Impurity removal and sorting integrated cranberry picking machine

Abstract

The invention provides an impurity removal and sorting integrated cranberry picking machine, and relates to the field of cranberry picking equipment. The impurity removing and sorting integrated cranberry picking machine comprises an automatic vehicle body and a harvesting box, the harvesting box is fixed to the automatic vehicle body, the cranberry picking machine further comprises a dry-wet harvesting assembly, a high-speed discharging and impurity removing assembly and an impurity removing and feeding assembly, the dry-wet harvesting assembly is installed at one end of the automatic vehicle body in the advancing direction, and the high-speed discharging and impurity removing assembly is installed at the other end of the automatic vehicle body in the advancing direction. The high-speed discharging and impurity removing assembly is connected with the dry-wet harvesting assembly, and one end of the impurity removing and feeding assembly is connected with the high-speed discharging and impurity removing assembly. According to the impurity removing and sorting integrated cranberry picking machine, through the arrangement of the dry and wet harvesting assembly, the impurity removing and feeding assembly and the linkage assembly, impurities can be effectively removed, cranberries attached to the ground or at different heights can be collected, through the arrangement of the high-speed discharging and impurity removing assembly, compared with the prior art, the multi-stage impurity removing mode exists, and the picking efficiency is improved. The effect of cleanly harvesting cranberries in dry harvesting can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of cranberry picking equipment, in particular to a cranberry picking machine integrated with impurity removal and sorting. Background Art

[0002] Cranberries, also known as cranberries, are small, evergreen shrubs and vines of the genus Vaccinium in the Ericaceae family. Their resemblance to a crane, with flowers resembling its head and beak, has earned them the nickname "craneberry." The fruit is an oval berry 2 to 5 cm long, varying from white to deep red, with a tart, slightly sweet taste. They primarily grow in the cooler regions of the Northern Hemisphere in acidic peat soils. Along with Concord grapes and blueberries, they are considered one of North America's three traditional fruits. Cranberries are highly valued for their high water content, low calorie content, high fiber content, and mineral content. Harvesting methods include wet and dry methods. Most cranberry harvesting methods involve wet harvesting, where farmers flood cranberry fields with water to a height of 15 to 20 centimeters above the vines. This causes the berries to float to the surface, where they are then gathered into a single mass and transported to trucks via conveyor belts. Dry harvesting involves manual picking, where workers pluck the berries directly from the branches, pack them into sacks, and then load them onto trucks for transportation. Dry harvesting accounts for only 5 to 10% of the total cranberry mass and is primarily sold fresh. Existing dry harvesting methods rely solely on hand-picking, which is inefficient and labor-intensive. The harvested cranberries are prone to scattering, which can easily break or be trampled.

[0003] Chinese patent publication number: CN216451972U discloses a cranberry dry picking device, including a box body, one side of the box body is fixedly connected to a storage box, the inside of the box body is fixedly connected to a hinged plate away from the storage box, the top of the hinged plate is hingedly connected to a connecting plate, one side of the connecting plate is fixedly connected to a rake tooth, a cam is provided inside the box body, a vertical rod is provided at the bottom of the cam, and a connecting rod is provided at the bottom of the box body; a circular hole is provided through the bottom of the box body, which is conducive to the discharge of soil through the circular hole, and then the cam continues to rotate and loses the squeezing of the vertical rod, thereby causing the vertical rod to lose the squeezing of the connecting rod, and the rake teeth reverse downward under the action of their own gravity, at which time the box body is pushed forward, and the cranberries can continue to be picked. This device is easy to move and easy to operate in actual use, and has high picking efficiency. During the picking process, the soil mixed in the cranberries can be filtered, and it is highly practical.

