Man-machine collaborative Chinese wolfberry harvester

Abstract

The invention discloses a man-machine cooperation Chinese wolfberry harvester, and relates to the technical field of Chinese wolfberry harvesting, the man-machine cooperation Chinese wolfberry harvester comprises a gantry rack, the gantry rack is provided with a crawler mechanism, a fruit conveying mechanism, a position adjusting mechanism, a closing mechanism, a controller, a fruit receiving mechanism, a human-assisted picking seat and a driving mechanism; the height and transverse position adjusting mechanism assists the fruit conveying mechanism and the fruit receiving mechanism in height and transverse position adjustment, and the situation that the fruit receiving mechanism is too high to scratch fruits and omission of fruit collection under the man-machine picking condition is avoided; the flexible fruit receiving plate can be driven by a third motor to rotate in a reciprocating mode, received fruits are poured to the fruit conveying mechanism, and the three mechanisms are matched with one another, so that the harvesting efficiency and integrity of the fruits are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of wolfberry harvesting, and in particular to a human-machine collaborative wolfberry harvester. Background Art

[0002] At present, traditional human-machine collaborative wolfberry harvesters often have difficulty adapting to plants in different growth states when picking fruits, resulting in low harvesting efficiency and even damage to the fruits. At the same time, due to the influence of environmental and climatic factors, the main stems of some non-fence wolfberries are prone to lodging, making it difficult for traditional human-machine collaborative wolfberry harvesters to pass and pick fruits. In addition, during the wolfberry harvesting process, the mixture of wolfberry fruit and leaves will cause poor fruit fluidity, which is easy to accumulate on the fruit receiving device of the human-machine collaborative wolfberry harvester.

[0003] The existing human-machine collaborative wolfberry harvester lacks universality, flexibility and intelligence, and cannot meet the needs of modern agriculture for efficient and accurate harvesting. Therefore, how to develop a human-machine collaborative wolfberry harvester that can solve the above problems has become a difficult problem that technicians in this field need to solve urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a human-machine collaborative wolfberry harvester to solve the problem that the existing human-machine collaborative wolfberry harvesters lack universality, flexibility and intelligence and cannot meet the needs of modern agriculture for efficient and accurate harvesting.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides a human-machine collaborative wolfberry harvester, comprising a gantry frame, the gantry frame is in a frame shape as a whole, crawler mechanisms are symmetrically installed on both sides of the bottom of the gantry frame, fruit conveying mechanisms are symmetrically arranged on the left and right sides of the lower part of the gantry frame, a fruit receiving mechanism is installed above the fruit conveying mechanism, a position adjustment mechanism is installed on the vertical support frame of the gantry frame, the position adjustment mechanism drives the fruit conveying mechanism to move in the horizontal direction or the vertical direction, and the fruit receiving mechanism moves synchronously with the fruit conveying mechanism, a closing mechanism is arranged on the front and rear sides of the gantry frame, controllers are symmetrically installed on the vertical support frames on the left and right sides of the gantry frame, artificial auxiliary picking seats are also symmetrically installed on the left and right sides of the gantry frame, and driving mechanisms are also arranged on both sides of the gantry frame, and the driving mechanism is transmission-connected with the crawler mechanism.

[0007] Optionally, the track mechanism includes a transmission track, a load-bearing wheel, a tension wheel and a driving wheel, the driving wheel and the tension wheel are respectively located at the front and rear ends above the load-bearing wheel, and a plurality of load-bearing wheels are horizontally arranged, and the load-bearing wheel, the tension wheel and the driving wheel are connected by the transmission track.

[0008] Optionally, the driving mechanism includes a first motor and a gearbox, one end of the gearbox is drivingly connected to the output shaft of the first motor, and the other end is drivingly connected to the driving wheel, and the first motor is electrically connected to the controller.

[0009] Optionally, the position adjustment mechanism is provided in plurality and symmetrically installed on the gantry frame, the position adjustment mechanism includes a first electric push rod and a second electric push rod, the tail end of the first electric push rod is vertically installed on the gantry frame, the tail end of the second electric push rod is horizontally installed at the output end of the first electric push rod, the first electric push rod and the second electric push rod are both electrically connected to the controller, and the fruit conveying mechanism is installed at the output end of the second electric push rod.

