A pineapple combined harvester with fruit and leaf combing and orderly feeding and a method of using the same

Abstract

The application discloses a fruit leaf combing and orderly feeding type pineapple combined harvesting machine and a use method thereof, and belongs to the technical field of pineapple harvesting equipment. The application solves the problem that the success rate of the existing pineapple harvesting machine needs to be improved. The pineapple combined harvesting machine comprises at least one harvesting main body, at least one transmission and collection mechanism and at least one rack, two groups of driving main bodies are installed side by side below each rack, a supporting device is fixed to the front end of each group of driving main bodies, one harvesting main body and one transmission and collection mechanism are installed above each rack, and the harvesting main body is arranged between the two groups of driving main bodies below the rack. The harvesting main body comprises a main rack body, a feeding mechanism and a picking mechanism which are installed on the main rack body. The application not only greatly improves the efficiency of picking operation, but also effectively enhances the overall success rate of the fruit combined harvesting, and greatly reduces the damage rate of the fruits and the plants.

Description

Technical Field

[0001] This invention relates to a pineapple harvesting machine with orderly feeding of fruit and leaves and its usage method, belonging to the technical field of pineapple harvesting equipment. Background Technology

[0002] Due to the unique growth structure and environment of the pineapple plant, pineapple harvesting mainly relies on manual labor, resulting in low efficiency, high workload, and labor shortages, which severely restricts the further development of large-scale and industrialized pineapple production. Therefore, to ensure the healthy and sustainable development of the pineapple industry and promote the mechanization of pineapple harvesting, the development of pineapple harvesting equipment is an inevitable trend.

[0003] Harvesting fruit by cutting the stem with a knife is an effective method. For example, patent CN108575282A discloses a device for harvesting pineapples by cutting. However, due to the different growth of pineapples or the undulating terrain, the positional relationship between the pineapple fruit and the cutting knife changes in real time, making it impossible for the knife to accurately position the cutting position. If the cutting position is too high, it will damage the pineapple fruit. If the cutting position is too low, the harvested pineapple will retain too much stem, which will require further processing and increase unnecessary workload.

[0004] Harvesting pineapples using robotic arms can avoid damage during the harvesting process and ensure the integrity of the pineapple buds. For example, patent CN210143323U discloses a harvesting machine that uses visual recognition and robotic arms to achieve target-based pineapple harvesting. However, due to limitations in the fruit recognition rate of visual recognition and the single-fruit-targeting harvesting method, the efficiency of grasping-type harvesting still needs further improvement.

[0005] Because mature pineapple fruits are prone to breakage at the connection between the fruit and the stem, a harvesting method that applies torque to the fruit and stem to break it off not only achieves damage-free harvesting but also eliminates the need for precise spatial positioning of the fruit and avoids damaging offshoots. The applicant's previously published patent CN113892342B is based on this principle and has achieved good results in practice. However, the following problems were found during implementation: 1. Pineapples grow haphazardly in the field, making it difficult to ensure they accurately enter the effective working area of ​​the shaftless harvesting roller during harvesting. Furthermore, the rotating harvesting unit sometimes collides with the pineapple's crown buds, preventing the necessary bending torque from being formed at the connection between the fruit and stem, thus hindering harvesting and leading to harvesting failure. 2. Pineapple leaves have a unique clustering characteristic, growing densely at the top of the stem. As the leaves grow and unfold, they may wrap around the pineapple fruit to varying degrees. Due to their relatively hard texture, the leaves effectively form a natural protective barrier for the fruit. However, this characteristic also makes pineapple harvesting inconvenient, making the harvesting work more challenging. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problems and provides a pineapple combined harvester with orderly feeding of fruit and leaves and its usage method.

[0007] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0008] A pineapple harvester with orderly feeding and fruit and leaf sorting includes at least one harvesting body, at least one conveying and collecting mechanism, and at least one frame. Two sets of traveling bodies are installed side-by-side below each frame, and a lifting device is fixed to the front end of each traveling body. Each frame has one harvesting body and one conveying and collecting mechanism installed above it, with the harvesting body positioned between the two sets of traveling bodies below its respective frame.

[0009] The harvesting system includes the main frame and the feeding and harvesting mechanisms installed on the main frame.

[0010] The feeding mechanism includes two chains, several sprockets, and several sets of combing units. The two chains are arranged side by side on the inner side of the main frame, forming two sets of chain drive structures with the several sprockets mounted on the main frame. One sprocket in each set of chain drive structures is fixedly connected to the output end of a first motor mounted on the main frame. The several sets of combing units are evenly distributed between the two chains along the circumference of the chains, and both ends of each set of combing units are connected to the two chains respectively.

[0011] The harvesting mechanism includes shaftless harvesting rollers, arc-shaped limit guardrails, and shock-absorbing sliding plates.

[0012] One end of the shaftless picking roller is fixedly connected to the output end of the second motor mounted on the main frame. Several rotating picking units are evenly distributed along the circumference of the shaftless picking roller. The arc-shaped limiting guardrail and the shock-absorbing slide plate are both installed inside the shaftless picking roller. The arc-shaped limiting guardrail is fixedly mounted on the main frame by a support frame. The shock-absorbing slide plate is arranged inclined downward along the axis of the shaftless picking roller above the arc-shaped limiting guardrail. The lower end of the shock-absorbing slide plate is connected to the transmission and collection mechanism.

[0013] The spacing between any two adjacent rotary harvesting units is the same as the spacing between any two adjacent combing units.

[0014] Furthermore, the sorting unit includes a guide roller and a combined seedling separating mechanism, wherein the two ends of the guide roller are rotatably connected to two chains respectively, and the combined seedling separating mechanism includes several ear-hanging grid strips stacked sequentially along the length of the chains, with each ear-hanging grid strip having its two ends fixedly connected to two chains.

