Portable broad bean picking device and picking method thereof

Abstract

The invention discloses a portable broad bean picking device and a picking method thereof, and relates to the technical field of agricultural machinery. The portable broad bean picking device comprises a rotary cutting gear transmission mechanism and a steel wire centering guide mechanism; the rotary cutting gear transmission mechanism comprises a hollow rotary cutting gear and a suspension supporting structure, the rotary cutting gear is provided with a circumferential radial notch, and the rotary cutting gear is connected with a rotary cutting tool and externally meshed with a driving gear; the suspension supporting structure comprises arc tracks arranged on the upper surface and the lower surface of the rotary cutting gear and a plurality of universal balls arranged on the arc tracks. The steel wire centering guide mechanism comprises a plurality of elastic steel wires and a radial opening and closing mechanism, wherein the elastic steel wires are circumferentially arranged around the rotation center of the rotary cutting tool. Continuous, efficient and in-place cutting of broad beans from plant stems is achieved, the device can adapt to plants in different growth states, and the missing harvesting rate and damage are remarkably reduced; the handheld design enables an operator to keep upright operation, the labor intensity is reduced, the overall structure is light and flexible, and an efficient and labor-saving harvesting solution is provided for small and medium-sized planting.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a portable broad bean picking device and a picking method thereof. Background Art

[0002] At present, for small-scale broad bean picking, manual picking is mainly used. The pickers manually strip the broad beans from the stems one by one, which has prominent problems such as high labor intensity, high labor cost, and low picking efficiency.

[0003] However, the existing mechanized solutions still have the following significant limitations: First, the technical solution provided by Chinese Patent CN213280699U "A Broad Bean Harvesting Device" uses the sinusoidal curve motion of a crankshaft to lift the broad bean branches, and the hooks on the rotating shaft hook the broad bean branches and lay them down into the collection box. However, it lacks a pod stripping structure and cannot complete the separation operation of broad beans from the stems, requiring manual picking and separation, with high labor intensity. Second, the technical solution provided by Chinese Patent CN211322090U "Self-propelled Broad Bean Picking Machine" uses a simple picking structure composed of a conveyor belt, a flat plate, and rollers. However, it is difficult to adapt to the uncertainties of different growth postures and sizes of broad bean plants, resulting in a high damage rate and a large missed picking rate.

[0004] Therefore, there is an urgent need to develop a portable picking device that can reduce the labor intensity of manual picking and improve the picking efficiency. Summary of the Invention

[0005] The object of the present invention is to provide a portable broad bean picking device and a picking method thereof. Through the innovative cooperation of a rotary cutting tool and a centering and guiding mechanism, the non-destructive and efficient separation of broad beans from the stems is achieved, solving the problem that traditional manual picking and existing equipment cannot complete the automatic pod stripping. Its elastic guiding mechanism can adapt to broad bean plants with different growth postures and sizes, significantly reducing the missed picking rate and mechanical damage. The handheld operation design allows the operator to work in a natural upright posture, effectively reducing the labor intensity and avoiding the strain caused by long-term bending. The overall structure is light and flexible, greatly improving the picking efficiency, and providing a labor-saving and low-damage harvesting solution for small and medium-scale broad bean planting.

[0006] The technical solution adopted by the present invention is as follows: A portable broad bean picking device includes a rotary cutting gear transmission mechanism and a wire centering and guiding mechanism;

[0007] The rotary cutting gear transmission mechanism includes a rotary cutting gear that is hollow and has a circumferential radial notch. The rotary cutting gear is connected with a rotary cutting tool, and the rotary cutting gear is externally meshed with a driving gear. The rotary cutting gear transmission mechanism further includes a floating support structure, and the floating support structure includes arc tracks arranged on the upper and lower surfaces of the rotary cutting gear, and a plurality of universal balls are arranged on the arc tracks.

[0008] The steel wire centering and guiding mechanism includes a plurality of elastic steel wires arranged circumferentially around the rotation center of the rotary cutting tool and a radial expansion and contraction mechanism for driving the radial expansion and contraction of the elastic steel wires.

[0009] Optionally, the radial expansion and contraction mechanism is connected with a control rod through a pull wire, and the control rod is provided with a handle for controlling the pull wire.

[0010] Optionally, there are two driving gears, and their installation positions satisfy that when any one of the driving gears moves to the notch area of the rotary cutting gear, the other driving gear always remains meshed with the rotary cutting gear. Gear shafts are arranged at the centers of the two driving gears, and the gear shafts of the two driving gears are both connected with synchronous belt pulleys, and the synchronous belt pulleys are driven through meshing with a synchronous belt.

