Self-propelled pineapple picking and collecting machine

Abstract

The invention relates to a self-propelled pineapple picking and collecting machine which comprises a vehicle body. A picking mechanism is mounted at the front end of the vehicle body; the picking mechanism comprises a picking mounting frame, a collecting and combing mechanism, a cutting mechanism, a shifting conveying mechanism and a first conveying belt; the combing mechanism comprises a bottom plate, a combing roller is fixed to the front end of the bottom plate, and a U-shaped notch is further formed in the front end of the bottom plate; the cutting mechanism is located on the bottom side of the bottom plate, provided with a cutter and used for cutting and picking pineapples. The shifting conveying mechanism is located on the top side of the bottom plate and provided with a plurality of shifting roller sets. The shifting conveying mechanism is used for receiving single pineapples through a conveying space formed between every two adjacent shifting roller sets and conveying the pineapples to the first conveying belt one by one; a collecting basket is further installed on the rear side of the vehicle body. A connection conveying mechanism is further arranged between the first conveying belt and the collecting basket. According to the self-propelled pineapple picking and collecting machine, pineapples can be quickly picked, manual picking is replaced, the labor intensity of workers is reduced, and the pineapple picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, in particular to a self-propelled pineapple picking and collecting machine. Background Art

[0002] At present, pineapples are mainly planted in two rows on ridges. Especially for large-scale planting areas, the harvesting requires high efficiency of machine picking. However, the current pineapple picking method still mainly relies on manual picking, and the picking efficiency is low. This seriously affects the pineapple harvesting efficiency, increases costs, and increases labor. Therefore, the original pineapple harvesting method cannot meet the large-scale harvesting requirements. Therefore, it is urgent to design a pineapple picking equipment that can reduce the intensity of manual labor and improve the efficiency of pineapple picking. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a self-propelled pineapple picking and collecting machine, which can quickly pick pineapples, replace manual picking, reduce manual labor intensity, and improve pineapple picking efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a self-propelled pineapple picking and collecting machine, comprising a vehicle body; a picking mechanism is installed at the front end of the vehicle body; the picking mechanism comprises a picking mounting frame, a collecting and combing mechanism, a cutting mechanism, a diverting and conveying mechanism, and a first conveyor belt; the collecting and combing mechanism comprises a bottom plate, a plurality of collecting and combing rods evenly distributed in the left and right directions are fixed at the front end of the bottom plate, an entry channel for pineapples is formed between two adjacent collecting and combing rods, and a U-shaped notch is also arranged at the front end of the bottom plate between two adjacent collecting and combing rods; the cutting mechanism is located on the bottom side of the bottom plate, and has a cutting knife for cutting and picking pineapples reaching the rear end of the collecting and combing rods; the diverting and conveying mechanism is located on the top side of the bottom plate, and has a plurality of diverting and conveying rod groups evenly distributed along the conveying direction; the diverting and conveying mechanism is used to form a conveying space between two adjacent diverting and conveying rod groups to receive a single pineapple, and to deliver the pineapples one by one to the first conveyor belt; a collecting basket is also installed on the rear side of the vehicle body; a connecting conveying mechanism is also arranged between the first conveyor belt and the collecting basket.

[0005] Furthermore, the cutting mechanism also includes a cutting drive motor, a cutting active sprocket, a cutting driven sprocket, and a cutting transmission chain; the cutting active sprocket and the cutting driven sprocket are respectively located in the left and right areas below the base plate; the rotating end of the cutting drive motor is connected to the cutting active sprocket; the cutting transmission chain is transmission-connected to the cutting active sprocket and the cutting driven sprocket; there are multiple cutting knives, which are evenly fixed on the cutting transmission chain along the length direction of the cutting transmission chain.

[0006] Furthermore, the deflection conveying mechanism also includes a first deflection conveying mechanism; the first deflection conveying mechanism includes a first deflection hydraulic motor, a first deflection driving sprocket group, a first deflection driven sprocket group, and a first deflection transmission chain group; the first deflection driving sprocket group and the first deflection driven sprocket group are respectively located in the left and right areas above the bottom plate; the rotating end of the first deflection hydraulic motor is connected to the first deflection driving sprocket group; the first deflection transmission chain group is transmission-connected to the first deflection driving sprocket group and the first deflection driven sprocket group; the multiple groups of deflection rod groups include several groups of first deflection rod groups; several groups of first deflection rod groups are evenly fixed to the first deflection transmission chain group along the length direction of the first deflection transmission chain group; the conveying range of the first deflection rod group in the front conveying direction of the first deflection conveying mechanism at least covers the front end area of ​​the bottom plate.

[0007] Furthermore, a rear baffle is fixed to the bottom plate in the rear area of ​​the first deflection conveying mechanism, and a first arc baffle connected with the rear baffle is fixed to the end area of ​​the front conveying direction of the first deflection conveying mechanism; the rear baffle and the first arc baffle cooperate with the first deflection conveying mechanism to prevent the pineapple from falling off during the conveying process of the first deflection conveying mechanism.

