A pineapple combined harvester with a directional flexible fruit picker and a vibrating conveying mechanism

Abstract

The application discloses a pineapple combined harvester with a directional flexible fruit poking device and a vibrating conveying mechanism, which comprises a vehicle body, a picking device and a conveying device. The picking device comprises a frame and a picking mechanism. The picking mechanism comprises a fruit receiving plate and a directional flexible fruit poking device arranged on the frame. The directional flexible fruit poking device comprises a plurality of groups of flexible fruit poking rods and a fruit poking driving mechanism for driving the flexible fruit poking rods to keep a vertical posture and perform a fruit poking movement. The conveying device comprises a conveying belt and a vibrating conveying mechanism. The vibrating conveying mechanism comprises two rows of alternately arranged toothed screen groups and a vibrating conveying driving mechanism for driving the two rows of toothed screen groups to perform forward and backward alternating reciprocating movements. The pineapple combined harvester can push pineapple fruits backward for fruit poking, is suitable for the picking of pineapple fruits in various postures, and can realize low-loss conveying of the pineapple fruits. In the conveying process, no blockage occurs, so that the efficiency of batch fruit picking is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pineapple harvesting device, in particular to a pineapple combined harvester with a directional flexible fruit picker and a vibrating conveying mechanism. BACKGROUND

[0002] At present, the mechanization and automation level of pineapple harvesting is low, and most of the pineapple picking is mainly by hand, which is low in efficiency, slow in speed and high in labor intensity. The mechanical equipment for pineapple harvesting is mostly complex in structure, high in cost and poor in versatility, which is difficult to adapt to various harvesting environments and difficult to realize batch harvesting.

[0003] In a large area of pineapple planting, a large number of pineapple picking equipment is usually used, and the equipment usually picks multiple rows of pineapples at a time. However, the pineapple fruits are not all grown in normal posture, and for such pineapple fruits, the angle of the cutter is usually adjusted to adapt to the posture of the pineapple. However, since it is a large number of picking, the pineapple fruits entering the cutter at the same time cannot be guaranteed to have the same posture, which may cause some pineapple fruits to be missed. At the same time, due to the large size and weight of the pineapple fruits, the conveying process is prone to rolling, jamming and impact damage, resulting in low quality of pineapple fruit harvesting. SUMMARY

[0004] The present application aims to overcome the above problems and provide a pineapple combined harvester with a directional flexible fruit picker and a vibrating conveying mechanism. The pineapple combined harvester can push the pineapple fruits backward and adapt to the harvesting of pineapple fruits in various postures, and can realize low-loss conveying of pineapple fruits, so as to increase the efficiency of batch harvesting of fruits.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A pineapple combined harvester with a directional flexible fruit picker and a vibrating conveying mechanism, comprising a vehicle body, a picking device arranged at the front end of the vehicle body, and a conveying device arranged between the vehicle body and the picking device; the picking device comprises a rack and a picking mechanism arranged on the rack; wherein,

[0007] The picking mechanism comprises a fruit receiving plate arranged on the rack and a directional flexible fruit picker, the directional flexible fruit picker comprises a plurality of flexible fruit picking rods and a fruit picking driving mechanism for driving the flexible fruit picking rods to keep vertical posture and move for fruit picking;

[0008] The conveying device comprises a conveying belt arranged on the vehicle body and a vibrating conveying mechanism arranged between the fruit receiving plate and the conveying belt; the vibrating conveying mechanism comprises two rows of alternately arranged toothed screen groups and a vibrating conveying drive mechanism for driving the two rows of toothed screen groups to alternately reciprocate forward and backward.

[0009] The working principle of the pineapple combined harvester with the above-mentioned fruit direction flexible fruit poking device and vibrating conveying mechanism is as follows:

[0010] During harvesting, the vehicle body moves in the pineapple field, so that the whole pineapple combined harvester moves in the pineapple field, the fruit poking drive mechanism drives the flexible fruit poking rod group to move for fruit poking, pineapple fruits enter the picking range, the flexible fruit poking rod group pushes the pineapple fruits to move rearward and pushes the pineapple fruits onto the fruit receiving plate, with the movement of the flexible fruit poking rod group, the pineapple fruits are subjected to the pushing force of the flexible fruit poking rod group, the pineapple stems are subjected to the supporting force of the fruit receiving plate, and the pineapple plants are subjected to the pulling force of the rootstock, under the combined action of the above three forces, a moment is formed at the connection between the pineapple fruits and the stems, so that the connection is broken, thereby separating the pineapple fruits from the stems, and the pineapple fruits are picked; after the pineapple fruits are separated from the stems, the flexible fruit poking rod group continues to push the pineapple fruits to the rear conveying device, the pineapple fruits roll along the fruit receiving plate and fall onto the vibrating conveying mechanism, the vibrating conveying drive mechanism drives the two rows of toothed screen groups to alternately reciprocate forward and backward, thereby driving the pineapple fruits to move rearward and fall into the conveying belt, and the conveying belt conveys the pineapple fruits to the collecting basket of the vehicle body, thereby realizing pineapple harvesting integration.

