CN110972693A

CN110972693A - Self-propelled pineapple harvesting machine

Info

Publication number: CN110972693A
Application number: CN201911284385.8A
Authority: CN
Inventors: 张日红; 杨松夏; 朱立学; 刘义存; 陈兴洲
Original assignee: Zhongkai University of Agriculture and Engineering
Current assignee: Zhongkai University of Agriculture and Engineering
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-04-10

Abstract

The invention discloses a self-propelled pineapple harvesting machine, which comprises the following components: the picking mechanism comprises a walking mechanism, a picking mechanism and a collecting mechanism; the picking mechanism comprises a push plate, a side baffle and a lifter; the side baffle is used for controlling the direction of the fruits and the fruit stems entering the picking mechanism, and the push plate moves along the preset direction and is matched with the side baffle to separate the fruits and the fruit stems; the lifter is used for changing the height of the picking mechanism to be matched with pineapple plants with different plant heights. The pineapple after picking is carried in collecting the frame through the conveyer belt, is provided with a plurality of buffer boards in the frame to preventing to extrude mutually and cause the bruise. The running mechanism uses the tire with specific lines, so that the machine is effectively prevented from being sunk into a farmland. The invention does not depend on a microcomputer and related electronic equipment, and has high reliability and low maintenance cost. The invention has the advantages of high degree of mechanization, convenient operation, low cost, time and labor saving and high picking efficiency.

Description

Self-propelled pineapple harvesting machine

Technical Field

The invention relates to the field of agricultural machinery, in particular to a self-propelled pineapple harvesting machine.

Background

The pineapple is one of the most common fruits planted in tropical zone in China, has excellent quality, rich nutrition and delicious taste, and has very high commercial value and excellent prospect. The pineapple plant height is 0.7-1.5 m, the planting interval is uniform, double-row planting is generally adopted, the plant spacing is 0.4-0.5 m, the large row spacing is 0.6-0.9 m, and the large-area mechanical picking is difficult due to the structure of the pineapple and the special planting environment, so that the manual harvesting is mainly relied on at present. The pineapple leaves are hard and the edges of the pineapple leaves are accompanied with sawteeth, so that farmers need to wear protective clothing and eyeshields when picking the pineapple to prevent the pineapple leaves from cutting the body. In the picking process, a farmer needs to cut pineapples from plants by using a cutter and put the pineapples into a basket on the back, and the farmer carries the heavy basket, so that the pineapples not only can pass through the field with thorns and spread over the pineapples, but also can be stooped to pick the pineapples, and the pineapple harvester is large in physical consumption, low in efficiency and high in harvesting cost. Therefore, it is necessary to design a mechanical picking device which can be applied to the pineapple field.

For example, patent CN108575282A discloses a pineapple harvesting cart, which uses a circular saw to cut off fruits from plants. This way the plant height requirement is high, since pineapple belongs to perennial plants; when the plant is too high, a large number of plant parts can be cut off, which has a negative effect on the future harvest. (ii) a When the plant is too low, the fruit is directly split to form waste. Patents CN108617240A and CN108848890A also have similar problems.

Patent CN109804776A discloses a pineapple picking machine, which does not adopt a cutting and collecting mode. But the camera is adopted as the identification device and is matched with a raspberry type microcomputer for control. The method depends on the precision of a camera, a computer and corresponding software, and is expensive; is inconvenient for popularization and utilization. Meanwhile, the rough road condition of the farmland is not correspondingly improved, and the appearance is not suitable and is easy to clamp in the farmland.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a self-propelled pineapple harvesting machine.

A self-propelled pineapple harvesting machine comprising:

the travelling mechanism comprises a steering wheel for steering and a driving wheel for driving;

the picking mechanism comprises a push plate, a side baffle and a lifter; the side baffle is used for controlling the direction of the fruits and the fruit stems entering the picking mechanism, and the push plate moves along the preset direction and is matched with the side baffle to separate the fruits and the fruit stems; the lifter is used for changing the height of the picking mechanism to be matched with pineapple plants with different plant heights;

the collecting mechanism comprises a transmission belt and a storage frame; the lower end of the transmission belt is provided with a funnel for receiving the separated fruits; a storage frame for storing fruits is arranged below the higher end of the transmission belt;

the frame, running gear, picking mechanism and collection mechanism all install in the frame.

