A pepper fruit picking cylinder device with adaptability

Abstract

The application discloses a pepper fruit picking roller device with self-adaptability and belongs to the technical field of pepper planting. The machine frame 1 is designed in a half-enclosing mode, eccentric rotators 3 and rotating actuators 2 for driving rotation are arranged in the hollow part of the machine frame 1, and a plurality of groups of overload switching roller assemblies 4 are arranged on the eccentric rotators 3. Each of the overload switching roller assemblies 4 is closely arranged together to form a roller-shaped structure. The application changes the traditional fixed eccentric motion into dynamic eccentric motion, and the included angle between the elastic tooth end and the pepper plant can dynamically change. The design makes the elastic tooth better adapt to the growth state of the plant at different positions and angles. Through the self-adaptive adjustment mechanism of the overload switching roller assembly and the reverse stroke elastic tooth, effective picking is realized when the traveling distance is short or the fruits are dense. When a single reverse stroke elastic tooth cannot pull the pepper fruits, the adjacent elastic tooth will automatically cooperate to increase the stripping force by using elastic force storage.

Description

Technical Field

[0001] This invention relates to the field of chili pepper cultivation technology, specifically to a spring-toothed roller-type harvesting device for harvesting chili pepper fruits and its spring-tooth structure, and particularly to an adaptive chili pepper fruit harvesting roller device. Background Technology

[0002] With the continuous growth of my country's economy, the scale of chili pepper cultivation is constantly expanding, and the demand for chili pepper harvesting machinery is also increasing. [1] Since the successful development of the first unfolding double-helix chili harvester in 1976, after more than forty years of technological iteration and development, the toothed roller harvesting device has become the mainstream equipment for harvesting chili fruits. [2] .

[0003] The core of the toothed roller harvesting device lies in its rolling roller and the toothed structure mounted on it. During rotation and forward movement, the toothed structure continuously pulls the chili peppers, overcoming the connecting force between the peppers and the stem, causing the peppers to detach from the plant and achieving efficient harvesting without uprooting the plant. Once the peppers are detached from the stem, the toothed structure on the roller continues to rotate, and the peppers, following the rotation, are thrown by inertia onto the conveyor belt or vibrating screen attached to the agricultural machinery for storage.

[0004] However, existing toothed roller-type harvesting devices still face some technical problems in practical applications. Since the actual growth pattern of chili plants cannot be completely uniform, when the plants are close to the harvesting device or the fruits (and their stems) are densely packed, the travel distance of the toothed rollers on the chili stems is short, making it difficult to provide sufficient force to peel the fruits off, and may even damage the plants.

[0005] To address this problem, many researchers have attempted to improve the toothed roller harvesting device:

[0006] (1) Lei Mingju et al. [3] A harvesting device using spring-wire teeth was designed. The device uses a roller to drive the teeth to rotate at high speed. When the teeth contact the chili pepper, they pull the pepper fruit away from the stem, overcoming the connection force between the fruit and the stem. However, in practical applications, due to the unevenness of farmland, the spring-wire teeth are prone to uncontrolled vibrations, reducing the probability of accidentally picking the pepper stem and causing wear.

[0007] (2) Zou Daozhong et al. [4] A nylon spring-loaded toothed design, mimicking the human hand, was mounted on a roller-type chili-picking platform. This design allows the height of the picking platform to be adjusted according to the height of the chili plant, offering high compatibility with various chili varieties. However, this height compensation does not adapt well to horizontal position compensation.

[0008] (3) Shen Xiaokai et al. [5] An eccentric drive design was implemented based on the chili pepper harvesting drum. When the spring teeth move to the bottom of the harvesting drum, their ends form a certain angle with the chili pepper plant, facilitating insertion into the plant. At this point, the spring teeth possess a certain linear velocity, maximizing the contact area with the fruit to ensure rapid and stable harvesting. Although this eccentric motion mode is novel and solves the aforementioned technical problems to some extent, it still presents the following two technical challenges:

[0009] 3.1) In practice, the fixed eccentric motion results in a fixed "angle" as described above, which in turn leads to relatively insufficient flexibility of the spring teeth;

[0010] 3.2) Although the eccentric motion increases the contact area of ​​the spring teeth with the fruit, which is another form of position compensation, the area compensation of the spring teeth with the fruit is negligible when the travel distance left for the picking device is short or the fruit (and its stems) are dense, and the above-mentioned technical problems still exist.

[0011] Therefore, the present invention proposes an adaptive chili fruit harvesting roller device.

[0012] The cited references in this background section are as follows:

[0013] [1] Peng Zhiliang, Li Lijie, Hu Mingwen, et al. Market and industry survey and analysis report of dried chili peppers in my country [J]. Agricultural Products Market, 2021(13):51-53.

[0014] [2] Hu Shuangji. Design and research of comb-type chili pepper harvesting device [D]. Shihezi: Shihezi University, 2012.

[0015] [3] Lei Mingju, Kong Lingjun, Chen Yongcheng, et al. Design and research of a toothed roller type chili pepper harvesting device [J]. Chinese Journal of Agricultural Mechanization, 2014, 35(1):161-165.

[0016] [4] Zou Daozhong. Design and experimental study of key components of 4JZ-3600A chili harvester [D]. Urumqi: Xinjiang Agricultural University, 2021.

[0017] [5] Shen Xiaokai, Jin Fan, Li Qianxu, et al. Design and experiment of eccentric chili picking drum [J]. Agricultural Mechanization Research, 2024, 46(11):90-95. Summary of the Invention

[0018] In view of the above, the embodiments of the present invention aim to solve or alleviate the following technical problems existing in the prior art:

[0019] (1) Based on the eccentric transmission design, how to change the traditional fixed eccentric motion into dynamic eccentric motion so that the angle between the end of the spring tooth and the pepper plant is dynamic rather than fixed, thereby helping to increase the probability of the spring tooth inserting into the plant.

[0020] (2) Based on the above-mentioned dynamic eccentric motion, how to make the spring teeth adapt to the elastic change and assist in peeling the fruit when the travel distance left for the picking device is short or the fruit (and its stems) are relatively dense.

[0021] The technical solution of this invention is implemented as follows:

[0022] (I) Device Composition:

[0023] The device includes a semi-enclosed frame 1, which serves as the basic support framework for the entire harvesting device. Its openwork design provides sufficient operating space for the internal mechanical components. An eccentric rotator 3 is installed within the openwork area of ​​the frame 1. This eccentric rotator acts as the core transmission component, driving the subsequent harvesting actuator to rotate. Simultaneously, a rotary actuator 2 is fixed to the frame 1. This actuator is connected to the eccentric rotator 3 via a transmission device (such as gears or belts), providing it with rotational power. Next, several sets of overload switching roller assemblies 4 are evenly installed along the circumference of the eccentric rotator 3. These assemblies are closely arranged to form a continuous roller structure, ensuring continuous and stable contact and harvesting of the chili peppers during rotation. Each set of overload switching roller assemblies 4 is equipped with multiple counter-travel teeth 5 in a circular array. These teeth are radially distributed and can contact the chili pepper plants one by one during rotation to perform the harvesting action.

[0024] In one embodiment, the eccentric rotator 3 employs dynamic eccentric rotation technology to achieve more efficient harvesting operations. First, the roller body 301, as the core component, directly mounts the overload switching roller assembly 4, which is the direct tool for performing the harvesting action. At each of the left and right ends of the roller body 301, a parallel mechanism 302 is installed. These parallel mechanisms are fixed inside the frame 1 to enable universal angle adjustment of the roller body 301. Furthermore, to ensure that the roller body 301 is stably driven by the rotary actuator 2 during dynamic eccentric rotation, and to prevent mechanical interference during angle adjustment, universal joint couplings 303 are also provided at both ends of the roller body 301. These couplings connect one end to the rotary actuator 2 and the other end to the roller body 301, allowing rotational force and angle adjustment to proceed synchronously without interference, thus achieving the function of dynamic eccentric rotation.

[0025] In one embodiment: When implementing the parallel mechanism 302, the first disc 3021 is first securely mounted on the frame 1 as its fixed reference. Then, the second disc 3022 is placed opposite the first disc 3021, maintaining a certain gap between them to accommodate the electric cylinder 3023. The electric cylinder 3023 is arranged in a circular array between the two discs to ensure a uniform and stable driving force during adjustment. The cylinder body and piston rod of the electric cylinder 3023 are universally hinged to the corresponding surfaces of the first disc 3021 and the second disc 3022 via a ball joint 3024 to achieve free angle adjustment.

[0026] The center of the second disc 3022 is connected to the roller 301 via the rotary drum 3025, ensuring that the roller 301 can move synchronously during angle adjustment. By controlling each electric cylinder 3023 to output piston rods at different strokes, precise angle adjustment of the second disc 3022 can be achieved, and this adjustment is then transmitted to the roller 301 via the rotary drum 3025. To maintain the stability of the roller 301 during the adjustment process, two universal joint couplings 303 are designed and connected to both ends of the roller 301, one end connected to the rotary actuator 2, and the other end connected to the machine frame 1 or another support structure.

