A kind of integrated impurity removal and sorting cranberry picking machine

Abstract

The present application provides a kind of integrated impurity removal and sorting cranberry picking machine, it is related to cranberry picking equipment field.The integrated impurity removal and sorting cranberry picking machine, including automatic car body and harvesting box, harvesting box is fixed on automatic car body, further including dry and wet harvesting assembly, high-speed discharge impurity removal assembly and impurity removal feeding assembly, dry and wet harvesting assembly is installed on the end of the forward direction of automatic car body, high-speed discharge impurity removal assembly is connected with dry and wet harvesting assembly, and one end of impurity removal feeding assembly is connected with high-speed discharge impurity removal assembly.The integrated impurity removal and sorting cranberry picking machine, by setting dry and wet harvesting assembly, impurity removal feeding assembly and linkage assembly, it can effectively remove impurities, also can fold ground, or different height cranberry, by setting high-speed discharge impurity removal assembly, compared with prior art, there is multistage impurity removal form, can achieve clean harvesting cranberry effect in dry harvesting.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cranberry picking equipment, in particular to a cranberry picking machine integrating impurity removal and sorting. BACKGROUND

[0002] Cranberry, also known as lingonberry, is a dwarf shrub of the genus Vaccinium in the heath family, which looks like a crane as a whole, and its flowers look like a crane's head and beak, so it is also called "craneberry". Its fruit is an oval berry 2-5 cm long, which changes from white to deep red, and tastes sour and slightly sweet. It mainly grows in cool regions of the northern hemisphere in acidic peat soil, and is known as one of the three traditional fruits in North America together with Concord grape and blueberry. Cranberry is favored by people because of its high water content, low heat, high fiber and high mineral content. Wet and dry methods are used for harvesting. Most of them are harvested by wet method, in which water is poured into the cranberry field to make the water level 15-20 cm higher than the cranberry vines, and the cranberry is floated to the water surface. The fruit is gathered together and sent to the truck by conveyor belt. Dry harvesting is done by hand picking, in which workers pick cranberries from the branches and directly pack them into sacks for transportation. The cranberries harvested by dry method only account for 5-10% of the total weight, and are mainly sold as fresh fruit. In the prior art, cranberries are picked by hand, which is low in efficiency and labor-intensive, and the picked cranberries are easy to fall off, break or be crushed.

[0003] Chinese Patent Publication No. CN216451972U discloses a cranberry dry picking device, which includes a box body, a storage box fixedly connected to one side of the box body, a hinge plate fixedly connected to the inside of the box body away from the storage box, a connecting plate hingedly connected to the top of the hinge plate, a rake tooth fixedly connected to one side of the connecting plate, a cam provided in the inside of the box body, a vertical rod provided at the bottom end of the cam, and a connecting rod provided at the bottom of the box body. The through circular hole provided at the bottom of the box body is beneficial to the discharge of soil through the circular hole, and then the cam continues to rotate to lose the extrusion of the vertical rod, so that the vertical rod loses the extrusion of the connecting rod, and the rake tooth reverses downward under its own gravity. At this time, the box body is pushed forward, and the cranberry can be continuously picked. The device is convenient to move and easy to operate in actual use, and has high picking efficiency. The soil mixed with the cranberry can be filtered during the picking process, and has high practicability.

[0004] The vibration impurity removal in the scheme has a slow impurity discharge speed, and the overall impurity removal effect is not ideal. Moreover, when harvesting cranberries, the dry picking device may not be able to completely pick up the cranberries on the ground surface due to the difference in ground height, which may cause the cranberries to be crushed. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a kind of integrated with sorting and impurity removal cranberry picking machine, solve the problems raised in the above background art.