[0008] Furthermore, the steering conveying mechanism also includes a second steering conveying mechanism; the second steering conveying mechanism is located at the end of the conveying direction on the rear side of the first steering conveying mechanism; the second steering conveying mechanism includes a second steering hydraulic motor and a second steering circular shaft; the rotating end of the second steering hydraulic motor is connected to the second steering circular shaft; the multiple groups of steering roller groups also include several groups of second steering roller groups; the several groups of second steering roller groups are evenly fixed to the second steering circular shaft along the circumference of the second steering circular shaft; the second steering roller group and the first steering roller group are staggered to cooperate to transfer the goods arriving at the first The pineapple at the end of the conveying direction on the rear side of the shifting conveying mechanism is shifted out from between two adjacent groups of first shifting rod groups; the second shifting conveying mechanism is also used to shift the pineapple shifted out from the first shifting conveying mechanism into the first conveyor belt; a second arc baffle is fixed to the bottom plate in the outer area of ​​the conveying direction of the second shifting conveying mechanism; a blocking rod group is arranged at the front end of the second arc baffle; the blocking rod group is staggered with the first shifting rod group; the second arc baffle and the blocking rod group are used to prevent the pineapple from falling off during the process of being shifted out from the first shifting conveying mechanism and being conveyed by the second shifting conveying mechanism.

[0009] Furthermore, a picking lifting mechanism is also arranged between the picking mechanism and the vehicle body; the picking lifting mechanism includes two groups of lifting frames on the left and right; each group of lifting frames includes a first vertical rod located on the rear side, a second vertical rod located on the front side, a first connecting rod located between the top end of the first vertical rod and the top end of the second vertical rod, and a second connecting rod located between the bottom end of the first vertical rod and the bottom end of the second vertical rod; the first connecting rod is respectively connected to the first vertical rod and the second vertical rod through a rotating pair; the second connecting rod is respectively connected to the first vertical rod and the second vertical rod through a rotating pair; a picking connecting frame is fixed on the front side of the two second vertical rods of the two groups of lifting frames, and the picking connecting frame is used to install the picking mechanism; a third connecting rod is fixed between the two first connecting rods of the two groups of lifting frames; the picking lifting mechanism also includes a first hydraulic cylinder; the two ends of the first hydraulic cylinder are respectively connected to the vehicle body and the third connecting rod through a rotating pair.

[0010] Furthermore, the connecting conveying mechanism includes a two-stage conveying mechanism, the second-stage conveying mechanism includes a second conveyor belt mounting frame and a second conveyor belt mounted on the second conveyor belt mounting frame; a second conveyor belt partition is provided on the second conveyor belt; a second conveyor belt front baffle is also fixed on the second conveyor belt mounting frame at the front end of the second conveyor belt; the outlet end of the first conveyor belt is located above the second conveyor belt; a second conveyor belt connecting frame is also fixed on the side of the second conveyor belt mounting frame; a second conveyor belt connecting slider is provided on the side of the second conveyor belt connecting frame; the picking lifting mechanism is fixed with a second-stage conveying mounting frame on the second connecting rod of the lifting frame close to the side of the second-stage conveying mechanism; a first slide groove is opened on the side of the second-stage conveying mounting frame; the second conveyor belt connecting slider cooperates with the first slide groove to enable the second conveyor belt to have the freedom to move along the length direction of the first slide groove; the second-stage conveying mechanism also includes a second hydraulic cylinder, and the two ends of the second hydraulic cylinder are respectively connected to the vehicle body and the rear end of the second conveyor belt connecting frame through a rotating pair.

[0011] Furthermore, the connecting conveying mechanism also includes a three-stage conveying mechanism, which includes a third conveyor belt mounting frame and a third conveyor belt mounted on the third conveyor belt mounting frame; the third conveyor belt includes a third conveyor belt front section and a third conveyor belt rear section; the angle between the top conveying surface of the third conveyor belt front section and the top conveying surface of the third conveyor belt rear section is - degrees; a third conveyor belt partition is arranged on the third conveyor belt; a third conveyor belt front baffle is also fixed on the third conveyor belt mounting frame at the front end of the third conveyor belt; the three-stage conveying mechanism also includes a third conveyor belt lifting frame and a third conveyor belt translation frame; the third conveyor belt mounting frame is fixed to the third conveyor belt lifting frame; the third conveyor belt also includes a third hydraulic cylinder, two ends of the third hydraulic cylinder The ends are respectively connected with the rear section of the third conveyor belt and the third conveyor belt lifting frame through a rotating pair; a lifting mechanism is also arranged between the third conveyor belt lifting frame and the third conveyor belt translation frame; the lifting mechanism is used to drive the third conveyor belt lifting frame to lift and lower relative to the third conveyor belt translation frame; a third conveyor belt translation slider is also arranged on the side of the third conveyor belt translation frame; a second slide groove is opened on the side of the vehicle body; a translation mechanism is also arranged between the third conveyor belt translation frame and the vehicle body, which is used to drive the second conveyor belt to move forward and backward along the second slide groove under the cooperation of the third conveyor belt translation slider and the second slide groove; the rear end of the second conveyor belt is located above the front side surface of the third conveyor belt; a slideway is also arranged on the collecting basket, and the outlet end of the rear section of the third conveyor belt is connected to the slideway.

[0012] Furthermore, the vehicle body includes a frame; a first hydraulic cylinder support is arranged on the front side of the frame, and the first hydraulic cylinder support is connected to the first hydraulic cylinder through a rotating pair; a second hydraulic cylinder support is also arranged on the side of the frame, and the second hydraulic cylinder support is connected to the second hydraulic cylinder through a rotating pair; the frame also has a translation mechanism mounting platform; the translation mechanism is fixed on the translation mechanism mounting platform.

[0013] Furthermore, the vehicle body also includes a running mechanism, which includes a wheel support frame installed on the bottom side of the vehicle body and a wheel installed on the wheel support frame, and a shielding rod is arranged on the front side of the wheel; the end of the shielding rod is fixed to the wheel support frame.