[0010] Optionally, the fruit conveying mechanism includes a support plate, a transmission shaft and a conveyor belt, the support plate is mounted on the output end of the second electric push rod, the transmission shaft is rotatably arranged on the support plate, a plurality of transmission shafts are arranged and the plurality of transmission shafts are transmission connected through the conveyor belt; the conveyor belt forms a front slope portion and a rear horizontal portion when the plurality of transmission shafts are transmission connected, the frontmost transmission shaft is transmission connected to the output shaft of the second motor, and the second motor is electrically connected to the controller.

[0011] Optionally, a fan fixing frame is installed below the front slope of the conveyor belt, and a directional air outlet and a fan are installed on the fan fixing frame. The wind blown out by the fan is rectified by the directional air outlet and then blown toward the conveyor belt. A storage box is also installed below the conveyor belt.

[0012] Optionally, the fruit receiving mechanism includes a flexible fruit receiving plate and a third motor, wherein the flexible fruit receiving plate is mounted on the support plate via a support rod, the flexible fruit receiving plate is located above the conveyor belt and corresponds to the conveyor belt, the third motor is mounted on the top of the support rod and the output end of the third motor is hinged to the flexible fruit receiving plate via a connecting rod, the third motor is electrically connected to the controller, and when the third motor is working, it drives the flexible fruit receiving plate to swing via the connecting rod.

[0013] Optionally, the closing mechanism includes a guide rail, two of which are horizontally arranged and symmetrically installed on both sides of the front end of the gantry frame, a plurality of sliders are slidably connected to the guide rail, a hook is installed on the slider, a door curtain is hung on the hook, and the door curtain is provided with multiple sections of magnets, and when the door curtain is pulled up, the multiple door curtains are attracted to each other through the multiple sections of magnets.

[0014] Optionally, a power supply is also installed on the top of the gantry frame, and the power supply is used to supply power to the controller, the fruit conveying mechanism, the fruit receiving mechanism, the driving mechanism, and the position adjustment mechanism respectively.

[0015] Compared with the prior art, the beneficial technical effects of the present invention are:

[0016] 1) The present invention assists the fruit conveying mechanism and the fruit receiving mechanism in adjusting the height and lateral position through the height and lateral position adjustment mechanism, so as to avoid the fruit receiving mechanism from scratching the fruit too high and the fruit from being missed under the conditions of human-machine picking; the flexible fruit receiving plate can reciprocate and rotate under the drive of the third motor to realize the dumping of the received fruit to the fruit conveying mechanism. The present invention greatly improves the harvesting efficiency and integrity of the fruit through the mutual cooperation of the above three mechanisms.

[0017] 2) The present invention is provided with a sealing mechanism on both the front and rear sides of the gantry frame, so that during the human-machine interactive operation, the wolfberry fruits that are vibrated down are blocked in the front and rear directions and fall on the fruit conveying mechanism.

[0018] 3) The present invention uses a position adjustment mechanism to assist the fruit conveying mechanism and the fruit receiving mechanism in adjusting the height and lateral position, thereby effectively realizing the obstacle avoidance function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the structure of the human-machine collaborative wolfberry harvester of the present invention;

[0021] Figure 2 It is a side view of the human-machine collaborative wolfberry harvester of the present invention;

[0022] Figure 3 This is a front view of the human-machine collaborative wolfberry harvester of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the fruit receiving mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the front end structure of the fruit conveying mechanism of the present invention;

[0025] Figure 6 It is a front view of the closing mechanism of the present invention.

[0026] Description of reference numerals: 1. crawler mechanism; 2. fruit conveying mechanism; 3. position adjustment mechanism; 4. closing mechanism; 5. gantry frame; 6. controller; 7. fruit receiving mechanism; 8. manual auxiliary picking seat; 9. driving mechanism;

[0027] 10. Drive track; 11. Load-bearing wheel; 12. Tension wheel;

[0028] 91. first motor; 92. gearbox;

[0029] 31. First electric push rod; 32. Second electric push rod;

[0030] 21. Support plate; 22. Transmission shaft; 23. Conveyor belt; 24. Second motor;

[0031] 51. Fan fixing frame; 52. Directional air outlet;

[0032] 71. Flexible fruit receiving plate; 72. Third motor;