[0006] To achieve the above object, the present application is implemented by the following technical solutions: an integrated with sorting and impurity removal cranberry picking machine, comprising an automated vehicle body and a harvesting box, the harvesting box is fixed on the automated vehicle body, further comprising a dry and wet harvesting assembly, a high-speed material discharge and impurity removal assembly, and an impurity removal and feeding assembly, the dry and wet harvesting assembly is installed at one end of the forward direction of the automated vehicle body, the high-speed material discharge and impurity removal assembly is connected to the dry and wet harvesting assembly, one end of the impurity removal and feeding assembly is connected to the high-speed material discharge and impurity removal assembly, and the other end is installed on the automated vehicle body and corresponds to the harvesting box; further comprising a linkage assembly installed on the dry and wet harvesting assembly and connected to the impurity removal and feeding assembly; the dry and wet harvesting assembly comprises two housings, the two housings are distributed front and back, and the ends of the two housings away from the automated vehicle body expand outward, the expanded ends of the two housings are each provided with a plurality of tooth grooves, and the ends of the two housings close to the automated vehicle body approach each other; comprising a top cover, the top cover is between the ends of the two housings close to the automated vehicle body and fixedly connected to the two housings; comprising a shaft, the shaft is installed between the two housings, a motor for driving the shaft to rotate is arranged inside the housing, a plurality of arc-shaped filter rods are fixedly installed on the outside of the shaft, and a plurality of grate teeth are arranged at the end of the top cover close to the arc-shaped filter rods; comprising two large arms, one end of each of the two large arms is fixed to a side of each of the two housings away from each other, the other end of each of the large arms is hingedly connected to the automated vehicle body, a sub-arm is fixedly installed at the end of each of the large arms hingedly connected to the automated vehicle body, a hydraulic cylinder is hingedly connected to the automated vehicle body corresponding to the two large arms, and the movable end of the hydraulic cylinder is hingedly connected to the end of the sub-arm away from the large arm.

[0007] Preferably, the impurity removal and feeding assembly comprises an arc-shaped bottom shell and two side covers, the arc-shaped bottom shell is hingedly connected to the ends of the two housings 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, a chip removal opening is formed in the bottom end of each of the side covers and communicates with the inside of the arc-shaped bottom shell, and the chip removal opening corresponds to the inner bottom wall of the arc-shaped bottom shell; comprising an elevator, the elevator is installed between the two side covers, a plurality of through holes are arranged at equal intervals on the surface of the elevator, a plurality of elastic hinges are arranged on the surface of the elevator, the elevator passes through the arc-shaped bottom shell, and when the paddles just enter the arc-shaped bottom shell, the paddles can be folded and attached to the elevator, and when the elevator operates the paddles to the middle of the arc-shaped bottom shell, the paddles can be gradually opened.

[0008] Preferably, the linkage assembly comprises a support arm, one end of the support arm is hinged to the outer shell, and the other end is provided with a rotatable roller; a damping rod, one end of the damping rod is hinged to the outer shell, and the other end is hinged to the end of the support arm away from the outer shell; an auxiliary arm, one end of the auxiliary arm is hinged to the outer shell; a connecting rod, one end of the connecting rod is hinged to the hinge between 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; and an elastic pull rod, one end of the elastic pull rod is hinged to the hinge between 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 comprises 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 comprises 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 in the arc-shaped frame, a ring of rubber pads is arranged between the arc-shaped filter plate and the arc-shaped frame, a touch plate is fixedly arranged at one end of the arc-shaped filter plate close to the arc-shaped bottom shell, and the touch plate can be hit by the push plate after the push plate moves away from the arc-shaped bottom shell, so that the arc-shaped filter plate vibrates.

[0011] Preferably, a motor is arranged on the side cover, which is used 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 subjected to force, the roller is below the outer shell.

[0013] Preferably, two fixing ears are fixedly arranged on the automatic vehicle body, a pin shaft is arranged between one end of the large arm and the fixing ear, two downwardly penetrating through grooves are arranged on the automatic vehicle body, the fixed end of the hydraulic cylinder penetrates through the through groove downwardly, and the hinge between the fixed end of the hydraulic cylinder and the automatic vehicle body is below the through groove.

[0014] Preferably, the outer shell is provided with a matrix-distributed dust discharging groove corresponding to the position of the arc-shaped filter rod.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1. The impurity and sorting integrated cranberry picking machine, by setting up dry and wet harvesting assembly, impurity feeding assembly and linkage assembly, the rotating shaft can pick cranberry through the arc filter rod when rotating, the arm with the roller contacts the ground where the cranberry is planted at the time of picking, the arc filter rod can be harvested at this time, the ground roughness can be filtered by the damper rod when the machine is running, and the arm will sway, the impurity feeding assembly will also sway linkage when the arm sways, so that the dust contained in the cranberry will be discharged from the through hole of the elevator, and the impurities contained in the cranberry will also be accumulated in the arc bottom shell, and then discharged from the chip discharge port at both ends, since the elevator is swaying, the cranberry thrown into the harvesting box will not be thrown into the same position, avoiding local accumulation, which can achieve effective impurity removal and collection of cranberry close to the ground or at different heights when harvesting cranberry.