[0011] In one preferred embodiment of the present application, the fruit poking drive mechanism comprises a fruit poking rotating shaft rotatably arranged on the frame, a disc arranged at each end of the fruit poking rotating shaft, and a fruit poking drive assembly for driving the fruit poking rotating shaft to rotate; the flexible fruit poking rod group is arranged between the two discs and rotatably connected to the outside of the discs; a transmission mechanism for driving the flexible fruit poking rod group to maintain a vertical posture is arranged between each flexible fruit poking rod group and the frame. In the above structure, the fruit poking drive assembly drives the fruit poking rotating shaft to rotate, thereby driving the discs at both ends of the fruit poking rotating shaft to synchronously rotate, and further driving the multiple flexible fruit poking rod groups to synchronously rotate, with the movement of the flexible fruit poking rod group, the flexible fruit poking rod group also rotates under the driving of the transmission mechanism, so that the flexible fruit poking rod group always maintains a vertical state, in the vertical state, the flexible fruit poking rod group always pushes the pineapple in one direction, which is conducive to the normal development of the picking work and prevents the pineapple from being overturned by forces in other directions, thereby improving the picking success rate.

[0012] Further, the transmission mechanism is a chain transmission mechanism, which comprises a movable sprocket, a fixed sprocket and a chain; the fixed sprocket is fixedly connected with the rack through a fixing member, the fixed sprocket is coaxially arranged with the fruit-pushing shaft, the movable sprocket is connected with the flexible fruit-pulling rod set, one end of the chain is engaged with the fixed sprocket, and the other end of the chain is engaged with the movable sprocket. In the above structure, the fixed sprocket is fixedly connected with the rack through the fixing member, so that the fixed sprocket is located at the center of the disc but cannot rotate, the disc is driven to rotate by the fruit-pushing shaft, the flexible fruit-pulling rod set and the movable sprocket located on the flexible fruit-pulling rod set also rotate around the fruit-pushing shaft, and the movable sprocket rotates by itself under the action of the chain, so as to drive the flexible fruit-pulling rod set to rotate by itself, the movable sprocket and the fixed sprocket form planetary motion, and the flexible fruit-pulling rod set always maintains a vertical state.

[0013] Preferably, each of the flexible fruit-pulling rod sets comprises a directional rotating shaft arranged between two discs, a connecting square tube arranged outside the directional rotating shaft, and a plurality of flexible fruit-pulling rods arranged on the connecting square tube; the plurality of flexible fruit-pulling rods are equidistantly arranged along the extension direction of the connecting square tube, and the flexible fruit-pulling rods are vertically arranged downward; and the movable sprocket is arranged on the directional rotating shaft. In the above structure, the directional rotating shaft is rotatably connected outside the disc and fixedly connected with the connecting square tube, the connecting square tube can better install the flexible fruit-pulling rods, the flexible fruit-pulling rods maintain a vertical state under the action of the chain transmission mechanism when rotating around the fruit-pushing shaft; the flexible fruit-pulling rods have good elasticity and strong plasticity, and will not damage the pineapple fruits when contacting the surfaces of the pineapple fruits; the fruit-receiving plate is located below the directional flexible fruit-pushing device, the flexible fruit-pulling rods are always vertically arranged downward, the pineapple fruits are separated from the stems and placed on the fruit-receiving plate under the pushing of the flexible fruit-pulling rods, the flexible fruit-pulling rods continue to push the pineapple fruits, further conveying the pineapple fruits backward, and the pineapple harvesting work can be smoothly carried out, and the pineapple fruits are prevented from being blocked on the fruit-receiving plate.

[0014] Preferably, the two rows of toothed screens are respectively a front toothed screen group located in front and a rear toothed screen group located in back, and the front toothed screen group and the rear toothed screen group each comprise a mounting rod and toothed screen rods arranged equidistantly along the axial direction of the mounting rod; the toothed screen rods of the front toothed screen group and the toothed screen rods of the rear toothed screen group are arranged in staggered positions. In the above structure, the front toothed screen group is close to the fruit receiving plate, and the rear toothed screen group is close to the conveying belt; the picked pineapple fruits roll from the fruit receiving plate to the toothed screen rods, the two rows of toothed screen rods make forward and backward alternating reciprocating movements under the driving of the vibrating conveying driving mechanism, one row of toothed screen rods is in an idle stroke while the other row of toothed screen rods is in a conveying stroke, the pineapple fruits are located on the tooth grooves of the toothed screen rods, the two rows of toothed screen rods alternately reciprocate, the pineapple fruits roll from the groove positions of one row of toothed screen groups to the groove positions of the other row of toothed screen groups (i.e. on the tooth grooves), and the pineapple fruits are conveyed backward to the conveying belt through the reciprocating movement, which can prevent the pineapple fruits from being directly rolled to the conveying belt and being damaged, prevent the pineapple fruits from being accumulated and blocked in the conveying process, and is conducive to ensuring the smooth conveying of the pineapple fruits.

[0015] Preferably, the vibrating conveying driving mechanism comprises a conveying rotary shaft rotatably connected to the frame, two stabilizing plates arranged on the inner side of the frame, a conveying driving assembly for driving the conveying rotary shaft to rotate, a front crank rocker mechanism for transmitting the power of the conveying rotary shaft to the front toothed screen group, and a rear crank rocker mechanism for transmitting the power of the conveying rotary shaft to the rear toothed screen group.