[0033] 41. Guide rail; 42. Slider; 43. Hook. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] like Figure 1-6 As shown, a human-machine collaborative wolfberry harvester includes a gantry frame 5, the gantry frame 5 is frame-shaped as a whole, crawler mechanisms 1 are symmetrically installed on both sides of the bottom of the gantry frame 5, fruit conveying mechanisms 2 are symmetrically arranged on the left and right sides of the lower part of the gantry frame 5, a fruit receiving mechanism 7 is installed above the fruit conveying mechanism 2, a position adjustment mechanism 3 is installed on the vertical support frame of the gantry frame 5, the position adjustment mechanism 3 drives the fruit conveying mechanism 2 to move in the horizontal or vertical direction, and the fruit receiving mechanism 7 moves synchronously with the fruit conveying mechanism 2, a closing mechanism 4 is arranged on the front and rear sides of the gantry frame 5, a controller 6 is symmetrically installed on the vertical support frames on the left and right sides of the gantry frame 5, and an artificial auxiliary picking seat 8 is also symmetrically installed on the left and right sides of the gantry frame 5. A driving mechanism 9 is also arranged on both sides of the gantry frame 5, and the driving mechanism 9 is transmission-connected to the crawler mechanism 1.

[0036] Among them, at least two manual assisted picking seats 8 are arranged on each side to assist manual hand-held wolfberry vibration for harvesting operations, thereby improving the efficiency of wolfberry harvesting. Among them, the height of the manual assisted picking seat 8 is adjustable. At the same time, in view of the start and stop and speed change of the fruit conveying mechanism 2, the height and lateral distance control of the fruit receiving mechanism 7, and the swing control requirements of the flexible fruit receiving plate, a humanized controller is designed on the column to assist in the operation. In addition, the crawler mechanism 1 can also adopt an independent remote control system, and a single person holds the remote control handle to control the machine to shuttle through the wolfberry garden. The other control functions of the whole machine are independently integrated in the controller on the column.

[0037] Among them, the fruit conveying mechanism 2 is arranged on the inner side of the gantry frame 5, which improves the safety of the device. At the same time, compared with the traditional structure in which the fruit conveying mechanism is arranged on the outer side of the gantry frame, when the gantry frame 5 in this scheme is driven by the track mechanism 2, there is no need to consider the impact of the outer fruit conveying mechanism on the surrounding environment, which improves the flexibility of the device operation.

[0038] Among them, the above-mentioned controller adopts an independent programmable logic controller (PLC) to ensure the coordination and efficiency of various operations. At the same time, the crawler mechanism 1 is controlled by an independent remote control system to ensure the flexibility and reliability of the walking function. Through this independent control system design for walking and operation, the whole machine can be operated reliably and safely, significantly improving the harvesting efficiency and fruit quality, and meeting the needs of modern agriculture for intelligent and automated harvesting equipment.

[0039] Specifically, the track mechanism 1 includes a transmission track 10, a load-bearing wheel 11, a tensioning wheel 12 and a driving wheel. The driving wheel and the tensioning wheel 12 are respectively located at the front and rear ends above the load-bearing wheel 11. There are multiple load-bearing wheels 11 arranged horizontally. The load-bearing wheel 11, the tensioning wheel 12 and the driving wheel are connected through the transmission track 10.

[0040] During specific implementation, those skilled in the art may interchange the positions of the driving wheel and the tensioning wheel 12 , such as setting the driving wheel at the rear end of the crawler track 10 and the tensioning wheel at the front end of the crawler track 10 .

[0041] Specifically, the driving mechanism 9 includes a first motor 91 and a gearbox 92 , one end of the gearbox 92 is drivingly connected to the output shaft of the first motor 91 , and the other end is drivingly connected to the driving wheel, and the first motor 91 is electrically connected to the controller 6 .

[0042] Specifically, the position adjustment mechanism 3 is provided with multiple ones and is symmetrically installed on the gantry frame 5. The position adjustment mechanism 3 includes a first electric push rod 31 and a second electric push rod 32. The tail end of the first electric push rod 31 is vertically installed on the gantry frame 5, and the tail end of the second electric push rod 32 is horizontally installed at the output end of the first electric push rod 31. The first electric push rod 31 and the second electric push rod 32 are both electrically connected to the controller 6, and the fruit conveying mechanism 2 is installed at the output end of the second electric push rod 32.