[0027] In the process of realizing dynamic eccentric rotation, each electric cylinder 3023 is programmed to reciprocate according to a preset stroke and frequency, so that the roller 301 can continuously reciprocate with a swaying trajectory and omnidirectional angle adjustment. This cyclic control ensures that when the reverse stroke spring tooth 5 comes into contact with the pepper plant, the angle between its end and the plant always remains dynamically changing, improving the flexibility and success rate of harvesting.

[0028] In one embodiment, the overload switching roller assembly 4 employs a double-sleeve structure (first sleeve 401 and second sleeve 404) to achieve dynamic adaptability and overload protection of the spring teeth. The second sleeve 404 is directly fixed to the roller body 301 of the eccentric rotator 3 and rotates with it. The first sleeve 401 is inserted into the second sleeve 404, and the two cooperate to form different states of rotational connection or fixed connection.

[0029] The outer surface of the first sleeve 401 is equipped with multiple connecting blocks 406 in a ring array, and each connecting block 406 is fixed with a counter-stroke spring tooth 5. This design ensures that the counter-stroke spring teeth 5 are evenly distributed and contact the pepper plant in sequence during rotation.

[0030] When a certain reverse-stroke spring tooth 5 is unable to pull the chili pepper fruit alone due to insufficient linear speed, the connection between the first sleeve 401 and the second sleeve 404 will switch from a fixed connection to a rotating connection. This switch allows the obstructed reverse-stroke spring tooth 5 to maintain a constant relative height, while the adjacent reverse-stroke spring tooth 5 can take over its work, and the two work together to complete the harvesting of the fruit.

[0031] In one embodiment, the key components of the overload switching roller assembly 4 include a toothed disc 402, a second sleeve 404, balls 403, and a first sleeve 401. Specifically:

[0032] 1) Toothed disc 402: Fixedly installed at one end of the first sleeve 401 inserted into the second sleeve 404, its surface has a specific toothed structure for interacting with the ball 403.

[0033] 2) Second sleeve 404: Multiple sets of slots 4041 are arranged in an annular array inside. These slots correspond to the toothed structure on the toothed disk 402 and together form a constraint on the ball 403.

[0034] 3) Ball 403: As a connector between toothed disc 402 and slot 4041, half of ball 403 is embedded in the toothed structure of toothed disc 402, and the other half is embedded in slot 4041 to ensure the relative position between first sleeve 401 and second sleeve 404 is stable.

[0035] 4) First sleeve 401: connected to the second sleeve 404 via ball bearings 403, with connecting blocks 406 mounted on its outer surface in a ring array, and reverse travel spring teeth 5 installed on the connecting blocks 406.

[0036] In one embodiment, a slide 4042 is provided at the slot 4041 to allow the ball 403 to roll along the axial direction of the first sleeve 401. When the ball 403 disengages from the slot 4041, due to its curved surface characteristics, the ball 403 will be tangential to the curved surface characteristics of the slide 4042 and thus enter the slide 4042. When the second sleeve 404 is still being driven to rotate by the roller 301, the rotational force that should have allowed the first sleeve 401 to participate in the rotation is canceled out by the rolling of the ball 403 along the slide 4042, thereby achieving the second sleeve 404 still rotating, but the first sleeve 401 equipped with the reverse travel spring tooth 5 does not rotate. This achieves the horizontal position basis mentioned above: "When the linear velocity of one reverse travel spring tooth 5 cannot pull the pepper fruit, its angle is adaptively adjusted to be parallel to the other reverse travel spring tooth 5 closest to it. The two reverse travel spring teeth 5 work together to pull the pepper fruit and overcome the connection force between it and the stem and detach it."

[0037] In one embodiment, a conical disc spring 405 is provided inside the first sleeve 401 to reset the ball 403, thereby switching the rotational connection between the first sleeve 401 and the second sleeve 404 to a fixed connection.

[0038] One end of the conical disc spring 405 abuts against the first sleeve 401, while the other end abuts against the sliding sleeve 4043. The sliding sleeve 4043 is inserted into and slidably fitted into the wall structure of the second sleeve 404, and the inner wall of the sliding sleeve 4043 is tangent to the ball 403 through a rounded corner structure. When the ball 403 disengages from the slot 4041, the sliding sleeve 4043 is compressed by the ball 403, and the conical disc spring 405 begins to elastically store force. When the impact / resistance transmitted from the second sleeve 404 is small enough, that is, when the linear velocity of the reverse travel spring 5 is sufficient to pull the chili pepper fruit (whether it can pull it independently or the two reverse travel spring 5 pull it in coordination), the conical disc spring 405 pushes the sliding sleeve 4043 to drive the ball 403 back between the toothed disc 402 and the slot 4041, realizing the switch from a rotational connection relationship between the first sleeve 401 and the second sleeve 404 to a fixed connection relationship.

[0039] In one embodiment, the reverse travel spring tooth 5 is a core component of the harvesting device, and its structural design directly affects the harvesting effect. The reverse travel spring tooth 5 mainly consists of two parts: a crescent-shaped tooth body 501 and a self-locking component 503, which are connected by a pin 502 and installed in the connecting block 406.

[0040] 1) Crescent-shaped teeth 501: These directly pull the chili pepper fruit and overcome the connection between it and the stem, causing it to detach from the plant. The crescent-shaped design increases the contact area with the fruit, improving harvesting efficiency.

[0041] 2) Self-locking component 503: Installed below the crescent-shaped toothed body 501, and connected to the crescent-shaped toothed body 501 via a pin 502. The self-locking component 503 allows the crescent-shaped toothed body 501 to be angled along the rotation direction of the roller 301 of the eccentric rotator 3, but restricts it from rotating in the opposite direction, thereby realizing the self-locking function.

[0042] In one embodiment: the self-locking assembly 503 includes an outer cylinder 5031 and a rotating shaft 5033 rotatably fitted therein, the rotating shaft 5033 being fixedly connected to the pin 502 of the crescent-shaped toothed body 501;

[0043] The outer cylinder 5031 is equipped with a spiral disc spring 5036. One end of the spiral disc spring 5036 abuts against the pivot 5033 and the pin 502 of the crescent-shaped tooth body 501, respectively, to achieve elastic force storage.

[0044] The self-locking assembly 503 includes a ratchet 5032 fixed inside the outer cylinder 5031 and a pawl 5034 hinged to the rotating shaft 5033. An elastic paddle 5035 is provided between the rotating shaft 5033 and the pawl 5034 to keep the pawl 5034 always engaged with the ratchet 5032.

[0045] (II) The mechanism by which this invention can solve the relevant technical problems:

[0046] 2.1 Change the traditional fixed eccentric motion to dynamic eccentric motion:

[0047] When the rotary actuator drives the roller to rotate, the electric cylinder outputs piston rods according to different stroke amounts, controlling the second disc to adjust its omnidirectional angle. Since the second disc is connected to the roller via a rotating drum, the roller also adjusts its angle accordingly. Simultaneously, both ends of the roller are connected to the rotary actuator and the machine frame via universal joint couplings. The adaptive adjustment function of the universal joint couplings ensures effective transmission of rotational force and allows for angle changes in the roller.

[0048] Through the cyclic control of the electric cylinder, the roller body repeatedly reciprocates in a swaying trajectory, achieving dynamic eccentric rotation. This dynamic rotation causes the angle between the tip of the spring tooth and the pepper plant to constantly change, increasing the probability of the spring tooth penetrating the plant.

[0049] 2.2 Achieving adaptive elastic changes in the spring teeth when the travel distance is short or the fruit is densely packed:

[0050] The overload switching roller assembly includes a first sleeve and a second sleeve, as well as a reverse-stroke spring tooth connected to the first sleeve. The first and second sleeves are connected to each other via balls and slots, allowing for switchable fixed and rotating connections. When the linear velocity of a single reverse-stroke spring tooth is insufficient to pull the chili pepper, the balls disengage from the slots and fully enter the space of the toothed disc due to the force / resistance, changing the connection between the first and second sleeves from fixed to rotating. At this time, the spring tooth maintains a constant height, while the closest spring tooth engages in parallel, working together to pull the pepper.

[0051] The reverse travel spring tooth is designed with a crescent-shaped tooth body and is connected to the self-locking assembly via a pin. The self-locking assembly includes an outer cylinder, a rotating shaft, a ratchet, a pawl, and a spiral disc spring. When the spring tooth encounters a fruit that is difficult to peel, the crescent-shaped tooth body, constrained by the fruit's position, begins to hinge downwards and presses down on the fruit. At the same time, the ratchet and pawl mechanisms in the self-locking assembly prevent the tooth body from rotating in the opposite direction, achieving one-way locking during angle adjustment.

[0052] A spiral disc spring provides elastic force storage, allowing the fruit to be pulled together by the elastic forces at both ends when the two spring teeth engage in parallel, thus peeling the fruit. The device also includes a conical disc spring; when the reverse-stroke spring teeth can pull the fruit normally, the conical disc spring pushes the relevant components to reset, re-establishing a fixed connection between the first and second sleeves. This not only improves the adaptability of the device but also ensures a rapid return to normal operation when overload switching is not required, while also providing a certain degree of self-protection to prevent excessive damage to the chili plants.