[0011] Optionally, the elastic steel wires are bent in a convex shape facing the rotation center of the rotary cutting tool, and are used for clamping the stem of the broad bean plant.

[0012] Optionally, the radial expansion and contraction mechanism includes an upper-end radial expansion and contraction mechanism and a lower-end radial expansion and contraction mechanism.

[0013] The upper-end radial expansion and contraction mechanism includes an upper support plate and a lower support plate. Both the upper support plate and the lower support plate are hollow structures and are provided with radial notches at the same azimuth of the circumference. The upper ends of the elastic steel wires are fixed to the upper support plate. Among them, two elastic steel wires located on both sides of the notch are expandable and contractible elastic steel wires, and radial movement mechanisms are arranged on the expandable and contractible elastic steel wires.

[0014] The lower-end radial expansion and contraction mechanism includes a steel wire pull plate. The steel wire pull plate is a hollow structure and has a circumferential radial notch. The lower ends of the elastic steel wires are fixed to the steel wire pull plate. Two pull rods are symmetrically connected to the lower end of the steel wire pull plate. Helical grooves are arranged on the pull rods, and fixing pins are engaged with the helical grooves. The fixing pins are in sliding fit with the helical grooves. Fixed sleeves are sleeved on the lower parts of the pull rods. The bottoms of the pull rods are connected with a pull plate. The lower ends of the fixed sleeves abut against the pull plate, and the pull plate is connected to the pull wire. Flat head compression springs are sleeved on the upper parts of the pull rods. The upper ends of the flat head compression springs abut against the steel wire pull plate, and the lower ends abut against the fixed sleeves.

[0015] Alternatively, the radial movement mechanism includes a crank, a sector gear, and a rack. The cable is connected to the crank. A connecting rod is connected to the lower end of the crank, and the connecting rod is connected to the pulling plate through the cable. The crank drives the sector gear, which is externally engaged with the rack. The rack is connected to the upper end of the expandable and contractible elastic wire. A compression spring is arranged at the front end of the rack, and the compression spring is used to push the rack to move radially, thereby driving the elastic wire to reset radially.

[0016] Alternatively, the rotary cutting gear transmission mechanism is arranged between the upper support plate and the lower support plate and is supported by the floating support structure.

[0017] Alternatively, a collection box is arranged around the outer periphery of the lower support plate. The collection box has a circumferential radial notch at a position corresponding to the notch of the lower support plate. A movable baffle is arranged at the notch of the collection box. The movable baffle is hinged to the collection box, and the movable baffle is connected to the cable.

[0018] Alternatively, through holes are formed in the upper support plate and the lower support plate at positions corresponding to the gear shaft. After the gear shaft passes through the through holes, the driving gear can be fixed. At least one of the gear shafts is connected to the output shaft of the stepping motor. A power supply is arranged outside the collection box, and the stepping motor is connected to the power supply.

[0019] A picking method for a portable broad bean picking device includes the following steps:

[0020] S1. Hold the joystick and control the picker to approach the bottom of the stem of the broad bean plant.

[0021] S2. Grip the handle, open the baffle and the elastic wire through the cable, and let the root and stem of the plant enter the wire centering and guiding mechanism.

[0022] S3. Release the handle, the elastic wire contracts radially, and at the same time the baffle closes, locking the plant in the wire centering and guiding mechanism.

[0023] S4. Start the stepping motor to make the rotary cutting tool rotate.

[0024] S5. Cut the broad beans with the rotary cutting tool from the bottom to the top of the plant. The broad beans fall into the collection box. After the picking is completed, press the handle again to expand the elastic wire and release the plant.

[0025] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0026] A portable broad bean picking device and its picking method provided by the present invention achieve the lossless and efficient separation of broad beans from the plant stems through the innovative cooperation of the rotary cutting tool and the centering and guiding mechanism, solving the problems that traditional manual picking and existing equipment cannot complete the automatic peeling of pods; its elastic guiding mechanism can adapt to broad bean plants with different growth postures and sizes, significantly reducing the missed picking rate and mechanical damage; the handheld operation design enables the operator to work in a natural upright posture, effectively reducing the labor intensity and avoiding the strain caused by long-term bending; the overall structure is light and flexible, greatly improving the picking efficiency, and providing a labor-saving and low-damage harvesting solution for small and medium-scale broad bean planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be described by way of examples with reference to the accompanying drawings, where:

