Automatic pineapple harvester

Abstract

The invention relates to an automatic pineapple harvester which comprises a picking device, a conveying device, a collecting basket and a walking device. The picking device comprises a steel belt, a first transmission shaft and a first driven shaft; the steel belt is wound around the first transmission shaft and the first driven shaft to form a first conveying belt mechanism with the high front portion and the low rear portion, and the first conveying belt mechanism is installed on the first installation frame. A plurality of rows of rake teeth are arranged on the steel belt in the length direction; the rake teeth consist of a plurality of tooth parts; a long-strip-shaped blade is arranged between every two adjacent tooth parts. The conveying device is used for conveying picked pineapple fruits into the collecting basket, and the walking device is used for providing lifting and walking functions for the pineapple harvester. The automatic pineapple harvester has the advantages of being easy to operate and high in automation degree, pineapple picking and transporting integrated operation can be achieved, mechanical harvesting of pineapples in different fields can be achieved, the labor intensity is greatly relieved, the pineapple harvesting efficiency is improved, and the mechanization and automation level of the pineapple industry is promoted.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, in particular to an automatic pineapple harvester. Background Art

[0002] Due to the unique growth structure and complex growth environment of pineapple plants, the main method of picking pineapples is manual picking, which is labor-intensive, has a bad working environment, and is not efficient. Long hours of work cause physical fatigue to fruit farmers. With the increasing cost of manual harvesting, there is an increasing need for automatic pineapple harvesters. At the same time, the application of automation technology in the field of agricultural machinery design is becoming more and more mature, which provides favorable technical conditions and application background for the development of automatic pineapple harvesters.

[0003] Research related to mechanical pineapple picking mainly focuses on the structure of picking components or picking tools such as picking robot arms, intelligent identification control, gripping devices, and walking devices, but most of them are still in the theoretical research stage and no prototypes have been manufactured for field trials.

[0004] How to design a practical automated pineapple harvester that can replace manual picking has become a problem that needs to be solved urgently. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an automatic pineapple harvester, which has the characteristics of simple operation and high degree of automation. It can realize the integrated operation of picking and transporting pineapples, can meet the mechanized harvesting of pineapples in different sections of the field, greatly reduces the labor intensity, improves the efficiency of pineapple harvesting, and is conducive to promoting the mechanization and automation development level of the pineapple industry.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an automatic pineapple harvester, comprising a picking device, a conveying device, a collecting basket and a walking device; the picking device comprises a steel belt, a first transmission shaft and a first driven shaft; the steel belt is wound around the first transmission shaft and the first driven shaft to form a first conveyor belt mechanism that is high in the front and low in the back, and the first conveyor belt mechanism is installed on a first mounting frame; a plurality of rows of rake teeth are arranged on the steel belt along the length direction; the rake teeth are composed of a plurality of tooth portions; a long blade is arranged between two adjacent tooth portions; the rake teeth are used to pass through the lower part of the pineapple fruit so that the stem of the pineapple tree is stuck between the two tooth portions; the steel belt is used to drive the rake teeth passing through the lower part of the pineapple fruit to flip backward and upward under the action of the first transmission shaft and the first driven shaft; the long blade is used to cut off the pineapple stem during the flipping of the rake teeth, thereby realizing the picking of the pineapple fruit; the conveying device is used to receive the pineapple fruit picked by the picking device and convey it to the collecting basket, and the walking device is used to provide a walking function for the pineapple harvester.

[0007] Furthermore, the picking device also includes a picking drive motor; the picking drive motor is transmission-connected to the first transmission shaft via a second chain sprocket mechanism.

[0008] Furthermore, the front end of the conveying device is connected to the rear end of the picking device, and the rear end is connected to the collecting basket; the picking device also includes a baffle; the baffle is arranged at the rear end of the first conveyor belt mechanism; the baffle is provided with an opening corresponding to the tooth portion of the rake teeth, and the opening is used to allow the tooth portion of the rake teeth to pass through; there is a gap between the baffle and the steel belt, and the gap is used to allow the long blade of the rake teeth to pass through; the baffle is located above the input end of the conveying device; the baffle is used to block the pineapple from sliding off the steel belt, so that the pineapple falls onto the conveying device.

