvester according to claim 1, characterized in that: the high lifting device comprises a supporting cross beam arranged on the frame, a scissor-type lifting frame arranged on the supporting cross beam, a screw rod and a lifting motor, wherein the screw rod is inserted into the scissor-type lifting frame, a screw rod nut matched with the screw rod is arranged in the middle of the scissor-type lifting frame, the lifting motor drives the screw rod to rotate through gear set meshing, and the scissor-type connecting frame is driven to rotate or descend through driving the screw rod when the lifting motor starts to rotate forwards and backwards.
4. The self-adaptive double-row pineapple automatic harvester according to claim 1, characterized in that: the collecting and arranging device comprises a collecting box arranged on the frame and guide grooves positioned on two sides of the collecting box, and the top of each guide groove corresponds to the cutting position of the cutting device.
5. The self-adaptive double-row pineapple automatic harvester according to claim 1, characterized in that: the outer side of the elastic sheet baffle is provided with a gathering plate, the supporting baffle is provided with a spring piece matched with the elastic sheet baffle, the frame is provided with a rotating shaft supporting frame, the cutting machine is further provided with a saw blade protecting cover matched with a saw blade, and the saw blade protecting cover is installed on the cutting machine installing frame through a protecting cover installing frame.
6. An adaptive double row pineapple automatic harvester according to claim 3, characterized in that: the rear end of the frame is also provided with a control handle, the lifting motor is fixed on the supporting cross beam through a motor fixing frame, and a motor connecting piece used for connecting the gear set is arranged on the motor fixing frame.
7. A harvesting method of an adaptive double-row pineapple automatic harvester according to claim 6, characterized in that: which comprises the following steps:
the method comprises the following steps: an operator maintains the control handle with two hands to control the saw blade double hand-pressing switch on the control handle, starts the harvester and aims the pineapples at the cutting device, and the pineapples enter the elastic piece baffle plate and then enter the cutting device;
step two: after pineapples with different growing angles enter the cutting device, the angle self-adaption device is enabled to deflect to change the relative position of the pineapple due to the pressure of the pineapples on the elastic sheet baffle plate, the vertical position of the saw blade and the stem of the pineapple is achieved, and after pineapples with different distances enter the cutting device, the transverse relative position of the cutting device is changed due to the effect of the pressure promotion type transverse self-adaption device of the pineapples on the elastic sheet baffle plate, and the proper harvesting position is achieved;
step three: if pineapples with different heights are encountered in the harvesting process, an operator presses a button of the height adjusting device to adjust the height, the lifting motor is coaxially connected with the gear, then the gear is meshed to drive the screw rod to rotate, and the lifting function of the height adjusting device is ensured through the forward and reverse rotation of the lifting motor;
step four: the cut pineapples enter the collecting and arranging device through the guide groove due to the self gravity and the rotation direction of the saw blade, and harvesting is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811327941.0A CN109258089B (en) | 2018-11-09 | 2018-11-09 | Self-adaptive double-row pineapple automatic harvester and harvesting method thereof |
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| CN201811327941.0A CN109258089B (en) | 2018-11-09 | 2018-11-09 | Self-adaptive double-row pineapple automatic harvester and harvesting method thereof |
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| CN109258089B true CN109258089B (en) | 2020-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109716920B (en) * | 2019-03-12 | 2022-02-01 | 滨州学院 | Pineapple collecting and picking device |
| CN110024557B (en) * | 2019-04-29 | 2021-06-22 | 江苏大学 | Pineapple picking device |
| CN114208597B (en) * | 2021-12-22 | 2023-05-02 | 霍山县天下泽雨生物科技发展有限公司 | Multi-station rapid picking device for ganoderma lucidum cultivation and picking method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2321387A (en) * | 1940-01-03 | 1943-06-08 | Kermit J Jackson | Pineapple harvester |
| US2576991A (en) * | 1946-03-22 | 1951-12-04 | Maui Pineapple Company Ltd | Apparatus for harvesting pineapples |
| CN103688657B (en) * | 2013-12-10 | 2015-09-30 | 华南农业大学 | A kind of apparatus and method for automatically plucking pineapple |
| CN205196357U (en) * | 2015-12-10 | 2016-05-04 | 大连交通大学 | Fruit picking machine ware people |
| MX2016005655A (en) * | 2016-04-29 | 2017-10-30 | Univ Guanajuato | Harvester machine for agave shredding. |
| CN207692397U (en) * | 2017-12-28 | 2018-08-07 | 福建农林大学 | A kind of pineapple picker |
| CN108353624A (en) * | 2018-04-25 | 2018-08-03 | 江西理工大学 | Pineapple picker |
| CN108617240B (en) * | 2018-05-11 | 2020-08-11 | 重庆交通大学 | Expandable integrated pineapple picking device |
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