[0015] Furthermore, the guide roller includes a rotating shaft and a plurality of flexible PVC rods arranged on the outer circumferential surface of the rotating shaft, wherein one end of each flexible PVC rod is fixedly mounted on the rotating shaft.

[0016] Furthermore, two limiting tracks are fixedly mounted side by side at the front end of the main frame. Each limiting track has a rack machined vertically. Gears are fixedly mounted at both ends of the guide roller. When the combing unit moves to the lower part of the front end, the gears and racks mesh accordingly. Each limiting track has a limiting through groove integrally fixed at the upper end. The limiting through groove has a gradually tapering structure from top to bottom.

[0017] Furthermore, the shaftless picking roller includes a main frame ring and a secondary frame ring, and the main frame ring and the secondary frame ring are fixedly connected by several rotating picking units.

[0018] Furthermore, the rotary harvesting unit includes an L-shaped support frame and a protective net fixed on the L-shaped support frame.

[0019] Furthermore, the arc-shaped limiting guardrail includes an arc-shaped support frame and a limiting net fixed on the arc-shaped support frame, wherein the support frame is fixedly connected to the arc-shaped support frame.

[0020] Furthermore, the upper end of the arc-shaped limiting guardrail is arranged obliquely, and its tilt direction is the same as that of the shock-absorbing plate. The shock-absorbing plate is set lower than the upper end of the arc-shaped limiting guardrail.

[0021] Furthermore, the transmission and collection mechanism includes a transport roller group and a collection box that is connected and fixed to the outlet end of the transport roller group. The lower end of the shock-absorbing slide plate is located above the transport roller group and is fixed to the side wall of the transport roller group. The collection box is fixed on the frame. The main body of the machine is a tracked structure. The bottom of several transmission rollers in the transport roller group is in contact with the track surface.

[0022] A method for using the above-mentioned orderly feeding pineapple harvester with fruit and leaf combing includes the following steps:

[0023] Step 1: Preparations before starting the harvester:

[0024] Check and ensure that the harvester is in normal working condition. Adjust the linear speed of the feeding mechanism and the picking mechanism to keep them consistent. At the same time, make the spacing between every two adjacent rotary picking units the same as the spacing between every two adjacent combing units.

[0025] Step 2: After the main harvesting unit is running stably, start the driving unit and use the lifting device to straighten and gather the pineapple plants.

[0026] Step 3: Use a feeding mechanism to feed the pineapple fruit into the harvesting mechanism;

[0027] Step four: The pineapple fruits are harvested by the harvesting mechanism and then lifted and placed onto the shock-absorbing slide plate;

[0028] Step 5: The pineapple fruit slides down the shock-absorbing slide plate to the conveying and collecting mechanism due to gravity, completing the transfer and collection of the fruit.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This invention relates to a fruit and leaf sorting and orderly feeding pineapple harvester that integrates efficient feeding, damage-free harvesting, and centralized harvesting functions. By using a fruit-leaf separation method in the feeding mechanism, it reduces interference from pineapple leaves during harvesting, ensuring that pineapple fruits can accurately, stably, and continuously enter the effective harvesting area of ​​the shaftless harvesting roller. Furthermore, under the action of the feeding mechanism, the fruits can enter the harvesting process in an orderly and batch-wise manner. This invention not only significantly improves the efficiency of harvesting operations but also effectively enhances the overall success rate of combined fruit harvesting, while greatly reducing the damage rate to fruits and plants.

[0031] The pineapple combined harvester of the present invention integrates multiple processes such as continuous pineapple feeding, efficient separation of fruit and leaves, precise plant positioning, damage-free fruit harvesting, vertical fruit lifting, and centralized fruit transportation.

[0032] The harvesting mechanism achieves fruit harvesting by applying bending torque at the junction of the fruit and stem. The ingenious design of this mechanism relies primarily on the spatial position of the fruit and stem, rather than being overly restrictive about the fruit's shape, size, or height. Therefore, even with different varieties, growth stages, and planting conditions, the mechanism maintains high harvesting efficiency and accuracy, demonstrating strong applicability and versatility. In practical applications, this design not only improves harvesting efficiency but also reduces the skill requirements for operators, making harvesting more convenient and efficient.

[0033] The feeding mechanism within the harvesting unit enables efficient sorting and positioning of disordered pineapple plants in the field. Through the limiting action of the feeding mechanism, it ensures that the pineapples accurately enter the effective working area of ​​the harvesting unit, avoiding collisions with the fruit caused by the rotating harvesting unit and inaccurate feeding due to fruit lodging, thus reducing the probability of harvesting failures caused by poor fruit positioning.

[0034] By separating the leaves that enclose the pineapple fruit from the fruit through the sorting unit, the interference of the leaves at the top of the stem with the fruit harvesting process is reduced, thereby greatly improving the success rate of pineapple harvesting.

[0035] Harvesting pineapples using an integrated method of leaf trimming, orderly feeding, and stem breaking ensures complete protection of the pineapple buds and the plant itself, preventing unnecessary damage throughout the harvesting process. This meticulous harvesting method not only guarantees the smooth progress of pineapple seedling removal but also helps maintain the overall health of the plant, avoiding negative impacts on the subsequent growth and development of the pineapple. Attached Figure Description

[0036] Figure 1 This is a first three-dimensional structural schematic diagram of the fruit and leaf combing and orderly feeding pineapple combined harvester of the present invention;

[0037] Figure 2 This is a first three-dimensional structural schematic diagram of the fruit and leaf combing and orderly feeding pineapple combined harvester of the present invention;

[0038] Figure 3 A three-dimensional structural diagram of the harvesting entity;

[0039] Figure 4 This is a schematic diagram of the first three-dimensional structure of the feeding mechanism;

[0040] Figure 5 This is a schematic diagram of the second three-dimensional structure of the feeding mechanism;

[0041] Figure 6 A schematic diagram of the three-dimensional structure of the sorting unit;

[0042] Figure 7 This is a three-dimensional structural diagram of the guide roller;

[0043] Figure 8 This is a three-dimensional structural diagram of a combined seedling separating mechanism;

[0044] Figure 9 A three-dimensional structural diagram of the limiting track;

[0045] Figure 10 A schematic diagram of the three-dimensional structure of the harvesting mechanism;

[0046] Figure 11 This is a three-dimensional structural diagram of an arc-shaped limiting guardrail.

