Rail type symmetrically-arranged comb brush vibration harvesting device

Abstract

The invention discloses a rail-type symmetrically-arranged combing, brushing and vibrating harvesting device which comprises two pairs of rails, the rails are located on the two sides of a fruit tree respectively, vehicle bodies are arranged on the rails, fruit conveying systems and fruit receiving devices are arranged on the vehicle bodies, mechanical arms are further arranged on the vehicle bodies, fruit collecting heads are arranged at the tail ends of the mechanical arms, and the fruit collecting heads are arranged on the vehicle bodies. The fruit collecting head enables fruits of fruit trees to fall into the fruit receiving device, and the fruit receiving device collects the fruits through the fruit conveying system. According to the rail type symmetrically-arranged comb-brush vibration harvesting device, the guide rails are arranged on the two sides of a fruit tree, multi-angle comb-brush vibration is conducted through the comb-brush vibration head driven by the mechanical arm, so that efficient harvesting of fruits is achieved, fruit losses are reduced through the fruit receiving cloth and the guide groove system, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The invention relates to a fruit tree harvesting device, more specifically, to a track-type symmetrically arranged combing brush vibration harvesting device. Background Art

[0002] In the field of fruit harvesting in modern agriculture and forestry, efficient collection of fruits and reduction of losses are crucial. However, existing harvesting technologies have some shortcomings. For example, traditional manual picking is not only labor-intensive but also inefficient. At the same time, existing mechanical harvesting equipment often causes damage to fruit trees during use, especially to the trunks and crowns of fruit trees. In addition, some mechanical equipment is prone to fruit losses caused by fruit falling to the ground when collecting fruits.

[0003] The prior art attempts to solve the above problems through various improvements, such as improving the structure of the harvesting device, optimizing the fruit collection system, etc., but the effect is still limited. The main disadvantages are as follows: 1. Mechanical damage: Many mechanical harvesting equipment cause significant mechanical damage to fruit trees during the harvesting process, affecting the health of the fruit trees and future yields.

[0004] 2. Fruit loss: During the harvesting process of existing equipment, the fruits are easily dropped to the ground, resulting in incomplete collection and increasing fruit loss.

[0005] 3. Low efficiency: In actual operation, the efficiency of some equipment is still low, which makes it difficult to meet the efficient harvesting needs of large-scale orchards. Summary of the invention

[0006] Based on this, it is necessary to provide a track-type symmetrically arranged comb brush vibration harvesting device to address the above technical problems.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: A track-type symmetrically arranged comb brush vibration harvesting device, characterized in that the track-type symmetrically arranged comb brush vibration harvesting device comprises two pairs of tracks, the tracks are separated on both sides of the fruit tree, a vehicle body is provided on the tracks, a fruit conveying system and a fruit receiving device are provided on the vehicle body, a mechanical arm is also provided on the vehicle body, a fruit collecting head is provided at the end of the mechanical arm, the fruit collecting head allows the fruit of the fruit tree to fall into the fruit receiving device, and the fruit receiving device collects the fruit through the fruit conveying system.

[0008] As a preferred embodiment of the present invention, the upper part of the vehicle body is provided with a first guide groove, a second guide groove, a shipping guide groove and a fruit collecting bin, and the front side of the vehicle body is provided with a traction hook ring. The fruit conveying system comprises a first conveyor belt and a second conveyor belt, a first conveying port is provided at the end of the first conveyor belt, a winnowing device is provided at the tail end of the first conveying port, the first conveying port is located above the shipping guide slot, the starting end of the second conveyor belt is located at the exit of the shipping guide slot, and the third conveying port at the tail end of the second conveyor belt is located above the fruit collecting bin. The fruit receiving device comprises a pair of cloth support assemblies, and the cloth support assemblies comprise a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a first guide rail and a second guide rail. The base of the hydraulic cylinder of the first hydraulic cylinder, the base of the hydraulic cylinder of the second hydraulic cylinder and the first guide rail are all fixedly connected to the vehicle body. The end of the hydraulic rod of the first hydraulic cylinder is slidably connected to the hydraulic cylinder of the second hydraulic cylinder through a first slider. The first guide rail is hingedly connected to the second guide rail through a hinge. A second slider is provided on the first guide rail, and a third slider is provided on the second guide rail. The end of the hydraulic cylinder of the third hydraulic cylinder and the end of the hydraulic rod of the second hydraulic cylinder are both fixedly connected to the second slider, and the end of the hydraulic rod of the third hydraulic cylinder is fixedly connected to the third slider.