[0014] Advantages of the present invention: The self-propelled pineapple picking and collecting machine of the present invention can quickly pick pineapples, replace manual picking, reduce manual labor intensity, and improve pineapple picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional schematic diagram of a self-propelled pineapple picking and collecting machine according to an embodiment;

[0016] Figure 2A three-dimensional schematic diagram of a vehicle body of a self-propelled pineapple picking and collecting machine according to an embodiment;

[0017] Figure 3 It is a three-dimensional schematic diagram of a picking mechanism of a self-propelled pineapple picking and collecting machine in an embodiment;

[0018] Figure 4 It is a three-dimensional schematic diagram of a collecting and combing mechanism of a self-propelled pineapple picking and collecting machine in an embodiment;

[0019] Figure 5 A three-dimensional schematic diagram of a cutting mechanism of a self-propelled pineapple picking and collecting machine according to an embodiment;

[0020] Figure 6 It is a three-dimensional schematic diagram of a diverting and conveying mechanism of a self-propelled pineapple picking and collecting machine in an embodiment;

[0021] Figure 7 It is a three-dimensional schematic diagram of a picking and lifting mechanism of a self-propelled pineapple picking and collecting machine in an embodiment;

[0022] Figure 8 A three-dimensional schematic diagram of a second-stage conveying mechanism of a self-propelled pineapple picking and collecting machine according to an embodiment;

[0023] Fig. 9 A three-dimensional schematic diagram of a three-stage conveying mechanism of a self-propelled pineapple picking and collecting machine in an embodiment;

[0024] Fig.10 A three-dimensional schematic diagram of a three-stage conveying mechanism of a self-propelled pineapple picking and collecting machine of an embodiment from another angle;

[0025] Among them, 1-vehicle body, 11-vehicle frame, 12-wheel support frame, 13-wheel, 14-shielding stick, 111-first hydraulic cylinder support, 112-second hydraulic cylinder support, 113-second slide groove, 114-translation mechanism installation platform;

[0026] 2-picking mechanism, 21-picking mounting frame, 22-collecting and combing mechanism, 23-cutting mechanism, 24-diverting and conveying mechanism, 25-first conveyor belt, 26-guide plate, 221-bottom plate, 222-collecting and combing rod, 2211-U-shaped notch, 231-cutting drive motor, 232-cutting active sprocket, 233-cutting driven sprocket, 234-cutting transmission chain, 235-cutting knife, 241-first diverting and conveying mechanism, 242-second The shifting conveying mechanism, 243-rear baffle, 244-first arc baffle, 245-second arc baffle, 246-blocking rod group, 2411-first shifting hydraulic motor, 2412-first shifting driving sprocket group, 2413-first shifting driven sprocket group, 2414-first shifting transmission chain group, 2415-first shifting rod group, 2421-second shifting hydraulic motor, 2422-second shifting circular shaft, 2423-second shifting rod group;

[0027] 3-picking lifting mechanism, 31-first vertical rod, 32-second vertical rod, 33-first connecting rod, 34-second connecting rod, 35-third connecting rod, 36-picking connecting frame, 37-first hydraulic cylinder, 38-second-stage conveying mounting frame, 381-first slide slot;

[0028] 4-second-stage conveying mechanism, 41-second conveyor belt mounting frame, 42-second conveyor belt, 43-second conveyor belt connecting frame, 44-second hydraulic cylinder, 411-second conveyor belt front baffle, 421-second conveyor belt partition, 431-second conveyor belt connecting slider;

[0029] 5-three-stage conveying mechanism, 51-third conveyor belt mounting frame, 52-third conveyor belt, 53-third conveyor belt lifting frame, 54-third conveyor belt translation frame, 55-lifting mechanism, 56-translation mechanism, 511-third conveyor belt front baffle, 521-third conveyor belt front section, 522-third conveyor belt rear section, 523-third conveyor belt partition, 524-third hydraulic cylinder, 541-third conveyor belt translation slider;

[0030] 6-collection basket, 61-slide;

[0031] 7-Hydraulic station. DETAILED DESCRIPTION

[0032] 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.

[0033] Example

[0034] Please refer to Figures 1 to 10As shown, the present embodiment provides a self-propelled pineapple picking and collecting machine, comprising a vehicle body 1; a picking mechanism 2 is installed at the front end of the vehicle body 1; the picking mechanism 2 comprises a picking mounting frame 21, a collecting and combing mechanism 22, a cutting mechanism 23, a diverting and conveying mechanism 24, and a first conveyor belt 25; the collecting and combing mechanism 22 comprises a bottom plate 221, a front end of the bottom plate 221 is fixed with a plurality of collecting and combing rods 222 evenly distributed in the left and right directions, an entry channel for pineapples is formed between two adjacent collecting and combing rods 222, and a U-shaped notch 2 is further provided at the front end of the bottom plate 221 at a position between two adjacent collecting and combing rods 222. 211; the cutting mechanism 23 is located on the bottom side of the bottom plate 221, and has a cutting knife 235 for cutting and picking the pineapples that reach the rear end of the collecting and combing rollers 222; the steering conveying mechanism 24 is located on the top side of the bottom plate 221, and has a plurality of steering roller groups evenly distributed along the conveying direction; the steering conveying mechanism 24 is used to receive a single pineapple by forming a conveying space between two adjacent steering roller groups, and deliver the pineapples one by one to the first conveyor belt 25; a collecting basket 6 is also installed on the rear side of the vehicle body 1; a connecting conveying mechanism is also provided between the first conveyor belt 25 and the collecting basket 6.

[0035] In this embodiment, Figure 4 As shown, there are 20 combing rods with adjacent intervals of 60 mm, which can realize the straightening and combing of the pineapple stems; there are 19 U-shaped notches on the front end of the bottom plate, which are used to clamp the pineapple stems.