[0017] 2. The impurity and sorting integrated cranberry picking machine, by setting up high-speed material discharging and impurity removing assembly, the freshly harvested cranberry will be thrown onto the arc filter plate by the arc filter rod, and then the arc filter plate can vibrate with the movement of the elevator, the impurities contained in the cranberry will be filtered by the arc filter plate during vibration, the longer and larger impurities can be removed by the grate of the top cover, the smaller impurities are treated by the arc filter plate, the subsequent impurities are discharged from the chip discharge port of the arc bottom shell, and the last impurities are discharged from the through hole of the elevator, compared with the prior art, there are multiple impurity removal forms, which can achieve clean harvesting of cranberry in dry harvesting.

[0018] 3. The impurity and sorting integrated cranberry picking machine, by setting up the shell, the open structure of the shell can adapt to wet picking and dry picking, the open structure can converge cranberry during wet picking, and the subsequent impurity removal structure can be used for water on the surface of the cranberry.

[0019] 4. The impurity and sorting integrated cranberry picking machine, by setting up the arm and the hydraulic cylinder, the hydraulic cylinder can adjust the extension, then adjust the angle of the arm, and finally change the distance between the shell and the ground, which is convenient for automatic harvesting of cranberry at different heights. DETAILED DESCRIPTION

[0020] Figure 1 The structure of the present application is shown in the figure;

[0021] Figure 2 The front view of the structure of the present application is shown in the figure;

[0022] Figure 3 The automatic car body of the present application is shown in the figure;

[0023] Figure 4 The structure of the dry and wet harvesting assembly and the impurity feeding assembly of the present application is shown in the figure;

[0024] Figure 5 For the structure of the application Figure 4 enlarged view of the structure at A in the application;

[0025] Figure 6 For the structure of the application impurity removal assembly and high-speed discharge impurity removal assembly;

[0026] Figure 7 For the structure of the application Figure 6 enlarged view of the structure at B in the application;

[0027] Figure 8 For the connection diagram of the linkage assembly and the shell of the application;

[0028] Figure 9 For the partial structure top view of the dry and wet harvesting assembly of the application.

[0029] In the figure: 1, automatic car body; 2, harvesting box; 3, dry and wet harvesting assembly; 301, shell; 302, tooth groove; 303, rotating shaft; 304, arc-shaped filter rod; 305, top cover; 306, comb tooth; 307, large arm; 308, auxiliary arm; 309, hydraulic cylinder; 310, dust discharge groove; 4, high-speed discharge impurity removal assembly; 401, arc-shaped frame; 402, arc-shaped filter plate; 403, rubber pad; 404, touch plate; 5, impurity removal and feeding assembly; 501, arc-shaped bottom shell; 502, side cover; 503, chip removal port; 504, elevator; 505, through hole; 506, push plate; 507, elastic cover; 6, linkage assembly; 601, support arm; 602, roller; 603, damping rod; 604, auxiliary arm; 605, connecting rod; 606, elastic pull rod; 7, fixing lug; 8, through groove. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0031] It should be noted that all directional indications in the embodiments of the application are only used to explain the relative positional relationship, movement condition and the like between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0032] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0034] like Figures 1-9 As shown, an integrated cranberry harvesting machine for removing impurities and sorting includes an automated body 1 and a harvesting box 2. The harvesting box 2 is fixed on the automated body 1. It also includes a dry and wet harvesting component 3, a high-speed discharge and impurity removal component 4, and an impurity removal and feeding component 5. The dry and wet harvesting component 3 is installed at one end of the automated body 1 in the forward direction. The high-speed discharge and impurity removal component 4 is connected to the dry and wet harvesting component 3. One end of the impurity removal and feeding component 5 is connected to the high-speed discharge and impurity removal component 4, and the other end is installed on the automated body 1 and corresponds to the harvesting box 2.

