A collection device for vibration picking of forest fruits

Abstract

The application discloses a kind of collection devices for vibration picking forest fruits, including walking mechanism, collection device, support device, cylinder device and conveying device;Walking mechanism is provided with main box;Main box is provided with support device, collection device, cylinder device and conveying device;Support device includes support inclined rod, platform and abutment;Collection device includes guide table and collection frame;Cylinder device includes cylinder support frame, cylinder and cylinder drive mechanism;Conveying device includes horizontal conveyor belt, vertical blocking cloth, elastic wire, counterweight column and blocking isolation belt;The application is for forest fruits such as walnut, etc., by vibration picking, fruit is collected by conveyor belt, relatively small in size, easy to install and operate, and two groups of collection devices can be used for alternate collection, which greatly improves the continuity of operation and collection efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural fruit harvesting and collection via vibration, specifically a collection device for harvesting forest fruits via vibration. Background Technology

[0002] By applying periodic vibrations to the walnut tree canopy using an external excitation device (such as an eccentric wheel or hydraulic motor), the resonance effect of the branch-fruit system is utilized to cause viscoelastic fracture of the fruit stalk tissue under dynamic load, ultimately achieving fruit detachment.

[0003] When fruit falls from the branches to the ground, the traditional collection method commonly used in the industry is to lay a large area of ​​specially made collection cloth or large mesh collection mat on the ground under the fruit trees. However, workers need to repeatedly bend over and move around to pick up the fruit one by one, resulting in extremely low collection efficiency. At the same time, this process requires a large amount of manpower for continuous manual operation, and coupled with the supporting work such as laying and recycling the collection cloth, the overall labor cost remains high, seriously restricting the economic benefits and large-scale development of fruit harvesting operations. In response to the above problems, a collection device for vibratory harvesting of forest fruits is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a collection device for vibratory harvesting of orchard fruits, in order to solve the problems mentioned in the background art, which require laying a large area of ​​specially made collection cloth or large mesh collection mat on the ground under the fruit trees. This necessitates workers to repeatedly bend over and move around to pick up the fruits one by one, resulting in extremely low collection efficiency and high labor costs, which seriously restricts the economic benefits and large-scale development of fruit harvesting operations.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A collection device for harvesting forest fruits by vibration includes a walking mechanism, a collection device, a support device, a roller device, and a conveying device.

[0007] The walking mechanism is equipped with a main box; the main box is equipped with a support device, a collecting device, a roller device and a conveying device;

[0008] The support device includes a support diagonal rod, a platform, and a stop column; the support diagonal rod is connected to the top of the main box through a support column, the platform is connected to the top of the main box through a platform support rod, and the stop column is connected to the platform;

[0009] The collection device includes a guide platform and a collection frame; the guide platform is connected to the top of the main box and is located on one side of the platform, and the support column is located on the side of the platform near the guide platform; the collection frame is connected to one side of the main box, and the bottom surface of the guide platform is an inclined surface, which is used to transport the fruit to the collection frame.

[0010] The roller device includes a roller support frame, a roller, and a roller drive mechanism; the roller support frame is connected to the top of the main housing, the roller is rotatably connected to the roller support frame, and the output end of the roller drive mechanism, which is mounted on the roller support frame, is connected to the roller and is used to drive the roller to rotate.

[0011] The conveying device includes a horizontal conveyor belt, a vertical blocking cloth, an elastic cord, a counterweight column, and a blocking isolation belt. The front end of the horizontal conveyor belt is connected to and wound around a roller. One side of the horizontal conveyor belt is connected to the vertical blocking cloth via an elastic cord. The ends of both the horizontal conveyor belt and the vertical blocking cloth are connected to the counterweight column. Blocking isolation belts are evenly distributed on the upper surface of the horizontal conveyor belt. The blocking isolation belts are parallel to each other and inclined towards the vertical blocking cloth. Magnets are evenly distributed on the outer side of the vertical blocking cloth. A second magnet extending downwards is provided at the bottom of the platform on the side closest to the vertical blocking cloth.

[0012] The horizontal conveyor belt passes through the bottom of the platform and rests on the supporting diagonal bar. One end of the supporting diagonal bar is inclined downwards and closes to the vertical blocking cloth on the horizontal conveyor belt. The abutment is used to press against the upper surface of the side of the horizontal conveyor belt that is close to the vertical blocking cloth.

[0013] As a further improvement of the present invention, the external thread of the abutment is threadedly connected to the threaded hole on the platform.

[0014] As a further improvement of the present invention, the abutment is a rubber abutment.