Preferably, a pair of steering wheels of the travelling mechanism is connected with the steering engine assembly through respective connecting rods; the steering machine assembly is provided with a speed reducer and a motor for controlling steering.

Preferably, a motor is arranged in a pair of driving wheels of the travelling mechanism, and an output shaft of the motor drives the rear wheel to travel after a transmission shaft reaches required torque through a speed reducer; the transmission shaft is used for mounting the driving wheel on the machine frame through a bearing and a connecting plate.

It is further preferred that the tyre surface of the driving wheel and/or the steering wheel is provided with inclined chevrons; the length of the transverse projection of the herringbone is larger than half of the width of the tire.

Preferably, the push plate of the picking mechanism is pushed by the cylinder; the cylinder is arranged on the picking rack; the moving direction of the push plate and the walking direction of the fruit have a certain angle.

Preferably, the front end of the side baffle of the picking mechanism inclines outwards, and the rear end of the side baffle is provided with a connecting strip; the connecting strip is arranged on the picking rack through the baffle plate hanging piece.

Preferably, the picking mechanism is interconnected to the frame by a picking frame and a hoist; the lifter is arranged on the frame, and a driving rod of the lifter is fixedly connected with the picking frame; the elevator drives the picking machine frame to move along a preset direction.

Preferably, a lifting guide post is arranged between the picking rack and the rack; the direction of the lifting guide post is the same as the preset direction in which the elevator drives the picking rack.

Preferably, the higher end of the transmission belt is provided with a collecting frame which is communicated up and down; a storage frame is arranged below the collection frame;

strip-shaped sponge is arranged inside the conveyor belt.

Preferably, a buffer rubber plate is arranged inside the storage frame; the buffer rubber plate is provided with a hollow part so that the pineapple falls onto the buffer rubber plate on the next layer.

The invention adopts a pushing and twisting way to pick, which can reduce the damage to plants and does not influence the future harvest; and a lifting device is designed for corresponding to different plant heights.

The pineapple after picking is conveyed to the collecting frame through the conveying belt, and a plurality of buffer plates are arranged in the frame to prevent the pineapple from being extruded and damaged. The running mechanism uses the tire with specific lines, so that the machine is effectively prevented from being sunk into a farmland. The invention does not depend on a microcomputer and related electronic equipment, and has high reliability and low maintenance cost. The invention has the advantages of high degree of mechanization, convenient operation, low cost, time and labor saving and high picking efficiency.

Drawings

Fig. 1 and fig. 2 are schematic perspective views of the present invention at different viewing angles;

FIG. 3 is a schematic view of the picking mechanism and collection mechanism of the present invention;

FIG. 4 is a schematic view of the picking mechanism and frame of the present invention;

FIG. 5 is a schematic view of the construction of the steerable wheel of the present invention;

fig. 6 is a schematic structural view of the driving wheel of the present invention.

In the figure: a front wheel 11; a rotating shaft 12; a speed reducer 13; a motor 14; a rear wheel 15; a cup receiving 16; a connecting rod 17; a steering gear assembly 18; a motor 13; a speed reducer 14; a cylinder 31; a push plate 32; a guide groove 33; side dams 34; a picking frame 35; a lifting guide post 36; a lifter 37; a frame 38; a baffle plate suspension member 39; a funnel 41; a conveyor belt 42; a collection frame 43; a rubber buffer plate 44; a strip of sponge 45; a storage box 46; a cylinder 51; a battery 52; an engine 53; piping and valves 54; a top plate 55; side plates 56.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The rest is not shown in detail in fig. 1 and 2 and is a schematic overall structure of the invention; the invention can be divided into a traveling mechanism, a picking mechanism and a collecting mechanism. The three parts are all installed and work cooperatively through the frame 38;

wherein the walking part includes: front wheels 11 and related parts as steered wheels; the rear wheels 15 and related parts, the power part, as the driving wheels.