[0028] Figure 1 is a schematic diagram of the operation of the present invention;

[0029] Figure 2 is a schematic diagram of the overall structure of the present invention;

[0030] Figure 3 is a schematic diagram of the internal structure of the front part of the present invention;

[0031] Figure 4 is a schematic diagram of the structure of the rotary cutting gear transmission device of the present invention;

[0032] Figure 5 is a schematic diagram of the structure of the wire centering and guiding mechanism of the present invention;

[0033] Figure 6 is a schematic diagram of the operating principle above the wire guiding mechanism;

[0034] Figure 7 is a schematic diagram of the wire opening and closing principle of the lower end radial expansion and contraction mechanism;

[0035] Markings in the figure: 1 - stepping motor; 2 - rotary cutting gear transmission mechanism; 21 - rotary cutting tool; 22 - rotary cutting gear; 23 - driving gear; 24 - gear shaft; 25 - synchronous belt; 26 - floating support structure; 261 - universal ball; 261 - arc track; 27 - synchronous pulley; 3 - steel wire centering and guiding mechanism; 31 - upper end radial expansion and contraction mechanism; 311 - upper support plate; 312 - lower support plate; 313 - radial movement mechanism; 3131 - rack; 3132 - sector gear; 3133 - crank; 3134 - compression spring; 32 - elastic steel wire; 321 - expandable and contractible elastic steel wire; 33 - lower end radial expansion and contraction mechanism; 331 - steel wire pulling plate; 332 - pull rod; 3321 - flat head compression spring; 3322 - spiral groove; 3323 - fixing pin; 3324 - fixing sleeve; 333 - pulling plate; 34 - connecting rod; 4 - collection box; 5 - baffle; 6 - power supply; 7 - joystick; 71 - handle; 72 - wire rope. Specific embodiments

[0036] The present invention will be described in detail below with reference to the accompanying drawings.

[0037] All features disclosed in this specification, or all steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any way.

[0038] Any feature disclosed in this specification, unless specifically stated, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically stated, each feature is only an example of a series of equivalent or similar features.

[0039] A portable broad bean picking device and its picking method, as Figure 1-7 shown, a portable broad bean picking device includes a rotary cutting gear transmission mechanism 2 and a steel wire centering and guiding mechanism 3;

[0040] The rotary cutting gear transmission mechanism 2 includes a rotary cutting gear 22 that is hollow and has a circumferential radial notch. The hollow structure provides an operation passage for the broad bean plants, and the radial notch facilitates the entry and exit of the broad bean plants into the operation area. The rotary cutting gear 22 is connected with a rotary cutting tool 21. The rotary cutting tool 21 is designed as an external cylindrical turning tool and is fixed to the outer edge of the rotary cutting gear 22. It rotates with the rotary cutting gear 22 to perform rotary cutting and separation on the broad bean pods in the operation area. The rotary cutting gear 22 is externally meshed with a driving gear 23, and the driving gear 23 is used to drive the rotary cutting gear 22 to rotate. The rotary cutting gear transmission mechanism 2 further includes a floating support structure 26. The floating support structure 26 includes arc tracks 261 provided on the upper and lower surfaces of the rotary cutting gear 22. A plurality of universal balls 261 are arranged on the arc tracks 261. The arc tracks 261 are precision machined on the upper and lower surfaces of the rotary cutting gear 22 to provide a low-resistance rolling path for the universal balls 261. Through the multi-directional rolling of the circumferentially evenly distributed universal balls 261 in the arc tracks 261, a dynamic floating support system is formed, which can effectively absorb the composite vibration generated during the operation of the rotary cutting tool 21. At the same time, when the driving gear 23 meshes with the notch area of the rotary cutting gear 22, the inertial rolling of the balls provides kinetic energy buffering.

[0041] The steel wire centering and guiding mechanism 3 includes a plurality of elastic steel wires 32 arranged circumferentially around the center of rotation of the rotary cutting tool 21 and a radial expansion and contraction mechanism for driving the radial expansion and contraction of the elastic steel wires 32. The plurality of elastic steel wires 32 are arranged in a circumferential array to form an adjustable flexible guiding channel, which is convenient for locking the broad bean plants. The elastic deformation characteristic can adapt to the complex plant growth postures in the field. The radial expansion and contraction mechanism is used to control the radial expansion and contraction of the elastic steel wires 32 to facilitate the entry and exit of the broad bean plants into the operation area. Further, there are five elastic steel wires 32, which are arranged in a circumferential array.