[0009] As a preferred embodiment of the present invention, a magnetic strip is provided on the outer edge of the fruit receiving cloth.

[0010] As a preferred embodiment of the present invention, the fruit collection head includes a main base plate, and a fixed connecting head and a vibration unit are provided on the inner wall of the main base plate. The fixed connecting head is connected to the mechanical arm, and the vibration unit drives the main base plate and causes the main base plate to vibrate periodically. A plurality of combing brush rods are provided on the outer wall of the main base plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a track-type symmetrically arranged comb-brush vibration harvesting device, which arranges guide rails on both sides of a fruit tree and utilizes a comb-brush vibration head to perform multi-angle comb-brush vibration driven by a mechanical arm, thereby achieving efficient harvesting of fruits, reducing fruit losses through a fruit receiving cloth and a guide groove system, and improving harvesting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the scheme of the present invention, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1It is a schematic diagram of the operation of the track-type symmetrically arranged brush vibrating harvesting device of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the track-type symmetrically arranged combing brush vibration harvesting device of the present invention; Figure 3 for Figure 2 The schematic diagram of the three-dimensional structure of the track-type symmetrically arranged comb-brush vibration harvesting device is another perspective; Figure 4 for Figure 3 A detailed enlarged schematic diagram of area A in FIG. Figure 5 for Figure 3 A detailed enlarged schematic diagram of the B area; Figure 6 for Figure 3 A detailed enlarged schematic diagram of the C region in FIG. Figure 7 for Figure 3 A detailed enlarged schematic diagram of the D region in FIG. Figure 8 for Figure 3 A detailed enlarged schematic diagram of the E region in FIG. Fig. 9 for Figure 2 A schematic diagram of a partial three-dimensional structure of a track-type symmetrically arranged comb-brush vibration harvesting device; Fig.10 for Fig. 9 A detailed enlarged schematic diagram of the F region in FIG. Fig.11 for Fig. 9 A detailed enlarged schematic diagram of the G region in FIG. Fig.12 for Figure 2 Schematic diagram of the three-dimensional structure of the fruit collecting head. DETAILED DESCRIPTION

[0014] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0015] like Figures 1 to 11 As shown, the track-type symmetrically arranged combing brush vibration harvesting device includes two pairs of tracks 6, and the tracks 6 are separated on both sides of the fruit tree 7. A vehicle body 5 is provided on the track 6, and a fruit conveying system 4 and a fruit receiving device 3 are provided on the vehicle body 5. A mechanical arm 2 is also provided on the vehicle body 5, and a fruit collecting head 1 is provided at the end of the mechanical arm 2. The fruit collecting head 1 allows the fruits of the fruit tree 7 to fall into the fruit receiving device 3, and the fruit receiving device 3 collects the fruits through the fruit conveying system 4.

[0016] The upper portion of the vehicle body 5 is provided with a first guide groove 52 , a second guide groove 53 , a shipping guide groove 54 and a fruit collecting bin 55 , and the front side portion of the vehicle body 5 is provided with a traction hook 51 .