[0043] The output end of the first electric push rod 31 is connected to the second electric push rod 32 through a multi-section telescopic slide rail, so as to reduce the volume of the machine occupied by the traditional track design, save space, and improve the general performance of the machine.

[0044] Specifically, the fruit conveying mechanism 2 includes a support plate 21, a transmission shaft 22 and a conveyor belt 23. The support plate 21 is installed on the output end of the second electric push rod 32. The transmission shaft 22 is rotatably set on the support plate 21. A plurality of transmission shafts 22 are provided and the plurality of transmission shafts 22 are transmission connected through the conveyor belt 23. When the conveyor belt 23 is transmission connected between the plurality of transmission shafts 22, a front slope portion and a rear horizontal portion are formed. The frontmost transmission shaft 22 is transmission connected to the output shaft of the second motor 24, and the second motor 24 is electrically connected to the controller 6.

[0045] Specifically, a fan fixing frame 51 is installed below the front slope of the conveyor belt 23, and a directional air outlet 52 and a fan are installed on the fan fixing frame 51. The wind blown out by the fan is rectified by the directional air outlet 52 and blown toward the conveyor belt 23. A storage box is also installed below the conveyor belt 23.

[0046] When the fruit leaves on the conveyor belt 23 roll down the front slope, the leaves are carried away by the airflow blown out by the fan, and the fruits fall into the storage box.

[0047] The start and stop and frequency conversion control of the fan are manually operated through the fan start and stop and frequency conversion adjustment buttons on the controller 6. The fan is used for wind sorting. By manually adjusting the operating state and speed of the fan, the operator can flexibly control the fan operating speed according to the fruit and leaf mixing conditions, effectively remove the leaves mixed in the fruit, and improve the purity and quality of the fruit.

[0048] Specifically, the fruit receiving mechanism 7 includes a flexible fruit receiving plate 71 and a third motor 72. The flexible fruit receiving plate 71 is installed on the support plate 21 through a support rod. The flexible fruit receiving plate 71 is located above the conveyor belt 23 and corresponds to the conveyor belt 23. The third motor 72 is installed at the top of the support rod and the output end of the third motor 72 is hinged to the flexible fruit receiving plate 71 through a connecting rod. The third motor 72 is electrically connected to the controller. When the third motor 72 is working, it drives the flexible fruit receiving plate 71 to swing through the connecting rod.

[0049] Among them, the swing start and stop and the swing frequency of the flexible fruit receiving plate 71 are manually adjusted by the swing start and stop and frequency control buttons on the controller 6. By adjusting the working frequency of the motor, the operator can control the reciprocating swing speed of the flexible fruit receiving plate 71 to reduce fruit damage.

[0050] Specifically, the closing mechanism 4 includes a guide rail 41, two of which are horizontally arranged and symmetrically installed on both sides of the front end of the gantry frame 5, a plurality of sliders 42 are slidably connected to the guide rail 41, a hook 43 is installed on the slider 42, a door curtain is hung on the hook 43, and the door curtain is provided with multiple sections of magnets. When the door curtain is pulled up, the multiple door curtains are attracted to each other through the multiple sections of magnets.

[0051] Specifically, a power supply is also installed on the top of the gantry frame 5, and the power supply is respectively used to supply power to the controller 6, the fruit conveying mechanism 2, the fruit receiving mechanism 7, the driving mechanism 9, and the position adjustment mechanism 3.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A human-machine collaborative wolfberry harvester, characterized in that: The invention comprises a gantry frame (5), wherein the gantry frame (5) is in a frame shape as a whole, crawler mechanisms (1) are symmetrically installed on both sides of the bottom of the gantry frame (5), fruit conveying mechanisms (2) are symmetrically arranged on the left and right sides of the lower part of the gantry frame (5), a fruit receiving mechanism (7) is installed above the fruit conveying mechanism (2), and a position adjustment mechanism (3) is installed on the vertical support frame of the gantry frame (5), and the position adjustment mechanism (3) drives the fruit conveying mechanism (2) to move horizontally or vertically. The fruit receiving mechanism (7) is displaced in the vertical direction, and the fruit conveying mechanism (2) is displaced synchronously with the fruit conveying mechanism (2). The front and rear sides of the gantry frame (5) are provided with a closing mechanism (4). The vertical support frames on the left and right sides of the gantry frame (5) are symmetrically mounted with a controller (6). The left and right sides of the gantry frame (5) are also symmetrically mounted with a manual auxiliary picking seat (8). The two sides of the gantry frame (5) are also provided with a driving mechanism (9), and the driving mechanism (9) is transmission-connected to the crawler mechanism (1).