[0015] As a further improvement of the present invention, the bottom surface of the collection frame is an inclined surface, and a collection frame door is hinged to the bottom of the collection frame.

[0016] As a further improvement of the present invention, the distance between two adjacent blocking isolation strips is less than the length of the collection frame.

[0017] As a further improvement of the present invention, the horizontal conveyor belt is made of rubber.

[0018] As a further improvement to the present invention, a camera sensor is also provided on the main housing.

[0019] As a further improvement of the present invention, the walking mechanism adopts a tracked walking mechanism.

[0020] As a further improvement of the present invention, it also includes an external controller. The external controller, the walking mechanism, the camera sensor and the roller drive mechanism are all connected to a power source, and the walking mechanism, the camera sensor and the roller drive mechanism are all connected to the external controller.

[0021] The beneficial effects of this invention are as follows: This collection device for vibratory harvesting of forest fruits can collect fruits by a conveyor belt, has a relatively small size, is easy to install and operate, and can be used by two sets of devices to collect fruits alternately, which greatly improves the collection efficiency.

[0022] When the collection device is started, the camera sensor and the main control program of the external controller work together to regulate the travel trajectory of the tracked walking mechanism and the rotation angle of the rollers, so that the horizontal conveyor belt is symmetrically laid on both sides of the fruit tree along a preset path. The width of the horizontal conveyor belt and the distance between it and the root of the fruit tree are determined through tree canopy width measurement and fruit vibration and drop simulation experiments to ensure maximum operational adaptability and efficiency. Because the counterweight column is heavy enough, the horizontal conveyor belt and the vertical blocking cloth are kept taut when the horizontal conveyor belt is retracted. Then the vibrating harvester starts working. Due to the presence of the vertical blocking cloth, most of the shaken-down fruit falls onto the ground. On the horizontal conveyor belt, the fruit is collected in a directional manner. After the vibration harvesting of a row of fruit trees is completed, the roller drive mechanism executes a reverse rotation program, causing the roller to rotate in the opposite direction and triggering the automatic recovery mechanism of the horizontal conveyor belt. Due to the equally spaced blocking isolation strips on the upper surface of the horizontal conveyor belt, the fruit will rise with the horizontal conveyor belt. Due to the presence of the supporting diagonal rods, the horizontal conveyor belt tilts towards the side with the vertical blocking cloth after leaving the ground, causing the fruit to gather towards the side with the vertical blocking cloth. At the same time, the blocking isolation strips are parallel to each other and tilt towards the side with the vertical blocking cloth, thus ensuring that the fruit will not fall during the transmission.

[0023] Before reaching the rubber abutment, the horizontal conveyor belt is connected to the vertical blocking cloth at intervals by elastic lines, preventing the fruit from falling through the gaps between them. Upon reaching the rubber abutment, magnet one is attracted by magnet two, pulling the vertical blocking cloth upwards. The horizontal conveyor belt dips slightly due to the presence of the rubber abutment, creating a dynamic unloading gap that matches the fruit size. The rubber abutment can be rotated to adjust its extension length, optimizing the unloading gap for different fruit varieties. After passing through the gap, the fruit enters the collection frame via a guide platform. The bottom of the collection frame has a certain angle, and the frame door is hinged to the bottom, allowing for rapid unloading by gravity when the frame is full.

[0024] By using two sets of collection devices to collect alternately, the problem of extremely low collection efficiency and high labor costs in traditional methods, which seriously restrict the economic benefits and large-scale development of fruit picking operations, is solved. This achieves the goal of reducing labor costs and significantly improving the continuity of operations and collection efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a collection device for harvesting forest fruits using vibration.

[0026] Figure 2 for Figure 1 A magnified view of H in the image.

[0027] Figure 3 This is a schematic diagram of the overall structure of a collection device for harvesting forest fruits using vibration.

[0028] Figure 4 for Figure 3 A magnified view of the "I" in the image.

[0029] Figure 5 This is a schematic diagram of the overall structure of a collection device for harvesting forest fruits using vibration.

[0030] Figure 6 This is a diagram showing the open state of the collection frame door in a collection device for harvesting fruit using vibration. Detailed Implementation

[0031] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0032] like Figure 1-6 As shown, a collection device for harvesting forest fruits by vibration includes a walking mechanism A, a collection device B, a support device C, a roller device D, and a conveying device E.

[0033] The walking mechanism A is equipped with a main box F; the main box F is equipped with a support device C, a collecting device B, a roller device D, and a conveying device E.