[0004] The vibration impurity removal in this solution is slow to discharge impurities, and the overall impurity removal effect is not ideal. In addition, when harvesting cranberries, the dry picking equipment may not be able to completely pick up the cranberries on the surface due to the different ground heights, which may cause the berries to be crushed. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an integrated cranberry harvester for impurity removal and sorting, which solves the problems raised in the above background art.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An integrated cranberry harvester for impurity removal and sorting includes an automated vehicle body and a harvesting box. The harvesting box is fixed on the automated vehicle body. It also includes a wet and dry harvesting component, a high-speed discharging and impurity removal component, and an impurity removal and feeding component. The wet and dry harvesting component is installed at one end in the advancing direction of the automated vehicle body. The high-speed discharging and impurity removal component is connected to the wet and dry harvesting component. One end of the impurity removal and feeding component is connected to the high-speed discharging and impurity removal component, and the other end is installed on the automated vehicle body and corresponds to the harvesting box. It further includes a linkage component, which is installed on the wet and dry harvesting component and connects the impurity removal and feeding component. The wet and dry harvesting component includes two outer shells, which are distributed front and back. The ends away from the automated vehicle body expand outward. There are several tooth grooves at the bottom ends of their expansion ends. The ends close to the automated vehicle body approach each other. It includes a top cover, which is located between the ends of the two outer shells close to the automated vehicle body and is fixedly connected to the two outer shells. It includes a rotating shaft, which is installed between the two outer shells. There is a motor inside the outer shell for driving the rotating shaft to rotate. Multiple groups of arc-shaped filter rods are fixedly installed on the outside of the rotating shaft. There are multiple grate teeth at the end of the top cover close to the arc-shaped filter rods. It includes two large arms. One ends of the two large arms are respectively fixed to the mutually remote sides of the two outer shells. The other ends of the large arms are hinged to the automated vehicle body. A sub-arm is fixedly installed at the end where the large arm is hinged to the automated vehicle body. Hydraulic cylinders are hinged to the automated vehicle body corresponding to the two large arms. The movable ends of the hydraulic cylinders are hinged to the ends of the sub-arm away from the large arms.

[0007] Preferably, the impurity removal and feeding component includes an arc-shaped bottom shell and two side covers. The arc-shaped bottom shell is hinged to the ends of the two outer shells close to the automated vehicle body. The two side covers are respectively fixed to the front and back sides of the arc-shaped bottom shell. Chip discharge ports communicating with the inside of the arc-shaped bottom shell are opened at the bottom ends of the side covers, corresponding to the inner bottom wall of the arc-shaped bottom shell. It includes a hoist, which is installed between the two side covers. There are several equally spaced through holes on the hoist. Multiple baffles are elastically hinged to the surface of the hoist. The hoist passes through the arc-shaped bottom shell. When the baffle just enters the arc-shaped bottom shell, it can fold and adhere to the hoist. When the hoist rotates the baffle to the middle of the arc-shaped bottom shell, the baffle can gradually open.

[0008] Preferably, the linkage assembly includes a support arm, one end of the support arm is hinged to the housing, and a rotatable roller is installed at the other end; it includes a damping rod, one end of the damping rod is hinged to the housing, and the other end is hinged to the end of the support arm away from the housing; it includes an auxiliary arm, one end of the auxiliary arm is hinged to the housing; it includes a connecting rod, one end of the connecting rod is hinged to the hinge point of the support arm and the damping rod, and the other end is hinged to the end of the auxiliary arm away from the housing; it includes an elastic pull rod, one end of the elastic pull rod is hinged to the hinge point of the auxiliary arm and the connecting rod, and the other end is hinged to the upper end of the side cover.

[0009] Preferably, the impurity removal and feeding assembly includes an elastic cover, one end of the elastic cover is fixed to the top cover, and the other end of the elastic cover is fixed to the arc-shaped bottom shell.

[0010] Preferably, the high-speed discharging and impurity removal assembly includes an arc-shaped frame, which is fixed between two housings and corresponds to the arc-shaped bottom shell. An arc-shaped filter plate is arranged in the arc-shaped frame. A rubber pad is arranged between the arc-shaped filter plate and the arc-shaped frame. A touch plate is fixedly installed at one end of the arc-shaped filter plate close to the arc-shaped bottom shell. After the dial plate rotates away from the arc-shaped bottom shell, it can hit the touch plate to vibrate the arc-shaped filter plate.