[0042] The rotary cutting gear transmission mechanism 2 and the steel wire centering and guiding mechanism 3 achieve efficient collaborative operation through an innovative mechanical linkage design. The hollow structure of the rotary cutting gear 22 and the elastic steel wires 32 of the guiding mechanism adopt a coaxial nested layout to form an integrated working cavity with external cutting and internal guiding, realizing continuous, efficient, and in-place cutting of the broad beans from the stems, solving the problems that traditional manual picking and existing equipment cannot complete the automatic peeling of the bean pods, and simplifying the harvesting process. At the same time, the design of the elastic steel wires 32 can adapt to broad bean plants with different growth postures and sizes while ensuring the positioning accuracy, solving the technical problems of poor adaptability and easy damage to plants of traditional rigid guiding mechanisms, and significantly reducing the missed harvesting rate and mechanical damage.

[0043] An alternative implementation, the radial expansion and contraction mechanism is connected to a joystick 7 through a wire 72. The joystick 7 is provided with a handle 71 for controlling the wire 72. During operation, the user holds the handle 71 and applies force, and the radial expansion and contraction mechanism is driven to act through the wire 72, thereby driving multiple elastic steel wires 32 to expand and contract radially synchronously, enabling the broad bean plants to smoothly enter and exit the guiding channel.

[0044] An alternative implementation, there are two driving gears 23, and their installation positions satisfy that when any one of the driving gears 23 moves to the notch area of the rotary cutting gear 22, the other driving gear 23 always remains in meshing with the rotary cutting gear 22; the double-gear alternating meshing mechanism solves the problem of power interruption in the notch area of single-gear transmission, realizes uninterrupted continuous cutting operation, and ensures the smoothness and efficiency of the broad bean picking process; the centers of the two driving gears 23 are both provided with gear shafts 24, the gear shafts 24 of the two driving gears 23 are both connected with synchronous pulleys 27 and the synchronous pulleys 27 are driven through meshing with a synchronous belt 25. The synchronous belt 25 is used to maintain the same transmission direction and rotation speed of the two driving gears 23, and ensure continuous transmission at the notch of the rotary cutting gear 22.

[0045] An alternative implementation, the elastic steel wire 32 is bent in a convex shape facing the center of rotation of the rotary cutting tool 21, which is used to hold the stem of the broad bean plant tightly, preventing the stem from shifting and affecting the cutting accuracy, and avoiding epidermal damage caused by rigid clamping.

[0046] An alternative implementation, the radial expansion and contraction mechanism includes an upper radial expansion and contraction mechanism 31 and a lower radial expansion and contraction mechanism 33. The coordinated control of the upper and lower ends can ensure the synchronism and stability of the overall movement of the elastic steel wires 32;

[0047] The upper radial expansion and contraction mechanism 31 includes an upper support plate 311 and a lower support plate 312. Both the upper support plate 311 and the lower support plate 312 are of hollow structure and are provided with radial notches at the same azimuth of the circumference. The upper ends of the elastic steel wires 32 are fixed to the upper support plate 311. Among them, two of the elastic steel wires 32 located on both sides of the notch are expandable and contractible elastic steel wires 321, and the expandable and contractible elastic steel wires 321 are both provided with radial movement mechanisms 313; the upper radial expansion and contraction mechanism 31 adopts a double-layer pressing plate design. The hollow upper and lower support plates with notches form a rigid support frame, providing a stable installation reference for the elastic steel wires 32 and also providing an operation channel for the broad bean plants; among them, the specially provided expandable and contractible elastic steel wires 321 on both sides of the notch realize radial expansion and contraction through the radial movement mechanism 313. This design not only ensures the stability of the overall structure but also realizes the flexible adjustment of the key guiding points;