[0047] Figure 12 This is a three-dimensional structural diagram of the rotary harvesting unit;

[0048] Figure 13 This is a three-dimensional structural diagram of the transmission and collection mechanism.

[0049] In the picture:

[0050] 1. Harvesting Main Body; 11. Main Frame; 12. Feeding Mechanism; 12-1. Chain; 12-2. Sprocket; 12-3. Combing Unit; 12-4. First Motor; 12-5. Guide Roller; 12-6. Combined Seedling Separation Mechanism; 12-7. Ear Hanging Bars; 12-8. Rotating Shaft; 12-9. Flexible PVC Rod; 13. Harvesting Mechanism; 13-1. Shaftless Harvesting Roller; 13-2. Arc-shaped Limiting Guardrail; 13-21. Arc-shaped Support Frame 1. Frame; 13-22. Limiting net; 13-3. Shock-absorbing slide plate; 13-4. Second motor; 13-5. Rotary harvesting unit; 13-51. L-shaped support frame; 13-52. Protective net; 13-6. Support frame; 14. Limiting track; 14-1. Rack; 15. Gear; 16. Limiting through groove; 17. Connecting rod; 2. Conveying and collecting mechanism; 21. Transport roller group; 22. Collection box; 3. Frame; 4. Traveling main body; 5. Harvester. Detailed Implementation

[0051] Specific implementation method one: Combining Figures 1 to 13 This description of embodiments provides a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that the descriptions of "front," "rear," "left," "right," "inner," "outer," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this invention are defined based on the orientation or positional relationships shown in the accompanying drawings. They are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0053] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] A pineapple harvester with orderly feeding and fruit and leaf sorting includes at least one harvesting body 1, at least one conveying and collecting mechanism 2, and at least one frame 3. Two sets of traveling bodies 4 are installed side-by-side below each frame 3. A pruning device 5 is fixed to the front end of each traveling body 4. Each frame 3 has one harvesting body 1 and one conveying and collecting mechanism 2 installed above it, with the harvesting body 1 positioned between the two sets of traveling bodies 4 below its respective frame 3.

[0055] The harvesting body 1 includes a main frame 11 and a feeding mechanism 12 and a harvesting mechanism 13 installed on the main frame 11.

[0056] The feeding mechanism 12 includes two chains 12-1, several sprockets 12-2, and several sets of combing units 12-3. The two chains 12-1 are arranged side by side on the inner side of the main frame 11, forming two sets of chain drive structures with the several sprockets 12-2 mounted on the main frame 11. One sprocket 12-2 in one set of chain drive structures is fixedly connected to the output end of the first motor 12-4 mounted on the main frame 11. The several sets of combing units 12-3 are evenly distributed between the two chains 12-1 along the circumference of the chains 12-1, and both ends of each set of combing units 12-3 are connected to the two chains 12-1 respectively.

[0057] The harvesting mechanism 13 includes a shaftless harvesting roller 13-1, an arc-shaped limiting guardrail 13-2, and a shock-absorbing sliding plate 13-3.

[0058] One end of the shaftless picking roller 13-1 is fixedly connected to the output end of the second motor 13-4 mounted on the main frame 11. Several rotating picking units 13-5 are evenly distributed along the circumference of the shaftless picking roller 13-1. An arc-shaped limiting guardrail 13-2 and a shock-absorbing slide plate 13-3 are both installed inside the shaftless picking roller 13-1. The arc-shaped limiting guardrail 13-2 is fixedly mounted on the main frame 11 via a support frame 13-6. The shock-absorbing slide plate 13-3 is arranged inclined downwards along the axial direction of the shaftless picking roller 13-1 above the arc-shaped limiting guardrail 13-2. The lower end of the shock-absorbing slide plate 13-3 is connected to the transmission and collection mechanism 2.

[0059] The spacing between any two adjacent rotary harvesting units 13-5 is the same as the spacing between any two adjacent combing units 12-3.

[0060] When there are two or more harvesting entities 1, the multiple harvesting entities 1 are arranged side by side in sequence.

[0061] In this invention, each traveling body 4, each chain 12-1, and each limiting track 14 are arranged side by side along the width direction of the frame 3.

[0062] The harvester is traveling in the forward direction.

[0063] The driving body 4 is a high-clearance tracked chassis.

[0064] The feeding mechanism 12 is used to comb the fruit leaves and adjust the pineapple's position so that it can be fed into the harvesting mechanism 13 in an orderly manner.

[0065] The feeding mechanism 12 is located on the periphery of the harvesting mechanism 13.

[0066] The transmission direction of the chain 12-1 in the feeding mechanism 12 is as follows: Figure 1 The transmission is clockwise as shown.

