Flexible fruit receiving system disc-shaped comb for mechanical fruit picking machine

Abstract

The invention relates to a disc-shaped comb system for flexible fruit receiving of a mechanical picking machine, which comprises two bearing cross beams (1.1) which are used as connecting components between a disc-shaped comb (4) and a picking machine structure and are arranged on the left side and the right side of a picking channel, so that the space around plants is completely sealed. And the lever (3) is rotatably connected to the bearing cross beam (1.1) and is used for positioning the disc comb (4) at the optimal fruit receiving position. The rotating disc (4) is composed of a disc body (4.1), a rotating shaft (4.2) with a center channel, a fruit receiving air cushion (4.4) made of rubber, a finger-shaped structure (4.5) and comb teeth (4.6). Air enters the system through an air channel (1.8) connected with a compressed air interface (1.4) of the picking machine, flows through channels in the lever (3) and the rotating shaft (4.2) and forms an air cushion (4.4) between the disc body (4.1) and the cover film, so that the fruits are flexibly received.

Description

Technical Field

[0001] The present invention relates broadly to the field of fruit picking, and more particularly to a device for shaking trees or shrubs, and more narrowly to a fruit picking device used in conjunction therewith.

[0002] Technical issues

[0003] The technical problem to be solved by the present invention is how to design a disc-shaped comb structure of a flexible fruit-picking system for mechanical fruit picking to achieve better proximity to the plant and close the open area around the branches, thereby reducing the possibility of fruit falling to the ground without damaging the fruit. The system should have the advantages of low cost, high reliability, simple structure, easy manufacturing, installation and maintenance, long service life and economical and practical. Background Art

[0004] Numerous fruit receiving device solutions are known from the prior art, which can be divided into two categories. The first category includes solutions with rotating fruit receiving plates, either with or without air cushions. For example, Serbian patent document RS60564B1 discloses a device entitled "Flexible Fruit Receiving Air Cushion for Mechanical Fruit Pickers," which is installed on opposite sides of the passageway of a mechanical fruit picker. The device consists of two rows of rotatably mounted plates on each side of the passageway, with each plate staggered with adjacent plates in the same row and opposite rows. These plates are made of plastic, with an elastic membrane fixed to the edge of their upper surface, forming an air cushion for flexible reception of the fruit. The interior of the air cushion is connected to the compressed air supply on the picker via a pneumatic duct.

[0005] A similar solution is also found in U.S. Patent Document No. US2011167778A1, entitled "Crop Receiving Device and Harvester Using the Device". The difference is that the plate does not have an air cushion, but an air flow channel is provided on the upper part to form a flexible fruit receiving device.

[0006] Devices with similar working principles are also found in U.S. Patent Document No. US2019281764A1, entitled “Berry Picker”, in which the plate is a frame structure, and flexible material is tensioned between the frames for flexible fruit receiving; another example is U.S. Patent Document No. US2017238465A1, entitled “Blueberry Picker and Picking Method Thereof”, which is equipped with a fruit receiving plate; another example is U.S. Patent Document No. US5647194A, entitled “Elastomeric Closing Spring”, in which the plate is elastically suspended by an elastomer block.

[0007] Chinese patent document CN206760109U, titled "A Fruit Tray Device for Mechanically Picking Small Berries," also describes rotating levers placed on either side of a mechanical picker's tunnel, with rotating discs located on the inner ends of the levers. Although these discs are made of flexible PVC, they lack the flexibility to connect the fruit and fail to effectively seal the gaps around the tree trunk.

[0008] In all the above solutions using relatively rigid boards, there is room for improvement, especially in terms of more effectively closing the free space around the tree trunk and improving the flexible fruit grafting effect in solutions without fruit grafting air cushions.

[0009] Another approach involves using fruit-collecting brushes. For example, British patent document GB2604387A, entitled "Fruit Collection Tool and Picker," discloses a fruit-collecting device comprising a pair of brush heads connected along a longitudinal axis, with bristles extending outward at angles to facilitate fruit collection. During fruit collection, one set of brushes passes along the row of trees, with adjacent bristles overlapping, thus reducing the open space and the risk of fruit falling.