The relevant part of the front wheel 11 of the steering wheel is shown in fig. 5, and comprises the front wheel 11, a cup 16, a connecting rod 17, a steering gear assembly 18, a motor 13 and a speed reducer 14. The output shaft of the motor 13 outputs torque to the steering assembly 18 through the reducer 14. The steering assembly 18 and the connecting rod 17 are connected through a gear rack, the gear drives the rack to move horizontally during steering, and the connecting rod 17 applies force in the horizontal direction to the receiving cup 16 to enable the receiving cup 16 to rotate, so that the steering function is realized.

The motor 13, the reducer 14 and the steering gear assembly 18 are partially arranged on a top plate 55 on the upper surface of the frame 38, and a connecting rod 17 connected with the steering gear assembly 18 is downwards connected with a cup 16 positioned in the front wheel 11 along two ends of the top plate 55; the front wheel 11 is also interconnected with a connection plate by means of a respective one of the connection forks located at the upper and lower ends of the hub; the connecting fork and the hub are mutually and independently connected through a bearing in a rotating way, and the connecting fork is always kept at the upper end and the lower end of the hub; the connecting plate is fixed with the frame 38, and the front wheel 11 is fixed at the front two ends of the frame 38 relatively.

The rear wheel 15 as a driving wheel and the related portion refer to fig. 6; including a rear wheel 15; a reducer 13, a motor 14 and a transmission shaft 12; an output shaft of the motor 14 drives the transmission shaft 12 to reach the required torque through the speed reducer 13 and then drives the rear wheel 15 to walk.

The rear wheel 15 is connected to a connecting plate through a bearing provided on the transmission shaft 12, the connecting plate and the transmission shaft 12 rotate independently of each other, and the connecting plate fixes the rear wheel 15 to both rear ends of the frame 38.

The front wheel 11 and the rear wheel 15 are each provided with a chevron on their surface, each chevron being disposed obliquely on its tire surface and having a transverse projected length (not the total length) greater than half the tire width. The agricultural tire with the herringbone lines has large contact area with the field, and can effectively prevent the machine from sinking into the field.

The assembly part of the walking mechanism comprises a cylinder 51, a battery 52 and an engine 53; the cylinder 51, the battery 52 and the engine 53 are all mounted on the top plate 55; the side of the motor 53 is also provided with a plurality of pipes and valves 54, and the pipes and valves 54 are used for resource exchange with external devices such as charging, oil filling, and the like. The running mechanism provides a power source for the rest structures of the invention.

Picking mechanism as shown in fig. 3 and 4, the picking mechanism includes a push plate 32, side guards 34 and corresponding picker frame 35, elevator 37 and the rest. The picker mechanism is mounted on the frame 38, as shown in fig. 1, 2 and 4, between left and right side plates 56, below the top plate 55.

Wherein, the cylinder 31 is directly installed and fixed in the picking frame 35; the side baffle 34 is fixedly arranged in the picking rack 35 through a baffle hanging piece 39; the elevator 37 is partially mounted on the frame 38 and protrudes above the upper surface of the top plate 55.

More specifically, the invention has two collecting channels inside, and each collecting channel is provided with a pair of mirror image side baffles 34; the front part of the side baffle 34 inclines outwards to enlarge the opening, and the middle end and the tail end of the side baffle 34 are provided with two upward connecting strips (four collecting channels and eight whole machines); the connecting strips at the tail end are connected with each other by a baffle plate hanger 39 and are mounted on the picking frame 35 by means of the baffle plate hanger 39. The relative distance of the pair of side guards 34 is slightly greater than the stem of the pineapple plant.

The cylinder 31 is a rodless cylinder, and the lower end of the cylinder 31 is provided with a push plate 32 driven by the cylinder 31; the moving direction of the push plate 32 is perpendicular to the advancing direction of the travelling mechanism of the invention;

a in fig. 1, fig. 3 represents the plant entry direction of a fruit-ripe pineapple plant. Since the fruit is located at the top of the pineapple plant after the pineapple plant is mature and the diameter of the fruit is much larger than the stem of the fruit below the fruit, a pair of side baffles 34 is used to guide the fruit into the guide groove 33 in the present invention. The fruit stalks are located between the side dams 34, above the directing of the fruit over the side dams 34; when the preset position is reached, namely the position of the push plate 32 relative to the guide groove 33; the air cylinder 31 drives the push plate 32 to break off the fruit stems; while the fruit falls in the direction B into the funnel 41 of the collecting mechanism. When set, the push plate 32 and the funnel 41 have a certain height difference and a certain transverse distance, which can ensure that the push plate falls into the funnel 41.