[0067] Both the first motor 12-4 and the second motor 13-4 are fixedly mounted on the main frame 11 by several connecting bolts. The output end of the first motor 12-4 is fixedly connected to a sprocket 12-2, driving the sprocket 12-2 to rotate. The output end of the second motor 13-4 is fixedly connected to one end of the shaftless picking roller 13-1, driving the shaftless picking roller 13-1 to rotate circumferentially. Both the first motor 12-4 and the second motor 13-4 are servo motors, providing stable and efficient working power for the feeding mechanism 12 and the shaftless picking roller 13-1, respectively. Couplings are provided between the output shaft of the first motor 12-4 and the shaft of the sprocket 12-2, and between the output end of the second motor 13-4 and the shaftless picking roller 13-1.

[0068] In one chain drive structure, the sprocket 12-2 connected to the first motor 12-4 is the driving sprocket, and the other sprockets 12-2 are driven sprockets. The chain 12-1 in this chain drive structure is the driving chain, which drives the chain 12-1 in another chain drive structure to rotate synchronously through the combing unit 12-3.

[0069] The harvesting mechanism 13 is used to separate the pineapple fruit from the stem and lift the harvested pineapple fruit above the shock-absorbing slide plate 13-3.

[0070] Each rotary picking unit 13-5 is fixedly mounted on the shaftless picking roller 13-1 and rotates with the shaftless picking roller 13-1.

[0071] The hollow part of the shaftless picking roller 13-1 is used to install the shock-absorbing slide plate 13-3 and the arc-shaped limit guardrail 13-2.

[0072] When the shaftless picking roller 13-1 rotates, the rotary picking unit 13-5 generates a bending moment on the pineapple plant, thereby separating the fruit stem. At the same time, using its own lifting action, the rotary picking unit 13-5 can lift the picked fruit above the shock-absorbing slide plate 13-3.

[0073] By setting up the arc-shaped limiting guardrail 13-2, firstly, the arc-shaped limiting guardrail 13-2 can limit the top of the pineapple plant. In conjunction with the rotary harvesting unit 13-5, it can generate a torsional moment at the base of the pineapple stem, realizing the breaking-type harvesting of the pineapple. Secondly, the arc-shaped limiting guardrail 13-2 and the rotary harvesting unit 13-5 together form an effective and enclosed lifting space, thereby effectively preventing the fruit from falling due to vibration or other factors during the lifting process, ensuring the efficiency of the harvesting process and the safety of the fruit.

[0074] The transmission and collection mechanism 2 is used to collect the harvested pineapple fruits.

[0075] After being picked, the pineapple fruit falls onto the shock-absorbing slide plate 13-3, and under its own weight, it slides down to the transmission and collection mechanism 2 under the shock-absorbing slide plate 13-3.

[0076] This invention relates to a pineapple harvester with a fruit and leaf sorting and orderly feeding system, integrating multiple processes such as continuous pineapple feeding, efficient fruit and leaf separation, precise plant positioning, damage-free fruit harvesting, vertical fruit lifting, and centralized fruit transportation. Taking an example where there is only one harvesting body 1, one conveying and collecting mechanism 2, and one frame 3, the machine's operating efficiency can reach 5.5 mu / hour at a travel speed of 1 m / s. According to existing data, the average yield of one mu of pineapple is approximately 4 tons, while under traditional manual harvesting methods, 12 people working for 9 hours can only harvest about 30 tons of fruit, meaning an average harvesting efficiency of about 0.07 mu per person per hour. By comparison, the working efficiency of this harvester is equivalent to the combined efficiency of approximately 76 harvesting workers, demonstrating significant advantages in work efficiency improvement and labor cost reduction.

[0077] The harvesting mechanism 13 achieves fruit harvesting by applying bending torque at the connection point between the fruit and the stem. The ingenious design of this mechanism relies primarily on the spatial position of the fruit and stem, rather than being overly restrictive about the fruit's shape, size, or height. Therefore, even with different varieties, growth stages, and planting conditions, this mechanism maintains high harvesting efficiency and accuracy, demonstrating strong applicability and versatility. In practical applications, this design not only improves harvesting efficiency but also reduces the skill level required of operators, making harvesting more convenient and efficient.

[0078] The feeding mechanism 12 in the harvesting body 1 enables efficient sorting and positioning of disordered pineapple plants in the field. Through the limiting effect of the feeding mechanism 12, the mechanism ensures that the pineapples can accurately enter the effective working area of ​​the harvesting mechanism 13, avoiding collisions with the fruit caused by the rotating harvesting unit 13-5 and problems such as inaccurate feeding due to fruit lodging, thus reducing the probability of harvesting failure due to poor fruit positioning.

[0079] By separating the leaves covering the pineapple fruit from the fruit through the sorting unit 12-3, the interference of the leaves at the top of the stem on the fruit picking process is reduced, thereby greatly improving the success rate of pineapple picking.

[0080] The junction of a mature pineapple fruit and its stem accumulates a large amount of abscisic acid, creating a weak point in the structure and making the area prone to breakage. The orderly feeding pineapple harvester with fruit and leaves precisely addresses this physiological characteristic by applying a bending torque at the fruit-stem junction, achieving stem-breaking harvesting and mimicking the delicate operation of manually breaking a pineapple. This design ensures precise separation of the fruit and stem, guaranteeing efficient and high-quality harvesting, achieving near-manual precision and significantly reducing pineapple damage during the harvesting process.

[0081] Harvesting pineapples using an integrated method of leaf trimming, orderly feeding, and stem breaking ensures complete protection of the pineapple buds and the plant itself, preventing unnecessary damage throughout the harvesting process. This meticulous harvesting method not only guarantees the smooth progress of pineapple seedling removal but also helps maintain the overall health of the plant, avoiding negative impacts on the subsequent growth and development of the pineapple.