[0036] In this embodiment, Figure 3 As shown, a guide plate 26 is further provided below the cutting mechanism 23 to reduce the resistance of the harvested pineapple trees to the vehicle body when the pineapple trees pass under the vehicle body.

[0037] Refer to Figure 3 and Figure 5 As shown, the cutting mechanism 23 also includes a cutting drive motor 231, a cutting driving sprocket 232, a cutting driven sprocket 233, and a cutting transmission chain 234; the cutting driving sprocket 232 and the cutting driven sprocket 233 are respectively located in the left and right areas below the bottom plate 221; the rotating end of the cutting drive motor 231 is connected to the cutting driving sprocket 232; the cutting transmission chain 234 is transmission-connected to the cutting driving sprocket 232 and the cutting driven sprocket 233; there are multiple cutting knives 235, which are evenly fixed on the cutting transmission chain 234 along the length direction of the cutting transmission chain 234. In this embodiment, from a top-down perspective, the cutting drive motor drives the cutting driving sprocket to rotate counterclockwise, and the cutting knives on the cutting transmission chain cut the pineapple from left to right, thereby achieving the picking of the pineapple.

[0038] Refer to Figure 3 and Figure 6As shown, the deflection conveying mechanism 24 also includes a first deflection conveying mechanism 241; the first deflection conveying mechanism 241 includes a first deflection hydraulic motor 2411, a first deflection driving sprocket group 2412, a first deflection driven sprocket group 2413, and a first deflection transmission chain group 2414; the first deflection driving sprocket group 2412 and the first deflection driven sprocket group 2413 are respectively located on the left and right sides of the bottom plate 221; the rotating end of the first deflection hydraulic motor 2411 and the first deflection driving sprocket group 2412 connection; the first deflection transmission chain group 2414 is transmission-connected with the first deflection active sprocket group 2412 and the first deflection driven sprocket group 2413; the multiple groups of deflection rod groups include several groups of first deflection rod groups 2415; several groups of first deflection rod groups 2415 are evenly fixed to the first deflection transmission chain group 2414 along the length direction of the first deflection transmission chain group 2414; the conveying range of the first deflection rod group 2415 in the front conveying direction of the first deflection conveying mechanism 241 at least covers the front end area of ​​the bottom plate 221. In this embodiment, the first deflection driving sprocket group 2412 is composed of multiple sprockets fixed vertically coaxially; the first deflection driven sprocket group 2413 is also composed of a corresponding number of multiple sprockets fixed vertically coaxially; the first deflection transmission chain group 2414 is a plurality of chains, which correspond one by one to connect the sprockets of the first deflection driving sprocket group 2412 and the sprockets of the first deflection driven sprocket group 2413; the first deflection rod group is composed of a plurality of vertically distributed first deflection rods, and the first deflection rod includes a straight stick portion and an arc-shaped stick portion located at the front end of the first straight stick portion and bent toward the conveying direction; from a top-down perspective, the first deflection hydraulic motor rotates clockwise, driving the first deflection driving sprocket group to rotate clockwise, so that the first deflection rod group moves from right to left on the front side of the deflection conveying mechanism, and moves from left to right on the rear side of the deflection conveying mechanism; the first deflection rod group will remove the picked pineapples one by one, and convey the pineapples along the conveying direction of the deflection conveying mechanism.

[0039] Refer to Figure 3 and Figure 6 As shown, a rear baffle 243 is fixed on the bottom plate 221 in the rear area of ​​the first deflection conveying mechanism 241, and a first arc baffle 244 connected with the rear baffle 243 is fixed in the front conveying direction end area of ​​the first deflection conveying mechanism 241; the rear baffle 243 and the first arc baffle 244 cooperate with the first deflection conveying mechanism 241 to prevent the pineapple from falling off during the conveying process of the first deflection conveying mechanism 241. In this embodiment, the first arc baffle 244 and the sprocket wheel on the side of the first deflection conveying mechanism 241 are substantially concentric.

[0040] Refer to Figure 3 and Figure 6As shown, the deflection conveying mechanism 24 also includes a second deflection conveying mechanism 242; the second deflection conveying mechanism 242 is located at the end of the conveying direction on the rear side of the first deflection conveying mechanism 241; the second deflection conveying mechanism 242 includes a second deflection hydraulic motor 2421 and a second deflection circular shaft 2422; the rotating end of the second deflection hydraulic motor 2421 is connected to the second deflection circular shaft 2422; the multiple groups of deflection roller groups also include several groups of second deflection rod groups 2423; several groups of second deflection rod groups 2423 are evenly fixed to the second deflection circular shaft 2422 along the circumference of the second deflection circular shaft 2422; the second deflection rod group 2423 is staggered with the first deflection rod group 2415 to be used to deflect the pineapple that reaches the end of the conveying direction on the rear side of the first deflection conveying mechanism 241 from between two adjacent groups of first deflection rod groups 2415; the second deflection conveying mechanism 242 is also used to deflect the pineapple deflected from the first deflection conveying mechanism 241 into the first conveyor belt 25. In this embodiment, the second deflection rod group 2423 is composed of a plurality of vertically distributed straight rods; from a top-down perspective, the second deflection hydraulic motor rotates counterclockwise, driving the second deflection circular shaft to rotate counterclockwise, so that the second deflection rod group deflects the pineapple at the right end of the rear side of the first deflection conveying mechanism along an arc trajectory and conveys it to the first conveyor belt; a second arc baffle 245 is fixed on the bottom plate 221 in the outer area of ​​the conveying direction of the second deflection conveying mechanism 242; a blocking rod group 246 is provided at the front end of the second arc baffle 245; the blocking rod group 246 is staggered with the first deflection rod group 2415; the second arc baffle 245 and the blocking rod group 246 are used to prevent the pineapple from escaping during the process of being deflected from the first deflection conveying mechanism 241 and being conveyed by the second deflection conveying mechanism 242. In this embodiment, the blocking stick group 246 is composed of a plurality of arc-shaped blocking sticks; the second arc baffle plate 245 and the blocking stick group 246 are arranged substantially concentrically with the second deflecting circular shaft 2422; the staggered arrangement of the blocking stick group and the first deflecting stick group allows the first deflecting stick group to pass smoothly, so that the pineapple is blocked and not pushed away by the first deflecting stick group.