[0016] The front crank rocker mechanism and the rear crank rocker mechanism each comprise two groups of crank rocker assemblies arranged at the two ends of the conveying rotary shaft; each group of the crank rocker assemblies comprises an eccentric wheel arranged on the conveying rotary shaft, a conveying rocker arranged between the eccentric wheel and the mounting rod, and a limiting rocker arranged between the stabilizing plate and the conveying rocker; one end of the conveying rocker is sleeved on the eccentric wheel, and the other end is connected with the mounting rod; one end of the limiting rocker is hingedly connected with the middle part of the conveying rocker, and the other end is hingedly connected with the stabilizing plate. In the above structure, two groups of crank rocker assemblies simultaneously drive one mounting rod to move, the movement is more stable, and the limiting rocker can limit the movement range of the conveying rocker; during work, the conveying driving assembly drives the conveying rotary shaft to rotate, drives all the eccentric wheels to rotate, and drives the conveying rockers to swing, under the action of the limiting rockers, the lower ends of the conveying rockers swing back and forth, drive the mounting rod to move, and then drive the toothed screen rods to move together with the mounting rod; the eccentric wheels of the front crank rocker mechanism and the eccentric wheels of the rear crank rocker mechanism are arranged with a half stroke difference, so as to realize the alternating reciprocating movement of the conveying rockers of the front crank rocker mechanism and the conveying rockers of the rear crank rocker mechanism, and finally realize the forward and backward alternating reciprocating movement of the front toothed screen group and the rear toothed screen group.

[0017] Further, the two sets of crank rocker assemblies of the front crank rocker mechanism are arranged on the inner sides of the two stabilizing plates respectively, and the two sets of crank rocker assemblies of the rear crank rocker mechanism are arranged on the outer sides of the two stabilizing plates respectively; the stabilizing plates are fixedly connected to the frame through the limiting square tubes.

[0018] Preferably, the toothed screen rod is provided with convex teeth arranged uniformly along the front-rear direction, the convex teeth are provided with front tooth surfaces and rear tooth surfaces, the length of the front tooth surface is greater than that of the rear tooth surface; and a tooth groove is formed between two adjacent convex teeth. In the above structure, the length of the front tooth surface is greater than that of the rear tooth surface, which facilitates the rearward conveying of the pineapple fruits, the longer front tooth surface is used for supporting the pineapple fruits, and the shorter rear tooth surface is used for blocking the pineapple fruits, thereby pushing the pineapple fruits to move rearward, and the tooth groove is used for receiving and conveying the pineapple fruits; during the alternate movement of the front and rear rows of toothed screen rods, the pineapple fruits will fall from the tooth groove of one row of toothed screen rods into the tooth groove of the other row of toothed screen rods, so as to realize the forward conveying by vibration.

[0019] Preferably, the rear end of the toothed screen rod is provided with a rubber strip inclined upward toward the rear direction, and the rubber strip is provided with a protrusion, and the rubber strip is located in the gap between the toothed screen rod and the conveying belt. The rubber strip is provided with a protrusion for receiving the pineapple fruits conveyed rearward, the rubber strip is used as an auxiliary component of the gap between the toothed screen rod and the conveying belt, the rubber strip has flexibility and elasticity, and can be restored naturally after being deformed by colliding with the baffle on the conveying belt; the angle of the rubber strip is upwardly inclined to lift the pineapple fruits, facilitating the pineapple fruits to fall into the conveying belt smoothly, preventing the pineapple fruits from being damaged by friction and extrusion in the gap between the toothed screen rod and the conveying belt, and being beneficial to the smooth conveying.

[0020] Preferably, the fruit receiving plate comprises a bent plate arranged on the frame and a blocking plate arranged at the front end of the bent plate, and the blocking plate is provided with a plurality of uniformly arranged elliptical grooves. In the above structure, the elliptical grooves are used for blocking the pineapple stems, separating and supporting the pineapple fruits.

[0021] Preferably, a lifting device for adjusting the height of the picking device is arranged between the frame and the vehicle body; the lifting device comprises two groups of lifting mechanisms; each group of lifting mechanisms comprises a first connecting rod, a second connecting rod and a lifting hydraulic push rod, the first connecting rod and the second connecting rod are arranged in an up-down distribution, one end of the first connecting rod is hinged to the vehicle body, the other end of the first connecting rod is hinged to the frame; one end of the second connecting rod is hinged to the vehicle body, the other end of the second connecting rod is hinged to the frame; one end of the lifting hydraulic push rod is hinged to the first connecting rod, the other end of the lifting hydraulic push rod is hinged to the vehicle body. In the above structure, the vehicle body, the frame, the first connecting rod and the second connecting rod form a four-connecting-rod mechanism, and the height of the whole picking device can be adjusted by the extension and retraction of the lifting hydraulic push rod, so that the picking device reaches the appropriate height for harvesting pineapple fruits, and collision with ground obstacles and damage to pineapple fruits are avoided.

[0022] Preferably, the rear end of the conveying belt is hinged to the vehicle body, and the front end of the conveying belt is provided with an adjusting mechanism between the vehicle body, the adjusting mechanism comprising adjusting hydraulic cylinders arranged on both sides of the conveying belt, one end of the adjusting hydraulic cylinder being hinged to the vehicle body and the other end being hinged to the conveying belt. By adjusting the height of the front end of the conveying belt, the height of the picking device can be better adapted, and the flexibility is high.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1、The pineapple combined harvesting machine in the present application, when picking, the pineapple fruits are pushed to the rear by the flexible fruit raking rod group, and pushed onto the fruit receiving plate, with the movement of the flexible fruit raking rod group, the pineapple fruits are subjected to the pushing force of the flexible fruit raking rod, the pineapple stems are subjected to the supporting force of the fruit receiving plate, and the pineapple plants are subjected to the pulling force of the rootstock, under the combined action of the above three forces, a moment is formed at the connection between the pineapple fruits and the stems, causing the connection to break, thereby separating the pineapple fruits from the stems, achieving the picking of the pineapple fruits, without the need to adjust the angle of the cutting knife, and through the cooperation of the flexible fruit raking rod group and the fruit receiving plate, the picking of pineapple fruits in various postures can be adapted.