[0009] Furthermore, the conveying device includes a conveyor belt, a second transmission shaft and a second driven shaft; the conveyor belt is wound around the second transmission shaft and the second driven shaft to form a second conveyor belt mechanism, and the second conveyor belt mechanism is installed on a second mounting frame; the front end of the second conveyor belt mechanism is spaced from the first conveyor belt mechanism, and the space is used to allow the rake teeth on the steel belt to pass through, and the baffle is located above the front end of the second conveyor belt mechanism.

[0010] Furthermore, the conveying device also includes a conveying motor, and the conveying motor is connected to the second transmission shaft through a third chain sprocket mechanism.

[0011] Furthermore, the second conveyor belt mechanism includes a lifting section that is tilted and lower at the front and higher at the rear; the rear end of the lifting section is located above the collecting basket; and a plurality of partitions are evenly fixed on the conveyor belt along the length direction, and the partitions are used to prevent pineapples from sliding off the lifting section.

[0012] Furthermore, the pineapple harvester also includes a connecting frame; the connecting frame is used to fix the picking device, the conveying device and the collecting basket.

[0013] Furthermore, the collecting basket includes a middle basket and side baskets located on the left and right sides of the middle basket; the middle basket is connected to the side baskets; the front side of the middle basket is inclined to form a slideway docking with the conveying device; a middle basket door is provided on the rear side of the middle basket, and the middle basket door is connected to the bottom plate of the middle basket by a hinge; a side basket door is provided on the rear side of the side basket, and the side basket door is connected to the side plate of the side basket by a hinge.

[0014] Furthermore, the traveling device includes a crawler traveling mechanism and a load-bearing frame installed on the crawler traveling mechanism; the crawler traveling mechanism includes a crawler, a driving wheel, a supporting wheel, a guide wheel, and a crawler frame; a crawler driving motor is installed on the driving wheel; the crawler driving motor and the crawler frame are fixed to the load-bearing frame; the load-bearing frame is located below the collecting basket.

[0015] Furthermore, a lift is provided between the load-bearing frame and the collecting basket; a slide rod, slide sleeve and guide rail assembly is provided between the load-bearing frame and the collecting basket.

[0016] Advantages of the present invention: The automatic pineapple harvester of the present invention has the characteristics of simple operation and high automation, can realize the integrated operation of picking and transporting pineapples, can meet the mechanized harvesting of pineapples in different sections of the field, greatly reduces the labor intensity, improves the efficiency of pineapple harvesting, and is conducive to promoting the mechanization and automation development level of the pineapple industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional schematic diagram of an automatic pineapple harvester according to an embodiment;

[0018] Figure 2 It is a three-dimensional schematic diagram of a picking device of an automatic pineapple harvester in an embodiment;

[0019] Figure 3 A three-dimensional schematic diagram of a rake tooth of an automatic pineapple harvester according to an embodiment of the present invention;

[0020] Figure 4 A three-dimensional schematic diagram of a conveying device of an automatic pineapple harvester in an embodiment;

[0021] Figure 5 It is a three-dimensional schematic diagram of the assembly of a picking device, a conveying device and a connecting frame of an automatic pineapple harvester in an embodiment;

[0022] Figure 6 is a three-dimensional schematic diagram of a collecting basket of an automatic pineapple harvester in an embodiment;

[0023] Figure 7 It is a three-dimensional schematic diagram of a walking device of an automatic pineapple harvester in an embodiment;

[0024] Figure 8 is a three-dimensional schematic diagram of an automatic pineapple harvester from another angle of an embodiment;

[0025] Fig. 9 A three-dimensional schematic diagram of a picking device of an automatic pineapple harvester according to an embodiment of the present invention being engaged with a pineapple stem;

[0026] Fig.10 A three-dimensional schematic diagram of a picking device of an automatic pineapple harvester in an embodiment cutting off a pineapple stem;

