Camellia fruit harvesting device and method

Abstract

The application discloses a device and method for collecting camellia oleifera fruits, and the device comprises a mobile chassis, a power supply and a high-pressure blower arranged on the mobile chassis, a stand column installed on the mobile chassis, a cantilever beam, one end of which is pivotally connected to the top end of the stand column, an electric cylinder connected to the power supply, one end of the electric cylinder being hingedly connected to the stand column and the other end being hingedly connected to the cantilever beam, the electric cylinder being capable of driving the cantilever beam to swing around the pivot point, and a collecting mechanism connected to the power supply and the high-pressure blower and installed at the other end of the cantilever beam through a horizontal turntable connector, the collecting mechanism being capable of rotating horizontally relative to the cantilever beam through the horizontal turntable connector, wherein the positive pressure airflow of the high-pressure blower and the mechanical vibration of the collecting mechanism jointly act on the crown of the camellia oleifera tree, and the positive pressure airflow can effectively reduce the mechanical damage caused by the collecting mechanism to the camellia oleifera tree. The application further discloses a method for collecting camellia oleifera fruits.

Description

Technical Field

[0001] This invention relates to a fruit harvesting technique, and more particularly to a mechanized camellia fruit harvesting device and method. Background Technology

[0002] Camellia oleifera is an important woody oilseed tree species, but it is mainly planted in hilly and mountainous areas. Its harvesting method is mostly manual, which is inefficient. When the fruit trees are tall, manual harvesting requires climbing the trees, which poses a significant threat to the safety of the workers. Existing harvesting machines are mostly handheld and vibrate the branches to harvest, which has problems such as low efficiency and poor harvesting rate. In order to give the camellia fruit sufficient inertial force, a single excitation method will apply a large excitation force, which can easily cause mechanical damage to the tree. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a camellia fruit harvesting device and method in response to the above-mentioned defects of the prior art.

[0004] To achieve the above objectives, the present invention provides a camellia fruit harvesting device, comprising:

[0005] A mobile chassis, on which a power supply and a high-pressure blower are installed;

[0006] The uprights are mounted on the mobile chassis;

[0007] A cantilever beam, one end of which is pivotally connected to the top of the column;

[0008] An electric cylinder, connected to the power source, has one end hinged to the column and the other end hinged to the cantilever beam. The extension and retraction of the electric cylinder causes the cantilever beam to swing around a pivot point.

[0009] The harvesting mechanism is connected to the power supply and the high-pressure blower respectively, and is installed at the other end of the cantilever beam through a horizontal turntable connector. The harvesting mechanism rotates horizontally relative to the cantilever beam through the horizontal turntable connector.

[0010] The positive pressure airflow from the high-pressure blower and the mechanical vibration of the harvesting mechanism work together on the canopy of the camellia tree. The positive pressure airflow can effectively reduce the mechanical damage to the camellia tree caused by the harvesting mechanism.

[0011] The aforementioned camellia fruit harvesting device, wherein the harvesting mechanism includes:

[0012] A support rod, one end of which is provided with a handle;

[0013] A vibration component is installed at the other end of the support rod;

[0014] The motor, connected to both the power supply and the vibration component, is used to achieve stepless speed regulation of the harvesting frequency; and

[0015] An end effector is connected to the vibrating component. The high-pressure blower is connected to the air inlet of the end effector through an air pipe. The end effector is provided with multiple air outlets. The positive pressure airflow acts on the canopy of the camellia tree through the air outlets.

[0016] The aforementioned camellia fruit harvesting device, wherein the end effector includes:

[0017] The mounting base plate has the air inlets evenly distributed on it.

[0018] Multiple variable diameter converters are mounted on the mounting base plate corresponding to the air inlet, and are located on the side away from the support rod;

[0019] Multiple vibrating rods are connected to corresponding diameter converters. Each vibrating rod is hollow, and an air outlet is located on the vibrating rod and communicates with an air inlet through the hollow structure of the vibrating rod.

[0020] A cylindrical pin is located at the center of the mounting base plate and on the side opposite to the diameter converter.