[0025] 2、The pineapple combined harvesting machine in the present application, the pineapple fruits roll along the fruit receiving plate to the vibrating conveying mechanism, the vibrating conveying drive mechanism drives the two rows of toothed screens to alternately reciprocate forward and backward, driving the pineapple fruits to move to the rear and fall into the conveying belt, through the alternating reciprocating conveying, it is beneficial to prevent the pineapple fruits from being damaged by directly rolling into the conveying belt, prevent the pineapple fruits from piling up and blocking during conveying, and is beneficial to ensure the smooth conveying of the pineapple fruits to the rear, and increase the efficiency of batch picking of fruits.

[0026] 3、The pineapple combined harvesting machine in the present application has the advantages of simple structure, simple assembly, low cost, and can realize continuous, rapid and batch picking of pineapples.

[0027] 4. In the pineapple harvesting machine of this invention, the flexible fruit-lifting rod is always set vertically downward. The directional flexible fruit-lifting rod can continuously and steadily push the pineapple to the fruit-receiving plate for fruit removal, avoiding the bending of the pineapple plant and the scratching of the pineapple fruit. At the same time, it avoids the successfully separated pineapple fruit from getting stuck or blocked on the fruit-receiving plate, thereby improving the success rate and efficiency of harvesting and reducing damage to the pineapple. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of a pineapple combined harvester with a directional flexible fruit picker and a vibration conveying mechanism, as described in this invention.

[0029] Figure 2 This is a front view of the pineapple combine harvester of the present invention.

[0030] Figure 3 This is a three-dimensional structural diagram of the harvesting device and part of the conveying device in this invention.

[0031] Figure 4 This is a three-dimensional structural diagram of the harvesting device and part of the conveying device in this invention from another perspective.

[0032] Figure 5 This is a three-dimensional structural diagram of the directional flexible fruit picker of the present invention.

[0033] Figure 6 This is a three-dimensional structural diagram of the vibration conveying mechanism in this invention.

[0034] Figure 7 This is a three-dimensional structural diagram of the front toothed screen assembly and the front crank rocker mechanism in this invention.

[0035] Figure 8 This is a three-dimensional structural diagram of the rear toothed screen assembly and the rear crank rocker mechanism in this invention.

[0036] Figure 9 This is a three-dimensional structural diagram of the toothed screen rod in this invention.

[0037] Figure 10 This is a three-dimensional structural diagram of the fruit-receiving plate in this invention. Detailed Implementation

[0038] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0039] See Figures 1-4The embodiment discloses a pineapple combined harvester with a directional flexible fruit poking device and a vibrating conveying mechanism, which comprises a vehicle body 1, a picking device arranged at the front end of the vehicle body 1 and a conveying device arranged between the vehicle body 1 and the picking device.

[0040] The vehicle body 1 is a portal type crawler walking vehicle body, which is suitable for pineapple planting fields with complex terrains.

[0041] The picking device 3 comprises a fruit receiving plate 4 arranged on the frame 2 and a directional flexible fruit poking device. Figures 1-4 The directional flexible fruit poking device comprises a plurality of flexible fruit poking rod groups 5 and a fruit poking driving mechanism 6 for driving the flexible fruit poking rod groups 5 to keep a vertical posture and perform a fruit poking movement.

[0042] The conveying device comprises a conveying belt 7 arranged on the vehicle body 1 and a vibrating conveying mechanism arranged between the fruit receiving plate 4 and the conveying belt 7. Figures 1-4 The vibrating conveying mechanism comprises two rows of alternately arranged toothed screen groups 8 and a vibrating conveying driving mechanism 9 for driving the two rows of toothed screen groups 8 to perform forward and backward alternating reciprocating movements.

[0043] The fruit poking driving mechanism 6 comprises a fruit poking rotating shaft 601 rotatably arranged on the frame 2, a disc 602 arranged at each end of the fruit poking rotating shaft 601 and a fruit poking driving assembly 603 for driving the fruit poking rotating shaft 601 to rotate. Figures 3-5 The flexible fruit poking rod groups 5 are arranged between the two discs 602 and are rotatably connected to the outer sides of the discs 602.Each of the flexible fruit poking rod groups 5 is provided with a transmission mechanism for driving the flexible fruit poking rod groups 5 to keep a vertical posture.

[0044] The fruit poking driving assembly 603 is a fruit poking driving motor. Figure 5

[0045] The fruit poking driving assembly 603 is a fruit poking driving motor.Figure 5 The disc 602 is provided with a plurality of lightening grooves, so that the disc 602 is shaped as a circular ring, and the flexible fruit raking rod group 5 is arranged on the outer ring of the disc 602.

[0046] Referring to Figures 3-5 The transmission mechanism is a chain 606 transmission mechanism, which comprises a movable sprocket 604, a fixed sprocket 605 and a chain 606; the fixed sprocket 605 is fixedly connected with the rack 2 through a fixing member 607, the fixed sprocket 605 is coaxially arranged with the fruit-pushing shaft 601, and the movable sprocket 604 is connected with the flexible fruit raking rod group 5; one end of the chain 606 is engaged with the fixed sprocket 605, and the other end is engaged with the movable sprocket 604. In the above structure, the fixed sprocket 605 is fixedly connected with the rack 2 through the fixing member 607, so that the fixed sprocket 605 is located at the center of the disc 602 but cannot rotate, the fruit-pushing shaft 601 drives the disc 602 to rotate, and the flexible fruit raking rod group 5 and the movable sprocket 604 located on the flexible fruit raking rod group 5 also rotate around the fruit-pushing shaft 601; under the action of the chain 606, the movable sprocket 604 rotates by itself, drives the flexible fruit raking rod group 5 to rotate by itself, and the movable sprocket 604 and the fixed sprocket 605 form planetary motion, so that the flexible fruit raking rod group 5 always maintains a vertical state.