[0053] (III) Compared with the prior art, the beneficial effects of the present invention are:

[0054] (1) Increasing the probability of the spring teeth penetrating the plant: In traditional fixed eccentric motion harvesting devices, the angle between the tip of the spring teeth and the chili pepper plant is fixed. When the plant layout is uneven or the fruit is dense, the spring teeth have difficulty penetrating the plant effectively, resulting in reduced harvesting efficiency. This invention, however, changes the traditional fixed eccentric motion to a dynamic eccentric motion, allowing the angle between the tip of the spring teeth and the chili pepper plant to change dynamically. This design allows the spring teeth to better adapt to the plant's growth state at different positions and angles, thus significantly increasing the probability of the spring teeth penetrating the plant. This not only improves harvesting efficiency but also reduces fruit loss and plant damage caused by the inability of the spring teeth to penetrate effectively.

[0055] (2) Enhanced adaptability of the harvesting device: Existing harvesting devices often struggle to effectively peel the fruit when the travel distance is short or the fruit (and its stems) are densely packed. The solution of this invention, through the adaptive adjustment mechanism of the overload switching roller assembly and the reverse-stroke spring teeth, achieves effective harvesting even with short travel distances or dense fruit distribution. When a single reverse-stroke spring tooth cannot pull the chili pepper fruit, adjacent spring teeth automatically cooperate, working together to increase the peeling force by utilizing elastic storage. This adaptive elastic change mechanism significantly enhances the adaptability of the harvesting device, enabling it to maintain high-efficiency harvesting performance in various complex growing environments.

[0056] (3) Elastic Reset Mechanism: This invention effectively reduces damage to chili plants through an overload switching mechanism and an elastic reset design. When the reverse-stroke spring teeth encounter fruits that are difficult to peel, they automatically adjust their angle and position to avoid excessive pulling; at the same time, after harvesting, the relevant components automatically reset, ensuring that the device can quickly return to normal working condition. This design not only protects the integrity of the chili plants but also extends the service life of the harvesting device.

[0057] (4) Purely Mechanical Automation Design: The electrical components used in this invention are limited to motors and electric cylinders, without any sensors. Adaptive adjustment and fruit harvesting are achieved solely through mechanical transmission. This simplifies the electrical control system and reduces potential points of failure and maintenance workload. This offers significant advantages for large-scale application and user cost control. Meanwhile, sensors are susceptible to contamination, damage, or signal interference in complex agricultural environments, affecting the stability and reliability of the entire system. This solution avoids these problems by achieving adaptive adjustment through pure mechanical transmission. Because it does not rely on sensors for real-time monitoring and feedback control, this solution is more adaptable to different varieties and growth stages of chili plants. Whether in uniform or non-uniform planting layouts, or with sparse or dense fruit distribution, the device can effectively harvest through its dynamic eccentric rotation and adaptive elastic change mechanism. This broad applicability allows the solution to function well in various agricultural application scenarios. Maintenance is also more convenient. Operators do not need complex electrical knowledge or skills to perform routine maintenance and upkeep of the system. At the same time, the intuitiveness and operability of the mechanical transmission system make it easier for operators to master and use the device. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0060] Figure 2 This is a detailed perspective view of the rotary actuator of the present invention;

[0061] Figure 3 This is a detailed perspective view of the eccentric rotator of the present invention;

[0062] Figure 4 For the present invention Figure 3 Enlarged diagram of area A;

[0063] Figure 5 This is a three-dimensional schematic diagram of the overload switching roller assembly of the present invention;

[0064] Figure 6 This is a partially cross-sectional perspective view of the overload switching roller assembly of the present invention;

[0065] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of area B;

[0066] Figure 8 For the present invention Figure 6 Enlarged schematic diagram of area C;

[0067] Figure 9 This is a three-dimensional schematic diagram of the reverse stroke spring tooth structure of the present invention;

[0068] Figure 10 This is a three-dimensional schematic diagram showing the details of the self-locking component of the present invention;

[0069] Figure 11 This is a simplified schematic diagram of the reverse-stroke spring tooth of the present invention harvesting fruit under normal conditions;

[0070] Figure 12 This is a simplified schematic diagram of the reverse stroke spring tooth of the present invention picking fruit under the adaptive function.

[0071] Reference numerals: 1. Machine frame; 101. Traction frame; 2. Rotary actuator; 201. Driving wheel; 202. Driven wheel; 203. Transmission belt; 204. Motor; 205. Transmission shaft; 3. Eccentric rotator; 301. Roller body; 302. Parallel mechanism; 3021. First disc body; 3022. Second disc body; 3023. Electric cylinder; 3024. Ball coupling; 3025. Rotary drum; 303. Universal joint coupling; 4. Overload switching roller assembly; 401. First sleeve; 402, toothed disc; 403, ball bearing; 404, second sleeve; 4041, slot; 4042, slide rail; 4043, sliding sleeve; 405, conical disc spring; 406, connecting block; 5, reverse travel spring tooth; 501, crescent-shaped tooth body; 502, pin; 503, self-locking assembly; 5031, outer cylinder; 5032, ratchet; 5033, rotating shaft; 5034, pawl; 5035, elastic lever; 5036, spiral disc spring. Detailed Implementation

[0072] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below;

[0073] In existing technologies, eccentric drive chili-picking rollers exhibit superior performance. When the spring teeth move to the bottom of the picking roller, their ends form a certain angle with the chili plant, facilitating insertion into the plant. Furthermore, the spring teeth possess a certain linear velocity at this point, maximizing the contact area with the fruit and ensuring rapid and stable harvesting. However, this specific embodiment aims to further improve upon the traditional eccentric drive chili-picking roller by transforming the fixed eccentric motion into a dynamic eccentric motion. This makes the angle between the spring teeth and the chili plant dynamic rather than fixed, thereby increasing the probability of insertion. Simultaneously, based on this dynamic eccentric motion, when the travel distance for the picking device is short or the fruits (and their stems) are densely packed, the spring teeth adaptively change elastically to assist in fruit removal.

[0074] For this purpose, please refer to Figures 1-10 This specific embodiment will provide a related technical solution to solve the above-mentioned technical problems: an adaptive chili fruit harvesting roller device:

[0075] The machine includes a frame 1, which has a semi-enclosed design. The cutout part of the frame is equipped with an eccentric rotator 3 and a rotary actuator 2 that drives the rotation, as well as several sets of overload switching roller assemblies 4 mounted on the eccentric rotator 3. Each overload switching roller assembly 4 is close together to form a roller structure.

[0076] A traction frame 101 is fixedly installed on the outside of the frame 1, which can be connected with existing agricultural traction devices (such as tractors, fruit harvesters, tracked vehicles, etc.) and push the device provided in this specific embodiment to carry out operations in the farmland.

[0077] The rotary actuator 2 includes a motor 204 and a drive shaft 205 that it drives. The drive shaft 205 is fixedly connected to the drive wheel 201. The drive wheel 201 establishes a transmission relationship with the driven wheel 202 through the drive belt 203. The driven wheel 202 is fixedly connected to the universal joint coupling 303 mounted on the roller body 301 of the eccentric rotary 3 (described later).

[0078] In this scheme, all electrical components of the device are powered by the storage battery installed in the agricultural traction device. Specifically, the electrical components of the device are conventionally electrofused to the battery output port through relays, transformers, and button panels to meet the power supply requirements of all electrical components of the device.

[0079] Specifically, an agricultural traction device needs to be equipped with a controller. This controller is used to connect and control all electrical components of the device to drive according to a preset program as preset values ​​and drive modes. It should be noted that the above drive modes correspond to the output parameters such as start-stop time intervals, speed, and power between the relevant electrical components mentioned below, which means that the requirements of the relevant electrical components driving the relevant mechanical devices to operate according to their described functions are met.

[0080] Preferably, the controller is a PLC controller, which completes the above control requirements through conventional PLC control modes such as ladder diagrams, sequential function diagrams, function block diagrams, instruction lists, or structured text. It should be noted that the start-stop time intervals, speeds, power, and other output parameters of the electrical components or other power components driven by the programming are not limited; specifically, the relevant drive control is adjusted according to the actual usage requirements.

[0081] In the technical solution provided in this specific embodiment, please refer to Figures 1-3 The overload switching roller assembly 4 is equipped with several reverse travel spring teeth 5 in a ring array. When the overload switching roller assembly 4 rotates with the eccentric rotator 3, the reverse travel spring teeth 5 pull the pepper fruit based on linear velocity and overcome the connection force between the fruit and the stem, causing it to detach.

[0082] When the linear velocity of one counter-stroke spring tooth 5 is insufficient to pull the chili pepper fruit, its angle is adaptively adjusted to be parallel to the other counter-stroke spring tooth 5 closest to it. The two counter-stroke spring teeth 5 work together to pull the chili pepper fruit and overcome the connection force between it and the stem, causing it to detach.