[0011] Preferably, a motor is installed on the side cover to drive the elevator to operate, and the upper end of the elevator is above the harvesting box.

[0012] Preferably, when the damping rod is not stressed, the roller is below the housing.

[0013] Preferably, two fixing ears are fixedly installed on the automatic vehicle body. One end of the boom is connected to the fixing ears by a pin shaft. There are two through slots penetrating downward on the automatic vehicle body. The fixed end of the hydraulic cylinder penetrates downward through the through slots, and its hinge point with the automatic vehicle body is located below the through slots.

[0014] Preferably, dust discharge slots are arranged in a matrix at the position of the housing corresponding to the arc-shaped filter rod.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The integrated cranberry harvester for impurity removal and sorting, by setting up a wet and dry harvesting component, an impurity removal and feeding component, and a linkage component, when the rotating shaft rotates, cranberries can be harvested by the arc-shaped filter rod. During harvesting, the support arm with rollers contacts the ground where cranberries are planted, and at this time, the arc-shaped filter rod can just carry out the harvesting. When the machine is moving forward, the ruggedness of the ground can be filtered by the damping rod, and at the same time, the support arm will shake. When the support arm shakes, the impurity removal and feeding component will also shake accordingly. Thus, the dust contained in the cranberries will be discharged from the through-hole of the elevator, and the impurities contained in the cranberries will also accumulate in the arc-shaped bottom shell and then be discharged from the chip discharge ports at both ends. Since the elevator is shaking, the cranberries scattered into the harvesting box will not be scattered to the same position, avoiding uneven accumulation in local positions. It can achieve effective impurity removal during the harvesting of cranberries and can also pick up cranberries close to the ground or at different heights.

[0016] 2. The integrated cranberry harvester for impurity removal and sorting, by setting up a high-speed discharging and impurity removal component, the freshly harvested cranberries will be scattered onto the arc-shaped filter plate by the arc-shaped filter rod, and then with the movement of the elevator, the arc-shaped filter plate can vibrate. When vibrating, the impurities contained in the cranberries will be filtered by the arc-shaped filter plate. Longer and larger impurities can be removed by the grates of the top cover, smaller impurities are processed by the arc-shaped filter plate, and subsequent impurities will be discharged from the chip discharge port of the arc-shaped bottom shell, and the final impurities are discharged from the through-hole of the elevator. Compared with the prior art, there is a form of multi-stage impurity removal, which can achieve the effect of harvesting clean cranberries in dry harvesting.

[0017] 3. The integrated cranberry harvester for impurity removal and sorting, by setting up a housing, the open structure of the housing can adapt to wet harvesting and dry harvesting. During wet harvesting, the open structure can gather the cranberries, and the subsequent impurity removal structure can be used to remove the moisture on the surface of the cranberries.

[0018] 4. The integrated cranberry harvester for impurity removal and sorting, by setting up a boom and a hydraulic cylinder, the hydraulic cylinder can adjust its telescopic length, and then be used to adjust the angle of the boom, and finally be used to change the distance between the housing, the rotating shaft and the ground, facilitating the automatic harvesting of cranberries at different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a front view of the structure of the present invention; Figure 3 is a schematic diagram of the automated vehicle body of the present invention; Figure 4 is a structural diagram of the wet and dry harvesting component and the impurity removal and feeding component of the present invention; Figure 5 for the present invention Figure 4Enlarged view of the structure at location A in [the figure]; Figure 6 Structural diagram of the impurity removal and feeding component and the high-speed discharging and impurity removal component of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of the structure at location B in [the figure]; Figure 8 Connection diagram of the linkage component and the housing of the present invention; Figure 9 Partial top view of the dry-wet harvesting component of the present invention.