[0048] The lower end radial expansion and contraction mechanism 33 includes a wire pulling disc 331. The wire pulling disc 331 is of a hollow structure and has a circumferential radial notch. The lower end of the elastic wire 32 is fixed to the wire pulling disc 331. Two pull rods 332 are symmetrically connected to the lower end of the wire pulling disc 331. Preferably, the two pull rods 332 are located at symmetric positions at both ends in the circumferential diameter direction of the wire pulling disc 331, so as to ensure that the wire pulling disc 331 always maintains a horizontal state during movement, so that the elastic wires 32 fixed on the wire pulling disc 331 can synchronously and smoothly perform radial expansion and contraction actions. Spiral grooves 3322 are provided on the pull rods 332, and fixing pins 3323 are engaged with the spiral grooves 3322. The fixing pins 3323 are in sliding fit with the spiral grooves 3322. Fixed sleeves 3324 are sleeved on the lower parts of the pull rods 332. The bottom of the pull rod 332 is connected to a pull plate 333. The lower end of the fixed sleeve 3324 abuts against the pull plate 333. The pull plate 333 is connected to the wire 72. A flat head compression spring 3321 is sleeved on the upper part of the pull rod 332. The upper end of the flat head compression spring 3321 abuts against the wire pulling disc 331, and the lower end abuts against the fixed sleeve 3324.

[0049] Among them, the wire pulling disc 331 controls the expansion and contraction of the wire through up and down movement. The hollow notch design is used to form an operation channel for the broad bean plants. The spiral grooves 3322 on the pull rods 332 cooperate with the fixing pins 3323 to convert the linear traction of the wire 72 into a compound movement of rotation and lifting. The fixing pins 3323 are used to limit the displacement path and control the movement track of the pull rod 332 in engagement with the spiral grooves 3322. The fixed sleeves 3324 are used to restrict the movement track of the pull rods 332. The pull plate 333 is connected to the wire 72 and is used to drive the pull rod 332 to complete the action. The flat head compression spring 3321 serves as an automatic reset device and pushes the system back to the initial position after the pulling force is released. When the wire 72 pulls the pull plate 333 to move linearly, the pull rod 332 fixedly connected to the pull plate 333 moves accordingly. The relative sliding between the spiral groove 3322 provided on the surface of the pull rod 332 and the fixing pin 3323 converts the linear traction force into a compound movement of rotation and lifting, thereby driving the wire pulling disc 331 to move downward, and multiple elastic wires 32 fixed on the wire pulling disc 331 expand radially synchronously. When the wire 72 is released, the flat head compression spring 3321 in the compressed state releases the stored energy, pushes the pull rod 332 to move in the reverse direction along the track of the spiral groove 3322, and drives the wire pulling disc 331 to rise, thereby radially contracting the elastic wires 32.

[0050] An alternative implementation, the radial movement mechanism 313 includes a crank 3133, a sector gear 3132 and a rack 3131. The wire 72 is connected to the crank 3133. The crank 3133 serves as a power conversion hub, converting the linear traction force of the wire 72 into a rotational torque. A connecting rod 34 is connected to the lower end of the crank 3133. The connecting rod 34 is connected to the pulling plate 333 through the wire 72. The crank 3133 and the pulling plate 333 are connected through the connecting rod 34. When the wire 72 is subjected to a pulling force, the connecting rod 34 synchronously links the rotational movement of the crank 3133 and the linear movement of the pulling plate 333. The linkage design enables the handle 71 to synchronously control the upper radial expansion and contraction mechanism 31 and the lower radial expansion and contraction mechanism 33 with a single operation. The crank 3133 drives the sector gear 3132. The sector gear 3132 serves as a movement conversion center, converting the continuous rotation of the crank 3133 into a reciprocating swing of a limited angle. The sector gear 3132 is externally meshed with the rack 3131. The rack 3131 is connected to the upper end of the expandable elastic wire 321. The rack 3131 serves as the final execution component, converting the rotational movement of the sector gear 3132 into a linear displacement and directly driving the radial movement of the elastic wire 32. A compression spring 3134 is arranged at the front end of the rack 3131. The compression spring 3134 is used to push the rack 3131 to move radially, thereby driving the elastic wire 32 to radially reset. When the operator holds the handle 71 tightly, the wire 72 pulls the crank 3133 to swing in an arc. The crank 3133 drives the sector gear 3132 fixedly connected thereto to rotate. The sector gear 3132 is precisely meshed with the rack 3131, converting the rotational movement into the radial linear displacement of the rack 3131. The upper ends of the two expandable elastic wires 321 connected to the rack 3131 radially expand. At this time, the rack 3131 compresses the front-end spring to store energy. When the handle 71 is released, the compression spring 3134 releases the elastic force, pushing the rack 3131 to move in the reverse direction. Through the transmission chain of the sector gear 3132 and the crank 3133, the wire 72 is reset, and at the same time, the elastic wire 32 is driven to radially contract.