[0034] like Figure 1-6 As shown, the support device C includes a support rod C1, a platform C2, and a stop post C3. The two ends of the support rod C1 are connected to the top of the main housing F via support posts C4, the four corners of the platform C2 are connected to the top of the main housing F via platform support rods C5, and the stop post C3 is threadedly connected to the platform C2.

[0035] like Figure 1-6 As shown, the collection device B includes a guide platform B1 and a collection frame B2. The guide platform B1 is connected to the top of the main box F and is located on one side of the platform C2. The support column C3 is located on the side of the platform C2 near the guide platform B1. The collection frame B2 is connected to one side of the main box F. The bottom surface of the guide platform B1 is an inclined surface, which is used to transport the fruit to the collection frame B2.

[0036] like Figure 1-6 As shown, the roller device D includes a roller support frame D1, a roller D2, and a roller drive mechanism; the roller support frame D1 is connected to the top of the main housing F, the roller D2 is rotatably connected to the roller support frame D1, and the output end of the roller drive mechanism, which is set on the roller support frame D1, is connected to the roller D2 and is used to drive the roller D2 to rotate.

[0037] like Figure 1-6As shown, the conveying device E includes a horizontal conveyor belt E1, a vertical blocking cloth E2, an elastic thread E3, a counterweight column E4, and a blocking isolation belt E5. The front end of the horizontal conveyor belt E1 is connected to and wound around the roller D2. One side of the horizontal conveyor belt E1 is connected to the vertical blocking cloth E2 via the elastic thread E3. The vertical blocking cloth E2 is made of flexible material. The ends of both the horizontal conveyor belt E1 and the vertical blocking cloth E2 are connected to the counterweight column E4. In the initial state, the counterweight column E4 can be placed on the main box F. Under the gravity of the counterweight column E4, the horizontal conveyor belt E1 and the vertical blocking cloth E2 can remain taut during retraction. The blocking isolation belts E5 are evenly distributed on the upper surface of the horizontal conveyor belt E1. The blocking isolation belts E5 are parallel to each other and inclined towards the vertical blocking cloth E2. Strip magnets E6 are evenly distributed on the outer side of the vertical blocking cloth E2. A downward-extending strip magnet E7 is provided at the bottom of the platform C2 on the side near the vertical blocking cloth E2. The barrier strip E5 is designed to prevent fruit from falling.

[0038] The horizontal conveyor belt E1 passes through the bottom of the platform C2 and rests on the support rod C1. One end of the support rod C1 is inclined downward and close to the vertical blocking cloth E2 on the horizontal conveyor belt E1. The abutment C3 is used to press against the upper surface of the side of the horizontal conveyor belt E1 that is close to the vertical blocking cloth E2.

[0039] In this embodiment, a metal cylinder with threads on its outer surface is fixedly connected to the end of the abutment C3, and the metal cylinder is threadedly connected to a threaded hole on the platform C2. The rotatable metal cylinder can adjust the length of the abutment C3 extending out of the bottom of the platform C2, thereby changing the degree of concavity of the horizontal conveyor belt E1.

[0040] In this embodiment, as Figure 2 As shown, the horizontal conveyor belt E1 is made of slightly soft rubber, which deforms significantly under external forces. The horizontal conveyor belt E1 is replaceable. Its width and distance from the tree roots are primarily determined by the tree canopy width and experimental data on fruit vibration and drop. The support column C3 is a rubber support column.

[0041] In this embodiment, the bottom surface of the collection frame B2 is an inclined surface, and a collection frame door B21 is hinged to the bottom of the collection frame B2. The bottom of the collection frame B2 has a certain angle of inclination, and the collection frame door B21 is hinged to the bottom of the collection frame B2. The collection frame door B21 and the collection frame B2 are connected by a pin. When the collection frame B2 is full, the pin can be opened to open the collection frame door B21 for unloading the fruit.

[0042] In this embodiment, the upper surface of the horizontal conveyor belt E1 is equidistantly distributed with blocking isolation strips E5, and the distance between two adjacent blocking isolation strips E5 is less than the length of the collection frame B2. The blocking isolation strips E5 can be made of slightly hard rubber.

[0043] In this embodiment, as Figure 2As shown, the horizontal conveyor belt E1 is connected to the vertical blocking cloth E2 at intervals via elastic lines E3, and the ends of both the horizontal conveyor belt E1 and the vertical blocking cloth E2 are fixedly connected to the counterweight column E4.

[0044] In this embodiment, as Figure 6 As shown, a camera sensor F1 is also installed on the main housing F.

[0045] In this embodiment, the walking mechanism A is a tracked walking mechanism.