[0027] Among them, 1-picking device, 2-conveying device, 3-connecting frame, 4-collecting basket, 5-traveling device, 11-steel belt, 12-first transmission shaft, 13-first driven shaft, 14-rake teeth, 15-first mounting frame, 16-first chain sprocket mechanism, 17-baffle, 18-second chain sprocket mechanism, 19-picking drive motor, 141-tooth portion, 142-long blade, 171-opening, 21-conveyor belt, 22-second transmission Driving shaft, 23-second driven shaft, 24-partition, 25-second mounting frame, 26-third chain sprocket mechanism, 27-conveying motor, 41-middle basket, 42-side basket, 43-hinge, 411-middle basket door, 421-side basket door, 51-track, 52-driving wheel, 53-supporting wheel, 54-guide wheel, 55-track frame, 56-track drive motor, 57-load-bearing frame, 58-lifting machine, 59-slide rod, sliding sleeve and guide rail assembly. DETAILED DESCRIPTION

[0028] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0029] Example

[0030] Please refer to Figures 1 to 10 As shown, this embodiment provides an automatic pineapple harvester, including a picking device 1, a conveying device 2, a collecting basket 4 and a walking device 5; the picking device 1 includes a steel belt 11, a first transmission shaft 12 and a first driven shaft 13; the steel belt 11 is wound around the first transmission shaft 12 and the first driven shaft 13 to form a first conveyor belt mechanism that is high in the front and low in the back, and the first conveyor belt mechanism is installed on a first mounting frame 15; a plurality of rows of rake teeth 14 are arranged on the steel belt 11 along the length direction; the rake teeth 14 are composed of a plurality of tooth portions 141; a plurality of tooth portions 141 are arranged between two adjacent tooth portions 141. There is a long blade 142; the rake teeth 14 are used to pass through the lower part of the pineapple fruit so that the stem of the pineapple tree is stuck between the two tooth parts 141; the steel belt is used to drive the rake teeth passing through the lower part of the pineapple fruit to flip backward and upward under the action of the first transmission shaft 12 and the first driven shaft 13; the long blade 142 is used to cut off the pineapple stem during the flipping of the rake teeth, thereby realizing the picking of the pineapple fruit; the conveying device 2 is used to receive the pineapple fruit picked by the picking device 1 and convey it to the collecting basket 4, and the walking device 5 is used to provide lifting and walking functions for the pineapple harvester.

[0031] In this embodiment, Figure 2 As shown, two rows of rake teeth are used, which are evenly spaced in the length direction of the steel strip.

[0032] In this embodiment, Figure 2As shown, the first mounting frame 15 includes support frames arranged on the left and right sides of the first conveyor belt mechanism 21; both ends of the first transmission shaft 12 and both ends of the first driven shaft 13 are respectively installed on the support frame 15 through bearing seats.

[0033] Refer to Figure 2 As shown, the first transmission shaft 12 and the first driven shaft 13 are connected to each other through a first chain sprocket mechanism 16. In this embodiment, first sprockets are fixed to both ends of the transmission shaft 12, and second sprockets are fixed to both ends of the driven shaft 13. The first sprocket of the transmission shaft 12 and the corresponding second sprocket of the driven shaft 13 are connected to each other through a chain transmission.

[0034] Refer to Figure 5 As shown, the picking device 1 further includes a picking drive motor 19; the picking drive motor 19 is connected to the first transmission shaft 12 through a second chain sprocket mechanism 18. In this embodiment, a third sprocket is fixed to one end of the transmission shaft 12; a fourth sprocket is fixed to the output end of the picking drive motor 19, and the third sprocket and the fourth sprocket are connected through a chain transmission.

[0035] Refer to Figure 2 and Figure 5 As shown, the front end of the conveying device 2 is connected with the rear end of the picking device 1, and the rear end is connected with the collecting basket 4; the picking device 1 also includes a baffle 17; the baffle 17 is arranged at the rear end of the first conveyor belt mechanism; the baffle 17 is provided with an opening 171 corresponding to the tooth portion 141 of the rake tooth 14, and the opening 171 is used to allow the tooth portion 141 of the rake tooth 14 to pass through; there is a gap between the baffle 17 and the steel belt 11, and the gap is used to allow the long blade 142 of the rake tooth 14 to pass through; the baffle 17 is located above the input end of the conveying device 2; the baffle 17 is used to block the pineapple sliding off the steel belt 11, so that the pineapple falls on the conveying device 2. The baffle 17 of this embodiment is fixed to the rear end of the first mounting frame 15.