[0051] An alternative implementation, the rotary cutting gear transmission mechanism 2 is arranged between the upper support plate 311 and the lower support plate 312 and is supported by the floating support structure 26. The rotary cutting gear 22 is arranged between the rigid frames formed by the upper support plate 311 and the lower support plate 312. The upper and lower surfaces thereof are dynamically balanced and supported by the floating support structure 26 composed of the arc track 261 and the universal ball 261. The floating support structure 26 not only provides a stable rotation reference for the rotary cutting gear 22, maintains precise meshing with the driving gear 23, but also adaptively compensates for the assembly deviation and operation vibration through the multi-directional rolling of the balls.

[0052] An alternative embodiment is that a collection box 4 is arranged around the outer periphery of the lower support plate 312. The collection box 4 has a circumferential radial notch at the corresponding position of the notch of the lower support plate 312. The collection box 4 adopts an open-loop layout, which not only maintains the function of large-capacity collection but also enables the effective collection of broad beans in multiple directions after cutting and provides an unobstructed access path for the plant stalks. It should be noted that the notches of the rotary cutting gear 22, the upper support plate 311, the lower support plate 312, the collection box 4, and the wire pulling disc 331 are accurately aligned in the circumferential direction to jointly form a continuous operation channel. A movable baffle 5 is arranged at the notch of the collection box 4. When the movable baffle 5 is closed, it can prevent the beans from rebounding and splashing during cutting. The movable baffle 5 is hinged to the collection box 4, and the movable baffle 5 is connected to the wire 72. The opening and closing of the wire and the baffle 5 are synchronously controlled through the wire 72, which simplifies the operation process.

[0053] An alternative embodiment is that the upper support plate 311 and the lower support plate 312 are both provided with through holes at the corresponding positions of the gear shaft 24. After the gear shaft 24 passes through the through holes, the driving gear 23 can be fixed. At the same time, the rotary cutting gear 22 meshes with the driving gear 23 and the rotary cutting gear 22 is supported by the floating support structure 26 on the lower support plate 312, so as to ensure the stable assembly of the transmission device 2 of the rotary cutting gear 22 between the upper support plate 311 and the lower support plate 312. At least one of the gear shafts 24 is connected to the output shaft of the stepping motor 1. The stepping motor 1 provides rotational power for the driving gear 23. The stepping motor 1 is a commonly used device in the art and belongs to the prior art. Its specific structure and working mode will not be described in detail in this specification. A power supply 6 is arranged outside the collection box 4. The stepping motor 1 is connected to the power supply 6, and the power supply 6 stably supplies power to the stepping motor 1.

[0054] A picking method for a portable broad bean picking device includes the following steps:

[0055] S1. Hold the control lever 7 and control the picking machine to approach the bottom of the broad bean plant stalk.

[0056] S2. Grip the handle 71, open the baffle 5 and the elastic wire 32 through the wire 72, and let the plant root system enter the wire centering and guiding mechanism 3.

[0057] S3. Release the handle 71, the elastic wire 32 radially contracts, and at the same time the baffle 5 closes, locking the plant in the wire centering and guiding mechanism 3.

[0058] S4. Start the stepping motor 1 to rotate the rotary cutting tool 21.

[0059] S5. Cut the broad beans with the rotary cutting tool 21 from the bottom to the top of the plant. The broad beans fall into the collection box 4. After the picking is completed, press the handle 71 again to expand and release the elastic steel wire 32 to release the plant.

[0060] A portable broad bean picking device and its picking method provided by the present invention have the following working principle:

[0061] When the operator holds the handle 71 tightly, the pull wire 72 is subjected to a tensile force. The pull wire 72 pulls the crank 3133 to rotate. The crank 3133 drives the pull plate 333 to move through the connecting rod 34. The connecting rod 34 synchronously links the rotational motion of the crank 3133 with the linear motion of the pull plate 333, and can synchronously control the upper radial expansion and contraction mechanism 31 and the lower radial expansion and contraction mechanism 33. When the pull wire 72 pulls the crank 3133 to swing in an arc, the crank 3133 drives the sector gear 3132 fixedly connected thereto to rotate; the sector gear 3132 is precisely engaged with the rack 3131, converting the rotational motion into the radial linear displacement of the rack 3131; the upper ends of the two expandable and contractible elastic steel wires 321 connected to the rack 3131 radially expand; when the pull wire 72 pulls the pull plate 333 to move linearly, the pull rod 332 fixedly connected to the pull plate 333 moves accordingly. The relative sliding between the spiral groove 3322 formed on the surface of the pull rod 332 and the fixed pin 3323 converts the linear traction force into a combined motion of rotation and lifting, thereby driving the steel wire puller 331 to move downward, and multiple elastic steel wires 32 fixed on the steel wire puller 331 radially expand synchronously.