[0020] In the figure: 1. Automated vehicle body; 2. Harvesting box; 3. Dry-wet harvesting component; 301. Housing; 302. Tooth grooves; 303. Rotating shaft; 304. Arc-shaped filter rod; 305. Top cover; 306. Comb teeth; 307. Main arm; 308. Sub-arm; 309. Hydraulic cylinder; 310. Dust discharge groove; 4. High-speed discharging and impurity removal component; 401. Arc-shaped frame; 402. Arc-shaped filter plate; 403. Rubber pad; 404. Touching plate; 5. Impurity removal and feeding component; 501. Arc-shaped bottom shell; 502. Side cover; 503. Chip discharge port; 504. Elevator; 505. Through hole; 506. Pusher plate; 507. Elastic cover; 6. Linkage component; 601. Support arm; 602. Roller; 603. Damping rod; 604. Auxiliary arm; 605. Connecting rod; 606. Elastic pull rod; 7. Fixed ear; 8. Through groove. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0022] It should be noted that all the directional indications in the embodiments of the present application are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0023] In the present application, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0024] In addition, in this application, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0025] As Figures 1-9 shown, a cranberry harvester integrating impurity removal and sorting includes an automated vehicle body 1 and a harvesting box 2. The harvesting box 2 is fixed on the automated vehicle body 1. It further includes a wet and dry harvesting component 3, a high-speed discharging and impurity removing component 4, and an impurity removing and feeding component 5. The wet and dry harvesting component 3 is installed at one end of the automated vehicle body 1 in the advancing direction. The high-speed discharging and impurity removing component 4 is connected to the wet and dry harvesting component 3. One end of the impurity removing and feeding component 5 is connected to the high-speed discharging and impurity removing component 4, and the other end is installed on the automated vehicle body 1 and corresponds to the harvesting box 2.

[0026] It further includes a linkage component 6, which is installed on the wet and dry harvesting component 3 and connects the impurity removing and feeding component 5.

[0027] The wet and dry harvesting component 3 includes two outer shells 301, which are distributed front and back. The ends of the two outer shells 301 away from the automated vehicle body 1 expand outward, and a plurality of tooth grooves 302 are provided at the bottom ends of their expanded ends. The ends of the two outer shells 301 close to the automated vehicle body 1 approach each other. It includes a top cover 305, which is located between the ends of the two outer shells 301 close to the automated vehicle body 1 and is fixedly connected to the two outer shells 301. It includes a rotating shaft 303, which is installed between the two outer shells 301. A motor for driving the rotation of the rotating shaft 303 is provided inside the outer shell 301. A plurality of groups of arc-shaped filter rods 304 are fixedly installed on the outside of the rotating shaft 303. A plurality of grid teeth 306 are provided at one end of the top cover 305 close to the arc-shaped filter rods 304. It includes two large arms 307. One ends of the two large arms 307 are respectively fixed to the mutually remote sides of the two outer shells 301. The other ends of the large arms 307 are hinged to the automated vehicle body 1. A sub-arm 308 is fixedly installed at the end of the large arm 307 hinged to the automated vehicle body 1. Hydraulic cylinders 309 are hinged to the automated vehicle body 1 corresponding to the two large arms 307. The movable ends of the hydraulic cylinders 309 are hinged to the ends of the sub-arm 308 away from the large arms 307.

[0028] A Beidou module is installed inside the automated vehicle body 1. The model used is ATGM332D-5N-3. This module has five pins: 1: VCC power supply 3.3V - 5.0V.

[0029] 2: GND Ground.

[0030] 3: TXD The TTL level of the module's serial port transmission pin, which can be connected to the RXD of the microcontroller.

[0031] 4: RXD The TTL level of the module's serial port reception pin, which can be connected to the TXD of the microcontroller.

[0032] 5: PPS Clock pulse output pin.

[0033] Among them, the PPS pin is simultaneously connected to the status indicator light PPS built into the module. This pin is connected to the TIMEPULSE port of the UBLOXNEO-6M module, and the output characteristics of this port can be set through the program.

[0034] The PPS indicator light is the PPS pin. Under the default conditions without program settings, There are two states: (1) Constant on, indicating that the module has started working but has not achieved positioning yet.