[0010] Similarly, Soviet patent document SU1024031A1, entitled "Berry picking machine collector", and international patent application WO2020159371A1, entitled "Harvesting device and method for harvesting fruit hanging from a plant", also describe brushes arranged longitudinally, close to both sides of the row of fruit trees, to achieve flexible reception of fruit and completely close the space around each tree.

[0011] However, in the above three solutions, although the bristles are elastic and can flexibly receive fruits, their relatively long bristles may not be rigid enough to reliably receive heavy fruits, which may cause the fruits to fall. In addition, due to the complex structure of the brush, its manufacturing cost is relatively high. Summary of the Invention

[0012] The shortcomings of the prior art described above have been overcome by the present invention, which relates to a fruit collecting disc comb system for a tunnel-type fruit picker. The system comprises two substantially parallel, opposing load-bearing beams, each of which can be fixed to one side of a mechanical picker tunnel. A series of evenly spaced disc comb levers are rotatably connected to each beam, each of which is elastically supported. A disc-shaped structure is rotatably connected to the inner end of each lever. The levers are tilted so that their inner ends face outward and upward, causing the upper surface of the disc to tilt upward and outward. This allows the fruit to be collected in the side areas of the tunnel and transported, for example, via a belt conveyor. It should be noted that during the picking process, the picker moves at a constant speed (not stationary). During this process, the plants contact the levers, i.e., the discs, allowing the disc combs to rotate freely in a direction opposite to the direction of the picker's movement. Simultaneously, the free rotation of the discs transfers the fruit to the conveyor belt.

[0013] In one embodiment, the ends of the crossbeam are elastically supported by springs, preferably two coil springs on each side, and are provided with a support frame mounted on the picker. This structure allows the vibration of the picker to be transmitted to the fruit receiving system, and through this excitation, the fruit is forcibly transferred to the fruit receiving conveyor belt.

[0014] Radially arranged finger-like structures are securely attached to the edges of the discs. Flexible comb teeth are affixed laterally to each finger, slightly tilted upward relative to the longitudinal axis of the finger. To prevent overlap between adjacent fingers, the outer teeth of each finger are longest, decreasing in length towards the inner end. At least some of the teeth on each disc overlap with those on the disc combs in the same and opposite columns.

[0015] The use of a rotatable disc comb and flexible comb teeth (i.e., bristles) not only achieves flexible collection of fruits, but also effectively closes the opening area between the disc comb and the tree trunk, ensuring safe and reliable collection of fruits and preventing them from scattering or falling to the ground. In addition, the system has a simple structure and is easy to manufacture.

[0016] In one embodiment, the outer end of each lever extends beyond the crossbeam relative to the pivot point. This overhang is elastically supported on the support crossbeam. Specifically, one end of a tensioning spring is pivotally connected to the distal end of the lever's overhang, while the other end of the spring is pivotally connected to the outer edge of the crossbeam. This allows the levers to rest against tree trunks as the picker traverses the orchard, forming a tunnel-like mechanical picker structure that wraps around the tree trunks.

[0017] A stopper is provided at the outer end of each lever to limit the rotation of the lever relative to the crossbeam. Ideally, the stopper is arranged perpendicular to the rotation plane of the lever and can abut against the outer edge of the crossbeam at two extreme positions.

[0018] Each lever is preferably equipped with a tensioning system, namely a spring tensioning device comprising a spring secured to the outside of the crossbar via a tensioning profile. The tensioning profile has slotted holes that allow bolts to pass through connecting lugs and securely fasten it to the crossbar. Furthermore, one end of the profile is bolted to the connecting lug of the tensioning bolt, which is securely fastened to the outside of the crossbar, via the connecting lug. This tensioning system ensures that the lever rests securely against the tree trunk, allowing the disc comb to effectively close the gaps during the fruiting process.