[0062] After locking the stem of the broad bean plant inside the elastic steel wire 32 through the above operation, release the handle 71. The compression spring 3134 in the upper radial expansion and contraction mechanism 31 releases elastic force, pushing the rack 3131 to move in the reverse direction. Through the transmission chain of the sector gear 3132 and the crank 3133, the pull wire 72 is reset, thereby driving the upper part of the elastic steel wire 32 to radially contract; at the same time, the flat head compression spring 3321 in the lower radial expansion and contraction mechanism 33 also releases stored energy, pushing the pull rod 332 to move in the reverse direction along the track of the spiral groove 3322, driving the steel wire puller 331 to rise and thus making the lower part of the elastic steel wire 32 radially contract.

[0063] Subsequently, the operator starts the stepping motor 1, and the power is transmitted through the gear shaft 24 to two driving gears 23 connected by a synchronous belt 25, driving the two gears to rotate synchronously and in the same direction; the driving gears 23 alternately mesh with the rotary cutting gears 22 with radial notches. When one of the driving gears 23 runs to the notch area, the other gear still maintains effective meshing to ensure the continuity of transmission; the rotary cutting gears 22 rotate stably between the upper and lower support plates through the floating support structure 26. The arc tracks 261 on its upper and lower surfaces cooperate with the universal ball 261 to automatically compensate for vibration and assembly deviation during high-speed rotation; the rotary cutting tool 21 fixed to the outer edge of the rotary cutting gear 22 makes a circular motion accordingly. When the stem of the broad bean plant enters the working area through the notch, the tool cuts the bean pod at the best inclination angle.

[0064] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0065] A portable broad bean picking device and its picking method provided by the present invention realize the lossless and efficient separation of broad beans and plant stems through the innovative cooperation of the rotary cutting tool and the centering and guiding mechanism, and solve the problems that traditional manual picking and existing equipment cannot complete the automatic peeling of bean pods; its elastic guiding mechanism can adapt to broad bean plants with different growth postures and sizes, significantly reducing the missed picking rate and mechanical damage; the handheld operation design enables the operator to work in a natural upright posture, effectively reducing the labor intensity and avoiding the strain caused by long-term bending; the overall structure is light and flexible, greatly improving the picking efficiency, and providing a labor-saving and low-damage harvesting solution for medium and small-scale broad bean planting.

[0066] The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, as well as any new method or process step or any new combination disclosed.

[0067] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

Claims

1. A portable broad bean picking device, characterized in that: It includes a rotary cutting gear transmission mechanism (2) and a steel wire centering and guiding mechanism (3); The rotary cutting gear transmission mechanism (2) includes a rotary cutting gear (22) that is hollow and has a circumferential radial notch. The rotary cutting gear (22) is connected to a rotary cutting tool (21), and the rotary cutting gear (22) is externally meshed with a driving gear (23). The rotary cutting gear transmission mechanism (2) further includes a floating support structure (26). The floating support structure (26) includes arc tracks (261) provided on the upper and lower surfaces of the rotary cutting gear (22), and a plurality of universal balls (261) are provided on the arc tracks (261); The steel wire centering and guiding mechanism (3) includes a plurality of elastic steel wires (32) arranged circumferentially around the rotation center of the rotary cutting tool (21) and a radial expansion and contraction mechanism for driving the radial expansion and contraction of the elastic steel wires (32).

2. The portable broad bean picking device according to claim 1, wherein: The radial expansion and contraction mechanism is connected to a control lever (7) through a pull wire (72), and the control lever (7) is provided with a handle (71) for controlling the pull wire (72).

3. The portable broad bean picking device according to claim 1, characterized in that: There are two driving gears (23), and their installation positions satisfy that when any one of the driving gears (23) moves to the notch area of the rotary cutting gear (22), the other driving gear (23) always remains in meshing with the rotary cutting gear (22). Gear shafts (24) are provided at the centers of the two driving gears (23), and the gear shafts (24) of the two driving gears (23) are both connected to synchronous belt pulleys (27), and the synchronous belt pulleys (27) are driven by meshing with a synchronous belt (25).