[0035] (2) Flashing, off for 100 ms and on for 900 ms, indicating that the module has successfully positioned.

[0036] Using a serial port assistant, the data output by the GPS module in the NMEA protocol can be seen It has the advantages of stability, low power, fast connection speed, and high positioning frequency. The use of an SMA antenna further enhances the connection stability, and the longer antenna length brings more diversification and extension. The main outputs are: UTC time, obtained longitude and latitude, altitude, horizontal speed, and specific surrounding location information.

[0037] 1. Terminal block / header pins VIN GND power supply, 5V - 12V 2. NET LED Device status indicator light 3. Relaod Relaod button, press for 7 seconds to restore the factory settings 4. 4G antenna 4G main antenna, SMA interface, must be connected 5. BOOT button Forced upgrade button; press the button; then power on the device, and the module enters the next mode 6. PWR LED Power indicator light 7. USB micro usb, used to download programs or debug logs 8. SIM card slot Medium card slot, pay attention to the direction notch facing outwards Cooperating with U-CENTER, the satellite situation can be observed, and the signal reception is extended through the antenna.

[0038] Usage method: First, use the Beidou satellite to decode the received information code and integrate the position signal information captured by the antenna. Extract the decoded information using the STM32F103RCT6 development board and transmit it to the display for presentation. At the same time, transmit the information to the Core-Air724UG. Utilize its feature of being able to transmit information into the Internet of Things Alibaba Cloud platform. After connecting to the cloud platform through a computer terminal, read the information to ultimately obtain information such as the location of the vehicle, etc., accurately ensuring the environment and its surrounding status of the automated vehicle body 1 at all times, enabling a clearer understanding of the precise time information and making each target activity more precise and flexible.

[0039] Inside the automated vehicle body 1, a Raspberry Pi is used as the main control board. The Raspberry Pi 5 is equipped with a 64-bit quad-core Arm Cortex-A76 processor running at a frequency of 2.4 GHz. Compared with the Raspberry Pi 4, the CPU performance has increased by 2 to 3 times. In addition, it is also equipped with an 800 MHz VideoCore VII GPU, which can provide a significant boost in graphics performance, enabling dual 4Kp60 display output via HDMI and providing state-of-the-art camera support through a redesigned Raspberry Pi image signal processor.

[0040] The bottom of the automated vehicle body 1 adopts a tracked drive form and can autonomously drive in rough cranberry plantations. During wet harvesting, if the cranberry plantation is filled with water, the tracks can still drive on the muddy ground, and only by changing the different track speeds can it turn or reverse.

[0041] The two horn-shaped outer shells 301 can not only adapt to dry harvesting but also wet harvesting. During wet harvesting, they can gather cranberries, and during dry harvesting, they can gather cranberry plants. Motors are installed inside both outer shells 301 to provide high-torque rotational force for the rotating shaft 303, which can easily pull cranberries from the plants and can also lift the plants. A top cover 305 is set to filter out cranberry plants to prevent the plants from winding around the rotating shaft 303. The tooth grooves 302 at the bottom of the outer shell 301 can separate the plants before dry harvesting to avoid entanglement and affecting the picking of the rotating shaft 303. Each group of arc-shaped filter rods 304 is provided with multiple equally spaced ones, and the distance between the two arc-shaped filter rods 304 is less than the diameter of the cranberries. A hydraulic component is installed inside the automated vehicle body 1 to control the extension or contraction of the hydraulic cylinder 309.