[0082] The walking speed, rotation speed of the feeding mechanism 12, and rotation speed of the harvesting mechanism 13 of the pineapple harvester with orderly fruit and leaf sorting and feeding are all adjustable, thus enabling flexible adaptation to different operating conditions. At the same time, the size and spacing of the sorting unit 12-3 and the rotary harvesting unit 13-5 can also be adjusted according to actual needs, enhancing the equipment's adaptability and compatibility with different pineapple varieties, growth conditions, and planting patterns.

[0083] The sorting unit 12-3 includes a guide roller 12-5 and a combined seedling separating mechanism 12-6. The guide roller 12-5 is rotatably connected to two chains 12-1 at both ends. The combined seedling separating mechanism 12-6 includes several hanging strips 12-7 stacked sequentially along the length of the chains 12-1. Each hanging strip 12-7 has its ends fixedly connected to two chains 12-1. The ends of the hanging strips 12-7 are fixedly connected to the links of the chains 12-1 via a connecting support frame 13-6. The guide roller 12-5 and the combined seedling separating mechanism 12-6 together form a planar structure that can follow the shape of the chains 12-1 to achieve flexible turning. This design ensures the planar characteristics required for the combined seedling separating mechanism 12-6 to operate, ensures the mechanism can smoothly pass through the transmission part of the sprocket 12-2, and allows adjustment of the effective working width and spacing of the combined seedling separating mechanism 12-6 by adjusting the number of hanging strips 12-7 installed.

[0084] The guide roller 12-5 includes a rotating shaft 12-8 and several flexible PVC rods 12-9 arranged on the outer circumference of the rotating shaft 12-8, with one end of each flexible PVC rod 12-9 fixed to the rotating shaft 12-8. In this design, the rotating shaft 12-8 forms the main body of the guide roller 12-5, and the flexible PVC rods 12-9 are tightly fixed to the outer surface of the rotating shaft 12-8 by means of nuts. To adapt to varying harvesting environments, the spacing between the flexible PVC rods 12-9 can be flexibly adjusted, and flexible PVC rods 12-9 of different lengths can be replaced to precisely control the gap between the rods and the diameter of the guide wheel. Furthermore, the modular design of the guide roller 12-5 not only simplifies the maintenance and replacement process of the flexible PVC rods 12-9 but also ensures that the guide roller 12-5 always maintains optimal working performance, thereby improving overall harvesting efficiency and operational stability.

[0085] Two limiting rails 14 are fixedly mounted side by side at the front end of the main frame 11. Each limiting rail 14 has a vertically machined rack 14-1. Gears 15 are fixedly mounted at both ends of the guide roller 12-5. When the combing unit 12-3 moves to the lower front end, the gears 15 mesh with the racks 14-1. A limiting groove 16 is integrally fixed to the upper end of each limiting rail 14, and the limiting groove 16 tapers from top to bottom. This design ensures that the gears 15 precisely mesh with the racks 14-1 within the limiting rails 14 during operation, thereby enabling the rotation of the guide roller 12-5. The tapering limiting groove 16 facilitates the smooth entry of the gears 15. The bottom end of the limiting groove 16 closely corresponds to the upper end of the limiting rail 14, ensuring that the gears 15 can accurately mesh with the racks 14-1 after disengaging from the limiting groove 16. The limiting track 14 is fixedly mounted on the main frame 11 by a bracket. The bracket is adjustable, allowing for flexible adjustment of the spatial position of the limiting track 14. The bracket includes two connecting rods 17, one end of which is fixedly mounted on the limiting track 14, and the other end is fixedly connected to the main frame 11 by bolts. Each connecting rod 17 has an elongated hole at its other end for easy adjustment of its position.

[0086] The shaftless picking roller 13-1 includes a main frame ring and a secondary frame ring, which are fixedly connected by several rotating picking units 13-5. The main frame ring, the secondary frame ring, and the several circumferentially distributed rotating picking units 13-5 together form a robust cylindrical structure. Both the main frame ring and the secondary frame ring have several arc-shaped elongated holes machined along their circumference, which achieves lightweight design while facilitating the installation of the rotating picking units 13-5.

[0087] The rotary harvesting unit 13-5 includes an L-shaped support frame 13-51 and a protective net 13-52 fixed on the L-shaped support frame 13-51. This design ensures the structural stability of the shaftless harvesting roller 13-1 by setting the L-shaped support frame 13-51, while providing effective support for the protective net 13-52, further preventing pineapple fruits from falling.

[0088] The arc-shaped limiting guardrail 13-2 includes an arc-shaped support frame 13-21 and a limiting net 13-22 fixed on the arc-shaped support frame 13-21. The support frame 13-6 is fixedly connected to the arc-shaped support frame 13-21. This design...

[0089] The upper end of the arc-shaped limiting guardrail 13-2 is arranged at an angle, and its tilt direction is the same as that of the shock-absorbing slide plate 13-3. The shock-absorbing slide plate 13-3 is set lower than the upper end of the arc-shaped limiting guardrail 13-2. This design, with the upper end of the arc-shaped limiting guardrail 13-2 tilted to correspond to the tilt of the shock-absorbing slide plate 13-3, ensures that the height at which the harvested pineapple fruits fall onto the shock-absorbing slide plate 13-3 is consistent. It also further prevents the fruits from falling due to vibration or other factors during the lifting process, ensuring both the efficiency of the harvesting process and the safety of the fruits.