[0041] In this embodiment, the first conveyor belt is driven by a hydraulic motor, and the first conveyor belt transports pineapples from right to left.

[0042] In this embodiment, the first deflection rod group, the second deflection rod group, the first arc baffle plate, the rear baffle plate, the second arc baffle plate, and the baffle rod group are all wrapped with rubber to reduce the friction on the pineapple fruit.

[0043] Refer to Figure 7As shown, a picking lifting mechanism 3 is also arranged between the picking mechanism 2 and the vehicle body 1; the picking lifting mechanism 3 includes two groups of lifting frames on the left and right; each group of lifting frames includes a first vertical rod 31 located on the rear side, a second vertical rod 32 located on the front side, a first connecting rod 33 located between the top of the first vertical rod 31 and the top of the second vertical rod 32, and a second connecting rod 34 located between the bottom end of the first vertical rod 31 and the bottom end of the second vertical rod 32; the first connecting rod 33 is respectively connected to the first vertical rod 31 and the second vertical rod 32 through a rotating pair; the second connecting rod 34 is respectively connected to the first vertical rod 31 and the second vertical rod 32 through a rotating pair; a picking connecting frame 36 is fixed on the front side of the two second vertical rods 32 of the two groups of lifting frames, and the picking connecting frame 36 is used to install the picking mechanism 2; a third connecting rod 35 is fixed between the two first connecting rods 33 of the two groups of lifting frames; the picking lifting mechanism 3 also includes a first hydraulic cylinder 37; the two ends of the first hydraulic cylinder 37 are respectively connected to the vehicle body 1 and the third connecting rod 35 through a rotating pair. In this embodiment, the piston rod of the first hydraulic cylinder 37 is extended to drive the picking connecting frame 36 to move downward, thereby lowering the height of the picking mechanism 2. The movable rod of the first hydraulic drawer 37 is retracted to drive the picking connecting frame 36 to move upward, thereby raising the height of the picking mechanism 2. The height of the picking mechanism 2 is adjusted to adapt to different pineapple planting environments.

[0044] Refer to Figure 7 and Figure 8As shown, the connecting conveying mechanism includes a two-stage conveying mechanism 4, and the two-stage conveying mechanism 4 includes a second conveyor belt mounting frame 41, and a second conveyor belt 42 mounted on the second conveyor belt mounting frame 41; a second conveyor belt partition 421 is arranged on the second conveyor belt 42; a second conveyor belt front baffle 411 is also fixed on the second conveyor belt mounting frame 41 at the front end of the second conveyor belt 42; the outlet end of the first conveyor belt 25 is located above the second conveyor belt 42; a second conveyor belt connecting frame 43 is also fixed on the side of the second conveyor belt mounting frame 41; the second conveyor belt connecting frame 4 3 is provided with a second conveyor belt connecting slider 431; the picking lifting mechanism 3 is fixed with a second-stage conveyor mounting frame 38 on the second connecting rod 34 of the lifting frame close to the second-stage conveyor mechanism 4; the side of the second-stage conveyor mounting frame 38 is provided with a first slide groove 381; the second conveyor belt connecting slider 431 cooperates with the first slide groove 381 to enable the second conveyor belt to have the freedom to move along the length direction of the first slide groove 381; the second-stage conveyor mechanism 4 also includes a second hydraulic cylinder 44, and the two ends of the second hydraulic cylinder 44 are respectively connected to the car body 1 and the rear end of the second conveyor belt connecting frame through a rotating pair. In this embodiment, the piston rod of the second hydraulic cylinder 44 is extended to drive the second conveyor belt 42 to move forward along the first slide groove 381; the piston rod of the second hydraulic cylinder 44 is retracted to drive the second conveyor belt 42 to move backward along the first slide groove 381; the position of the second conveyor belt 42 is adjusted to adapt to the height of the picking mechanism 2 in different places to ensure that the outlet end of the first conveyor belt 25 is always located above the second conveyor belt 42; the top side of the second conveyor belt partition 421 is set in a comb-tooth shape, and the bottom side of the second conveyor belt front baffle 411 is also set in a comb-tooth shape; the comb teeth of the second conveyor belt front baffle 411 and the comb teeth of the second conveyor belt partition 421 are staggered. This design allows the second conveyor belt partition to pass through the second conveyor belt front baffle smoothly and prevent pineapples from falling from the front end of the second conveyor belt; the second conveyor belt partitions 421 are arranged at intervals along the second conveyor belt 42 to block pineapples so that the pineapples are transported with the second conveyor belt; the second conveyor belt is driven by a motor, and the second conveyor belt transports pineapples from front to back.