[0047] Referring to Figures 3-5 The fixing member 607 is an “L”-shaped fixing member. The flexible fruit raking rod group 5 in the embodiment is two groups, and the two groups of flexible fruit raking rod groups 5 are 180° apart, the fruit-pushing shaft 601 is horizontally arranged and coaxially arranged with the disc 602.

[0048] Referring to Figures 3-5Each of the flexible fruit raking rod groups 5 comprises a directional rotating shaft 501 arranged between two discs 602, a connecting square tube 502 arranged outside the directional rotating shaft 501, and a plurality of flexible fruit raking rods 503 arranged on the connecting square tube 502; the plurality of flexible fruit raking rods 503 are equidistantly arranged along the extension direction of the connecting square tube 502, and the flexible fruit raking rods 503 are vertically arranged downward; and the movable chain wheel 604 is arranged on the directional rotating shaft 501. In the above structure, the directional rotating shaft 501 is rotationally connected outside the disc 602 and fixedly connected with the connecting square tube 502, the connecting square tube 502 can better install the flexible fruit raking rods 503, and the flexible fruit raking rods 503 remain in a vertical state under the action of the chain 606 transmission mechanism when rotating around the fruit pushing rotating shaft 601; the flexible fruit raking rods 503 are good in elasticity and plasticity, and will not damage the pineapple fruits when contacting the pineapple fruit surface; the fruit receiving plate 4 is located below the directional flexible fruit pushing device, the flexible fruit raking rods 503 are always vertically arranged downward, the pineapple fruits are separated from the stems at the fruit receiving plate 4 under the pushing of the flexible fruit raking rods 503, the flexible fruit raking rods 503 continue to push the pineapple fruits, further conveying the pineapple fruits backward, and the pineapple harvesting work is ensured to be carried out smoothly, and the pineapple fruits are prevented from being blocked on the fruit receiving plate 4.

[0049] Referring to Figures 1-4 and Figures 6-9 , the two rows of toothed screen groups 8 are a front toothed screen group 81 located in front and a rear toothed screen group 82 located in back, and the front toothed screen group 81 and the rear toothed screen group 82 each comprise a mounting rod 801 and toothed screen rods 802 arranged on the mounting rod 801 and equidistantly arranged along the axial direction of the mounting rod 801; the toothed screen rods 802 of the front toothed screen group 81 and the toothed screen rods 802 of the rear toothed screen group 82 are arranged in a staggered manner. In the above structure, the front toothed screen group 81 is close to the fruit receiving plate 4, and the rear toothed screen group 82 is close to the conveying belt 7; the picked pineapple fruits roll from the fruit receiving plate 4 to the toothed screen rods 802, the two rows of toothed screen rods 802 are driven to make forward and backward reciprocating motion in turn under the driving of the vibration conveying driving mechanism 9, one row of toothed screen rods 802 is in an idle stroke while the other row of toothed screen rods 802 is in a conveying stroke, the pineapple fruits are located on the tooth grooves 8022 of the toothed screen rods 802, the two rows of toothed screen rods 802 are alternately reciprocated, the pineapple fruits roll from the groove of one row of toothed screen groups 8 to the groove of the other row of toothed screen groups 8 (i.e. on the tooth grooves 8022), and the pineapple fruits are conveyed backward to the conveying belt 7 through the reciprocating motion, which can prevent the pineapple fruits from being damaged by directly rolling to the conveying belt 7, prevent the pineapple fruits from being accumulated and blocked in the conveying process, and is beneficial to the smooth conveying of the pineapple fruits.

[0050] Referring to Figures 6-8The toothed screen rods 802 of the front toothed screen group 81 and the toothed screen rods 802 of the rear toothed screen group 82 are staggered and arranged with a half interval, so that the structure is more compact and the smoothness of conveying is ensured.

[0051] Referring to Figures 3-4 and Figures 6-8 The vibration conveying driving mechanism 9 comprises a conveying rotating shaft 901 rotatably connected to the frame 2 and horizontally arranged, two stabilizing plates 902 arranged inside the frame 2, a conveying driving assembly 903 for driving the conveying rotating shaft 901 to rotate, a front crank rocker mechanism 91 for transmitting power of the conveying rotating shaft 901 to the front toothed screen group 81, and a rear crank rocker mechanism 92 for transmitting power of the conveying rotating shaft 901 to the rear toothed screen group 82.

[0052] Referring to Figure 3 The conveying driving assembly 903 is a conveying driving motor.

[0053] Referring to Figures 3-4 and Figures 6-8 The front crank rocker mechanism 91 and the rear crank rocker mechanism 92 each comprise two groups of crank rocker assemblies arranged at two ends of the conveying rotating shaft 901; each group of the crank rocker assemblies comprises an eccentric wheel 904 arranged on the conveying rotating shaft 901, a conveying rocker 905 arranged between the eccentric wheel 904 and the mounting rod 801, and a limiting rocker 906 arranged between the stabilizing plate 902 and the conveying rocker 905; one end of the conveying rocker 905 is sleeved on the eccentric wheel 904, and the other end is fixedly connected with the mounting rod 801; one end of the limiting rocker 906 is hingedly connected with a middle part of the conveying rocker 905, and the other end is hingedly connected with the stabilizing plate 902. In the above structure, two groups of crank rocker assemblies simultaneously drive one mounting rod 801 to move, the movement is more stable, and the limiting rocker 906 can limit the movement range of the conveying rocker 905; in operation, the conveying driving assembly 903 drives the conveying rotating shaft 901 to rotate, drives all the eccentric wheels 904 to rotate, drives the conveying rockers 905 to swing, and under the action of the limiting rockers 906, the lower ends of the conveying rockers 905 swing back and forth, drive the mounting rod 801 to move, and then drive the toothed screen rods 802 to move together with the mounting rod 801; the eccentric wheels 904 of the front crank rocker mechanism 91 and the eccentric wheels 904 of the rear crank rocker mechanism 92 are arranged with a half stroke, so that the conveying rockers 905 of the front crank rocker mechanism 91 and the conveying rockers 905 of the rear crank rocker mechanism 92 realize alternate reciprocating motion, and finally the front toothed screen group 81 and the rear toothed screen group 82 realize front and rear alternate reciprocating motion.