[0036] Refer to Figure 4 As shown, the conveying device 2 includes a conveyor belt 21, a second transmission shaft 22 and a second driven shaft 23; the conveyor belt 21 is wound around the second transmission shaft 22 and the second driven shaft 23 to form a second conveyor belt mechanism, and the second conveyor belt mechanism is installed on a second mounting frame 25; the front end of the second conveyor belt mechanism is spaced apart from the first conveyor belt mechanism, and the space is used to allow the rake teeth 14 on the steel belt 11 to pass through, and the baffle 17 is located above the front end of the second conveyor belt mechanism. In this embodiment, the second mounting frame 25 includes side plates arranged on the left and right sides of the second conveyor belt mechanism, and the two ends of the second transmission shaft 22 and the two ends of the second driven shaft 23 are respectively installed on the corresponding side plates through bearing seats, and the rear end of the support frame constituting the first mounting frame 15 is connected and fixed to the side plate on the corresponding side.

[0037] Refer to Figure 5 As shown, the conveying device 2 further includes a conveying motor 27, and the conveying motor 27 is connected to the second transmission shaft 22 through a third chain sprocket mechanism 26. In this embodiment, a fifth sprocket is fixed to the end of the second transmission shaft 22, a sixth sprocket is fixed to the output end of the conveying motor 25, and the fifth sprocket and the fifth sprocket are connected through a chain transmission.

[0038] Refer to Figure 5 As shown, the second conveyor belt mechanism includes a lifting section that is lower in front and higher in the back and is tilted; the rear end of the lifting section is located above the collecting basket 4; a plurality of partitions 24 are evenly fixed along the length direction of the conveyor belt 21, and the partitions 24 are used to prevent pineapples from sliding off the lifting section. In this embodiment, the second conveyor belt mechanism also includes a horizontal section located at the bottom end of the lifting section, and the horizontal section is connected to the first conveyor belt mechanism.

[0039] Refer to Figure 1 and Figure 5 As shown, the pineapple harvester further comprises a connecting frame 3; the connecting frame 3 is used to fix the picking device 1, the conveying device 2 and the collecting basket 4. In this embodiment, the picking drive motor 19 and the conveying motor 27 are both mounted on the connecting frame 3.

[0040] Refer to Figure 6 As shown, the collecting basket 4 includes a middle basket 41 and side baskets 42 located on the left and right sides of the middle basket 41; the middle basket 41 is connected to the side baskets 42; the front side of the middle basket 41 is inclined to form a slideway docking with the conveying device 2; a middle basket door 411 is provided on the rear side of the middle basket 41, and the middle basket door 411 is connected to the bottom plate of the middle basket 41 through a hinge 43; a side basket door 421 is provided on the rear side of the side basket 42, and the side basket door 421 is connected to the side plate of the side basket 42 through a hinge 43.

[0041] Refer to Figure 7 As shown, the walking device 5 includes a crawler walking mechanism and a load-bearing frame 57 installed on the crawler walking mechanism; the crawler walking mechanism includes a crawler 51, a driving wheel 52, a supporting roller 53, a guide wheel 54, and a crawler frame 55; a crawler driving motor 56 is installed on the driving wheel; the crawler driving motor 56, the crawler frame 55 and the load-bearing frame 57 are fixed; the load-bearing frame 57 is located below the collection basket 4. In this embodiment, the driving wheel 52 forms a meshing transmission with the crawler 51, and there are three supporting rollers 53, all of which are installed at the lower position of the crawler frame 55 and contact and cooperate with the top side of a lower section of the crawler 51; the guide wheel 54 is installed at the front upper part of the crawler frame 55 and contact and cooperate with the front upper corner of the crawler 51.

[0042] Refer to Figure 8As shown, an elevator 58 is further provided between the load-bearing frame 57 and the collection basket 4; a slide bar, slide sleeve, guide rail assembly 59 is further provided between the load-bearing frame 57 and the collection basket 4. In this embodiment, the body of the elevator is fixed on the load-bearing frame 57, and the lifting end of the elevator is fixed to the bottom side of the collection basket 4; the slide bar, slide sleeve, guide rail assembly 59 includes a slide sleeve welded to the load-bearing frame 57 and a slide bar welded to the collection basket 4.