[0090] The transport and collection mechanism 2 includes a transport roller assembly 21 and a collection box 22 connected and fixed to the outlet end of the transport roller assembly 21. The lower end of the shock-absorbing slide plate 13-3 is located above the transport roller assembly 21 and fixed to its side wall. The collection box 22 is fixedly mounted on the frame 3. The traveling body 4 is a tracked structure, with the bottoms of several drive rollers in the transport roller assembly 21 contacting the track surface. With this design, the collection box 22 is preferably fixedly mounted at the rear of the frame 3 and between the two traveling bodies 4. The transport roller assembly 21 and the collection box 22 are connected by a sloping guide plate, facilitating the falling of pineapple fruits into the collection box 22. The transport roller assembly 21 includes several drive rollers and side baffles, with the upper surface of the drive rollers serving as the pineapple transport bearing surface. By setting the side baffles, the falling of pineapple fruits is prevented, achieving centralized transport of pineapples. The bottom of the drive roller contacts the surface of the running track. As the harvester moves, the track provides rotational power to the transport roller assembly 21. The rotating drive roller provides backward driving force to the pineapple fruits it carries, until they fall into the collection box behind, achieving centralized collection of the fruits. The fruits can then be transported with the harvester to open areas in the field. The transport roller assembly 21 is powered by the running track; the conveyor mechanism starts working when the harvester is in motion, requiring no additional power source.

[0091] Specific Implementation Method Two: Combining Figures 1 to 13 This embodiment describes a method for using the fruit and leaf combing and orderly feeding pineapple combined harvester described in the first specific embodiment above, comprising the following steps:

[0092] Step 1: Preparations before starting the harvester:

[0093] Check and ensure that the harvester is in normal working condition. Adjust the linear speed of the feeding mechanism 12 and the picking mechanism 13 to keep them consistent. At the same time, make the spacing between each pair of adjacent rotary picking units 13-5 the same as the spacing between each pair of adjacent combing units 12-3.

[0094] Before operation, the orderly feeding pineapple harvester requires starting the feeding mechanism 12, harvesting mechanism 13, and driving body 4 to conduct a comprehensive check of the machine's structure and ensure it is in normal working order. Depending on the specific planting conditions in the pineapple field, operators need to adjust the positions and intervals of several sets of sorting units 12-3 and adjust the speed of the servo motor in the feeding mechanism 12 to better adapt to different pineapple plant densities and ensure effective feeding. Following this, the speed of the servo motor in the harvesting mechanism 13 is adjusted to ensure that the linear speeds of the feeding mechanism 12 and the harvesting mechanism 13 are consistent. Simultaneously, the gaps between two adjacent sorting units 12-3 in the feeding mechanism 12 and the gaps between two adjacent rotating harvesting units 13-5 in the harvesting mechanism 13 must correspond one-to-one within the effective working range. This step ensures smooth pineapple feeding and harvesting, avoiding blockages or misalignments, thus guaranteeing successful harvesting. This completes the pre-operation preparations for the orderly feeding pineapple harvester.

[0095] Step 2: After the harvesting body 1 is running stably, start the driving body 4 and use the lifting device 5 to straighten and gather the pineapple plants.

[0096] After the orderly feeding pineapple harvester reaches a stable operating state, its high-clearance tracked chassis is activated to ensure easy movement across pineapple planting rows. At this point, the harvester's front-end support 5 effectively lifts and guides the fallen pineapple plants to below the feeding mechanism 12 using its conical curved guide plate structure. Thus, the harvester successfully completes the task of straightening and gathering the pineapple plants.

[0097] Step 3: The pineapple fruit is fed into the harvesting mechanism 13 using the feeding mechanism 12;

[0098] After the pineapple plant enters the feeding mechanism 12, it is treated differently depending on its relative position to the feeding mechanism 12.

[0099] One scenario is that the pineapple can fit perfectly into the gap between two adjacent combing units 12-3 on the feeding mechanism 12. Since the gap between the two adjacent combing units 12-3 in the feeding mechanism 12 corresponds to the effective working range of the shaftless harvesting roller 13-1, this part of the pineapple does not need to adjust the feeding order and can directly enter the effective working range of the rotary harvesting unit 13-5. In addition, since the combing units 12-3 move from top to bottom along the trajectory arranged by the chain 12-1 at the front end of the combined harvester, the combined seedling separating mechanism 12-6 on the combing unit 12-3 can press down the top leaves growing on the periphery of the pineapple fruit. As the combined seedling separating mechanism 12-6 gradually descends, the leaves are also gradually pressed down, eventually reaching below the fruit, while the pineapple fruit to be harvested is exposed above the combined seedling separating mechanism 12-6, reducing the impact of the top leaves on the harvesting process.

[0100] Another scenario is that the pineapple, due to its position, cannot directly enter the effective working area of ​​the shaftless harvesting roller 13-1, requiring the feeding mechanism 12 to intervene in sorting. Specifically, the combing unit 12-3 performs a periodic closed-loop reciprocating motion with the chain 12-1. When the combing unit 12-3 moves to the front end of the combined harvester, the gear 15 on the combing unit 12-3 enters the corresponding limiting groove 16 and remains within it. When the combing unit 12-3 moves with the chain 12-1 to the lower half of the limiting groove 16, the gear 15 contacts and meshes with the rack 14-1 in the limiting groove 16. The gear 15 drives the guide roller 12-5 and the flexible PVC rods 12-9 evenly distributed on the guide roller 12-5 to rotate, and continues to move downward along the trajectory of the chain 12-1. During continued movement, the flexible PVC rod 12-9 of the guide roller 12-5 first contacts the crown bud of the pineapple plant. The flexible PVC rod 12-9 on the rotating guide roller 12-5 applies a force to the pineapple plant in the forward direction of the combined harvester, pushing the pineapple towards the combined seedling separating mechanism 12-6. At this time, the combined seedling separating mechanism 12-6 is at a nearly perpendicular angle to the ground. The contact surface of the combined seedling separating device continues to provide the pineapple with the same force in the forward direction of the combined harvester, pushing the pineapple forward. The combing unit 12-3 continues to move with the chain 12-1. After passing the sprocket 12-2 on the main frame 11, the whole unit is in a horizontal state. At this time, the pineapple is guided into the gap between the two combing units 12-3, that is, the pineapple has entered the effective working area of ​​the harvesting mechanism 13, avoiding collision with the rotating harvesting unit 13-5 and the possibility of harvesting failure. At the same time, during the fruit positioning process, the combing unit 12-3, which moves from top to bottom, also presses the top leaves down below the fruit, realizing the separation of fruit and leaves. Furthermore, to prevent direct contact between the combined seedling separating mechanism 12-6 and the pineapple, which could damage the fruit, a guide roller 12-5 covered with flexible PVC rods 12-9 was added to the front end. The rotation of the guide roller 12-5 pushes the pineapple plant to the front. Through this operation, pineapple plants that would otherwise be unable to be harvested smoothly within the ineffective harvesting area of ​​the shaftless harvesting roller 13-1 are adjusted by the feeding mechanism 12 to the nearest gap in the combing unit 12-3 corresponding to the effective harvesting area of ​​the shaftless harvesting roller 13-1. This achieves fruit and leaf combing and orderly, accurate feeding, providing suitable conditions for further harvesting. Thus, the pineapple feeding process is completed.