[0035] It also includes a linkage component 6, which is installed on the dry and wet harvesting component 3 and connected to the impurity removal and feeding component 5.

[0036] The dry and wet harvesting assembly 3 comprises two housings 301 distributed front and back, which expand outward from the end of the automated vehicle body 1 away from each other, the bottom end of the expanded end of the two is provided with a plurality of tooth grooves 302, and the end close to the automated vehicle body 1 is close to each other; a top cover 305 is arranged between the end of the two housings 301 close to the automated vehicle body 1 and fixedly connected to the two housings 301; a rotating shaft 303 is installed between the two housings 301, a motor for driving the rotating shaft 303 to rotate is arranged in the housing 301, a plurality of arc-shaped filter rods 304 are fixedly installed on the outside of the rotating shaft 303, and a plurality of grate teeth 306 are arranged on the end of the top cover 305 close to the arc-shaped filter rod 304; two large arms 307 are arranged, one end of the two large arms 307 is fixed to the side of the two housings 301 away from each other, the other end of the large arm 307 is hingedly connected to the automated vehicle body 1, a small arm 308 is fixedly installed at the end of the large arm 307 hingedly connected to the automated vehicle body 1, a hydraulic cylinder 309 is hingedly connected to the end of the small arm 308 away from the large arm 307 on the automated vehicle body 1.

[0037] The Beidou module is installed in the automated vehicle body 1, and an ATGM332D-5N-3 is used. The module has five pins:

[0038] 1: VCC power supply 3.3V-5.0V.

[0039] 2: GND ground.

[0040] 3: TXD module serial port transmitting pin TTL level, which can be connected to the RXD of the single-chip microcomputer.

[0041] 4: RXD module serial port receiving pin TTL level, which can be connected to the TXD of the single-chip microcomputer.

[0042] 5: PPS clock pulse output pin.

[0043] Among them, the PPS pin is connected to the state indicating lamp PPS of the module at the same time: the pin is connected to the TIMEPULSE port of the UBLOXNEO-6M module, and the output characteristics of the port can be set through the program.

[0044] The PPS indicating lamp is the PPS pin, which is not set through the program under the default condition,

[0045] There are two states:

[0046] (1) always on, indicating that the module has started working, but has not yet achieved positioning.

[0047] (2) 100ms off and 900ms on, indicating that the module has successfully positioned.

[0048] Using serial port assistant can see the data output by GPS module NMEA protocol

[0049] With stable, low power, fast connection speed, positioning frequency advantages. The use of SMA antenna further enhances the stability of the connection, longer antenna length brings more diversified and extended. Main output: UTC time, get latitude and longitude, altitude, horizontal speed, specific location information.

[0050] 1. Wiring seat / row needle VIN GND power supply, 5V ~ 12V

[0051] 2. NET LED device status indicator

[0052] 3. Relaod Relaod button, press 7 seconds to restore factory settings

[0053] 4. 4G antenna 4G main antenna, SMA interface, must be connected

[0054] 5. BOOT button Force upgrade button; press the button; power on the device, the module enters the next mode

[0055] 6. PWR LED power indicator

[0056] 7. USB mico usb, used to download programs or debug logs

[0057] 8. SIM card slot card slot, pay attention to the direction gap outward

[0058] With U-CENTER can be observed satellite situation through the antenna extended signal reception.

[0059] Method: First use Beidou satellite decoding received information code, the antenna captured position signal information integration. After decoding information using STM32F103RCT6 development board to extract information transmission to the display screen, and at the same time the information transmission to Core-Air724UG, using its information transmission to the characteristics of the Internet of things Ali cloud, information transmission to the platform through the computer terminal link cloud platform after reading information, to get the car location information and some information, accurate at all times to ensure that the understanding of the car body 1 environment and its surrounding state, can be more clearly understand the time information accurate, make each target activity more accurate and flexible.

[0060] The Raspberry Pi is used as the main control board inside the automated vehicle body 1. The Raspberry Pi 5 uses a 64-bit quad-core Arm Cortex-A76 processor running at a frequency of 2.4GHz, which is 2 to 3 times faster than the Raspberry Pi 4. In addition, it is also equipped with an 800MHz VideoCore VII GPU, which can provide a significant improvement in graphics performance, and can realize double 4Kp60 display output through HDMI, and provide the most advanced camera support through the redesigned Raspberry Pi image signal processor.