[0043] The automatic pineapple harvester of the present embodiment is designed for two rows of pineapples. During harvesting, the two rows of pineapples are harvested simultaneously. During operation, the crawler drive motor drives the driving wheel and the crawler to control the pineapple harvester to move in the pineapple field. When the harvester moves to the starting point of pineapple harvesting, the crawlers on both sides of the harvester need to be controlled to be located on both sides of the two rows of pineapples respectively, so as to ensure that the picking device is above the two rows of pineapples. Then, the elevator is controlled to rise and fall, so that the highest point of the picking device is slightly lower than the bottom of the pineapple fruit. The picking drive motor is started to drive the first conveyor belt mechanism to move through the chain transmission, and the pineapples are picked through the rake teeth and the long blades. The conveying motor is started to drive the second conveyor belt mechanism to move through the chain transmission, and the pineapples are conveyed to the collection basket. Specifically, the crawler drive motor is controlled to make the harvester move forward; when the picking device approaches the pineapple fruit, the rake teeth installed on the picking device will move upward with the movement of the steel belt, and the stems of the pineapple tree enter the rake teeth under the combined effect of the upward rotation of the rake teeth and the forward movement of the harvester; when the rake teeth move to the level of the ground, the lower side of the pineapple fruit contacts the rake teeth (such as Fig. 9 As shown in the figure, the rake teeth continue to move, and the rake teeth will exert an upward and backward pushing force on the pineapple fruit, and will produce a pulling and twisting force on the pineapple tree stem. The pulling and twisting force provided by the rake teeth on the pineapple stem cooperates with the long blade to achieve the cutting of the pineapple tree stem (as shown in the figure). Fig.10 As shown), the pineapple fruit is separated from the stem; the separated pineapple fruit continues to move backward under the action of the rake teeth, and when the fruit enters the inclined surface of the upper section of the steel belt, it slides down under the action of gravity, and under the blocking action of the baffle, the pineapple fruit falls to the front end of the second conveyor belt.

[0044] In this embodiment, the walking device continuously moves forward, thereby realizing continuous harvesting of pineapple fruits. When the collecting basket is full of pineapples, the harvester is controlled to reach the designated unloading location, and then the side basket door and the middle basket door are opened for unloading. The bottom of the side basket is tilted high in the front and low in the back, so that the pineapples can automatically roll down during unloading. After unloading is completed, the harvester continues the pineapple harvesting operation.

[0045] In this embodiment, after the harvester completes the pineapple harvesting operation, the elevator is controlled to rise and fall so that the picking device reaches an initial height, and the harvester is controlled to leave the pineapple field, thus completing the harvesting work.

[0046] The above embodiments should not limit the present invention in any way, and any technical solutions obtained by equivalent replacement or equivalent conversion shall fall within the protection scope of the present invention.

Claims

1. An automatic pineapple harvester, characterized in that: The invention comprises a picking device (1), a conveying device (2), a collecting basket (4) and a walking device (5); the picking device (1) comprises a steel belt (11), a first transmission shaft (12) and a first driven shaft (13); the steel belt (11) is wound around the first transmission shaft (12) and the first driven shaft (13) to form a first conveyor belt mechanism which is higher in the front and lower in the back, and the first conveyor belt mechanism is installed on a first mounting frame (15); a plurality of rows of rake teeth (14) are arranged on the steel belt (11) along the length direction; the rake teeth (14) are composed of a plurality of tooth portions (141); a long blade (141) is arranged between two adjacent tooth portions (141); 2); the rake teeth (14) are used to pass through the lower part of the pineapple fruit so that the stem of the pineapple tree is stuck between the two teeth (141); the steel belt (11) is used to drive the rake teeth (14) passing through the lower part of the pineapple fruit to flip backward and upward under the action of the first transmission shaft (12) and the first driven shaft (13); the long blade (142) is used to cut the pineapple stem during the flipping of the rake teeth (14), thereby realizing the picking of the pineapple fruit; the conveying device (2) is used to receive the pineapple fruit picked by the picking device (1) and convey it to the collection basket (4); the walking device (5) is used to provide a walking function for the pineapple harvester.