The pineapple is pushed and fallen by the pushing block, so that slipping of a traditional fruit stem shearing device can be avoided, the internal fiber structure of the fruit stem can be easily broken, and the picking efficiency is improved. The design of a mechanical nipper device for the shape of the pineapple is not required to be considered, the damage of the nipper device to the pineapple fruit is avoided, and the damage to the fruit is reduced to the minimum.

When the picking mechanism needs to be highly adjusted for pineapples of different heights, the picking mechanism is completed by the parts as shown in fig. 4. Wherein the hoister 37 is a screw rod hoister; the main body of lift 37 is mounted on the top plate 55 of frame 38, and the drive rod of lift 37 is mounted and fixed in the picker frame 35. The picking frames 35 are connected to each other in a relatively movable manner by means of eight lifting guide posts 36 mounted on the periphery. The screw rod elevator 37 is powered by a corresponding motor to enable the picking machine frame 35 to ascend and descend up and down along the ascending and descending guide post 36, and the side baffle 34 fixed relative to the picking machine frame 35 also ascends and descends along with the ascending and descending guide post.

Eight synchronous lifting guide posts 36 have ensured the stationarity of promotion to make the device can reach different picking heights, adapt to multiple pineapple plant.

The collecting mechanism is used for temporarily collecting and storing the pineapple fruits picked by the picking mechanism. The structure is shown in fig. 3, and the main components include a hopper 41, a conveyor belt 42, a collection frame 43, and a storage frame 46.

The collection mechanism is located outside and behind the picker mechanism, below the top plate 55, inside a pair of side plates 56. Wherein the front end of the conveyor belt 42 is a lower end, a funnel 41 is arranged in the lower end, the funnel 41 is opened upwards, a baffle which is bent outwards and extends is arranged at the opening, and the baffle is used for expanding the collection range of the fruits in the funnel 41. The rear end of the conveyor belt 42 is a higher end; this end is connected to the collecting frame 43. The collecting frame 43 is vertically connected, and a storage frame 46 is provided at the lower end of the collecting frame 43 to temporarily collect the pineapple fruits. A motor for driving the conveyor belt 42 is provided at the rear end of the conveyor belt 42 near the collection frame 43.

The conveyor belt 42 and the motor, the hopper 41 and the collecting frame 43 adjacent to the conveyor belt 42 are fixedly connected with the machine frame 38 through screw holes and screws on the side surface of the conveyor belt 42. The storage frame 46 separated from the conveyor belt 42 is fixedly connected with the frame 38 through screw holes and screws of the storage frame

The conveyor belt 42 is of a three-section type, and is internally provided with a plurality of layers of strip-shaped sponges 45; the spacing between the strips of sponge 45 matches the size of the pineapple. The strip-shaped sponge 45 has a buffering effect and prevents the pineapples from sliding off during lifting, so that the normal operation of the pineapple lifting process is ensured.

The left side and the right side of the storage frame 46 are provided with baffle plates, the lower ends of the baffle plates positioned at the outer sides are provided with outlet baffle plates provided with push-pull locks, and when the pineapples need to be dismounted, the push-pull locks of the outlet baffle plates are unlocked to open the outlet baffle plates; from which the pineapple is then released. The storage frame 46 is provided with a plurality of layers of array dispersed buffer rubber plates 44 from bottom to top. Except for the lowest cushion rubber plate 44, a hollow part is arranged inside the cushion rubber plate, and the hollow part can enable the pineapples to roll down to the cushion rubber plate 44 of the next layer to be completely arranged. The buffer rubber plate 44 has low hardness and high elasticity due to the characteristics of the material itself, and can effectively buffer the impact force of the pineapple falling, and protect the collection of the pineapple.

In order to introduce the internal structure more intuitively, the housing for enclosing the internal parts such as the cylinder 51, the battery 52, the motor 53, etc., which is located above the top plate 55 is removed; in normal operation, a corresponding housing will be provided for protection.