[0021] The aforementioned camellia fruit harvesting device, wherein the vibrating component includes:

[0022] Mounting plate;

[0023] A slider is mounted on the mounting plate;

[0024] A slide rail is fixedly connected to the mounting base plate; the slider is connected to the slide rail and drives the mounting plate to reciprocate linearly along the slide rail; and

[0025] The slotted cam has its cam rotation center axis connected to the motor, and its grooved wheel cooperates with the cylindrical pin to realize the sinusoidal acceleration motion of the slotted cam, thereby driving the end effector to reciprocate up and down.

[0026] In the aforementioned camellia fruit harvesting device, the vibrating rod is made of a flexible material.

[0027] In the aforementioned camellia fruit harvesting device, the air outlet can be a circular hole, an elliptical hole, a rectangular hole, a triangular hole, or a polygonal hole.

[0028] In the aforementioned camellia fruit harvesting device, the air outlets are evenly distributed on the outer circumference of the vibrating rod.

[0029] In the aforementioned camellia fruit harvesting device, the mounting base plate is provided with a slide rail positioning mounting hole, and the slide rail is fixedly connected to the mounting base plate through the slide rail positioning mounting hole.

[0030] The above-mentioned camellia fruit harvesting device includes a control panel, which is mounted on the support rod and located at one end near the handle. The control panel is connected to the motor, the electric cylinder, and the high-pressure blower.

[0031] To better achieve the above objectives, the present invention also provides a method for harvesting camellia oleifera fruit, wherein the camellia oleifera fruit is harvested using the aforementioned camellia oleifera fruit harvesting device, comprising the following steps:

[0032] S100: Control the mobile chassis to move around in the orchard and approach the camellia oleifera fruit trees to be harvested;

[0033] S200, The harvesting mechanism is raised and lowered by an electric cylinder, so that the end effector of the harvesting mechanism is close to the fruit tree, and the vibrating rod of the end effector is inserted into the canopy of the camellia tree; and

[0034] S300, start the motor and high-pressure blower. The motor drives the vibrating component of the harvesting mechanism to drive the end effector to vibrate up and down. At the same time, the positive pressure airflow of the high-pressure blower is ejected through the air outlet on the vibrating rod. The positive pressure airflow and mechanical vibration work together to make the branches of the camellia tree vibrate and shake the fruit off.

[0035] The technical effects of this invention are as follows:

[0036] This invention is applicable to the harvesting of camellia oleifera fruits. It utilizes a combination of mechanical vibration and positive pressure airflow to harvest the fruits. The vibration device acts on the canopy of the camellia oleifera tree, while the positive pressure airflow acts on the canopy through the air outlets on the vibrating rods. With the assistance of the airflow, the vibration force is significantly reduced, effectively minimizing mechanical damage to the tree. During operation, the harvesting mechanism is simply inserted into the canopy layer of the fruit tree, and repeated several times to complete the harvesting of the entire tree, greatly improving the efficiency of camellia oleifera fruit harvesting. The vibrating components adopt a grooved cam structure, avoiding impact and thus improving operational reliability. Driven by a motor, the vibration frequency is easily adjustable, achieving stepless speed regulation of the harvesting frequency. The installation gap between the vibrating rods can accommodate camellia oleifera trees of different growth ages, making it widely applicable.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a camellia fruit harvesting device according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the harvesting mechanism structure according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of an end effector structure according to an embodiment of the present invention;

[0041] Figure 4 for Figure 3 Another view;

[0042] Figure 5 This is a schematic diagram of a vibration component structure according to an embodiment of the present invention; wherein, the reference numerals are:

[0043] 1. High-pressure blower

[0044] 2 trachea

[0045] 3. Harvesting facilities

[0046] 31 end effector

[0047] 311 Vibration Rod

[0048] 312 air outlet

[0049] 313 mounting base plate

[0050] 314 slide rail positioning mounting holes

[0051] 315 Variable Diameter Converter

[0052] 316 air intake

[0053] 317 cylindrical pin

[0054] 32 motors

[0055] 33 support rod

[0056] 34-handle

[0057] 35 Control Panel

[0058] 36 Vibrating Components

[0059] 361 Slide Rail

[0060] 362 slider

[0061] 363-slot cam

[0062] 364 mounting plate

[0063] 365 positioning mounting holes

[0064] 4 horizontal turntable connectors

[0065] 5 cantilever beams

[0066] 6 electric cylinders

[0067] 7 pillars

[0068] 8 power supplies

[0069] 9 mobile chassis Detailed Implementation

[0070] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0071] See Figure 1 , Figure 1 This is a schematic diagram of a camellia fruit harvesting device according to an embodiment of the present invention. The camellia fruit harvesting device of the present invention includes: a movable chassis 9, on which a power supply 8 and a high-pressure blower 1 are mounted. The power supply 8 is located in front of a column 7 and provides electrical energy to an electric cylinder 6 and a motor 32. The high-pressure blower 1 is located in front of the power supply 8 and is connected to an air inlet 316 via an air pipe 2; a column 7, mounted on the movable chassis 9 and located at the rear center of the movable chassis 9, is fixedly connected by bolts; a cantilever beam 5, one end of which is pivotally connected to the top of the column 7 via a pin, and the cantilever beam 5 can rotate around the pin; and an electric cylinder 6, connected to the power supply 8. One end of the device is hinged to the column 7, and the other end is hinged to the cantilever beam 5. The electric cylinder 6 extends and retracts, causing the cantilever beam 5 to swing around the pivot point. The harvesting mechanism 3 is connected to the power supply 8 and the high-pressure blower 1, respectively, and is fixedly installed at the other end of the cantilever beam 5 through the horizontal turntable connector 4. The harvesting mechanism 3 rotates horizontally relative to the cantilever beam 5 through the horizontal turntable connector 4. The positive pressure airflow of the high-pressure blower 1 and the mechanical vibration of the harvesting mechanism 3 work together on the canopy of the camellia tree. The positive pressure airflow can effectively reduce the mechanical damage to the camellia tree caused by the harvesting mechanism 3.

[0072] See Figure 2 , Figure 2This is a schematic diagram of a harvesting mechanism 3 according to an embodiment of the present invention. In this embodiment, the harvesting mechanism 3 includes: a support rod 33, one end of which is provided with a handle 34; a vibration component 36, installed at the other end of the support rod 33; a motor 32, connected to the power supply 8 and the vibration component 36 respectively, located behind the vibration component 36 and fixedly installed on a mounting plate 364; and an end effector 31, fixedly connected to the slide rail 361 of the vibration component 36 by bolts; a high-pressure blower 1 is connected to the air inlet 316 of the end effector 31 through an air pipe 2; the end effector 31 is provided with multiple air outlets 312, and the positive pressure airflow acts on the canopy of the camellia tree through the air outlets 312. The harvesting mechanism 3 in this embodiment may also include a control panel 35, which is disposed on the support rod 33 and located near the handle 34; the control panel 35 is connected to the motor 32, the electric cylinder 6 and the high-pressure blower 1 respectively.

[0073] See Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the end effector 31 according to an embodiment of the present invention. Figure 4 for Figure 3 Another view. The end effector 31 of this embodiment includes: a mounting base plate 313, on which air inlets 316 are evenly distributed; a plurality of diameter converters 315, which are threadedly mounted on the mounting base plate 313 corresponding to the air inlets 316 and located on the side away from the support rod 33; and a plurality of vibrating rods 311, which are threadedly connected to the corresponding diameter converters 315, wherein the vibrating rods 311 are hollow rods, and air outlets 312 are disposed on the circumferential surface of the vibrating rods 311 and connected to the air inlets 316 through the hollow structural tube of the vibrating rods 311. The air vents 316 are interconnected, and the air outlets 312 can be circular, elliptical, rectangular, triangular, or polygonal, preferably rectangular, and multiple air outlets 312 are evenly distributed along the circumference on the outer circumference of the vibrating rod 311; the vibrating rod 311 is preferably made of flexible material to minimize mechanical damage to the fruit trees; and the cylindrical pin 317 is located at the center of the mounting base plate 313 and on the side opposite to the diameter converter 315, and can be fixedly connected to the center of the mounting base plate 313 on the side opposite to the diameter converter 315 by threads.