[0017] The fruit conveying system 4 includes a first conveyor belt 41 and a second conveyor belt 44. A first conveying port 42 is provided at the end of the first conveying belt 41. A winnowing device 43 is provided at the end of the first conveying port 42. The first conveying port 42 is located above the shipping guide groove 54. The starting end of the second conveyor belt 44 is located at the exit of the shipping guide groove 54. The third conveying port 45 at the rear end of the second conveyor belt 44 is located above the fruit collecting bin 55.

[0018] like Figures 9 to 11 As shown, the fruit receiving device 3 includes a pair of cloth support components 3S. The cloth support component 3S includes a first hydraulic cylinder 33, a second hydraulic cylinder 34, a third hydraulic cylinder 35, a first guide rail 391 and a second guide rail 392. The base of the hydraulic cylinder of the first hydraulic cylinder 33, the base of the hydraulic cylinder of the second hydraulic cylinder 34 and the first guide rail 391 are all fixedly connected to the vehicle body 5. The end of the hydraulic rod of the first hydraulic cylinder 33 is slidably connected to the hydraulic cylinder of the second hydraulic cylinder 34 through a first slider 36. The first guide rail 391 is hingedly connected to the second guide rail 392 through a hinge 393. A second slider 37 is provided on the first guide rail 391, and a third slider 38 is provided on the second guide rail 392. The end of the hydraulic cylinder of the third hydraulic cylinder 35 and the end of the hydraulic rod of the second hydraulic cylinder 34 are both fixedly connected to the second slider 37, and the end of the hydraulic rod of the third hydraulic cylinder 35 is fixedly connected to the third slider 38.

[0019] It should be noted that a magnetic strip 31 is provided on the outer edge of the fruit receiving cloth 32. The function of the magnetic strip 31 will be further described later.

[0020] like Fig.12 As shown, the fruit collecting head 1 includes a main substrate 11, and a fixed connecting head 12 and a vibration unit 13 are provided on the inner wall of the main substrate 11. The fixed connecting head 12 is connected to the robot arm 2. The vibration unit 13 drives the main substrate 11 and makes the main substrate 11 vibrate periodically. A plurality of combing brush rods 14 are provided on the outer wall of the main substrate 11.

[0021] It should be noted that the fruit collecting head 1 can also be replaced with other types of collecting heads to meet different collection requirements.

[0022] The working mode of the track-type symmetrically arranged brush-combing vibration harvesting device is described below.

[0023] like Figure 1 and Figure 2As shown, in a standardized planting orchard, tracks 6 are arranged on both sides of a fruit tree 7. During the fruit ripening period, a tractor or other power vehicle drives the harvesting device to move on the track 6 by using a traction hook 51 through traction.

[0024] The harvesting device stops when it reaches the fruit tree 7, and the fruit receiving devices 3 symmetrically arranged on both sides begin to dock until the magnetic strips 31 on the outside of the fruit receiving cloths 32 on both sides contact each other. Under the suction of the magnetic strips, the fruit receiving cloths 32 on both sides can completely wrap the tree trunk without leaving any gaps, so that the fallen fruits cannot fall to the ground through the gaps.

[0025] Driven by the mechanical arm 2, the fruit collecting head 1 can be inserted into the crown of the fruit tree at multiple positions and angles to perform brushing vibration, so that the fruits are shaken off. The fruits falling on the fruit receiving cloth 32 roll to the first guide groove 52 with an inclined angle, then roll to the second guide groove 53 with an inclined angle, then roll to the first transmission belt 41, and are transferred to the first transfer port 42, and then fall into the transfer guide groove 54.

[0026] During the falling process of the fruits, the airflow from the air outlet of the air selection device 43 takes out the fallen leaves and broken branches, so that only the fruits can enter the inclined transfer guide trough 54. Then they fall to the second conveyor belt 44, are conveyed to the third conveying port 45, and then fall into the fruit collecting bin 55. The bottom surface of the fruit collecting bin 55 has a certain inclination angle, so that the fruits can evenly roll down and accumulate in the fruit collecting bin 55, and will not be concentrated on the side close to the third conveying port 45.