[0061] The bottom of the automated vehicle body 1 is in the form of track driving, which can autonomously travel in rugged cranberry planting land. In wet picking, if the cranberry planting land is filled with water, the track can still travel on the muddy ground, and only needs to change the speed of the track to realize turning or U-turn.

[0062] The two horn-shaped housings 301 can not only adapt to dry picking, but also to wet picking. In wet picking, cranberries can be gathered, and in dry picking, cranberry plants can be gathered. The inside of each of the two housings 301 is provided with a motor to provide high-torque rotating force for the rotating shaft 303, which can easily pull cranberries off the plants and also pick up the plants. The top cover 305 is provided to filter out cranberry plants and prevent the plants from winding around the rotating shaft 303. The tooth groove 302 at the bottom of the housing 301 can separate the plants before dry picking to prevent them from winding together and affecting the picking of the rotating shaft 303. Each group of arc-shaped filter rods 304 is provided with multiple equidistantly distributed rods, and the distance between the two arc-shaped filter rods 304 is less than the diameter of the cranberry. The inside of the automated vehicle body 1 is provided with a hydraulic assembly for controlling the extension or contraction of the hydraulic cylinder 309.

[0063] The impurity removal and feeding assembly 5 includes an arc-shaped bottom housing 501 and two side covers 502. The arc-shaped bottom housing 501 is hingedly connected to one end of the two housings 301 close to the automated vehicle body 1, and the two side covers 502 are fixed to the front and rear surfaces of the arc-shaped bottom housing 501. The bottom end of the side cover 502 is provided with a chip removal opening 503 in communication with the inside of the arc-shaped bottom housing 501, and the chip removal opening 503 corresponds to the inner bottom wall of the arc-shaped bottom housing 501. The lifting machine 504 is installed between the two side covers 502, and the lifting machine 504 is provided with a plurality of through holes 505 equidistantly distributed on the surface. The lifting machine 504 is elastically hingedly connected to a plurality of push plates 506, the lifting machine 504 passes through the arc-shaped bottom housing 501, and the push plates 506 can be folded and attached to the lifting machine 504 when they just enter the arc-shaped bottom housing 501. When the lifting machine 504 operates the push plates 506 to the middle of the arc-shaped bottom housing 501, the push plates 506 can be gradually opened.

[0064] The lifting machine 504 is a conveying belt set in the existing inclined state, the through hole 505 is arranged on the conveying belt, the conveying belt is only provided with power or roller at both ends, and the middle position is suspended, which is used for chip removal or dust removal, the push plate 506 is a metal sheet, a torsional spring is arranged at the hinged position of the push plate 506 and the lifting machine 504, the elastic coefficient of the torsional spring is large, and the push plate 506 cannot be bent due to the weight of the cranberries. When the push plate 506 operates in the arc-shaped bottom shell 501, the push plate 506 can always adhere to the inner bottom wall of the arc-shaped bottom shell 501.

[0065] The linkage assembly 6 comprises a support arm 601, one end of the support arm 601 is hinged to the shell 301, and the other end is provided with a rotatable roller 602; a damping rod 603, one end of the damping rod 603 is hinged to the shell 301, and the other end is hinged to the end of the support arm 601 away from the shell 301; an auxiliary arm 604, one end of the auxiliary arm 604 is hinged to the shell 301; a connecting rod 605, one end of the connecting rod 605 is hinged to the hinged positions 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 shell 301; and an elastic pull rod 606, one end of the elastic pull rod 606 is hinged to the hinged positions of the auxiliary arm 604 and the connecting rod 605, and the other end is hinged to the upper end of the edge cover 502.

[0066] The outer circle of the roller 602 is provided with a groove, and the groove structure can increase the friction between the roller 602 and the ground. The damping rod 603 is a elastic rod, which can buffer the impact of the ground. When the support arm 601 shakes, the damping rod 603 can restore stability in the shortest time. The elastic pull rod 606 is made of hard spring, which can deform when the pulling force is too large.

[0067] The impurity removal and feeding assembly 5 comprises 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.

[0068] The elastic cover 507 is made of rubber material, and the middle section is folded. When the lifting machine 504 shakes, the elastic cover 507 can remain connected and adapt to the shaking of the lifting machine 504.