[0083] Specifically, the eccentric rotator 3, driven by the rotary actuator 2, rotates around a non-fixed axis (i.e., eccentrically). This dynamic eccentric rotation allows the angle between the end of the counter-stroke spring tooth 5 and the plant to change dynamically when it contacts the pepper plant, thereby improving the success rate of the spring tooth inserting into the plant. Simultaneously, because the counter-stroke spring teeth 5 are distributed in a circular array, it ensures that a spring tooth is in contact with the plant at any rotational position, guaranteeing the continuity of harvesting.

[0084] When the linear velocity of a single reverse-stroke spring tooth 5 is insufficient to overcome the bonding force between the chili fruit and the stem, the adaptive adjustment mechanism inside the overload switching roller assembly 4 is triggered. At this time, the angle of the spring tooth will adaptively adjust to be parallel to the other reverse-stroke spring tooth 5 closest to it. The two spring teeth work together to increase the peeling force by utilizing the elastic force between them, thereby achieving effective harvesting of the fruit.

[0085] It should be noted that in the above scheme: through the design of dynamic eccentric rotation, the reverse-stroke spring teeth 5 can contact the pepper plants at more flexible angles and positions, effectively improving harvesting efficiency and success rate, especially when facing plants with non-uniform distribution. The adaptive adjustment mechanism of the overload switching roller assembly 4 can be automatically triggered when the harvesting force of a single spring tooth is insufficient. By cooperating with adjacent spring teeth, the peeling force is enhanced, solving the harvesting difficulties caused by dense fruit or tough stems, and ensuring smooth harvesting. The circular array distribution of the reverse-stroke spring teeth 5 ensures the continuity of the harvesting action. No matter where the eccentric rotator 3 rotates, there are always spring teeth in working condition, effectively improving harvesting efficiency and work quality.

[0086] To achieve the aforementioned dynamic eccentric rotation function, please refer to the technical solution provided in this specific embodiment. Figure 3 The eccentric rotator 3 includes a roller body 301 for mounting the overload switching roller assembly 4, a parallel mechanism 302 installed at the left and right ends of the roller body 301 to adjust its universal angle, both of the parallel mechanisms 302 being installed inside the frame 1, and a universal joint coupling 303 installed at the left and right ends of the roller body 301 to drive the roller body 301 to rotate without mechanical interference.

[0087] It is understandable that when omnidirectional angle adjustment and rotation are performed simultaneously, the function of dynamic eccentric rotation can be achieved.

[0088] Specifically, the principle of dynamic eccentric rotation lies in the flexible universal angle adjustment of the roller 301 through the parallel mechanism 302, while the rotary actuator 2 provides stable rotational power. The parallel mechanism 302 consists of two opposing discs (first disc 3021 and second disc 3022) and multiple electric cylinders 3023 connecting them. The electric cylinders 3023 are universally hinged through a ball joint 3024, allowing the second disc 3022 to be angled within a certain range. When the electric cylinder 3023 outputs the piston rod according to different strokes, the second disc 3022 shifts its angle, and drives the roller 301 to adjust its angle accordingly through the rotating cylinder 3025. At this time, due to the self-adaptability of the universal joint coupling 303, the roller 301 can still maintain stable rotation while adjusting its angle, thus achieving dynamic eccentric rotation. This design allows the reverse stroke spring tooth 5 to insert at a more flexible angle when contacting the pepper plant, improving harvesting efficiency and success rate.

[0089] It should be noted that in the above scheme: the parallel mechanism 302 is essentially equivalent to a parallel robot in traditional mechanics; for those skilled in the art, a preset program can be stored using a PID controller algorithm on a conventional parallel mechanism, that is, to realize the function of omnidirectional angle adjustment according to the corresponding time step.

[0090] It should be noted that in the above scheme, the dynamic eccentric rotation design brings significant functional improvements to the harvesting device. Firstly, it significantly enhances the flexibility and adaptability of harvesting because the roller 301 can perform dynamic eccentric rotation, allowing the counter-stroke spring teeth 5 to contact the chili pepper plants at more varied angles. This design ensures that the spring teeth can more effectively insert and peel the fruit, especially for plants with uneven growth patterns. Secondly, dynamic eccentric rotation also helps improve harvesting efficiency. By reducing harvesting blind spots caused by uneven plant distribution, it ensures that spring teeth are in operation at any rotational position, thus achieving continuous and stable harvesting operations. Furthermore, this design enhances the durability and reliability of the harvesting device. By optimizing the mechanical structure and transmission method, the failure rate caused by mechanical interference or overload is reduced, extending the equipment's service life.

[0091] To enable the parallel mechanism 302 to achieve the aforementioned functions, please refer to the technical solution provided in this specific embodiment. Figure 4 The parallel mechanism 302 includes a first disc 3021 fixed on the frame 1, a second disc 3022 opposite to the first disc 3021, and a plurality of electric cylinders 3023 arranged in a ring array between the first disc 3021 and the second disc 3022. The cylinder body and piston rod of the electric cylinder 3023 are universally hinged to the opposite sides of the first disc 3021 and the second disc 3022 through a ball coupling 3024. The second disc 3022 is rotatably engaged with the roller 301 through a rotating drum 3025.

[0092] In one of the parallel mechanisms 302, each electric cylinder 3023 outputs a piston rod according to a different stroke amount, which can control the second disc 3022 to perform universal angle adjustment; and because a rotating drum 3025 is provided between the second disc 3022 and the roller 301, it can also drive the roller 301 to cooperate, and each electric cylinder 3023 in the other parallel mechanism 302 needs to retract in the opposite stroke to realize the universal angle adjustment of the roller 301;

[0093] During the aforementioned universal joint angle adjustment process, since the two ends of one universal joint coupling 303 are respectively connected to the rotary actuator 2 (driven wheel 202) and one end of the roller 301, the universal joint angle adjustment of the roller 301 will cause the universal joint coupling 303 to make adaptive adjustments, thereby transmitting the rotational force from the rotary actuator 2, and causing the roller 301 to drive the overload switching roller assembly 4 and the reverse travel spring tooth 5 to rotate. The two ends of the other universal joint coupling 303 are respectively connected to the machine frame 1 and the other end of the roller 301, so the universal joint angle compensation and support of the roller 301 can be realized.

[0094] According to the above function, when each electric cylinder 3023 in a parallel mechanism 302 outputs a piston rod according to a different stroke amount and continuously performs reciprocating control in a cyclical manner, the roller 301 continuously reciprocates with a swaying trajectory, achieving a dynamic eccentric rotation function. Furthermore, when the reverse stroke spring tooth 5 moves below the roller 301, its end has a certain angle with the chili plant, and this angle is dynamic, facilitating the insertion of the reverse stroke spring tooth 5 into the plant. At this time, the reverse stroke spring tooth 5 has a certain linear velocity, a large contact area with the fruit, and continuously changes dynamically, ensuring that the chili fruit is harvested quickly and smoothly.

[0095] It should be noted that when the roller 301 performs dynamic eccentric rotation, the counter-rotating spring tooth 5 rotates with it to the underside of the chili plant. Because the angle of the roller 301 is constantly changing, the angle between the counter-rotating spring tooth 5 and the chili plant is also dynamic. This dynamic angle makes it easier for the counter-rotating spring tooth 5 to insert into the chili plant, improving harvesting efficiency. Furthermore, during the dynamic eccentric rotation, the counter-rotating spring tooth 5 not only has a certain linear velocity, but also its contact area with the fruit is constantly changing due to the change in angle. A larger contact area helps to more effectively overcome the connection force between the fruit and the stem, ensuring smooth fruit harvesting. The combination of these two functions helps to peel the fruit more smoothly, reducing damage to the fruit and plant. Moreover, regardless of whether the farmland is uneven or the plant is close to the harvesting device or the fruit is densely packed, the device can maintain efficient and stable harvesting performance through dynamic eccentric rotation and adaptive angle adjustment.

[0096] Furthermore, in the process of realizing dynamic eccentric rotation, each electric cylinder 3023 is programmed to reciprocate according to a preset stroke and frequency, so that the roller 301 can continuously reciprocate with a swaying trajectory and omnidirectional angle adjustment. This cyclic control ensures that when the reverse stroke spring tooth 5 comes into contact with the chili plant, the angle between its end and the plant always remains dynamically changing, improving the flexibility and success rate of harvesting.

[0097] Specifically, the parallel mechanism 302 operates based on a multi-cylinder coordinated drive and angle adjustment mechanism. By controlling multiple electric cylinders 3023 to output piston rods at different strokes, precise angle adjustment of the second disc 3022 relative to the first disc 3021 can be achieved. Since the electric cylinders 3023 and the discs are universally hinged using a ball coupling 3024, no mechanical interference occurs during angle adjustment, ensuring smoothness and accuracy of the adjustment.

[0098] The rotary drum 3025, as a key component connecting the second disc 3022 and the roller 301, can drive the roller 301 to move synchronously during angle adjustment. At the same time, two universal joint couplings 303 are respectively connected to the two ends of the roller 301, which not only transmit the rotational force from the rotary actuator 2, but also realize the stability and support of the roller 301 during the angle adjustment process.

[0099] During the dynamic eccentric rotation, the cyclic reciprocating control of the electric cylinder 3023 enables the roller 301 to adjust its angle in a swaying trajectory. This adjustment method allows the reverse-stroke spring tooth 5 to adaptively adjust its angle and position when in contact with the chili plant, thereby improving the flexibility and efficiency of harvesting.