[0074] See Figure 5 , Figure 5This is a schematic diagram of the structure of a vibration component 36 according to an embodiment of the present invention. The vibration component 36 in this embodiment includes: a mounting plate 364; a slider 362, mounted on the mounting plate 364 by screws; a slide rail 361, fixedly connected to the mounting base plate 313, wherein the mounting base plate 313 is provided with a slide rail positioning mounting hole 314, and the slide rail 361 is correspondingly provided with a positioning mounting hole 365; the slide rail 361 is fixedly connected to the mounting base plate 313 through the slide rail positioning mounting hole 314 and the positioning mounting hole 365; the slider 362 and the slide rail... 361 is connected and engaged, driving the mounting plate 364 to slide linearly back and forth along the slide rail 361; and the grooved cam 363, the cam rotation center shaft of the grooved cam 363 is connected to the motor 32, the grooved wheel of the grooved cam 363 engages with the cylindrical pin 317 to achieve sinusoidal acceleration motion, ensuring that the device operates without impact, and driving the end effector 31 to vibrate up and down, under the combined action of positive pressure airflow and mechanical vibration, causing the branches of the camellia tree to vibrate and shake the fruits off the tree.

[0075] During operation, the mobile chassis 9 moves around the orchard. When it gets close to the fruit trees, the electric cylinder 6 is controlled to raise and lower the harvesting mechanism 3 so that the end effector 31 can get closer to the fruit trees. The vibrating rod 311 can be inserted into the canopy of the camellia tree by manually operating the handle 34. The control panel 35 is operated to start the high-pressure blower 1 and the motor 32. The positive pressure airflow is sprayed out through the air outlet 312 on the vibrating rod 311. At the same time, the motor 32 drives the grooved cam 363 to rotate back and forth. Through the action of the cylindrical pin 317 and the grooved wheel of the grooved cam 363, the end effector 31 is driven to vibrate up and down. Under the combined action of positive pressure airflow and mechanical vibration, the branches of the camellia tree canopy vibrate and the fruits on the tree are shaken off.

[0076] The method for harvesting camellia oleifera fruit of the present invention, using the above-mentioned camellia oleifera fruit harvesting device, includes the following steps:

[0077] Step S100: Control the mobile chassis 9 to move in the orchard and approach the camellia oleifera fruit trees to be harvested;

[0078] Step S200: The harvesting mechanism 3 is raised and lowered by the electric cylinder 6, so that the end effector 31 of the harvesting mechanism 3 approaches the fruit tree, and the vibrating rod 311 of the end effector 31 is inserted into the canopy of the camellia tree; and

[0079] Step S300: Start the motor 32 and the high-pressure blower 1. The motor 32 drives the vibration component 36 of the harvesting mechanism 3 to drive the end effector 31 to vibrate up and down. At the same time, the positive pressure airflow of the high-pressure blower 1 is ejected through the air outlet 312 on the vibration rod 311. The positive pressure airflow and mechanical vibration work together to make the branches of the camellia tree vibrate and shake the fruit off.

[0080] This invention employs a combination of mechanical vibration and positive pressure airflow to harvest camellia oleifera fruits. During operation, the vibrating rods are inserted into the tree canopy, and the entire tree can be harvested after a few repetitions, significantly improving harvesting efficiency. The use of a slotted cam mechanism avoids the impact of vibrating components, thus improving operational reliability. Driven by a motor, the vibration frequency is easily adjustable, achieving stepless speed regulation. The installation gap between the vibrating rods can be adjusted according to the harvesting needs of camellia oleifera trees of different ages, making it widely applicable.