[0045] Refer to Fig. 9 and Fig.10As shown, the connection conveying mechanism also includes a three-stage conveying mechanism 5, which includes a third conveyor belt mounting frame 51, and a third conveyor belt 52 mounted on the third conveyor belt mounting frame 51; the third conveyor belt 52 includes a third conveyor belt front section 521 and a third conveyor belt rear section 522; the angle between the top conveying surface of the third conveyor belt front section 521 and the top conveying surface of the third conveyor belt rear section 522 is 120-180 degrees; a third conveyor belt partition 523 is arranged on the third conveyor belt 52; a third conveyor belt front baffle 511 is also fixed on the third conveyor belt mounting frame 51 at the front end of the third conveyor belt 52; the three-stage conveying mechanism 5 also includes a third conveyor belt lifting frame 53 and a third conveyor belt translation frame 54; the third conveyor belt mounting frame 51 is fixed to the third conveyor belt lifting frame 53; the third conveyor belt 52 also includes a third hydraulic cylinder 524, the third hydraulic cylinder 524 The two ends are respectively connected to the third conveyor belt rear section 522 and the third conveyor belt lifting frame 53 through a rotating pair; a lifting mechanism 55 is also arranged between the third conveyor belt lifting frame 53 and the third conveyor belt translation frame 54; the lifting mechanism 55 is used to drive the third conveyor belt lifting frame 53 to move up and down relative to the third conveyor belt translation frame 54; a third conveyor belt translation slider 541 is also arranged on the side of the third conveyor belt translation frame 54; a second slide groove 113 is opened on the side of the vehicle body 1; a translation mechanism 56 is also arranged between the third conveyor belt translation frame 54 and the vehicle body 1, which is used to drive the second conveyor belt to move forward and backward along the second slide groove 113 under the cooperation of the third conveyor belt translation slider 541 and the second slide groove 113; the rear end of the second conveyor belt 42 is located above the front side surface 521 of the third conveyor belt; a slideway 61 is also arranged on the collecting basket 6, and the outlet end of the third conveyor belt rear section 522 is connected to the slideway 61. In this embodiment, the piston rod of the third hydraulic cylinder 524 is extended or retracted to drive the third conveyor belt rear section 522 to rotate relative to the third conveyor belt front section 521, thereby adjusting the angle between the third conveyor belt rear section 522 and the third conveyor belt front section 521; the top side of the third conveyor belt partition 523 is arranged in a comb-tooth shape, and the bottom side of the third conveyor belt front baffle 511 is also arranged in a comb-tooth shape; the comb teeth of the third conveyor belt front baffle 511 and the comb teeth of the third conveyor belt partition 523 are arranged in an alternating manner; this design allows the third conveyor belt partition to pass smoothly through the third conveyor belt front baffle, and also It can prevent pineapples from falling from the front end of the third conveyor belt; the third conveyor belt partitions are arranged at intervals along the third conveyor belt to block pineapples so that the pineapples are conveyed along the third conveyor belt; the second conveyor belt is driven by a motor, and the second conveyor belt conveys pineapples from front to back; the lifting mechanism 55 includes a lifting motor and a screw lifting transmission mechanism; the translation mechanism 56 includes a translation motor and a screw translation transmission mechanism; the front and rear position and the up and down position of the third conveyor belt are adjusted by the lifting mechanism 55 and the translation mechanism 56 to ensure that the outlet end of the second conveyor belt 42 is always located above the front section 521 of the third conveyor belt.

[0046] Refer to Figure 2 As shown, the vehicle body 1 includes a frame 11; a first hydraulic cylinder support 111 is provided on the front side of the frame 11, and the first hydraulic cylinder support 111 is connected to the first hydraulic cylinder 37 through a revolute pair; a second hydraulic cylinder support 112 is also provided on the side of the frame 11, and the second hydraulic cylinder support 112 is connected to the second hydraulic cylinder 44 through a revolute pair; the frame 11 also has a translation mechanism mounting platform 114; the translation mechanism 56 is fixed on the translation mechanism mounting platform 114. In this embodiment, a hydraulic station 7 is also installed on the frame 11, and the hydraulic station 7 is connected to the first directional hydraulic motor 2411, the second directional hydraulic motor 2421, the first hydraulic cylinder 37, the second hydraulic cylinder 44, and the third hydraulic cylinder 524 through oil circuits.

[0047] Refer to Figure 2 As shown, the vehicle body 1 further includes a running mechanism, which includes a wheel support frame 12 mounted on the bottom side of the vehicle body and a wheel 13 mounted on the wheel support frame 12, and a shielding rod 14 is provided on the front side of the wheel 13; the end of the shielding rod 14 is fixed to the wheel support frame 12. In this embodiment, the shielding rod can prevent the leaves of the pineapple tree from blocking the wheel 13.

[0048] A self-propelled pineapple picking and collecting machine in this embodiment has the following working process:

[0049] 1. According to the planting height of different pineapple fields, the height of the picking mechanism is adjusted by extending and retracting the piston rod of the first hydraulic cylinder, thereby driving the collecting and combing mechanism to the required pineapple picking height; according to the height of the picking mechanism, the second conveyor belt is adjusted by extending and retracting the piston rod of the second hydraulic cylinder, so that the outlet end of the first conveyor belt is located above the second conveyor belt, ensuring that the pineapples can be smoothly transported from the first conveyor belt to the second conveyor belt; according to the position of the second conveyor belt, the position of the third conveyor belt is adjusted by the third hydraulic cylinder, the lifting mechanism, and the translation mechanism, so that the outlet end of the second conveyor belt is located above the third conveyor belt, and the outlet end of the third conveyor belt is docked with the slideway of the collection basket, ensuring that the pineapples can be smoothly transported from the second conveyor belt to the third conveyor belt, and then smoothly transported to the collection basket via the third conveyor belt; at the same time, it is necessary to control the vertical distance between the outlet of the first conveyor belt and the second conveyor belt not to be too high, and the vertical distance between the outlet of the second conveyor belt and the third conveyor belt not to be too high, so as to prevent the pineapples from falling too high and causing damage.