[0100] Preferably, the electric cylinder 3023 is a servo electric cylinder, and as follows: Figures 3-4 As shown, any two adjacent electric cylinders 3023 are arranged in a V-shape. This arrangement ensures that after each electric cylinder 3023 reaches its limit stroke point, its adjacent electric cylinders still have stroke space, which can be compensated for, resulting in a smoother trajectory for the aforementioned universal angle adjustment function and improving the effect of dynamic eccentric motion.

[0101] It should be noted that in the above scheme, the parallel mechanism 302 and its dynamic eccentric rotation function bring significant functional improvements to the harvesting device. Firstly, through multi-cylinder coordinated drive and angle adjustment mechanism, the roller 301 achieves dynamic eccentric rotation during the harvesting process, allowing the counter-stroke spring teeth 5 to contact the chili plants at more flexible and varied angles, improving the adaptability and success rate of harvesting. Especially when dealing with plants with uneven growth patterns, this design can significantly reduce harvesting blind spots and ensure effective fruit removal.

[0102] Dynamic eccentric rotation also improves harvesting efficiency. Because the angle and position of the reverse-stroke spring tooth 5 can be adaptively adjusted when it contacts the fruit, the contact area is larger and dynamically changes, making it easier to overcome the connection force between the fruit and the stem, thus achieving rapid and stable harvesting of the fruit.

[0103] In the technical solution provided in this specific embodiment, please refer to Figures 5-8The overload switching roller assembly 4 includes a second sleeve 404 that is directly driven to rotate by the eccentric rotator 3 and fixed on the roller body 301, and a first sleeve 401 that is inserted into and cooperates with the second sleeve 404.

[0104] The outer surface of the first sleeve 401 is equipped with several connecting blocks 406 in a ring array, and the connecting blocks 406 are equipped with anti-travel spring teeth 5.

[0105] When the linear velocity of one of the reverse travel spring teeth 5 is insufficient to pull the chili pepper fruit, the first sleeve 401 switches the fixed connection between itself and the second sleeve 404 to a rotational connection, keeping the height of that reverse travel spring tooth 5 constant. This achieves the height position basis described above: "When the linear velocity of one reverse travel spring tooth 5 is insufficient to pull the chili pepper fruit, its angle is adaptively adjusted to be parallel to the other closest reverse travel spring tooth 5, and the two reverse travel spring teeth 5 work together to pull the chili pepper fruit and overcome the connection force between it and the stem, causing it to detach." Conversely, the first sleeve 401 and the second sleeve 404 maintain a fixed connection.

[0106] It should be further noted that when a certain reverse-stroke spring tooth 5 is unable to pull the chili pepper fruit alone due to insufficient linear speed, the connection between the first sleeve 401 and the second sleeve 404 will switch from a fixed connection to a rotating connection. This switch allows the obstructed reverse-stroke spring tooth 5 to maintain a constant relative height, while the adjacent reverse-stroke spring tooth 5 can take over its work. The two work together to complete the harvesting of the fruit. The specific mechanical principle will be explained later.

[0107] Specifically, the overload switching roller assembly 4 operates based on a dynamic connection mechanism between the sleeves. Under normal circumstances, the first sleeve 401 and the second sleeve 404 remain fixedly connected, ensuring that all the reverse travel spring teeth 5 can rotate synchronously and contact the pepper plant. However, when a certain reverse travel spring tooth 5 encounters excessive resistance and the linear velocity cannot overcome the connection force between the fruit and the stem, the system will trigger a mechanical overload protection mechanism.

[0108] The overload protection mechanism is achieved by changing the connection state between the sleeves. Specifically, when a certain reverse travel spring tooth 5 is overloaded, the relevant mechanism (such as the ball and groove structure described in detail later) will release the fixed connection between the first sleeve 401 and the second sleeve 404, and change it to a rotational connection. This change allows the obstructed reverse travel spring tooth 5 to maintain its height position, while the other unobstructed reverse travel spring teeth 5 can continue to work, or cooperate with the obstructed spring tooth to overcome the resistance and harvest the fruit.

[0109] It should be noted that in the above scheme, the design of the overload switching roller assembly 4 significantly enhances the adaptability and reliability of the harvesting device. Firstly, through the double-sleeve structure and dynamic connection mechanism, the reverse-stroke spring tooth 5 achieves adaptive adjustment when facing different resistances. This adjustment not only ensures the continuity of harvesting operations but also reduces the risk of downtime or damage caused by overload of a single spring tooth. Secondly, the overload switching function also improves harvesting efficiency. When a certain reverse-stroke spring tooth 5 cannot complete its task alone, adjacent spring teeth can quickly take over and cooperate with it, thereby ensuring that the fruit is harvested in a timely and effective manner. This collaborative operation not only speeds up the harvesting process but also increases the success rate of harvesting.

[0110] To implement the aforementioned dynamic connection mechanism, please refer to the technical solution provided in this specific embodiment. Figures 5-8 The overload switching roller assembly 4 includes a toothed disc 402 fixed on one end of the first sleeve 401 inserted into the second sleeve 404, and a slot 4041 arranged in a ring array in the second sleeve 404.

[0111] A ball bearing 403 is provided between the toothed disc 402 and the slot 4041. Half of the ball bearing 403 is locked in one half of the space of the toothed structure of the toothed disc 402 and the other half of the space of the slot 4041, respectively. The ball bearing 403 acts as a "connector" between the toothed disc 402 and the slot 4041, that is, between the first sleeve 401 and the second sleeve 404. When the linear velocity of a reverse-stroke spring tooth 5 is insufficient to pull the chili pepper fruit, the impact / resistance transmitted by the second sleeve 404 causes the ball bearing 403 to disengage from the slot 4041 and fully enter the space of the toothed structure of the toothed disc 402, thereby switching the fixed connection relationship between the first sleeve 401 and the second sleeve 404 to a rotational connection relationship.

[0112] Specifically, the overload switching roller assembly 4 operates on the dynamic movement of the ball bearing 403 between the toothed disc 402 and the slot 4041. Under normal conditions, the ball bearing 403 is simultaneously engaged in the toothed structure of the toothed disc 402 and the slot 4041, maintaining a fixed connection between the first sleeve 401 and the second sleeve 404. At this time, all the reverse-stroke spring teeth 5 can rotate synchronously and contact the chili plant for harvesting. However, when a certain reverse-stroke spring tooth 5 encounters excessive resistance and its linear velocity cannot overcome the connecting force between the fruit and the stem, the second sleeve 404 will transmit a large impact or resistance to the first sleeve 401. This force causes the ball bearing 403 to be squeezed, thereby disengaging from the slot 4041 and fully entering the toothed structure space of the toothed disc 402. At this time, the fixed connection between the first sleeve 401 and the second sleeve 404 is released and transformed into a rotational connection.

[0113] In this rotating connection state, the obstructed reverse travel spring tooth 5 maintains its height position, while the other unobstructed reverse travel spring teeth 5 can continue to rotate. Alternatively, when an adjacent reverse travel spring tooth 5 travels to the obstructed fruit, the two can cooperate to overcome the resistance and harvest the fruit (the specific cooperation method will be described later).

[0114] It should be noted that in the above scheme, the adaptive switching of the connection relationship between the first sleeve 401 and the second sleeve 404 is achieved through the dynamic movement of the ball bearing 403 between the toothed disc 402 and the slot 4041. This design allows the harvesting device to flexibly respond to different resistances, ensuring the continuity and stability of the harvesting operation. When a certain reverse travel spring tooth 5 is overloaded, the triggering of the overload switching mechanism will release the fixed connection relationship between the first sleeve 401 and the second sleeve 404, preventing equipment damage or shutdown due to the overload of a single spring tooth. This protection mechanism improves the reliability and service life of the harvesting device. Moreover, in the overload switching state, adjacent reverse travel spring teeth 5 can form a cooperative relationship to overcome resistance and harvest the fruit together. This cooperative operation mode not only improves harvesting efficiency but also enhances the harvesting device's adaptability to complex growing environments.

[0115] In the technical solution provided in this specific embodiment, please refer to Figures 7-8 A slide 4042 is provided at the slot 4041 to allow the ball 403 to roll along the axial direction of the first sleeve 401. When the ball 403 disengages from the slot 4041, due to its curved surface characteristics, the ball 403 will be tangential to the curved surface characteristics of the slide 4042 and thus enter the slide 4042. When the second sleeve 404 is still being driven to rotate by the roller 301, the rotational force that should have allowed the first sleeve 401 to participate in the rotation is canceled out by the rolling of the ball 403 along the slide 4042, thus achieving the second sleeve 404 still rotating, but the first sleeve 401 equipped with the reverse travel spring tooth 5 does not rotate. This achieves the horizontal position basis mentioned above: "When the linear velocity of one reverse travel spring tooth 5 cannot pull the pepper fruit, its angle is adaptively adjusted to be parallel to the other reverse travel spring tooth 5 closest to it. The two reverse travel spring teeth 5 work together to pull the pepper fruit and overcome the connection force between it and the stem and detach it."