2. The human-machine collaborative wolfberry harvester according to claim 1, characterized in that: The crawler mechanism (1) comprises a transmission crawler (10), a load-bearing wheel (11), a tension wheel (12) and a driving wheel; the driving wheel and the tension wheel (12) are respectively located at the front and rear ends above the load-bearing wheel (11); a plurality of load-bearing wheels (11) are horizontally arranged; the load-bearing wheel (11), the tension wheel (12) and the driving wheel are connected by the transmission crawler (10).

3. The human-machine collaborative wolfberry harvester according to claim 2, characterized in that: The driving mechanism (9) comprises a first motor (91) and a gearbox (92); one end of the gearbox (92) is drivingly connected to the output shaft of the first motor (91), and the other end is drivingly connected to the driving wheel; the first motor (91) is electrically connected to the controller (6).

4. The human-machine collaborative wolfberry harvester according to claim 1, characterized in that: The position adjustment mechanism (3) is provided with a plurality of push rods and is symmetrically mounted on the gantry frame (5). The position adjustment mechanism (3) comprises a first electric push rod (31) and a second electric push rod (32). The tail end of the first electric push rod (31) is vertically mounted on the gantry frame (5), and the tail end of the second electric push rod (32) is horizontally mounted at the output end of the first electric push rod (31). Both the first electric push rod (31) and the second electric push rod (32) are electrically connected to the controller (6), and the fruit conveying mechanism (2) is mounted at the output end of the second electric push rod (32).

5. The human-machine collaborative wolfberry harvester according to claim 4, characterized in that: The fruit conveying mechanism (2) comprises a support plate (21), a transmission shaft (22) and a conveyor belt (23); the support plate (21) is mounted on the output end of the second electric push rod (32); the transmission shaft (22) is rotatably mounted on the support plate (21); a plurality of transmission shafts (22) are provided and the plurality of transmission shafts (22) are transmission-connected to each other through the conveyor belt (23); when the conveyor belt (23) is transmission-connected to the plurality of transmission shafts (22), a front slope portion and a rear horizontal portion are formed; the transmission shaft (22) at the front end is transmission-connected to the output shaft of the second motor (24); and the second motor (24) is electrically connected to the controller (6).

6. The human-machine collaborative wolfberry harvester according to claim 5, characterized in that: A fan fixing frame (51) is installed below the front slope of the conveyor belt (23); a directional air outlet (52) and a fan are installed on the fan fixing frame (51); the wind blown out by the fan is rectified by the directional air outlet (52) and then blown toward the conveyor belt (23); and a storage box is also installed below the conveyor belt (23).

7. The human-machine collaborative wolfberry harvester according to claim 5, characterized in that: The fruit receiving mechanism (7) comprises a flexible fruit receiving plate (71) and a third motor (72); the flexible fruit receiving plate (71) is mounted on the support plate (21) via a support rod; the flexible fruit receiving plate (71) is located above the conveyor belt (23) and corresponds to the conveyor belt (23); the third motor (72) is mounted on the top of the support rod and the output end of the third motor (72) is hinged to the flexible fruit receiving plate (71) via a connecting rod; the third motor (72) is electrically connected to the controller; when the third motor (72) is working, it drives the flexible fruit receiving plate (71) to swing via the connecting rod.

8. The human-machine collaborative wolfberry harvester according to claim 1, characterized in that: The closing mechanism (4) comprises a guide rail (41), two of which are horizontally arranged and symmetrically mounted on both sides of the front end of the gantry frame (5), a plurality of sliders (42) are slidably connected to the guide rail (41), a hook (43) is mounted on the slider (42), a door curtain is hung on the hook (43), and a plurality of magnets are arranged on the door curtain. When the door curtain is pulled up, the plurality of door curtains are attracted to each other through the plurality of magnets.

9. The human-machine collaborative wolfberry harvester according to claim 1, characterized in that: A power source is also installed on the top of the gantry frame (5), and the power source is used to supply power to the controller (6), the fruit conveying mechanism (2), the fruit receiving mechanism (7), the driving mechanism (9), and the position adjustment mechanism (3).

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