[0046] In this embodiment, an external controller is also included. The external controller, the walking mechanism A, the camera sensor F1, and the roller drive mechanism are all connected to a power source and are all connected to the external controller. The external controller can be mounted on the main housing F. The external controller can also be wirelessly connected to a remote control device to control the roller drive mechanism and the tracked walking mechanism. The roller drive mechanism can be a motor that drives the roller D2 to rotate. Alternatively, the external controller can also achieve automatic control, i.e., by collecting environmental information through the camera sensor F1 and sending a signal to the external controller, which then controls the tracked walking mechanism and the roller drive mechanism to operate based on the environmental information. The specific control method uses existing technology.

[0047] The tracked walking mechanism adopts an existing structure. The forward direction and stroke of the tracked walking mechanism, as well as the rotation angle of the roller D2, are controlled by the camera sensor F1 and an external control program. The main housing F can house the track drive unit, such as the engine, of the tracked walking mechanism. The roller support frame D1 houses the roller drive unit, such as the motor. Figure 5 As shown, the counterweight column E4 is heavy enough to keep the horizontal conveyor belt E1 and the vertical blocking cloth E2 taut.

[0048] like Figure 1-6 As shown, the camera sensor F1 and the main control program of the external controller work together to regulate the movement trajectory of the tracked walking mechanism, or control the tracked walking mechanism to move near the fruit tree via a remote control device. The counterweight column E4, initially located on the main box F, will move downwards to the ground. Simultaneously, the external controller controls the tracked walking mechanism to move forward and controls the roller drive mechanism to adjust the rotation angle of roller D2. That is, while roller D2 rotates, the tracked walking mechanism moves forward. Therefore, under the gravity of the counterweight column E4, the horizontal conveyor belt E1 on roller D2 unfolds, symmetrically laying the horizontal conveyor belt E1 on both sides of the fruit tree along a preset path. The width of the horizontal conveyor belt E1 and its distance from the fruit tree roots are determined through tree canopy width measurement and fruit vibration and drop simulation experiments to ensure maximum operational adaptability and efficiency. Figure 5As shown, because the counterweight column E4 is heavy enough, the horizontal conveyor belt E1 and the vertical blocking cloth E2 can remain taut when the horizontal conveyor belt E1 is retracted. After the horizontal conveyor belt E1 is kept taut and unfolded, the crawler walking mechanism stops walking, and the roller drive mechanism stops rotating. Then the vibrating harvester starts working. Due to the presence of the vertical blocking cloth E2, most of the shaken-down fruit falls onto the horizontal conveyor belt E1 (most of the fruit falls in the middle of the horizontal conveyor belt E1), achieving directional fruit collection. After the vibrating harvesting of one row of fruit trees is completed, the roller drive mechanism executes a reverse rotation program, driving the roller D2 to rotate in the reverse direction, triggering the automatic recovery mechanism of the horizontal conveyor belt E1. The roller D2 drives the horizontal conveyor belt E1 to automatically recover (during the recovery process, under the gravity of the counterweight column E4, the horizontal conveyor belt E1 and the vertical blocking cloth E2 can remain taut during recovery). Due to the equidistantly distributed blocking isolation strips E5 on the upper surface of the horizontal conveyor belt E1, the fruit will rise with the horizontal conveyor belt E1. Due to the presence of the supporting diagonal rod C1, after leaving the ground, the horizontal conveyor belt E1 tilts towards the side with the vertical blocking cloth E2, causing the fruit to gather towards the side with the vertical blocking cloth E2. Figure 5 As shown, the blocking and isolating strips E5 are parallel to each other and tilted towards the vertical blocking cloth E2, thus ensuring that the fruit will not fall during transportation.

[0049] Before reaching the rubber stop, the fruit does not fall through the gap between the horizontal conveyor belt E1 and the vertical blocking cloth E2 at regular intervals via elastic lines E3; upon reaching the rubber stop, as... Figure 2 As shown, magnet E6 is attracted by magnet E7, which pulls the vertical blocking cloth E2 upward. The bottom of the rubber abutment abuts against the horizontal conveyor belt E1, causing the horizontal conveyor belt E1 to be concave to a certain extent, thus forming a dynamic unloading gap between it and the vertical blocking cloth E2 that matches the size of the fruit. The top of the rubber abutment is equipped with a threaded metal cylinder, which can be rotated to adjust the extension length of the rubber abutment at the bottom of the platform C2, so as to optimize the unloading gap for different varieties of fruit. After passing through the gap, the fruit enters the collection frame B2 through the guide platform B1. The bottom of the collection frame B2 has a certain inclination angle, and the collection frame door B21 is hinged to the bottom of the collection frame B2, so that when it is full, the collection frame door B21 can be manually opened to achieve rapid unloading by gravity of the fruit.