[0054] Referring to Figures 3-4 and Figures 6-8The two groups of crank rocker assemblies of the front crank rocker mechanism 91 are arranged on the inner sides of the two stabilizing plates 902 respectively; the two groups of crank rocker assemblies of the rear crank rocker mechanism 92 are arranged on the outer sides of the two stabilizing plates 902 respectively; the stabilizing plates 902 are fixedly connected to the frame 2 through the limiting square tubes.

[0055] Referring to Figure 9 The toothed screen rods 802 are provided with convex teeth 8021 arranged uniformly along the front and rear directions, the convex teeth 8021 are provided with front tooth surfaces 8001 and rear tooth surfaces 8002, the length of the front tooth surface 8001 is greater than that of the rear tooth surface 8002; tooth grooves 8022 are formed between adjacent two convex teeth 8021. In the above structure, the length of the front tooth surface 8001 is greater than that of the rear tooth surface 8002, which facilitates the rearward conveying of the pineapple fruits, the front tooth surface 8001 is longer for supporting the pineapple fruits, the rear tooth surface 8002 is shorter for blocking the pineapple fruits, the pineapple fruits are pushed to move rearward, and the tooth grooves 8022 are used for receiving and conveying the pineapple fruits; during the alternate movement of the front and rear rows of toothed screen rods 802, the pineapple fruits will fall into the tooth grooves 8022 of the other row of toothed screen rods 802 from the tooth grooves 8022 of one row of toothed screen rods 802, so as to realize the forward conveying by vibration.

[0056] Referring to Figure 2 and Figure 6 The rear end of the toothed screen rod 802 is provided with a rubber strip 803 inclined upward toward the rear direction, the rubber strip 803 is provided with a protrusion 8031, and the rubber strip 803 is located in the gap between the toothed screen rod 802 and the conveying belt 7. The rubber strip 803 is provided with the protrusion 8031 for receiving the pineapple fruits conveyed rearward, the rubber strip 803 is used as an auxiliary component of the gap between the toothed screen rod 802 and the conveying belt 7, the rubber strip 803 has flexibility and elasticity, and can be restored naturally after being deformed by colliding with the baffle on the conveying belt 7; the angle of the rubber strip 803 is upwardly inclined to lift the pineapple fruits, which facilitates the pineapple fruits to fall into the conveying belt 7 smoothly, prevents the pineapple fruits from being damaged by friction and extrusion in the gap between the toothed screen rod 802 and the conveying belt 7, and is beneficial to the smooth conveying.

[0057] Referring to Figures 3-4 and Figure 10 The fruit receiving plate 4 is a special-shaped fruit receiving plate, which comprises a bent plate 401 arranged on the frame 2 and a blocking plate 402 arranged at the front end of the bent plate 401, and the blocking plate 402 is provided with a plurality of uniformly arranged elliptical grooves 403. In the above structure, the elliptical grooves 403 are used for blocking the pineapple stems, and separating and supporting the pineapple fruits.

[0058] Referring to Figures 3-4 and Figure 10, the bending plate 401 reduces the front end height by bending, so that the pineapple fruit pushed by the flexible fruit raking rod 503 is more easily to reach the fruit receiving plate 4, the oval-shaped groove 403 can slide and block the pineapple stem, block the pineapple stem, the pineapple fruit above the blocking plate 402 is pushed by the flexible fruit raking rod 503, under the joint action of the pushing force of the flexible fruit raking rod 503, the supporting force of the blocking plate 402 and the pulling force of the pineapple stem, the pineapple stem breaks at the position, separates the pineapple fruit from the plant, and makes the pineapple fruit fall on the fruit receiving plate 4 and be conveyed backward, realizes the harvesting of the pineapple, and improves the harvesting efficiency.

[0059] Referring to Figures 1-2 , the lifting device 10 for adjusting the height of the picking device is arranged between the frame 2 and the vehicle body 1, the lifting device 10 includes two groups of lifting mechanisms arranged on the two sides of the vehicle body respectively, each group of lifting mechanisms includes a first connecting rod 1001, a second connecting rod 1002 and a lifting hydraulic push rod 1003, the first connecting rod 1001 and the second connecting rod 1002 are arranged in an up-down distribution, one end of the first connecting rod 1001 is hinged to the vehicle body 1, the other end of the first connecting rod 1001 is hinged to the frame 2, one end of the second connecting rod 1002 is hinged to the vehicle body 1, the other end of the second connecting rod 1002 is hinged to the frame 2, one end of the lifting hydraulic push rod 1003 is hinged to the first connecting rod 1001, the other end of the lifting hydraulic push rod 1003 is hinged to the vehicle body 1, in the above structure, the vehicle body 1, the frame 2, the first connecting rod 1001 and the second connecting rod 1002 constitute a four-connecting-rod mechanism, through the extension and retraction of the lifting hydraulic push rod 1003, the height of the whole picking device can be adjusted, so that it reaches the appropriate height for harvesting pineapple fruit, and avoids collision with ground obstacles and damage to pineapple fruit.