[0050] 2. After the above adjustments are completed, start the cutting drive motor, the first shifting hydraulic motor, the second shifting hydraulic motor, the first conveyor belt, the second conveyor belt, and the third conveyor belt;

[0051] 3. Start the traveling mechanism, the vehicle body moves forward, the combing rods straighten and comb the fallen pineapple trees, the pineapple trees enter along the passage between the two adjacent combing rods, the U-shaped notch of the bottom plate clamps the neck position below the pineapple fruit, the cutting knife cuts 5 cm below the neck of the pineapple fruit from left to right, the cut pineapple trees pass under the guide plate, the picked pineapples enter the range of the bottom plate, are sent from right to left by the first push rod group, and then, are sent from left to right at the rear side of the first push conveying mechanism. When the pineapple reaches the second shifting conveying mechanism, the second shifting rod group shifts the pineapple out of the conveying range of the first shifting conveying mechanism and sends it to the first conveyor belt; the pineapple is output from the first conveyor belt and falls into the second conveyor belt, and the second conveyor belt drives the pineapple to be transported backward and upward through the second conveyor belt partition; the pineapple is output from the second conveyor belt and falls into the third conveyor belt, and the third conveyor belt drives the pineapple to be transported backward and upward through the third conveyor belt partition; the pineapple is output from the third conveyor belt and falls into the collection basket through the slide; the entire pineapple fruit picking and collection work is completed.

[0052] 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. A self-propelled pineapple picking and collecting machine, characterized in that: It comprises a vehicle body; a picking mechanism is installed at the front end of the vehicle body; the picking mechanism comprises a picking mounting frame, a collecting and combing mechanism, a cutting mechanism, a steering conveying mechanism, and a first conveyor belt; the collecting and combing mechanism comprises a bottom plate, a plurality of collecting and combing rods evenly distributed in the left and right directions are fixed at the front end of the bottom plate, an entry channel for pineapples is formed between two adjacent collecting and combing rods, and a U-shaped notch is also provided at the front end of the bottom plate between two adjacent collecting and combing rods; the cutting mechanism is located on the bottom side of the bottom plate, and it has a cutting knife for cutting and picking pineapples that reach the rear end of the collecting and combing rods; the steering conveying mechanism is located on the top side of the bottom plate, and it has a plurality of steering rod groups evenly distributed along the conveying direction; the steering conveying mechanism is used to form a conveying space between two adjacent steering rod groups to receive a single pineapple, and deliver the pineapples one by one to the first conveyor belt; a collecting basket is also installed on the rear side of the vehicle body; a connecting conveying mechanism is also provided between the first conveyor belt and the collecting basket.

2. A self-propelled pineapple picking and collecting machine according to claim 1, characterized in that: The cutting mechanism also includes a cutting drive motor, a cutting active sprocket, a cutting driven sprocket, and a cutting transmission chain; the cutting active sprocket and the cutting driven sprocket are respectively located in the left and right areas below the bottom plate; the rotating end of the cutting drive motor is connected to the cutting active sprocket; the cutting transmission chain is transmission-connected to the cutting active sprocket and the cutting driven sprocket; there are multiple cutting knives, which are evenly fixed on the cutting transmission chain along the length direction of the cutting transmission chain.

3. The self-propelled pineapple picking and collecting machine according to claim 1, characterized in that: The deflection conveying mechanism also includes a first deflection conveying mechanism; the first deflection conveying mechanism includes a first deflection hydraulic motor, a first deflection driving sprocket group, a first deflection driven sprocket group, and a first deflection transmission chain group; the first deflection driving sprocket group and the first deflection driven sprocket group are respectively located in the left and right areas above the bottom plate; the rotating end of the first deflection hydraulic motor is connected to the first deflection driving sprocket group; the first deflection transmission chain group is transmission-connected to the first deflection driving sprocket group and the first deflection driven sprocket group; the multiple groups of deflection rod groups include several groups of first deflection rod groups; several groups of first deflection rod groups are evenly fixed to the first deflection transmission chain group along the length direction of the first deflection transmission chain group; the conveying range of the first deflection rod group in the front conveying direction of the first deflection conveying mechanism at least covers the front end area of ​​the bottom plate.

4. A self-propelled pineapple picking and collecting machine according to claim 3, characterized in that: A rear baffle is fixed on the bottom plate in the rear area of ​​the first deflection conveying mechanism, and a first arc baffle connected with the rear baffle is fixed in the end area of ​​the conveying direction of the front side of the first deflection conveying mechanism; the rear baffle and the first arc baffle cooperate with the first deflection conveying mechanism to prevent the pineapple from falling off during the conveying process of the first deflection conveying mechanism.

5. The self-propelled pineapple picking and collecting machine according to claim 3, characterized in that: The deflection conveying mechanism also includes a second deflection conveying mechanism; the second deflection conveying mechanism is located at the end of the conveying direction of the rear side of the first deflection conveying mechanism; the second deflection conveying mechanism includes a second deflection hydraulic motor and a second deflection circular shaft; the rotating end of the second deflection hydraulic motor is connected to the second deflection circular shaft; the multiple groups of deflection roller groups also include several groups of second deflection roller groups; the several groups of second deflection roller groups are evenly fixed on the second deflection circular shaft along the circumference of the second deflection circular shaft; the second deflection roller group and the first deflection roller group are staggered to cooperate to transfer the deflection rollers that have arrived at the first deflection conveying mechanism to the second deflection circular shaft. The pineapple at the end of the conveying direction on the rear side of the conveying mechanism is pushed out from between two adjacent groups of first push-to-direction roller groups; the second push-to-direction conveying mechanism is also used to push the pineapple pushed out from the first push-to-direction conveying mechanism into the first conveyor belt; a second arc baffle is fixed on the bottom plate in the outer area of ​​the conveying direction of the second push-to-direction conveying mechanism; a stop rod group is arranged at the front end of the second arc baffle; the stop rod group is staggered with the first push-to-direction roller group; the second arc baffle and the stop rod group are used to prevent the pineapple from falling off during the process of being pushed out from the first push-to-direction conveying mechanism and being conveyed by the second push-to-direction conveying mechanism.