[0101] Step four: The pineapple fruit is harvested by the harvesting mechanism 13 and lifted onto the shock-absorbing slide plate 13-3. The pineapple is fed into the harvesting mechanism 13 via the feeding mechanism 12. At this time, the leaves at the top of the pineapple are pressed under the combing unit 12-3, while the fruit remains above the combing unit 12-3 and enters the gap of the shaftless harvesting roller 13-1 rotating unit. As the harvester continues to move forward and the harvesting mechanism 13 moves, the pineapple fruit comes into contact with the arc-shaped limiting guardrail 13-2. This contact generates a thrust in the same direction as the harvester's movement. At the same time, the pineapple plant is subjected to the inherent tension of the rootstock, while the pineapple stem is subjected to a bending force from the rotating harvesting unit 13-5 in the opposite direction to the harvester's movement. Under the combined action of these three forces, a torque is generated at the connection between the pineapple fruit and the stem. When this torque reaches a certain threshold, the connection between the fruit and the stem breaks, thus separating the fruit and stem and completing the harvesting action.

[0102] After the fruit stem is separated, the stem remains in its original position on the ground, while the pineapple fruit is carried by the rotary harvesting unit 13-5 and gradually lifted as the mechanism rotates. During the lifting process, the angle between the rotary harvesting unit 13-5 and the ground changes, but with the synergistic effect of the rotary harvesting unit 13-5 and the arc-shaped limiting guardrail 13-2, the fruit rolls and is lifted within the area formed by the rotary harvesting unit 13-5 and the arc-shaped limiting guardrail 13-2. When the rotary harvesting unit 13-5 is lifted to the upper end of the shock-absorbing slide plate 13-3, a crucial change occurs: the angle between the grid of the rotary harvesting unit 13-5 carrying the fruit and the ground approaches ninety degrees, and this position reaches the fruit drop area of ​​the arc-shaped limiting guardrail 13-2. At this instant, the fruit, under the combined action of gravity and the inclined plane guidance, naturally rolls down the inclined plane onto the shock-absorbing slide plate 13-3, thus completing the fruit lifting operation.

[0103] Step 5: The pineapple fruit slides down the shock-absorbing slide plate 13-3 under the action of gravity to the transfer and collection mechanism 2, completing the transfer and collection of the fruit.

[0104] The pineapples that land on the shock-absorbing slide plate 13-3 slide down under the influence of gravity onto the transport roller assembly 21, which consists of multiple drive rollers. The transport roller assembly 21 is located below the outlet of the shock-absorbing slide plate 13-3, directly above one of the traveling tracks, and in contact with the track below. During the movement of the combine harvester, the track drives the drive rollers, which rotate under the action of friction. The pineapples above the transport roller assembly 21 move backward (relative to the forward direction of the combine harvester) as the drive rollers rotate. Finally, they slide down the end slide plate into the collection box 22. This completes the fruit transfer operation. Other components and connections are the same as in Specific Embodiment One.

[0105] Specific implementation method three: Combining Figures 1 to 13In this embodiment, there are two harvesting bodies, two conveying and collecting mechanisms, and two frames. The two frames are arranged side by side and fixedly connected to each other. There are three sets of traveling bodies arranged side by side, with the middle traveling body shared by the two frames. The two harvesting bodies are correspondingly positioned between the three sets of traveling bodies. The two conveying and collecting mechanisms are installed one-to-one on the two frames. By arranging the two harvesting bodies side by side, the harvesting efficiency of the harvester can be effectively improved. Other components and connections are the same as in Specific Embodiment One.