[0060] Referring to Figures 1-2 , the rear end of the conveying belt 7 is hinged to the vehicle body 1, and the front end of the conveying belt 7 is provided with an adjusting mechanism 11 between the vehicle body 1, the adjusting mechanism 11 includes adjusting hydraulic cylinders 1101 arranged on the two sides of the conveying belt 7, one end of the adjusting hydraulic cylinder 1101 is hinged to the vehicle body 1, and the other end is hinged to the conveying belt 7, through the adjusting hydraulic cylinder 1101, the height of the front end of the conveying belt 7 can be adjusted, so that it better adapts to the height of the picking device, and has high flexibility.

[0061] Referring to Figures 1-10 , the working principle of the above-mentioned pineapple combined harvester with a directional flexible fruit pusher and a vibrating conveying mechanism is as follows:

[0062] When harvesting, the gantry crawler vehicle body 1 advances in the pineapple field, the fruit picking driving motor drives the fruit picking shaft 601 to rotate, the circular disc 602 rotates, the fixed sprocket 605 through by the fruit picking shaft 601 is relatively fixed, the dynamic sprocket 604 connected with the flexible fruit raking rod group 5 rotates under the driving of the circular disc 602, the dynamic sprocket 604 and the fixed sprocket 605 form planetary motion, the flexible fruit raking rod group 5 is driven by the dynamic sprocket 604 and the direction is always unchanged, the flexible fruit raking rod 503 is always vertically downward, the pineapple enters the picking range, the directional flexible fruit raking rod 503 pushes the pineapple from the front of the pineapple, and the pineapple fruit is pushed to the fruit receiving plate 4, with the rotation of the fruit picking shaft 601, the pineapple fruit is pushed to the highest position of the fruit receiving plate 4, that is, the bending position of the fruit receiving plate 4, at this time, the pineapple stem has been pushed into the oval groove 403 at the front end of the fruit receiving plate 4 under the pushing of the directional flexible fruit raking rod 503, and is in contact with the end of the oval groove 403, under the pushing of the flexible fruit raking rod 503, the pineapple fruit is subjected to the pushing force of the flexible fruit raking rod 503, the pineapple stem is subjected to the supporting force of the end of the oval groove 403, and the pineapple plant is subjected to the pulling force of the root stem, under the joint action of the above three forces, a moment is formed at the connection between the pineapple fruit and the stem, the connection is broken, the pineapple fruit is separated from the stem, and the pineapple fruit is picked.

[0063] After the pineapple fruit is separated from the stem, the flexible fruit raking rod 503 continues to push the pineapple fruit to move, and the pineapple fruit is sent to the rear conveying device, the pineapple fruit rolls on the fruit receiving plate 4 to the vibration conveying mechanism, specifically, the conveying driving motor drives the conveying shaft 901 to rotate, and drives the front and rear crank rocker mechanisms 92 to move, the eccentric wheels 904 of the front and rear crank rocker mechanisms 92 are arranged at positions with a half stroke difference, the front and rear rows of toothed screen groups 8 are driven by the conveying rocker arms 905 of the front and rear crank rocker mechanisms 92 to make alternating reciprocating motion, the conveying stroke of the toothed screen rods 802 is lifting and moving rearward, and the idle stroke is sinking and moving forward, the pineapple fruit rolls on the toothed grooves 8022 of a row of toothed screen rods 802 in the conveying stroke, and follows the toothed screen rods 802 to move rearward, under the rotation of the conveying shaft 901, the work of the toothed screen rods 802 changes from the conveying stroke to the idle stroke, gradually sinks, the work of the other row of toothed screen rods 802 changes from the idle stroke to the conveying stroke, gradually lifts, the pineapple fruit rolls on the toothed grooves 8022 of the toothed screen rods 802 in the conveying stroke, the work of the two rows of toothed screen rods 802 is alternated, the pineapple fruit continuously moves to the next toothed groove 8022 in the rear in the alternating motion of the two rows of toothed screen rods 802, and is conveyed to the rubber strips 803 at the front end of the conveying belt 7, the height of the rubber strips 803 is slightly higher than that of the conveying belt 7, the pineapple fruit rolls on the conveying belt 7 and is conveyed to the collecting basket by the conveying belt 7, and the pineapple harvesting integration is realized.

[0064] In the embodiment, the flexible fruit raking rod 503 is always set vertically downward, and the pineapple is continuously and stably pushed to the fruit receiving plate 4 for fruit picking operation by the directional flexible fruit raking rod 503, so that the pineapple plant is prevented from being bent and the pineapple fruit is prevented from being scratched, and the successfully separated pineapple fruit is prevented from being stopped and blocked on the fruit receiving plate 4, thereby improving the success rate and the harvesting efficiency and reducing the damage to the pineapple.

[0065] In the embodiment, the fruit receiving plate 4 is provided with the bending plate 401, the bending plate 401 is provided with a front end bending surface, the height of the front end of the bending plate 401 is reduced, and the pineapple fruit pushed by the flexible fruit raking rod 503 is pushed to the fruit receiving plate 4.

[0066] In the embodiment, the vibration conveying driving mechanism 9 is a double-row alternating toothed screen conveying mechanism, which is used as an intermediate transition conveying mechanism to prevent the pineapple fruit separated from the stem from directly rolling to the conveying belt 7 and colliding with the conveying belt 7 to cause pineapple damage, and to prevent the pineapple fruit from being blocked and squeezed in the gap between the fruit receiving plate 4 and the conveying belt 7, thereby ensuring the conveying work of the pineapple fruit.