[0069] The high-speed discharge and impurity removal assembly 4 comprises an arc-shaped frame 401 fixed between the two shells 301 and corresponding to the arc-shaped bottom shell 501, an arc-shaped filter plate 402 is arranged in the arc-shaped frame 401, a rubber pad 403 is arranged between the arc-shaped filter plate 402 and the arc-shaped frame 401, a touch plate 404 is fixedly arranged at one end of the arc-shaped filter plate 402 close to the arc-shaped bottom shell 501, and the push plate 506 can hit the touch plate 404 to vibrate the arc-shaped filter plate 402 after operating away from the arc-shaped bottom shell 501.

[0070] The rubber pad 403 is of elastic structure, so that the arc-shaped filter plate 402 can freely shake when it is installed in the arc-shaped frame 401, and the touch plate 404 is at one end of the arc-shaped filter plate 402, and the arc-shaped filter plate 402 will shake after the touch plate 404 is pushed by the push plate 506.

[0071] The side cover 502 is provided with a motor for driving the elevator 504 to operate, and the upper end of the elevator 504 is above the harvesting box 2.

[0072] The output end of the motor acts on the roller shaft of the elevator 504.

[0073] When the damping rod 603 is not stressed, the roller 602 is below the shell 301.

[0074] When the roller 602 is grounded, the damping rod 603 is in a slightly compressed state due to the weight of the shell 301.

[0075] The automatic vehicle body 1 is fixedly provided with two fixed ears 7, and the end of the large arm 307 is connected with the fixed ear 7 through a pin shaft, and the automatic vehicle body 1 is provided with two downward penetrating through grooves 8, and the fixed end of the hydraulic cylinder 309 penetrates through the through groove 8 downward, and the hinged part of the automatic vehicle body 1 is below the through groove 8.

[0076] The connection structure can maximize the role of the hydraulic cylinder 309, and the thick and strong large arm 307 can completely support the weight of the shell 301 and the elevator 504.

[0077] The shell 301 is provided with a matrix distributed dust discharge groove 310 corresponding to the position of the arc-shaped filter rod 304.

[0078] During the early harvesting, the dust discharge groove 310 can realize the flow of air, and avoid the accumulation of harvested dust.

[0079] In use, the hydraulic cylinder 309 can adjust the telescopic, then used to adjust the angle of the big arm 307, and finally used to change the distance between the shell 301 and the ground, the rotating shaft 303 can pick up the cranberries through the arc filter rod 304 when rotating, the freshly harvested cranberries will be thrown onto the arc filter plate 402 by the arc filter rod 304, and then with the movement of the elevator 504, the arc filter plate 402 can vibrate, and the impurities contained in the cranberries will be filtered by the arc filter plate 402, the longer and larger impurities will be removed by the grate 306 of the top cover 305 when they follow the rotation of the arc filter rod 304 and move to the position of the top cover 305, and the smaller impurities will be treated by the arc filter plate 402, and the subsequent impurities will be accumulated in the arc bottom shell 501 and then gradually move to both sides and gradually be discharged from the discharge port 503. When picking up, the supporting arm 601 contacts the ground where the cranberries are planted with the roller 602, and at this time the arc filter rod 304 can be harvested. When the machine is running, the bumps on the ground can be filtered by the damping rod 603, and at the same time the supporting arm 601 will sway. When the supporting arm 601 sways, the impurity removal and feeding assembly 5 will also sway, so that the dust contained in the cranberries will be discharged from the through hole 505 of the elevator 504, so that when the elevator 504 shakes, the cranberries thrown into the harvesting box 2 will not be thrown into the same position, avoiding uneven accumulation in local positions. In wet picking, the open structure can converge the cranberries, and the subsequent impurity removal structure can be used to treat the moisture on the surface of the cranberries.

[0080] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0081] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the present application.