[0081] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A camellia fruit harvesting device, characterized in that, include: A mobile chassis, on which a power supply and a high-pressure blower are installed; The uprights are mounted on the mobile chassis; A cantilever beam, one end of which is pivotally connected to the top of the column; An electric cylinder, connected to the power source, has one end hinged to the column and the other end hinged to the cantilever beam. The extension and retraction of the electric cylinder causes the cantilever beam to swing around a pivot point. The harvesting mechanism is connected to the power supply and the high-pressure blower respectively, and is installed at the other end of the cantilever beam through a horizontal turntable connector. The harvesting mechanism rotates horizontally relative to the cantilever beam through the horizontal turntable connector. The positive pressure airflow from the high-pressure blower and the mechanical vibration of the harvesting mechanism work together on the canopy of the camellia tree. The positive pressure airflow can effectively reduce the mechanical damage to the camellia tree caused by the harvesting mechanism. The harvesting mechanism includes: A support rod, one end of which is provided with a handle; A vibration component is installed at the other end of the support rod; The motor, connected to both the power supply and the vibration component, is used to achieve stepless speed regulation of the harvesting frequency; and An end effector is connected to the vibrating component. The high-pressure blower is connected to the air inlet of the end effector through an air pipe. The end effector is provided with multiple air outlets. The positive pressure airflow acts on the canopy of the camellia tree through the air outlets. The end effector includes: The mounting base plate has the air inlets evenly distributed on it. Multiple variable diameter converters are mounted on the mounting base plate corresponding to the air inlet, and are located on the side away from the support rod; Multiple vibrating rods are connected to corresponding diameter converters. Each vibrating rod is hollow, and an air outlet is located on the vibrating rod and communicates with an air inlet through the hollow structure of the vibrating rod. A cylindrical pin is positioned at the center of the mounting base plate and is located on the side opposite to the diameter converter; The vibrating component includes: Mounting plate; A slider is mounted on the mounting plate; A slide rail is fixedly connected to the mounting base plate; the slider is connected to the slide rail and drives the mounting plate to reciprocate linearly along the slide rail; and The slotted cam has its cam rotation center axis connected to the motor, and its grooved wheel cooperates with the cylindrical pin to realize the sinusoidal acceleration motion of the slotted cam, thereby driving the end effector to reciprocate up and down.

2. The camellia fruit harvesting device as described in claim 1, characterized in that, The vibrating rod is made of a flexible material.

3. The camellia fruit harvesting device as described in claim 1, characterized in that, The vent can be a circular hole, an elliptical hole, a rectangular hole, a triangular hole, or a polygonal hole.

4. The camellia fruit harvesting device as described in claim 1, characterized in that, The air vents are evenly distributed on the outer circumference of the vibrating rod.

5. The camellia fruit harvesting device as described in claim 1, characterized in that, The mounting base plate is provided with slide rail positioning mounting holes, and the slide rail is fixedly connected to the mounting base plate through the slide rail positioning mounting holes.

6. The camellia fruit harvesting device as described in claim 1, characterized in that, The harvesting mechanism also includes a control panel, which is mounted on the support rod and located at one end near the handle. The control panel is connected to the motor, the electric cylinder, and the high-pressure blower.

7. A method for harvesting camellia oleifera fruit, characterized in that, Harvesting camellia oleifera fruit using the camellia oleifera fruit harvesting device according to any one of claims 1-6 includes the following steps: S100: Control the mobile chassis to move around in the orchard and approach the camellia oleifera fruit trees to be harvested; S200, The harvesting mechanism is raised and lowered by an electric cylinder, so that the end effector of the harvesting mechanism is close to the fruit tree, and the vibrating rod of the end effector is inserted into the canopy of the camellia tree; and S300, start the motor and high-pressure blower. The motor drives the vibrating component of the harvesting mechanism to drive the end effector to vibrate up and down. At the same time, the positive pressure airflow of the high-pressure blower is ejected through the air outlet on the vibrating rod. The positive pressure airflow and mechanical vibration work together to make the branches of the camellia tree vibrate and shake the fruit off.

Images