The whole working process of the invention is as follows: the person controls running gear and goes to suitable position, adjusts picking mechanism's height control part and puts and make picking mechanism arrive suitable position, lets the pineapple plant in the fruit stem junction totally to in to guide way 33, the pineapple fruit exposes in guide way 33 top, then does not have pole cylinder 31 effect to promote push pedal 32, breaks off the pineapple off with the fingers and thumb, gets into in the funnel 41 of conveyer belt 42 low flat end, in gathering the frame 43 by conveyer belt 42 promotion, drops to storage frame 46 by gathering the frame 43 again and temporarily preserves.

The battery 52 is a 48V100E energy-gathering adhesive battery, the air cylinder 31 adopts a MY3A32-200 rodless air cylinder, and the engine 53 adopts Forte 6500 EA; the elevator 37 adopts a 90ST-M03520 servo motor and is matched with an NMRV050 speed reduction motor, the motor 14 is a 90ST-M03520 servo motor, and the speed reducer 13 is an NMRV050 speed reduction motor;

the technical personnel in the field of electrical components with the described models can select different models, different brands and different internal structures which can realize the same function according to the actual needs to replace the components, so long as the functions required by the invention can be realized, and the technical personnel in the field can carry out corresponding replacement according to the actual working needs.

Any software, processor, power supply device and circuit connection mode used by the invention has no improvement; it belongs to a part of the prior art, and any corresponding modification, adaptation and model selection can be made according to the shape, category or purpose of the actual product, and the software, the power supply device, the processor and the connection mode of the circuit and the circuit do not belong to the improvement part of the invention aiming at the prior art; and others not described in detail herein are within the prior art.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all should be considered as belonging to the protection scope of the invention.

Claims

1. A self-propelled pineapple harvesting machine is characterized by comprising:

2. The self-propelled pineapple harvesting machine of claim 1, wherein:

a pair of steering wheels of the travelling mechanism is connected with a steering engine assembly through respective connecting rods; and the steering engine assembly is provided with a speed reducer and a motor for controlling steering.

3. The self-propelled pineapple harvesting machine of claim 1, wherein:

a motor is arranged in a pair of driving wheels of the travelling mechanism, and an output shaft of the motor drives a transmission shaft to reach the required torque through a speed reducer and then drives a rear wheel to travel; the transmission shaft is used for mounting the driving wheel on the frame through a bearing and a connecting plate.

4. The self-propelled pineapple harvesting machine of any one of claims 1 to 3, wherein:

the tire surface of the driving wheel and/or the steering wheel is provided with inclined herringbone lines; the chevron transverse projection length is greater than one-half of the tire width.

5. The self-propelled pineapple harvesting machine of claim 1, wherein:

a push plate of the picking mechanism is pushed by an air cylinder; the cylinder is arranged on the picking rack; the movement direction of the push plate and the walking direction of the fruits have a certain angle.

6. The self-propelled pineapple harvesting machine of claim 1, further comprising:

the front end of the side baffle of the picking mechanism inclines outwards, and the rear end of the side baffle is provided with a connecting strip; the connecting strip is arranged on the picking rack through the baffle plate hanging piece.

7. The self-propelled pineapple harvesting machine of any one of claims 1, 5 and 6, wherein: the picking mechanism is connected with the frame through a picking frame and a lifter; the elevator is arranged on the frame, and a driving rod of the elevator is fixedly connected with the picking frame; the elevator drives the picking machine frame to move along a preset direction.

8. The self-propelled pineapple harvesting machine of claim 7, wherein: a lifting guide pillar is arranged between the picking machine frame and the machine frame; the direction of the lifting guide post is the same as the preset direction in which the elevator drives the picking rack.

9. The self-propelled pineapple harvesting machine of claim 1, wherein: the higher end of the transmission belt is provided with a collection frame which is communicated up and down; a storage frame is arranged below the collection frame;

strip-shaped sponges are arranged inside the conveyor belt.

10. The self-propelled pineapple harvesting machine of claim 1 or 9, wherein: a buffer rubber plate is arranged inside the storage frame; the buffer rubber plate is provided with a hollow part so that the pineapples fall onto the buffer rubber plate of the next layer.