[0082] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. An integrated cranberry picking machine for removing impurities and sorting, comprising an automated vehicle body and a harvesting box, wherein the harvesting box is fixed to the automated vehicle body, characterized in that: It also includes a dry and wet harvesting component, a high-speed discharge and impurity removal component, and an impurity removal and feeding component. The dry and wet harvesting component is installed on one end of the automated vehicle body in the forward direction. The high-speed discharge and impurity removal component is connected to the dry and wet harvesting component. One end of the impurity removal and feeding component is connected to the high-speed discharge and impurity removal 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 dry and wet harvesting component and connected to the impurity removal and feeding component; The dry and wet harvesting assembly includes two outer shells, positioned one in front of the other. The ends of the two shells furthest from the automated vehicle body extend outwards, each with several toothed grooves at its bottom. The ends of the two shells closest to the automated vehicle body are close to each other. A top cover is located between the ends of the two shells closest to the automated vehicle body and is fixedly connected to the two shells. A rotating shaft is installed between the two shells, with a motor inside each shell for driving the shaft's rotation. Multiple sets of arc-shaped filter rods are fixedly installed on the outside of the rotating shaft, and multiple grates are provided at the end of the top cover closest to the arc-shaped filter rods. Two main arms are included, with one end fixed to the furthest side of each shell, and the other end hinged to the automated vehicle body. A secondary arm is fixedly installed at the hinged end of the main arm. Hydraulic cylinders are hinged to the automated vehicle body at the corresponding locations of the two main arms, with the movable end of the hydraulic cylinder hinged to the end of the secondary arm furthest from the main arm. The impurity removal and feeding assembly includes an arc-shaped bottom shell and two side covers. The arc-shaped bottom shell is hinged to one end of the two outer shells near the automated vehicle body. The two side covers are fixed to the front and rear sides of the arc-shaped bottom shell respectively. The bottom end of the side cover is provided with a chip discharge port that communicates with the inside of the arc-shaped bottom shell. The chip discharge port corresponds to the inner bottom wall of the arc-shaped bottom shell. The assembly includes a hoist, which is installed between the two side covers. The hoist has several equidistantly distributed through holes. Multiple levers are elastically hinged to the surface of the hoist. The hoist passes through the arc-shaped bottom shell. When the levers just enter the arc-shaped bottom shell, they can fold and fit against the hoist. When the hoist rotates the levers to the middle of the arc-shaped bottom shell, the levers can gradually open. The linkage assembly includes a support arm, one end of which is hinged to the housing and the other end is equipped with a rotatable roller; a damping rod, one end of which is hinged to the housing and the other end of which is hinged to the end of the support arm away from the housing; and an auxiliary arm, one end of which is hinged to the housing. Includes a connecting rod, one end of which is hinged to the hinge joint of the support arm and the damping rod, and the other end of which is hinged to the end of the auxiliary arm away from the housing; includes an elastic tie rod, one end of which is hinged to the hinge joint of the auxiliary arm and the connecting rod, and the other end of which is hinged to the upper end of the side cover. The high-speed discharge and impurity removal component includes an arc-shaped frame fixed between two outer shells and corresponding to the arc-shaped bottom shell. An arc-shaped filter plate is provided inside the arc-shaped frame. A rubber pad is provided 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 near the arc-shaped bottom shell. When the dial moves away from the arc-shaped bottom shell, it can hit the touch plate to make the arc-shaped filter plate vibrate.

2. The integrated cranberry picking machine for impurity removal and sorting according to claim 1, characterized in that: The impurity removal and feeding assembly includes an elastic cover, one end of which is fixed to the top cover, and the other end of which is fixed to the arc-shaped bottom shell.

3. The integrated cranberry picking machine for impurity removal and sorting according to claim 2, characterized in that: A motor is installed on the side cover to drive the elevator, the upper end of which is above the harvest box.

4. The integrated cranberry picking machine for impurity removal and sorting according to claim 3, characterized in that: When the damping rod is not under force, the roller is under the outer casing.

5. The integrated cranberry picking machine for impurity removal and sorting according to claim 4, characterized in that: Two fixed lugs are fixedly installed on the automated vehicle body. One end of the boom is connected to the fixed lug by a pin. The automated vehicle body is provided with two downward through slots. The fixed end of the hydraulic cylinder passes through the through slots downward, and its hinge point with the automated vehicle body is located below the through slots.

6. The integrated cranberry picking machine for impurity removal and sorting according to claim 5, characterized in that: The outer shell is provided with a matrix of dust discharge grooves at the position corresponding to the arc-shaped filter rod.

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