6. A self-propelled pineapple picking and collecting machine according to any one of claims 1 to 5, characterized in that: A picking lifting mechanism is also arranged between the picking mechanism and the vehicle body; the picking lifting mechanism comprises two groups of lifting frames on the left and right; each group of lifting frames comprises a first vertical rod located on the rear side, a second vertical rod located on the front side, a first connecting rod located between the top end of the first vertical rod and the top end of the second vertical rod, and a second connecting rod located between the bottom end of the first vertical rod and the bottom end of the second vertical rod; the first connecting rod is respectively connected to the first vertical rod and the second vertical rod through a rotating pair; the second connecting rod is respectively connected to the first vertical rod and the second vertical rod through a rotating pair; a picking connecting frame is fixed on the front side of the two second vertical rods of the two groups of lifting frames, and the picking connecting frame is used to install the picking mechanism; a third connecting rod is fixed between the two first connecting rods of the two groups of lifting frames; the picking lifting mechanism also comprises a first hydraulic cylinder; the two ends of the first hydraulic cylinder are respectively connected to the vehicle body and the third connecting rod through a rotating pair.

7. The self-propelled pineapple picking and collecting machine according to claim 6, characterized in that: The connecting conveying mechanism includes a two-stage conveying mechanism, and the two-stage conveying mechanism includes a second conveyor belt mounting frame and a second conveyor belt mounted on the second conveyor belt mounting frame; a second conveyor belt partition is provided on the second conveyor belt; a second conveyor belt front baffle is also fixed on the second conveyor belt mounting frame at the front end of the second conveyor belt; the outlet end of the first conveyor belt is located above the second conveyor belt; a second conveyor belt connecting frame is also fixed on the side of the second conveyor belt mounting frame; a second conveyor belt connecting slider is provided on the side of the second conveyor belt connecting frame; the picking lifting mechanism is fixed with a second-stage conveying mounting frame on the second connecting rod of the lifting frame close to the side of the two-stage conveying mechanism; a first slide groove is opened on the side of the two-stage conveying mounting frame; the second conveyor belt connecting slider cooperates with the first slide groove to enable the second conveyor belt to have the freedom to move along the length direction of the first slide groove; the two-stage conveying mechanism also includes a second hydraulic cylinder, and the two ends of the second hydraulic cylinder are respectively connected to the vehicle body and the rear end of the second conveyor belt connecting frame through a rotating pair.

8. The self-propelled pineapple picking and collecting machine according to claim 7, characterized in that: The connecting conveying mechanism also includes a three-stage conveying mechanism, and the three-stage conveying mechanism includes a third conveyor belt mounting frame, and a third conveyor belt mounted on the third conveyor belt mounting frame; the third conveyor belt includes a third conveyor belt front section and a third conveyor belt rear section; the angle between the top conveying surface of the third conveyor belt front section and the top conveying surface of the third conveyor belt rear section is - degrees; a third conveyor belt partition is arranged on the third conveyor belt; a third conveyor belt front baffle is also fixed on the third conveyor belt mounting frame at the front end of the third conveyor belt; the three-stage conveying mechanism also includes a third conveyor belt lifting frame and a third conveyor belt translation frame; the third conveyor belt mounting frame is fixed to the third conveyor belt lifting frame; the third conveyor belt also includes a third hydraulic cylinder, and the two ends of the third hydraulic cylinder are divided into The third conveyor belt is connected with the rear section of the third conveyor belt and the third conveyor belt lifting frame through a rotating pair; a lifting mechanism is also arranged between the third conveyor belt lifting frame and the third conveyor belt translation frame; the lifting mechanism is used to drive the third conveyor belt lifting frame to lift relative to the third conveyor belt translation frame; a third conveyor belt translation slider is also arranged on the side of the third conveyor belt translation frame; a second slide groove is opened on the side of the vehicle body; a translation mechanism is also arranged between the third conveyor belt translation frame and the vehicle body, which is used to drive the second conveyor belt to move forward and backward along the second slide groove under the cooperation of the third conveyor belt translation slider and the second slide groove; the rear end of the second conveyor belt is located above the front side surface of the third conveyor belt; a slideway is also arranged on the collecting basket, and the outlet end of the rear section of the third conveyor belt is connected to the slideway.

9. The self-propelled pineapple picking and collecting machine according to claim 8, characterized in that: The vehicle body includes a frame; a first hydraulic cylinder support is arranged on the front side of the frame, and the first hydraulic cylinder support is connected to the first hydraulic cylinder through a rotating pair; a second hydraulic cylinder support is also arranged on the side of the frame, and the second hydraulic cylinder support is connected to the second hydraulic cylinder through a rotating pair; the frame also has a translation mechanism mounting platform; the translation mechanism is fixed on the translation mechanism mounting platform.

10. The self-propelled pineapple picking and collecting machine according to claim 1, characterized in that: The vehicle body also includes a running mechanism, which includes a wheel support frame installed on the bottom side of the vehicle body and a wheel installed on the wheel support frame, and a shielding rod is arranged on the front side of the wheel; the end of the shielding rod is fixed to the wheel support frame.

Images