[0042] The impurity removal and feeding assembly 5 includes an arc-shaped bottom shell 501 and two side covers 502. The arc-shaped bottom shell 501 is hinged to one end of the two outer shells 301 close to the automated vehicle body 1. The two side covers 502 are respectively fixed to the front and back surfaces of the arc-shaped bottom shell 501. A chip discharge port 503 communicating with the inside of the arc-shaped bottom shell 501 is provided at the bottom end of the side cover 502, and the chip discharge port 503 corresponds to the inner bottom wall of the arc-shaped bottom shell 501; it includes a hoist 504. The hoist 504 is installed between the two side covers 502. A number of through holes 505 are provided on the hoist 504. A plurality of flap plates 506 are elastically hinged to the surface of the hoist 504. The hoist 504 passes through the arc-shaped bottom shell 501. When the flap plate 506 just enters the arc-shaped bottom shell 501, it can fold and adhere to the hoist 504. When the hoist 504 rotates the flap plate 506 to the middle of the arc-shaped bottom shell 501, the flap plate 506 can gradually open.

[0043] The hoist 504 is a conveyor belt arranged in an existing inclined state. The through holes 505 are provided on the conveyor belt. The conveyor belt is only provided with power or rollers at both ends, and the middle position is suspended for chip discharge or dust discharge. The flap plate 506 is a metal sheet, and a torsion spring is installed at the hinge joint between the flap plate 506 and the hoist 504. The elastic coefficient of the torsion spring is relatively large, and it will not be bent due to the weight of the cranberries. The flap plate 506 can always adhere to the inner bottom wall of the arc-shaped bottom shell 501 when operating inside the arc-shaped bottom shell 501.

[0044] The linkage assembly 6 includes a support arm 601. One end of the support arm 601 is hinged to the outer shell 301, and a rotatable roller 602 is installed at the other end; it includes a damping rod 603. One end of the damping rod 603 is hinged to the outer shell 301, and the other end is hinged to the end of the support arm 601 away from the outer shell 301; it includes an auxiliary arm 604. One end of the auxiliary arm 604 is hinged to the outer shell 301; it includes a connecting rod 605. One end of the connecting rod 605 is hinged to the hinge joint of the support arm 601 and the damping rod 603, and the other end is hinged to the end of the auxiliary arm 604 away from the outer shell 301; it includes an elastic pull rod 606. One end of the elastic pull rod 606 is hinged to the hinge joint of the auxiliary arm 604 and the connecting rod 605, and the other end is hinged to the upper end of the side cover 502.

[0045] A groove is provided on the outer circle of the roller 602. The groove structure can increase the friction with the ground. The damping rod 603 is an elastic rod, which can buffer the impact of the ground. When the support arm 601 shakes, the damping rod 603 can make it return to a stable state in the shortest time. The elastic pull rod 606 is made of a rigid spring. When the tensile force is too large, the elastic pull rod 606 itself will also deform.

[0046] The impurity removal and feeding assembly 5 includes an elastic cover 507. One end of the elastic cover 507 is fixed to the top cover 305, and the other end of the elastic cover 507 is fixed to the arc-shaped bottom shell 501.

[0047] The elastic cover 507 is made of rubber, and the middle section is folded. When the elevator 504 shakes, the elastic cover 507 can remain connected and can adapt to the shaking of the elevator 504.

[0048] The high-speed discharging and impurity removal component 4 includes an arc-shaped frame 401, which is fixed between the two outer shells 301 and corresponds to the arc-shaped bottom shell 501. An arc-shaped filter plate 402 is provided in the arc-shaped frame 401, and a circle of rubber pad 403 is provided between the arc-shaped filter plate 402 and the arc-shaped frame 401. A touch plate 404 is fixedly installed at one end of the arc-shaped filter plate 402 close to the arc-shaped bottom shell 501. After the paddle 506 moves to leave the arc-shaped bottom shell 501, it can hit the touch plate 404 to cause the arc-shaped filter plate 402 to vibrate.

[0049] The rubber pad 403 is an elastic structure, so the arc filter plate 402 itself can swing freely when installed in the arc frame 401. The touch plate 404 is at one end of the arc filter plate 402. When the dial plate 506 moves the touch plate 404, the arc filter plate 402 will swing.

[0050] A motor is installed on the side cover 502 to drive the elevator 504 to operate, and the upper end of the elevator 504 is above the harvesting box 2.

[0051] The output of the motor acts on the roller shaft of the elevator 504.