[0050] By using two sets of devices to collect the fruit alternately, the problem of extremely low collection efficiency and high labor costs in traditional methods is solved, which seriously restricts the economic benefits and large-scale development of fruit picking operations. This achieves the goal of reducing labor costs and significantly improving the continuity of operations and collection efficiency.

[0051] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A collection device for harvesting forest fruits using vibration, characterized in that: It includes a walking mechanism (A), a collecting device (B), a supporting device (C), a roller device (D), and a conveying device (E). The walking mechanism (A) is provided with a main box (F); the main box (F) is provided with a support device (C), a collecting device (B), a roller device (D) and a conveying device (E). The support device (C) includes a support diagonal rod (C1), a platform (C2), and a stop column (C3); the support diagonal rod (C1) is connected to the top of the main box (F) through a support column (C4), the platform (C2) is connected to the top of the main box (F) through a platform support rod (C5), and the stop column (C3) is connected to the platform (C2); The collecting device (B) includes a guide platform (B1) and a collecting frame (B2); the guide platform (B1) is connected to the top of the main box (F) and is located on one side of the platform (C2), and the support column (C3) is located on the side of the platform (C2) near the guide platform (B1); the collecting frame (B2) is connected to one side of the main box (F), and the bottom surface of the guide platform (B1) is an inclined surface, used to transport the fruit to the collecting frame (B2). The roller device (D) includes a roller support frame (D1), a roller (D2), and a roller drive mechanism; the roller support frame (D1) is connected to the top of the main housing (F), the roller (D2) is rotatably connected to the roller support frame (D1), and the output end of the roller drive mechanism, which is set on the roller support frame (D1), is connected to the roller (D2) and the roller drive mechanism is used to drive the roller (D2) to rotate. The conveying device (E) includes a horizontal conveyor belt (E1), a vertical blocking cloth (E2), an elastic line (E3), a counterweight column (E4), and a blocking isolation belt (E5). The front end of the horizontal conveyor belt (E1) is connected to the roller (D2) and wound around the roller (D2). One side of the horizontal conveyor belt (E1) is connected to the vertical blocking cloth (E2) through the elastic line (E3). The ends of both the horizontal conveyor belt (E1) and the vertical blocking cloth (E2) are connected to the counterweight column (E4). Blocking isolation belts (E5) are evenly distributed on the upper surface of the horizontal conveyor belt (E1). The blocking isolation belts (E5) are parallel to each other and inclined towards the vertical blocking cloth (12). Magnets (E6) are evenly distributed on the outer side of the vertical blocking cloth (E2). A downwardly extending magnet (E7) is provided at the bottom of the platform (C2) on the side near the vertical blocking cloth (E2). The horizontal conveyor belt (E1) passes through the bottom of the platform (C2) and rests on the support rod (C1). One of the downward-sloping ends of the support rod (C1) is close to the vertical blocking cloth (E2) on the horizontal conveyor belt (E1). The abutment (C3) is used to press against the upper surface of the side of the horizontal conveyor belt (E1) close to the vertical blocking cloth (E2).

2. The collection device for vibratory harvesting of forest fruits according to claim 1, characterized in that: The abutment (C3) is threadedly connected to the threaded hole on the platform (C2).

3. The collection device for vibratory harvesting of forest fruits according to claim 2, characterized in that: The abutment (C3) is a rubber abutment.

4. The collection device for vibratory harvesting of forest fruits according to claim 1, characterized in that: The bottom surface of the collection frame (B2) is an inclined surface, and the bottom of the collection frame (B2) is hinged with a collection frame door (B21).

5. The collection device for vibratory harvesting of forest fruits according to claim 4, characterized in that: The distance between two adjacent barrier strips (E5) is less than the length of the collection box (B2).

6. The collection device for vibratory harvesting of forest fruits according to claim 1, characterized in that: The horizontal conveyor belt (E1) is made of rubber.

7. The collection device for vibratory harvesting of forest fruits according to claim 1, characterized in that: The main housing (F) is also equipped with a camera sensor (F1).

8. The collection device for vibratory harvesting of forest fruits according to claim 1, characterized in that: The walking mechanism (A) is a tracked walking mechanism.

9. The collection device for vibratory harvesting of forest fruits according to claim 7, characterized in that: It also includes an external controller, and the external controller, the walking mechanism (A), the camera sensor (F1) and the roller drive mechanism are all connected to a power source. The walking mechanism (A), the camera sensor (F1) and the roller drive mechanism are all connected to the external controller.

Images