[0116] Specifically: Under normal circumstances, the ball bearing 403 is simultaneously embedded in the toothed structure of the toothed disc 402 and the groove 4041, ensuring a fixed connection between the first sleeve 401 and the second sleeve 404. At this time, both rotate synchronously, driving the reverse travel spring tooth 5 to perform the harvesting operation. When a certain reverse travel spring tooth 5 encounters too much resistance and can no longer pull the pepper fruit, the impact / resistance transmitted by the second sleeve 404 causes the ball bearing 403 to be squeezed, thereby disengaging from the groove 4041. Since the curved surface feature of the ball bearing 403 is tangent to the curved surface feature of the slide 4042, the ball bearing 403 will smoothly enter the slide 4042 and begin to roll. When the second sleeve 404 continues to be driven to rotate by the roller body 301, the rotational force that should have been transmitted to the first sleeve 401 is offset by the rolling of the ball bearing 403 in the slide 4042. In this way, the second sleeve 404 can continue to rotate, while the first sleeve 401 equipped with the reverse travel spring tooth 5 remains relatively stationary or only moves slightly. As the ball bearing 403 rolls in the slide rail 4042, the position of the first sleeve 401 relative to the second sleeve 404 undergoes a slight adjustment, but this adjustment is in the horizontal direction. This adaptive adjustment of the horizontal position allows the obstructed reverse travel spring tooth 5 to gradually adjust to a position parallel to the adjacent unobstructed spring tooth, providing conditions for subsequent cooperative harvesting.

[0117] It should be noted that in the above scheme, the design of the slide rail 4042 enables the overload switching roller assembly 4 to achieve adaptive adjustment of its horizontal position under overload conditions. This adjustment ensures that adjacent reverse travel spring teeth 5 can form an effective cooperative relationship, jointly overcoming resistance and completing the harvesting task. Combined with the interaction between the slide rail 4042 and the ball bearing 403, the overload switching mechanism is further enhanced. Even if a certain reverse travel spring tooth 5 cannot continue to work due to excessive resistance, the entire overload switching roller assembly 4 can still maintain a relatively stable working state, avoiding impact and damage to the entire harvesting device. Through the adaptive adjustment of the horizontal position and the joint cooperation of adjacent reverse travel spring teeth 5, the harvesting device can complete the harvesting task more flexibly and efficiently when facing complex growing environments, thereby improving the overall harvesting efficiency.

[0118] In the technical solution provided in this specific embodiment, please refer to Figures 6-7 The first sleeve 401 is equipped with a conical disc spring 405 that can reset the ball 403, thereby switching the rotational connection between the first sleeve 401 and the second sleeve 404 to a fixed connection.

[0119] One end of the conical disc spring 405 abuts against the first sleeve 401, while the other end abuts against the sliding sleeve 4043. The sliding sleeve 4043 is inserted into and slidably fitted into the wall structure of the second sleeve 404, and the inner wall of the sliding sleeve 4043 is tangent to the ball 403 through a rounded corner structure. When the ball 403 disengages from the slot 4041, the sliding sleeve 4043 is compressed by the ball 403, and the conical disc spring 405 begins to elastically store force. When the impact / resistance transmitted from the second sleeve 404 is small enough, that is, when the linear velocity of the reverse travel spring 5 is sufficient to pull the chili pepper fruit (whether it can pull it independently or the two reverse travel spring 5 pull it in coordination), the conical disc spring 405 pushes the sliding sleeve 4043 to drive the ball 403 back between the toothed disc 402 and the slot 4041, realizing the switch from a rotational connection relationship between the first sleeve 401 and the second sleeve 404 to a fixed connection relationship.

[0120] It should be pointed out that, such as Figure 7 As shown, in practice, one end of the conical disc spring 405 should abut against the groove at b1 in the figure, that is, the groove on the inner wall of the sliding sleeve 4043. Due to the visualization limitations of the drawing software, the conical disc spring 405 shown in the figure is in a compressed state and does not cooperate with the groove, hence this explanation.

[0121] Specifically: The above process in practical application is as follows:

[0122] S1. Overload state: When the ball 403 disengages from the slot 4041 and enters the slide 4042 due to excessive resistance, the inner wall of the sleeve 4043 will be squeezed by the ball 403. At this time, the conical disc spring 405 begins to elastically store energy generated by the movement of the ball 403.

[0123] S2, Elastic Energy Storage: During the process of the ball 403 disengaging from the slot 4041, the conical disc spring 405 is compressed and gradually stores energy. This energy storage provides the power basis for the subsequent reset of the ball 403.

[0124] S3. Reset Condition: When the impact / resistance transmitted by the second sleeve 404 decreases to a sufficiently small extent (i.e., the linear velocity of the reverse travel spring 5 is sufficient to overcome the connection force between the fruit and the stem), the conical disc spring 405 begins to release the stored energy. This released energy pushes the sliding sleeve 4043 to slide along the wall structure of the second sleeve 404, and drives the ball 403 back between the toothed disc 402 and the slot 4041.

[0125] S4. Fixed Connection Restoration: As the ball bearing 403 re-embeds into the toothed structure and slot 4041 of the toothed disc 402, the rotational connection between the first sleeve 401 and the second sleeve 404 is switched back to a fixed connection. At this time, the two rotate synchronously again, driving the reverse-stroke spring tooth 5 to perform normal harvesting operations.

[0126] It should be noted that in the above scheme, the design of the conical disc spring 405 realizes the automatic reset function of the overload switching roller assembly 4. Once the overload state is released, the conical disc spring 405 releases energy to push the ball bearing 403 to reset, allowing the device to quickly return to normal operation. Through the reset mechanism of the conical disc spring 405, the overload switching roller assembly 4 can maintain higher stability when facing complex harvesting environments. Even if the overload switching mechanism is triggered multiple times in a short period of time, the device can quickly recover and continue to work. The automatic reset function reduces mechanical wear and impact damage caused by overload switching, thereby extending the service life of the overload switching roller assembly 4 and even the entire harvesting device.

[0127] In the technical solution provided in this specific embodiment, please refer to Figure 5 , 9 ~12: The reverse travel spring tooth 5 includes a crescent-shaped tooth 501 for pulling the chili fruit and overcoming the connection force between it and the stem and disengaging it, and a self-locking component 503. The crescent-shaped tooth 501 is connected to the self-locking component 503 through a pin 502. The self-locking component 503 is located in the connecting block 406.

[0128] The self-locking component 503 allows the crescent-shaped toothed body 501 to adjust its angle along the rotation direction of the roller 301 of the eccentric rotator 3, but restricts its rotation in the opposite direction.

[0129] When the crescent-shaped tooth 501 is adjusted in angle, it stores elastic force, so that the two counter-stroke spring teeth 5 work together to pull the pepper fruit based on the elastic force at the upper and lower ends and overcome the connection force between the fruit and the stem, so that the fruit can detach from the stem.

[0130] In practical applications, such as Figure 11 As shown, when the linear velocity of a reverse-stroke spring tooth 5 can pull the chili fruit, it will become a rigid part because its force direction is opposite to the rotation direction of the self-locking component 503, thereby pulling the chili fruit and overcoming the connection force between it and the stem and causing it to detach.

[0131] However, when the linear velocity of a reverse-stroke spring tooth 5 is insufficient to pull the chili pepper fruit, such as Figure 12 As shown, based on the "height position base" and "horizontal position base" achieved by the overload switching roller assembly 4 above, the reverse travel spring tooth 5 simultaneously performs the following three actions:

[0132] 1) The reverse travel spring tooth 5 continues to move forward along a fixed height and horizontal direction;

[0133] 2) Its crescent-shaped tooth 501 is constrained by the position of the fruit above, begins to hinge downwards, and presses down on the fruit below;

[0134] 3) Its crescent-shaped tooth 501 and its adjacent other reverse-stroke spring tooth 5 gradually form a parallel relationship;

[0135] Then, as the machine moves forward, it achieves the following functions: when the crescent-shaped tooth 501 reaches its limit position, the crescent-shaped tooth 501, based on the elastic force stored by the pin 502, either overcomes the connection force between the fruit and the stem and causes it to detach, or continues to store force; if the former, the fruit is both dislodged and the crescent-shaped tooth 501 can achieve elastic reset; if the latter, when the other reverse travel spring tooth 5 moves to the fruit, the two crescent-shaped teeth 501 cooperate with each other, the upper crescent-shaped tooth 501 presses down on the upper part of the fruit, and the lower crescent-shaped tooth 501 self-locks based on the self-locking component 503 that cooperates with it and forms the "rigid part" mentioned above, so that the upper compensation position of the fruit is locked by one crescent-shaped tooth 501, while the lower part of the fruit is dislodged by the other crescent-shaped tooth 501, thereby achieving the detachment of the fruit.