[0106] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pineapple combine harvester of the leaf combing and order feeding type, characterized in that: The utility model provides a kind of corn stalks harvesting machine, including at least one harvesting main body (1), at least one transmission collection mechanism (2) and at least one rack (3), the lower portion of each rack (3) is equipped with two groups of travel main body (4) side by side, the front end of each group of travel main body (4) is equipped with a supporting device (5), the upper portion of each rack (3) is equipped with a harvesting main body (1) and a transmission collection mechanism (2), and the harvesting main body (1) is located between the two groups of travel main body (4) below the rack (3) where it is located, The harvesting main body (1) includes a main frame (11) and a feeding mechanism (12) and a picking mechanism (13) mounted on the main frame (11), The feeding mechanism (12) includes two chains (12-1), a plurality of sprockets (12-2) and a plurality of sets of carding units (12-3), the two chains (12-1) are arranged side by side on the inner side of the main frame (11), and form two sets of chain transmission structures with a plurality of sprockets (12-2) mounted on the main frame (11), one sprocket (12-2) in one set of chain transmission structure is fixedly connected with the output end of a first motor (12-4) mounted on the main frame (11), a plurality of sets of carding units (12-3) are evenly distributed between the two chains (12-1) along the circumference of the chain (12-1), and the two ends of each set of carding unit (12-3) are respectively connected with the two chains (12-1), The picking mechanism (13) includes a shaftless picking roller (13-1), an arc-shaped limiting guardrail (13-2) and a shock-absorbing slide plate (13-3), one end of the shaftless picking roller (13-1) is fixedly connected with the output end of a second motor (13-4) mounted on the main frame (11), a plurality of rotary picking units (13-5) are evenly distributed along the circumference of the shaftless picking roller (13-1), the arc-shaped limiting guardrail (13-2) and the shock-absorbing slide plate (13-3) are arranged inside the shaftless picking roller (13-1), the arc-shaped limiting guardrail (13-2) is fixedly connected to the main frame (11) through a support frame (13-6), the shock-absorbing slide plate (13-3) is inclinedly arranged above the arc-shaped limiting guardrail (13-2) along the axial direction of the shaftless picking roller (13-1), and the low end of the shock-absorbing slide plate (13-3) is connected to the transmission collection mechanism (2), The distance between each adjacent two rotary picking units (13-5) is the same as the distance between each adjacent two sets of carding units (12-3); The feeding mechanism (12) is located at the periphery of the picking mechanism (13).

2. A pineapple combined harvesting machine with leaf combing and orderly feeding according to claim 1, characterized in that: The carding unit (12-3) includes a guide roller (12-5) and a combined seed separating mechanism (12-6), wherein the two ends of the guide roller (12-5) are rotatably connected with the two chains (12-1), and the combined seed separating mechanism (12-6) includes a plurality of ear-hanging grid bars (12-7) stacked in sequence along the length direction of the chain (12-1), and the two ends of each ear-hanging grid bar (12-7) are fixedly connected with the two chains (12-1).

3. A pineapple combined harvesting machine with leaf combing and orderly feeding according to claim 2, characterized in that: The guide roller (12-5) comprises a rotating shaft (12-8) and a plurality of flexible PVC rods (12-9) arranged on the outer circumferential surface of the rotating shaft (12-8), wherein one end of each flexible PVC rod (12-9) is fixed on the rotating shaft (12-8).

4. A pineapple combing and ordering feed type combined harvesting machine according to claim 2, characterized in that: The front end of the main frame body (11) is fixed with two limiting rails (14) side by side, a rack (14-1) is vertically machined in each limiting rail (14), the two ends of the guide roller (12-5) are respectively fixed with gears (15), when the combing unit (12-3) moves to the lower part of the front end, the gears (15) are engaged with the racks (14-1) correspondingly, the upper end of each limiting rail (14) is integrally fixed with a limiting through groove (16), and the limiting through groove (16) is gradually tapered from top to bottom.

5. A pineapple combing and ordering feeding type combined harvesting machine according to claim 1, characterized in that: The shaftless picking roller (13-1) comprises a main frame ring and a secondary frame ring, and the main frame ring and the secondary frame ring are fixedly connected through a plurality of rotary picking units (13-5).

6. A pineapple combing and ordering feed type combined harvesting machine according to claim 1, characterized in that: The rotary picking unit (13-5) comprises an L-shaped support frame (13-51) and a protective net (13-52) fixed on the L-shaped support frame (13-51).

7. A pineapple combing and ordering feeding combined harvester according to claim 1, characterized in that: The arc-shaped limiting guardrail (13-2) comprises an arc-shaped support frame (13-21) and a limiting net (13-22) fixed on the arc-shaped support frame (13-21), and the support frame (13-6) is fixedly connected with the arc-shaped support frame (13-21).

8. A pineapple combing and ordering feed combined harvester according to claim 1, characterized in that: The upper end of the arc-shaped limiting guardrail (13-2) is obliquely arranged, and the inclination direction is the same as that of the damping slide plate (13-3), and the damping slide plate (13-3) is arranged lower than the upper end of the arc-shaped limiting guardrail (13-2).

9. A pineapple combing and ordering feed combined harvester according to claim 1, characterized in that: The conveying and collecting mechanism (2) comprises a conveying roller group (21) and a collection box (22) connected and fixed at the outlet end of the conveying roller group (21), wherein the low end of the damping slide plate (13-3) is located above the conveying roller group (21) and is fixedly connected with the side wall of the conveying roller group (21), the collection box (22) is fixed on the rack (3), the traveling main body (4) is of a track type structure, and the bottoms of a plurality of transmission rollers in the conveying roller group (21) are in contact with the surface of the track.

10. A method of using the pineapple harvesting machine as claimed in any one of claims 1 to 9, wherein: The method comprises the following steps: Step one, preparation work before the starting of the harvesting machine: Check and ensure that the harvesting machine is in normal working condition, adjust the linear speed of the feeding mechanism (12) and the picking mechanism (13) to make them consistent, and make the distance between every two adjacent rotary picking units (13-5) the same as the distance between every two adjacent combing units (12-3); Step two, after the operation of the harvesting main body (1) is stable, start the traveling main body (4), and complete the righting and gathering work of the pineapple plants by using the straw support (5); Step three, feed the pineapple fruits into the picking mechanism (13) by using the feeding mechanism (12); Step four, pick the pineapple fruits by using the picking mechanism (13), and then lift the pineapple fruits and make them fall on the damping slide plate (13-3); Step five, the pineapple fruits slide to the conveying and collecting mechanism (2) on the damping slide plate (13-3) due to gravity, and the conveying and collecting of the fruits are completed.

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