2. An automatic pineapple harvester according to claim 1, characterized in that: The picking device (1) further comprises a picking drive motor (19); the picking drive motor (19) is connected to the first transmission shaft (12) via a second chain sprocket mechanism (18).

3. The automatic pineapple harvester according to claim 1, characterized in that: The front end of the conveying device (2) is connected to the rear end of the picking device (1), and the rear end is connected to the collecting basket (4); the picking device (1) also includes a baffle (17); the baffle (17) is arranged at the rear end of the first conveyor belt mechanism; the baffle (17) is provided with an opening (171) corresponding to the tooth portion (141) of the rake tooth (14), and the opening (171) is used to allow the tooth portion (141) of the rake tooth (14) to pass through; there is a gap between the baffle (17) and the steel belt (11), and the gap is used to allow the long blade (142) of the rake tooth (14) to pass through; the baffle (17) is located above the input end of the conveying device (2); the baffle (17) is used to block the pineapple from sliding off the steel belt (11), so that the pineapple fruit falls onto the conveying device (2).

4. An automatic pineapple harvester according to any one of claims 1 to 3, characterized in that: The conveying device (2) comprises a conveyor belt (21), a second transmission shaft (22) and a second driven shaft (23); the conveyor belt (21) is wound around the second transmission shaft (22) and the second driven shaft (23) to form a second conveyor belt mechanism, and the second conveyor belt mechanism is installed on a second mounting frame (25); the front end of the second conveyor belt mechanism is spaced from the first conveyor belt mechanism, and the space is used to allow the rake teeth (14) on the steel belt (11) to pass through, and the baffle (17) is located above the front end of the second conveyor belt mechanism.

5. The automatic pineapple harvester according to claim 4, characterized in that: The conveying device (2) further comprises a conveying motor (27), and the conveying motor (27) is transmission-connected to the second transmission shaft (22) via a third chain sprocket mechanism (26).

6. The automatic pineapple harvester according to claim 4, characterized in that: The second conveyor belt mechanism comprises a lifting section which is arranged obliquely with a lower front portion and a higher rear portion; the rear end of the lifting section is located above the collecting basket (4); a plurality of partitions (24) are evenly fixed on the conveyor belt (21) along the length direction, and the partitions (24) are used to prevent pineapple fruits from sliding off the lifting section.

7. The automatic pineapple harvester according to claim 1, characterized in that: The pineapple harvester further comprises a connecting frame (3); the connecting frame (3) is used to fix the picking device (1), the conveying device (2) and the collecting basket (4).

8. The automatic pineapple harvester according to claim 1, characterized in that: The collecting basket (4) comprises a middle basket (41) and side baskets (42) located on the left and right sides of the middle basket (41); the middle basket (41) and the side baskets (42) are connected to each other; the front side of the middle basket (41) is arranged in an inclined manner to form a slideway for docking with the conveying device (2); a middle basket door (411) is arranged on the rear side of the middle basket (41), and the middle basket door (411) is connected to the bottom plate of the middle basket (41) through a hinge (43); a side basket door (421) is arranged on the rear side of the side basket (42), and the side basket door (421) is connected to the side plate of the side basket (42) through a hinge (43).

9. The automatic pineapple harvester according to claim 1, characterized in that: The walking device (5) comprises a crawler walking mechanism and a load-bearing frame (57) installed on the crawler walking mechanism; the crawler walking mechanism comprises a crawler (51), a driving wheel (52), a supporting wheel (53), a guide wheel (54), and a crawler frame (55); a crawler driving motor (56) is installed on the driving wheel (52); the crawler driving motor (56) and the crawler frame (55) are fixed to the load-bearing frame (57); the load-bearing frame (57) is located below the collecting basket (4).

10. The automatic pineapple harvester according to claim 9, characterized in that: A lift (58) is also provided between the load-bearing frame (57) and the collection basket (4); a slide rod, slide sleeve and guide rail assembly (59) is also provided between the load-bearing frame (57) and the collection basket (4).

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