[0052] When the damping rod 603 is not subjected to force, the roller 602 is located under the housing 301 .

[0053] After the roller 602 touches the ground, the damping rod 603 is in a slightly compressed state due to the weight of the housing 301 .

[0054] Two fixing ears 7 are fixedly installed on the automated body 1, and one end of the arm 307 is connected to the fixing ear 7 by a pin shaft. Two downward-penetrating through slots 8 are provided on the automated body 1. The fixed end of the hydraulic cylinder 309 passes through the through slots 8 downward, and the hinge between the hydraulic cylinder 309 and the automated body 1 is located below the through slots 8.

[0055] The connection structure can maximize the effect of the hydraulic cylinder 309 , and the strong arm 307 can fully support the weight of the entire housing 301 and the hoist 504 .

[0056] The housing 301 is provided with dust discharge slots 310 arranged in a matrix at positions corresponding to the arc-shaped filter rods 304 .

[0057] During the early stages of harvesting, the dust exhaust trough 310 can facilitate air flow and prevent harvest dust accumulation.

[0058] During use, the hydraulic cylinder 309 can be adjusted in terms of extension and retraction, and then used to adjust the angle of the boom 307, and finally used to change the distance between the housing 301 and the ground as well as the distance between the rotating shaft 303 and the ground. When the rotating shaft 303 rotates, it can pick cranberries through the arc-shaped filter rod 304. The freshly harvested cranberries will be scattered onto the arc-shaped filter plate 402 by the arc-shaped filter rod 304. Then, with the movement of the elevator 504, the arc-shaped filter plate 402 can vibrate. When vibrating, the impurities contained in the cranberries will be filtered by the arc-shaped filter plate 402. When the longer and larger impurities follow the rotation of the arc-shaped filter rod 304 and move to the position of the top cover 305, they can be removed by the grid teeth 306 of the top cover 305. Smaller impurities are processed by the arc-shaped filter plate 402. Subsequently, the impurities will accumulate in the arc-shaped bottom shell 501, and then gradually move to both sides and then gradually discharge through the chip discharge port 503. During the picking process, the support arm 601 with the rollers 602 contacts the ground where the cranberries are planted. At this time, the arc-shaped filter rod 304 can just carry out the harvesting. When the machine is moving forward, the roughness of the ground can be filtered by the damping rod 603. At the same time, the support arm 601 will shake. When the support arm 601 shakes, the impurity removing and feeding assembly 5 will also shake accordingly. Thus, the dust contained in the cranberries will be discharged from the through hole 505 of the elevator 504. Therefore, when the elevator 504 shakes, the cranberries scattered into the harvesting box 2 will not be scattered to the same position, avoiding uneven accumulation in local positions. During wet picking, the open structure can gather the cranberries, and the subsequent impurity removing structure can be used to handle the moisture on the surface of the cranberries.

[0059] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0060] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated cranberry harvester for impurity removal and sorting, comprising an automated vehicle body and a harvesting box, the harvesting box being fixed to the automated vehicle body, characterized in that: It also includes a wet and dry harvesting component, a high-speed discharging and impurity removing component, and an impurity removing and feeding component. The wet and dry harvesting component is installed at one end in the forward direction of the automated vehicle body. The high-speed discharging and impurity removing component is connected to the wet and dry harvesting component. One end of the impurity removing and feeding component is connected to the high-speed discharging and impurity removing component, and the other end is installed on the automated vehicle body and corresponds to the harvesting box; It also includes a linkage component, which is installed on the wet and dry harvesting component and connects the impurity removing and feeding component; The wet and dry harvesting component includes two outer shells, which are distributed front and back. The ends away from the automated vehicle body expand outward. There are several tooth grooves at the bottom ends of their expansion ends. The ends close to the automated vehicle body approach each other. It includes a top cover, which is located between the ends of the two outer shells close to the automated vehicle body and is fixedly connected to the two outer shells. It includes a rotating shaft, which is installed between the two outer shells. There is a motor for driving the rotation of the rotating shaft inside the outer shell. Multiple groups of arc-shaped filter rods are fixedly installed on the outside of the rotating shaft. There are multiple grates at the end of the top cover close to the arc-shaped filter rods. It includes two large arms. One ends of the two large arms are respectively fixed to the sides of the two outer shells away from each other. The other ends of the large arms are hinged to the automated vehicle body. A sub-arm is fixedly installed at the end of the large arm hinged to the automated vehicle body. Hydraulic cylinders are hinged to the automated vehicle body corresponding to the two large arms. The movable ends of the hydraulic cylinders are hinged to the ends of the sub-arm away from the large arms.