[0019] In another embodiment, a membrane forming a fruit-catching air cushion is fixed to the upper edge of the disc body. The air cushion is filled with compressed air to further cushion the impact of fruits falling on the disc-shaped combing fruit-catching plate. Preferably, a central hole is provided in the center of the disc body, and a small shaft with a channel is connected to the lower side of the hole. The small shaft is fixed to the disc body so that the interior of the air cushion communicates with the channel connected to the compressed air interface, thereby maintaining a constant pressure in the air cushion. More preferably, the channel on the small shaft is connected to the compressed air interface on the mechanical picker through the hollow portion of the lever body, the hollow shaft of the lever, and an air channel provided on the crossbeam (preferably on its lower side).

[0020] In another embodiment, the sleeves are non-removably fixed radially along the edge of the disc. A finger-like structure is inserted into each sleeve and is preferably fixed securely by a screw passing through transversely aligned holes in the finger-like structure and the sleeve. In this way, the brush fingers can be securely mounted on the disc.

[0021] In another embodiment, each finger-shaped structure is provided with longitudinal channels on both sides for inserting and fixing the comb teeth. As an alternative, the finger-shaped structure can also be integrally cast with the comb teeth, for example, made in one piece by a casting process.

[0022] The basic shape of the disc body can be polygonal, preferably hexagonal or octagonal, or circular. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To facilitate understanding of the present invention and to illustrate its implementation in practice, the applicant refers to the accompanying drawings, in which:

[0024] Figure 1 – is an axonometric view showing the pneumatic channel assembly of a mechanical fruit picker with a disc comb system;

[0025] Figure 2 – Axonometric view showing the assembly for fruit reception by means of a disc comb;

[0026] Figure 3 –

[0027] a) Axonometric view showing the beam carrying the disc comb,

[0028] b) represents the detail "A" in Figure a,

[0029] c) an axonometric view showing a load-bearing beam with elastically supported ends,

[0030] d) represents detail "B" in Figure c,

[0031] e) represents detail "C" in Figure c;

[0032] Figure 4 –

[0033] a) Axonometric view of the spring tensioner,

[0034] b) represents detail "B" in Figure a,

[0035] c) represents detail "C" in Figure a;

[0036] Figure 5 – represents an axonometric view of the disc-shaped comb lever;

[0037] Figure 6 –

[0038] a) shows a top view of a rotating disk with comb teeth,

[0039] b) represents the DD cross-section in Figure a,

[0040] c) a bottom view showing the rotating disk with comb teeth;

[0041] Figure 7 –

[0042] a) Axonometric view of the integrally cast comb-shaped finger structure,

[0043] b) an axonometric view showing the finger structure with fixed comb channels,

[0044] c) shows the front view of the comb-tooth finger structure,

[0045] d) represents the EE cross-section in Figure c. DETAILED DESCRIPTION

[0046] The present invention relates to a disc-shaped comb system for flexibly receiving fruit during the harvesting process in a mechanical fruit picker. Its structure is shown in Figures 1 to 7. The system primarily comprises two longitudinally arranged, equal-length support beams. The disc-shaped combs are positioned on either side of the harvesting path, completely enclosing the space around the plants. The two beams are angled to avoid structural interference and achieve necessary overlap.

[0047] As shown in FIG2 , the disc comb system assembly includes: a bearing beam 1 subassembly, a spring tensioner 2 , a disc comb lever 3 and a rotating disc 4 with comb teeth.

[0048] The carrying crossbeam 1.1 serves to connect the disc comb to the harvester body and has the function of carrying the disc comb lever 3 and positioning it in the best fruit receiving position.

[0049] Multiple steel sleeves 1.2 are welded non-detachably along the length of the support beam 1.1, their number depending on the required length of the fruit-picking area. Brass sleeves 1.3 are embedded within the steel sleeves 1.2, serving as the contact surface between the steel sleeve 1.2 and the shaft 3.2 of the disc-shaped comb lever 3 during rotation, thereby reducing material wear. An air connection 1.4 is connected to one end of the support beam 1.1, supplying air to an air channel 1.8, located on the beam 1.1, preferably on its underside, to form an air cushion structure with the comb discs. Furthermore, support ears 1.5, tensioner ears 1.6, and tensioning bolt ears 1.7 are provided at each end of the support beam 1.1 (see Figure 3 for details). Instead of being rigidly fixed to the harvester body, the ends of the support beam 1.1 are elastically supported by springs 1.9 and the support ears 1.5, allowing the beam 1.1 to move in a nearly vertical direction. Optimally, a pair of coil springs are provided at each end of the support beam to provide support.