[0067] The above is the preferred embodiment of the present application, but the embodiments of the present application are not limited by the above, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application should be equivalent replacement methods, which are all included in the protection scope of the present application.

Claims

1. A pineapple combined harvester with a directional flexible fruit picker and a vibrating conveyor mechanism, characterized in that, It includes a vehicle body, a harvesting device disposed at the front end of the vehicle body, and a conveying device disposed between the vehicle body and the harvesting device; the harvesting device includes a frame and a harvesting mechanism disposed on the frame; wherein... The harvesting mechanism includes a fruit receiving plate mounted on the frame and a directional flexible fruit picker. The directional flexible fruit picker includes multiple sets of flexible fruit-picking rods and a fruit-picking drive mechanism for driving the flexible fruit-picking rods to maintain a vertical posture and perform fruit-picking movements. The conveying device includes a conveyor belt mounted on the vehicle body and a vibrating conveying mechanism disposed between the fruit receiving plate and the conveyor belt; the vibrating conveying mechanism includes two rows of alternately arranged toothed sieve groups and a vibrating conveying drive mechanism for driving the two rows of toothed sieve groups to perform alternating back-and-forth reciprocating motion. The fruit-picking drive mechanism includes a fruit-picking shaft rotatably mounted on the frame, discs respectively mounted at both ends of the fruit-picking shaft, and a fruit-picking drive assembly for driving the fruit-picking shaft to rotate; the flexible fruit-picking rod group is disposed between the two discs and rotatably connected to the outside of the discs; each flexible fruit-picking rod group is provided with a transmission mechanism between itself and the frame for driving the flexible fruit-picking rod group to maintain a vertical posture. The transmission mechanism is a chain drive mechanism, including a moving sprocket, a fixed sprocket, and a chain; the fixed sprocket is fixedly connected to the frame by a fixing member, and the fixed sprocket is coaxially arranged with the fruit-picking shaft; the moving sprocket is connected to the flexible fruit-picking rod assembly; one end of the chain meshes with the fixed sprocket, and the other end meshes with the moving sprocket; Each set of flexible fruit-gathering rods includes a directional rotating shaft disposed between two discs, a connecting square tube sleeved outside the directional rotating shaft, and multiple flexible fruit-gathering rods disposed on the connecting square tube; the multiple flexible fruit-gathering rods are arranged at equal intervals along the extension direction of the connecting square tube, and the flexible fruit-gathering rods are set vertically downward; the moving sprocket is disposed on the directional rotating shaft.

2. The pineapple combine harvester according to claim 1, characterized in that, The two rows of toothed screen groups are a front toothed screen group located at the front and a rear toothed screen group located at the rear. Both the front and rear toothed screen groups include a mounting rod and toothed screen rods arranged equidistantly along the axial direction of the mounting rod. The toothed screen rods of the front and rear toothed screen groups are staggered.

3. The pineapple combine harvester according to claim 2, characterized in that, The vibration conveying drive mechanism includes a conveying shaft rotatably connected to the frame, two stabilizing plates disposed inside the frame, a conveying drive assembly for driving the conveying shaft to rotate, a front crank rocker mechanism for transmitting the power of the conveying shaft to the front toothed screen group, and a rear crank rocker mechanism for transmitting the power of the conveying shaft to the rear toothed screen group. Both the front crank-rocker mechanism and the rear crank-rocker mechanism include two sets of crank-rocker assemblies respectively disposed at both ends of the conveyor shaft; each set of crank-rocker assemblies includes an eccentric wheel disposed on the conveyor shaft, a conveying rocker disposed between the eccentric wheel and the mounting rod, and a limiting rocker disposed between the stabilizing plate and the conveying rocker; wherein, one end of the conveying rocker is sleeved on the eccentric wheel, and the other end is connected to the mounting rod; one end of the limiting rocker is hinged to the middle of the conveying rocker, and the other end is hinged to the stabilizing plate.

4. The pineapple combine harvester according to claim 2, characterized in that, The toothed screen rod is provided with protruding teeth evenly arranged in the front-to-back direction. Each protruding tooth has a front tooth surface and a rear tooth surface, and the length of the front tooth surface is greater than the length of the rear tooth surface. A tooth groove is formed between two adjacent protruding teeth.

5. The pineapple combine harvester according to claim 2, characterized in that, The toothed screen rod has a rubber strip that is inclined in the rearward direction at its rear end. The rubber strip has a protrusion and is located in the gap between the toothed screen rod and the conveyor belt.

6. The pineapple combine harvester according to claim 1, characterized in that, The fruit receiving plate includes a bent plate mounted on the frame and a blocking plate mounted at the front end of the bent plate. The blocking plate has multiple evenly arranged elliptical grooves.

7. The pineapple combine harvester according to claim 1, characterized in that, A lifting device for adjusting the height of the harvesting device is provided between the frame and the vehicle body; the lifting device includes two sets of lifting mechanisms; each set of lifting mechanisms includes a first connecting rod, a second connecting rod, and a lifting hydraulic push rod, the first connecting rod and the second connecting rod are distributed vertically, one end of the first connecting rod is hinged to the vehicle body, and the other end of the first connecting rod is hinged to the frame; one end of the second connecting rod is hinged to the vehicle body, and the other end of the second connecting rod is hinged to the frame; one end of the lifting hydraulic push rod is hinged to the first connecting rod, and the other end of the lifting hydraulic push rod is hinged to the vehicle body.

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