2. The impurity removal and sorting integrated cranberry harvester according to claim 1, wherein: The impurity removing and feeding component includes an arc-shaped bottom shell and two side covers. The arc-shaped bottom shell is hinged to the ends of the two outer shells close to the automated vehicle body. The two side covers are respectively fixed to the front and back surfaces of the arc-shaped bottom shell. Chip discharge ports communicating with the inside of the arc-shaped bottom shell are opened at the bottom ends of the side covers, corresponding to the inner bottom wall of the arc-shaped bottom shell. It includes a hoist, which is installed between the two side covers. There are several through holes equidistantly distributed on the hoist. Multiple paddles are elastically hinged to the surface of the hoist. The hoist passes through the arc-shaped bottom shell. When the paddles just enter the arc-shaped bottom shell, they can fold and adhere to the hoist. When the hoist rotates the paddles to the middle of the arc-shaped bottom shell, the paddles can gradually open.

3. The impurity removal and sorting integrated cranberry harvester according to claim 2, wherein: The linkage component includes a support arm, one end of which is hinged to the outer shell and the other end is installed with a rotatable roller; It includes a damping rod, one end of which is hinged to the outer shell and the other end is hinged to the end of the support arm away from the outer shell; It includes an auxiliary arm, one end of which is hinged to the outer shell; It includes a connecting rod, one end of which is hinged to the hinge point of the support arm and the damping rod, and the other end is hinged to the end of the auxiliary arm away from the outer shell; It includes an elastic pull rod, one end of which is hinged to the hinge point of the auxiliary arm and the connecting rod, and the other end is hinged to the upper end of the side cover.

4. The impurity removal and sorting integrated cranberry harvester according to claim 2, characterized in that: The impurity removing and feeding component includes an elastic cover, one end of which is fixed to the top cover and the other end is fixed to the arc-shaped bottom shell.

5. The impurity removal and sorting integrated cranberry harvester according to claim 3, characterized in that: The high-speed discharging and impurity removing component includes an arc-shaped frame, which is fixed between the two outer shells and corresponds to the arc-shaped bottom shell. An arc-shaped filter plate is arranged inside the arc-shaped frame. There is a rubber gasket between the arc-shaped filter plate and the arc-shaped frame. A touch plate is fixedly installed at the end of the arc-shaped filter plate close to the arc-shaped bottom shell. When the paddle rotates to leave the arc-shaped bottom shell, it can hit the touch plate to vibrate the arc-shaped filter plate.

6. The impurity removal and sorting integrated cranberry harvester according to claim 2, wherein: A motor is installed on the side cover for driving the operation of the hoist. The upper end of the hoist is above the harvesting box.

7. The impurity removal and sorting integrated cranberry harvester according to claim 3, characterized in that: When the damping rod is not under force, the roller is located below the outer shell.

8. The impurity removal and sorting integrated cranberry harvester according to claim 1, characterized in that: Two fixed ears are fixedly installed on the automatic vehicle body. One end of the boom is connected to the fixed ear by a pin shaft. There are two downwardly penetrating through slots on the automatic vehicle body. The fixed end of the hydraulic cylinder penetrates downward through the through slots, and its hinge joint with the automatic vehicle body is located below the through slots.

9. The impurity removal and sorting integrated cranberry harvester according to claim 1, wherein: The outer shell is provided with dust discharge grooves distributed in a matrix at the position corresponding to the arc-shaped filter rod.

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