[0027] The track-type symmetrically arranged comb-brush vibration harvesting device arranges guide rails on both sides of the fruit tree, and uses the comb-brush vibration head to perform multi-angle comb-brush vibration driven by a mechanical arm, thereby achieving efficient fruit harvesting, reducing fruit loss and improving harvesting efficiency through the fruit receiving cloth and guide groove system.

[0028] Obviously, the embodiments described above are only part of the embodiments of the present application, rather than all the embodiments. The drawings provide preferred embodiments of the present application, but do not limit the patent scope of the present application.

Claims

1. A track-type symmetrically arranged comb-brush vibration harvesting device, characterized in that: The track-type symmetrically arranged combing brush vibration harvesting device comprises two pairs of tracks (6), the tracks (6) are located on both sides of a fruit tree (7), a vehicle body (5) is provided on each of the tracks (6), a fruit conveying system (4) and a fruit receiving device (3) are provided on the vehicle body (5), a mechanical arm (2) is provided on the vehicle body (5), a fruit collecting head (1) is provided at the end of the mechanical arm (2), the fruit collecting head (1) causes the fruit of the fruit tree (7) to fall into the fruit receiving device (3), and the fruit receiving device (3) collects the fruit through the fruit conveying system (4).

2. The track-type symmetrically arranged brush vibration harvesting device according to claim 1, characterized in that: The upper part of the vehicle body (5) is provided with a first guide groove (52), a second guide groove (53), a shipping guide groove (54) and a fruit collecting bin (55), and the front side of the vehicle body (5) is provided with a traction hook ring (51). The fruit conveying system (4) comprises a first conveyor belt (41) and a second conveyor belt (44); a first conveying port (42) is provided at the end of the first conveyor belt (41); a wind selection device (43) is provided at the end of the first conveying port (42); the first conveying port (42) is located above the shipping guide groove (54); the starting end of the second conveyor belt (44) is located at the exit of the shipping guide groove (54); and a third conveying port (45) at the end of the second conveyor belt (44) is located above the fruit collecting bin (55). The fruit receiving device (3) comprises a pair of cloth support assemblies (3S), the cloth support assemblies (3S) comprising a first hydraulic cylinder (33), a second hydraulic cylinder (34), a third hydraulic cylinder (35), a first guide rail (391) and a second guide rail (392), the base of the hydraulic cylinder of the first hydraulic cylinder (33), the base of the hydraulic cylinder of the second hydraulic cylinder (34) and the first guide rail (391) are all fixedly connected to the vehicle body (5), and the end of the hydraulic rod of the first hydraulic cylinder (33) is connected to the second hydraulic cylinder (34) via a first slider (36). The hydraulic cylinders of the third hydraulic cylinder (35) are slidably connected to each other, the first guide rail (391) and the second guide rail (392) are hingedly connected via a hinge (393), a second slider (37) is provided on the first guide rail (391), a third slider (38) is provided on the second guide rail (392), the end of the hydraulic cylinder of the third hydraulic cylinder (35) and the end of the hydraulic rod of the second hydraulic cylinder (34) are both fixedly connected to the second slider (37), and the end of the hydraulic rod of the third hydraulic cylinder (35) is fixedly connected to the third slider (38).

3. The track-type symmetrically arranged brush vibration harvesting device according to claim 2, characterized in that: The outer edge of the fruit receiving cloth (32) is provided with a magnetic strip (31).

4. The track-type symmetrically arranged brush vibration harvesting device according to claim 1, characterized in that: The fruit collecting head (1) comprises a main base plate (11), the inner wall of the main base plate (11) is provided with a fixed connecting head (12) and a vibration unit (13), the fixed connecting head (12) is connected to the mechanical arm (2), the vibration unit (13) drives the main base plate (11) and causes the main base plate (11) to vibrate periodically, and a plurality of combing brush rods (14) are provided on the outer wall of the main base plate (11).

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