[0136] Specifically: The crescent-shaped toothed body 501 is connected to the self-locking assembly 503 via a pin 502. The self-locking assembly 503 contains elastic elements such as a spiral disc spring 5036. These elastic elements store elastic force when the crescent-shaped toothed body 501 encounters resistance (e.g., when the pepper fruit cannot be pulled directly). When the crescent-shaped toothed body 501 reaches its limit position, the resistance it experiences from the fruit and stem reaches its maximum. At this point, the crescent-shaped toothed body 501 and the elastic elements (such as the spiral disc spring 5036) within the self-locking assembly 503 have accumulated sufficient energy. Please refer to [link to relevant documentation]. Figure 12 ,in:

[0137] (1) Overcoming the connecting force: If the accumulated energy is large enough to overcome the connecting force between the fruit and the stem, the crescent-shaped tooth 501 will suddenly exert force to make the fruit detach from the stem.

[0138] (2) Continued Energy Accumulation: If the accumulated energy is insufficient to overcome the connecting force, the crescent-shaped tooth 501 will remain in its extreme position to continue accumulating energy, waiting for the assistance of other counter-stroke spring teeth 5. That is, it will remain in its extreme position to continue accumulating energy and wait for the arrival of the next counter-stroke spring tooth 5. As the device continues to move forward, another counter-stroke spring tooth 5 will reach the fruit. At this time, the upper crescent-shaped tooth 501 will press down on the upper part of the fruit, forming an upward force. At the same time, the lower crescent-shaped tooth 501 will self-lock through the self-locking component 503, forming a "rigid component" and applying a downward pushing force to the lower part of the fruit. The combined force of the upper and lower crescent-shaped teeth 501 causes the fruit to be subjected to forces in two directions simultaneously. This synergistic effect helps to overcome the connecting force between the fruit and the stem, thereby achieving the smooth detachment of the fruit. The principle is further explained as follows:

[0139] (2.1) Upper crescent-shaped teeth 501: The crescent-shaped teeth 501 located on the upper part of the fruit apply an upward force to the fruit by pressing on the upper part of the fruit. This force helps to stretch the connection between the fruit and the stem, weakening the connection strength;

[0140] (2.2) Lower crescent-shaped teeth 501: Simultaneously, the crescent-shaped teeth 501 located at the lower part of the fruit, based on the "rigid component" formed by the self-locking assembly 503, applies a downward pushing force to the lower part of the fruit. This force acts directly on the connection between the fruit and the stem, attempting to directly peel the fruit off;

[0141] (2.3) Superposition effect of forces: The two crescent-shaped teeth 501 apply forces to the fruit simultaneously. These forces complement each other in direction, forming a combined effect on the connection between the fruit and the stem. This combined force not only enhances the peeling force of the fruit, but also weakens the connection force from multiple angles, thus improving the harvesting success rate.

[0142] Understandably, the core of the aforementioned function lies in the design of the self-locking component 503, which ensures that the crescent-shaped tooth 501 can form a rigid component when needed, providing stable pulling force. After the fruit is successfully removed, the self-locking component 503 can also achieve the elastic reset of the crescent-shaped tooth 501, preparing for the next harvest. Furthermore, when a single reverse-stroke spring tooth 5 cannot complete its task alone, it can adaptively adjust its working state, forming a synergistic effect with adjacent reverse-stroke spring teeth 5. This design fully considers the actual conditions during the harvesting process, maximizing the utilization of force through the ingenious arrangement of the mechanical structure. Therefore, the solution not only improves harvesting efficiency but also enhances adaptability and stability during the harvesting process. Whether the fruit is densely packed or the plant layout is uneven, the synergistic effect of the upper and lower crescent-shaped teeth 501 can effectively cope with the situation, ensuring the smooth removal of the fruit.

[0143] In practical applications, the above operating modes can be summarized as follows: depending on the different situations during the harvesting process, there are two states: normal harvesting state and overload state.

[0144] 1) Normal harvesting condition:

[0145] like Figure 11 As shown, when the linear velocity of the reverse-stroke spring tooth 5 is sufficient to pull the chili pepper fruit, its force direction is opposite to the rotation direction of the self-locking component 503. In this case, the crescent-shaped tooth 501 becomes a rigid component under the constraint of the self-locking component 503, which can stably pull the chili pepper fruit and overcome the connection force between it and the stem, allowing it to detach smoothly.

[0146] 2) Overload condition:

[0147] like Figure 12 As shown, when the reverse travel spring tooth 5 encounters excessive resistance and can no longer pull the chili pepper, based on the "height position basis" and "horizontal position basis" provided by the overload switching roller assembly 4, the reverse travel spring tooth 5 will perform the following three actions:

[0148] 2.1) Continue moving forward:

[0149] The reverse travel spring 5 continues to move forward along a fixed height and horizontal direction, maintaining contact with the fruit.

[0150] 2.2) Downward hinge:

[0151] The crescent-shaped tooth 501, constrained by the position of the fruit above, begins to hinge downwards and press down on the fruit below. This elastic force prepares for subsequent coordinated harvesting.

[0152] 2.3) Forming a parallel relationship:

[0153] The crescent-shaped tooth 501 and its adjacent reverse-stroke spring tooth 5 gradually form a parallel relationship, creating conditions for the two spring teeth to work together to harvest.

[0154] As the machine moves forward, when the crescent-shaped tooth 501 reaches its limit position, the elastic force stored in the pin 502 will come into play:

[0155] 1) If the elastic force is sufficient to overcome the connection force between the fruit and the stem, the fruit is dislodged and the crescent-shaped tooth 501 achieves elastic reset.

[0156] 2) If the elastic force is insufficient to overcome the connecting force, when the other counter-stroke spring tooth 5 travels to the fruit, the two crescent-shaped teeth 501 cooperate with each other: the upper crescent-shaped tooth 501 presses down on the upper part of the fruit, and the lower crescent-shaped tooth 501 forms a "rigid part" based on the self-locking component 503, locking the upper position of the fruit, while simultaneously moving the lower part of the fruit, thereby realizing the fruit's detachment.

[0157] It should be noted that in the above scheme, the reverse-stroke spring tooth 5, through the design of the crescent-shaped tooth body 501 and the self-locking component 503, achieves adaptive adjustment during the harvesting process. Whether in normal harvesting or overload conditions, the reverse-stroke spring tooth 5 can adjust its working state according to the actual situation, ensuring the smooth progress of the harvesting task. The design of the crescent-shaped tooth body 501 increases the contact area with the fruit, improving harvesting efficiency; while the self-locking component ensures the stability of the crescent-shaped tooth body during the fruit-pulling process. Under overload conditions, the reverse-stroke spring tooth 5 can overcome resistance through elastic force storage and mutual cooperation, avoiding mechanical damage caused by excessive resistance and extending the service life of the harvesting device.

[0158] Preferably, the crescent-shaped tooth 501 is made of rubber or lightweight metal, and preferably has a hollow structure inside to avoid excessive weight from damaging the fruit.

[0159] In the technical solution provided in this specific embodiment, please refer to Figure 10 The self-locking assembly 503 includes an outer cylinder 5031 and a rotating shaft 5033 rotatably fitted therein. The rotating shaft 5033 is fixedly connected to the pin 502 of the crescent-shaped toothed body 501.

[0160] The outer cylinder 5031 is equipped with a spiral disc spring 5036. One end of the spiral disc spring 5036 abuts against the pivot 5033 and the pin 502 of the crescent-shaped tooth body 501, respectively, to achieve elastic force storage.

[0161] The self-locking assembly 503 includes a ratchet 5032 fixed inside the outer cylinder 5031 and a pawl 5034 hinged to the rotating shaft 5033. An elastic paddle 5035 is provided between the rotating shaft 5033 and the pawl 5034 to keep the pawl 5034 always engaged with the ratchet 5032.

[0162] Specifically:

[0163] 1) Outer cylinder 5031: As the main structure of the self-locking assembly 503, the outer cylinder 5031 contains other key components, including a rotating shaft 5033, a spiral disc spring 5036, a ratchet 5032, and a pawl 5034.

[0164] 2) Rotating shaft 5033: It is fixedly connected to the pin 502 of the crescent-shaped tooth body 501 and can drive the crescent-shaped tooth body 501 to rotate in a specific direction. The rotating shaft 5033 is rotatably fitted inside the outer cylinder 5031.

[0165] 3) Helical disc spring 5036: Installed inside the outer cylinder 5031, with one end abutting against the rotating shaft 5033 and the other end abutting against the pin 502 of the crescent-shaped toothed body 501. The helical disc spring 5036 can store energy when compressed and release energy under appropriate conditions to achieve elastic force storage.

[0166] 4) Ratchet 5032: Fixed inside the outer cylinder 5031, it works in conjunction with the pawl 5034 to achieve a self-locking function. The tooth design of the ratchet 5032 ensures that the pawl 5034 can only engage in one direction, thereby restricting the reverse rotation of the shaft 5033.

[0167] 5) Pawl 5034: Hinged on the rotating shaft 5033, it is always engaged between the teeth of the ratchet 5032 by the action of the elastic pawl 5035. The design of the pawl 5034 ensures that the rotating shaft 5033 can only rotate in a specific direction (i.e., the rotation direction of the roller 301 of the eccentric rotator 3), and cannot rotate in the opposite direction.

[0168] 6) Elastic pawl 5035: Installed between the rotating shaft 5033 and the pawl 5034, it provides continuous meshing force to the pawl 5034, ensuring that the pawl 5034 always remains engaged with the ratchet 5032.