4. A portable broad bean picking device according to claim 1, characterized in that: The elastic steel wire (32) is bent in a convex shape facing the rotation center of the rotary cutting tool (21) for holding the stem of the broad bean plant.

5. The portable broad bean picking device according to claim 1, wherein: The radial expansion and contraction mechanism includes an upper end radial expansion and contraction mechanism (31) and a lower end radial expansion and contraction mechanism (33); The upper end radial expansion and contraction mechanism (31) includes an upper support plate (311) and a lower support plate (312). The upper support plate (311) and the lower support plate (312) are both hollow structures and have radial notches opened at the same azimuth in the circumference. The upper ends of the elastic steel wires (32) are fixed to the upper support plate (311). Among them, two of the elastic steel wires (32) located on both sides of the notch are expandable and contractible elastic steel wires (321), and the expandable and contractible elastic steel wires (321) are both provided with radial movement mechanisms (313); The lower end radial expansion and contraction mechanism (33) includes a wire pulling disc (331). The wire pulling disc (331) has a hollow structure and a circumferential radial notch. The lower end of the elastic wire (32) is fixed to the wire pulling disc (331). Symmetrically connected to the lower end of the wire pulling disc (331) are two pull rods (332). The pull rods (332) are each provided with a spiral groove (3322), and a fixing pin (3323) is engaged with each spiral groove (3322). The fixing pin (3323) is in sliding fit with the spiral groove (3322). A fixed sleeve (3324) is sleeved outside the lower part of each pull rod (332). The bottom of the pull rod (332) is connected to a pull plate (333). The lower end of the fixed sleeve (3324) abuts against the pull plate (333). The pull plate (333) is connected to the wire rope (72). A flat head compression spring (3321) is sleeved outside the upper part of the pull rod (332). The upper end of the flat head compression spring (3321) abuts against the wire pulling disc (331), and the lower end abuts against the fixed sleeve (3324).

6. The portable broad bean picking device according to claim 5, characterized in that: The radial movement mechanism includes a crank (3133), a sector gear (3132), and a rack (3131). The wire rope (72) is connected to the crank (3133). The lower end of the crank (3133) is connected to a connecting rod (34). The connecting rod (34) is connected to the pull plate (333) through the wire rope (72). The crank (3133) drives the sector gear (3132). The sector gear (3132) is externally meshed with the rack (3131). The rack (3131) is connected to the upper end of the expandable and contractible elastic wire (321). A compression spring (3134) is provided at the front end of the rack (3131). The compression spring (3134) is used to push the rack (3131) to move radially, thereby driving the elastic wire (32) to reset radially.

7. A portable broad bean picking device according to claim 1, characterized in that: The rotary cutting gear transmission mechanism (2) is arranged between the upper support plate (311) and the lower support plate (312) and is supported by the floating support structure (26).

8. A portable broad bean picking device according to claim 1, characterized in that: A collection box (4) is circumferentially arranged around the outer periphery of the lower support plate (312). The collection box (4) has a circumferential radial notch at a position corresponding to the notch of the lower support plate (312). A movable baffle (5) is arranged at the notch of the collection box (4). The movable baffle (5) is hinged to the collection box (4). The movable baffle (5) is connected to the wire rope (72).

9. The portable broad bean picking device according to claim 1, characterized in that: The upper support plate (311) and the lower support plate (312) are each provided with a through hole at a position corresponding to the gear shaft (24). After the gear shaft (24) passes through the through hole, the driving gear (23) can be fixed. At least one of the gear shafts (24) is connected to the output shaft of a stepping motor (1). A power supply (6) is arranged outside the collection box (4). The stepping motor (1) is connected to the power supply (6).

10. A picking method of the portable broad bean picking device according to any one of claims 1-9, characterized in that: It includes the following steps: S1. Hold the joystick (7) and control the harvester to approach the bottom of the stem of the broad bean plant; S2. Grip the handle (71), open the baffle plate (5) and the elastic steel wire (32) through the wire rope (72), and let the plant rhizome enter the steel wire centering and guiding mechanism (3); S3. Release the handle (71), the elastic steel wire (32) shrinks radially, and at the same time the baffle plate (5) closes, locking the plant in the steel wire centering and guiding mechanism (3); S4. Start the stepping motor (1) to rotate the rotary cutting tool (21); S5. Cut the broad beans with the rotary cutting tool (21) from the bottom to the top of the plant, and the broad beans fall into the collection box (4). After the picking is completed, grip the handle (71) again to expand and release the elastic steel wire (32) to release the plant.

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