[0169] It is understandable that when the reverse travel spring tooth 5 moves along the rotation direction of the roller 301 of the eccentric rotator 3, the rotating shaft 5033 drives the crescent-shaped tooth body 501 to rotate synchronously. At this time, the pawl 5034 slides along the tooth surface of the ratchet 5032 under the action of the elastic pawl 5035, and does not hinder the rotation of the rotating shaft 5033. The spiral disc spring 5036 remains compressed during this process, providing stable rotational support force for the crescent-shaped tooth body 501.

[0170] When it is necessary to prevent the crescent-shaped tooth 501 from rotating in the opposite direction (such as in the case of overload), the pawl 5034 automatically locks under the action of the teeth of the ratchet 5032, preventing the shaft 5033 from rotating in the opposite direction. At this time, the compression force of the spiral disc spring 5036 further enhances the self-locking effect, ensuring that the crescent-shaped tooth 501 will not rotate in the opposite direction due to external force.

[0171] If unlocking is required, the meshing force between the pawl 5034 and the ratchet 5032 must be overcome by external force (such as the torque generated by the continued forward movement of the whole machine), so that the pawl 5034 jumps out from between the teeth of the ratchet 5032, thereby allowing the shaft 5033 to rotate in the opposite direction.

[0172] The spiral disc spring 5036 elastically stores force when the crescent-shaped tooth 501 is angled. This storage of force not only helps the crescent-shaped tooth 501 maintain a stable contact force during harvesting, but also provides additional driving force when needed to overcome the connection force between the fruit and the stem.

[0173] Therefore, it can be understood that, based on the specific structural limitations of the aforementioned reverse travel spring teeth 5, in order to satisfy the aforementioned function of "elastic force storage taking effect," that is, "the crescent-shaped tooth 501 located at the upper part presses down on the upper part of the fruit, and the crescent-shaped tooth 501 located at the lower part self-locks to form a rigid member based on the self-locking component 503," the reverse travel directions of every pair of adjacent reverse travel spring teeth 5 should be opposite. For example, please refer to... Figure 12 When the eccentric rotator 3 rotates clockwise, the reverse travel direction (i.e., the self-locking direction) of the upper reverse travel spring tooth 5 is counterclockwise, while the reverse travel direction of the adjacent and lower reverse travel spring tooth 5 should be clockwise. The specific reverse travel direction can be satisfied based on the tooth direction of the pawl 5034 and the ratchet 5032.

[0174] Therefore, based on the above structural features, it can be understood that for the eccentric rotator 3, the more counter-stroke spring teeth 5 there are, the better, so as to increase the possibility of any two counter-stroke spring teeth 5 being inserted into the pepper plant.

[0175] It should be noted that, based on the aforementioned cooperation between ratchet 5032 and pawl 5034, the self-locking assembly 503 achieves a unidirectional rotational locking function for the crescent-shaped tooth 501. This design ensures that the crescent-shaped tooth 501 can rotate stably in a specific direction during harvesting, avoiding harvesting failure or mechanical damage caused by reverse rotation. The introduction of the helical disc spring 5036 provides the crescent-shaped tooth 501 with an elastic energy storage function. This energy storage not only enhances the stability of the crescent-shaped tooth 501 during harvesting but also improves its ability to overcome the connection force between the fruit and the stem. The overall design of the self-locking assembly 503 allows the reverse-stroke spring tooth 5 to maintain a highly efficient and stable working state during harvesting. Whether in normal harvesting or overload conditions, the self-locking assembly 503 can adjust its working state according to the actual situation to ensure the smooth progress of the harvesting task.

[0176] The embodiments described above merely illustrate implementation methods for relevant practical applications of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A pepper fruit picking cylinder device having adaptability, characterized by, The application relates to a device for picking chili fruits, which comprises the following parts: an eccentric rotator (3) and a rotating actuator (2) for driving the eccentric rotator (3) to rotate, and an overload switching roller assembly (4) mounted on the eccentric rotator (3). The overload switching roller assembly (4) is provided with reverse stroke spring teeth (5) in a ring array; when the overload switching roller assembly (4) rotates along with the eccentric rotator (3), the reverse stroke spring teeth (5) pull the chili fruits based on linear speed, overcome the connecting force between the chili fruits and the stems, and make the chili fruits separate from the stems. When the linear speed of one reverse stroke spring tooth (5) cannot pull the chili fruits, the angle of the reverse stroke spring tooth (5) is adaptively adjusted to be parallel to another reverse stroke spring tooth (5) closest to the reverse stroke spring tooth (5), and the two reverse stroke spring teeth (5) jointly pull the chili fruits, overcome the connecting force between the chili fruits and the stems, and make the chili fruits separate from the stems; the rotation of the eccentric rotator (3) is dynamic eccentric rotation. The eccentric rotator (3) comprises a roller body (301) for mounting the overload switching roller assembly (4), and a parallel mechanism (302) mounted on the left and right ends of the roller body (301) to make the roller body (301) perform universal angle adjustment. When the universal angle adjustment and the rotation are simultaneously performed, the dynamic eccentric rotation is realized. The parallel mechanism (302) comprises a first disc body (3021), a second disc body (3022), and electric cylinders (3023) arranged in a ring array between the first disc body (3021) and the second disc body (3022); the cylinder body and the piston rod of the electric cylinders (3023) are universally hinged to the respective sides of the first disc body (3021) and the second disc body (3022) opposite to each other.

2. The pepper fruit picking drum apparatus according to claim 1, characterized in that: The second disc body (3022) is rotationally matched with the roller body (301). The overload switching roller assembly (4) comprises a second sleeve (404) directly driven by the eccentric rotator (3) to rotate, and a first sleeve (401) matched with the second sleeve (404).

3. The pepper fruit picking drum apparatus according to claim 1, characterized in that: The outer surface of the first sleeve (401) is provided with the reverse stroke spring teeth (5) in a ring array. When the linear speed of one reverse stroke spring tooth (5) cannot pull the chili fruits, the first sleeve (401) switches the fixed connection relationship between the first sleeve (401) and the second sleeve (404) into a rotational connection relationship, so that the height of the reverse stroke spring tooth (5) remains unchanged; otherwise, the first sleeve (401) and the second sleeve (404) remain in the fixed connection relationship. The overload switching roller assembly (4) comprises a toothed disc (402) fixed to the first sleeve (401), and a clamping groove (4041) arranged in a ring array in the second sleeve (404).

4. The pepper fruit picking drum apparatus according to claim 3, characterized in that: The toothed disc (402) and the clamping groove (4041) are provided with a ball (403); when the linear speed of one reverse stroke spring tooth (5) cannot pull the chili fruits, the ball (403) is separated from the clamping groove (4041), so that the fixed connection relationship between the first sleeve (401) and the second sleeve (404) is switched into the rotational connection relationship. ​ 5. The pepper fruit picking drum apparatus according to claim 4, characterized in that: The card slot (4041) is provided with a slide (4042) allowing the ball (403) to roll along the axial direction of the first sleeve (401).

6. The pepper fruit picking drum apparatus according to claim 5, characterized in that: The first sleeve (401) is provided with a conical disc spring (405) allowing the ball (403) to reset, so as to switch the rotating connection between the first sleeve (401) and the second sleeve (404) into a fixed connection.

7. The pepper fruit picking drum apparatus according to claim 1, characterized in that: The anti-stroke elastic tooth (5) comprises a crescent-shaped tooth body (501) for pulling the pepper fruit and overcoming the connecting force between the pepper fruit and the stem and making the pepper fruit separate from the stem, and a self-locking assembly (503); The self-locking assembly (503) allows the crescent-shaped tooth body (501) to be angularly adjusted along the rotating direction of the eccentric rotator (3), but restricts the rotation of the crescent-shaped tooth body (501) in the opposite direction; The crescent-shaped tooth body (501) is elastically charged when the angular adjustment is performed, so that the two anti-stroke elastic teeth (5) are cooperatively matched to pull the pepper fruit and overcome the connecting force between the pepper fruit and the stem and make the pepper fruit separate from the stem based on the elastic force of the upper and lower ends.

8. The pepper fruit picking drum apparatus according to claim 7, characterized in that: The self-locking assembly (503) comprises an outer cylinder (5031) and a rotating shaft (5033) rotatingly fitted in the outer cylinder (5031), and the rotating shaft (5033) is fixedly connected with the crescent-shaped tooth body (501). The outer cylinder (5031) is provided with a spiral disc spring (5036), and one end and the other end of the spiral disc spring (5036) abut against the rotating shaft (5033) and the crescent-shaped tooth body (501) respectively, so as to achieve the elastic charging.

9. The pepper fruit picking drum apparatus according to claim 8, characterized in that: The self-locking assembly (503) comprises a ratchet wheel (5032) fixedly arranged in the outer cylinder (5031), and a pawl (5034) hingedly arranged on the rotating shaft (5033), and the rotating shaft (5033) and the pawl (5034) are provided with an elastic tab (5035) allowing the pawl (5034) to always engage with the ratchet wheel (5032).

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