[0050] The tensioner 2 consists of an L-shaped profile 2.1, connected to the support beam 1.1 via a tensioner ear 1.6 and bolts 2.3. The L-shaped profile 2.1 is provided with a hole for attaching a tensioning spring 2.2. A tensioning ear 1.7 is fixed to one end of the support beam 1.1. This ear is connected to the L-shaped profile 2.1 via a tensioning bolt 2.4, driving the L-shaped profile 2.1 to move linearly, thereby increasing or decreasing the tension in the tensioning spring 2.2. This spring is used to return the disc-shaped comb lever 3 to its initial position, as shown in Figure 4.

[0051] The disc-comb lever 3 consists of a lever body 3.1, with a lever shaft 3.2 permanently attached to one end. A lever stopper 3.3 is positioned vertically below the lever, along with a lever ear 3.5 for connecting to a tensioning spring 2.2. A lever sleeve 3.4 is located at the other end, opposite the lever shaft 3.2. The lever shaft 3.2 is inserted into a steel sleeve 1.2 fixed to the support beam 1.1, while the stopper 3.3 abuts against the sidewall of the support beam 1.1, limiting the lever's rotation to two positions. Because the beams 1.1 are rotated at a certain angle relative to each other, the two rows of levers 3 arranged opposite each other form an angle, with their inner ends tilted upward and outward. This not only prevents collisions between the disc combs and allows them to overlap, but also allows fruit to be collected at the edge of the tunnel (e.g., by a belt conveyor). The initial or "zero" position of the lever stopper 3.3 indicates that the disc 4 is not in contact with the trunk or branches of the plant. When in contact with the trunk or branches, the disc comb lever 3 rotates a certain angle to clear branches or other obstacles, allowing the disc with comb teeth to enter the optimal fruit-receiving position. The second position of the stopper 3.3 represents the maximum rotation angle of the lever, which is reset by the tension spring 2.2 connected to it. The disc rotating shaft 4.2 is inserted into the lever sleeve 3.4, as shown in Figure 5.

[0052] The comb-toothed rotating disk 4 includes a disk body 4.1, which can be octagonal, hexagonal, or circular. A rotating shaft 4.2 is non-detachably fixed to the disk body, the other end of which is inserted into the lever sleeve 3.4. The rotating shaft 4.2 ensures that the disk body can rotate freely within the sleeve 3.4. Air from the air interface 1.4 passes through the air channel 1.8 on the supporting crossbeam 1.1, enters the lever shaft 3.2, the lever body 3.1, the lever sleeve 3.4, and then enters the central channel of the rotating shaft 4.2, ultimately being delivered to the upper surface of the disk body, where the rubber fruit receiving air cushion 4.4 is located. The outer periphery of the disk body 4.1 is coated with a neoprene or silicone membrane. Air is supplied through the central channel of the rotating shaft 4.2 to form an air cushion, creating a thin air layer between the disk body 4.1 and the rubber membrane, thereby constructing the fruit receiving air cushion 4.4 and enabling flexible reception of fruit. The free rotation of the disc 4 directs the fruit toward the picker's conveyor system and provides optimal positioning for the fingers 4.5 to wrap around the tree trunks and branches. Sleeves 4.3, which hold the fingers 4.5, are non-removably attached to the edge of the disc 4.1. The fingers 4.5 are inserted into the sleeves 4.3 and secured with screws inserted through transversely aligned holes in the fingers 4.5 and sleeves 4.3 to prevent them from rotating or falling out. The fingers 4.5 are arranged in a circular pattern along the edge of the disc 4.1, their number determined by the disc's shape. This determines the angle between adjacent fingers to be 360° / n, as shown in Figure 6.

[0053] The finger-like structure 4.5 can be integrally cast with the comb teeth 4.6, as shown in FIG7a, or can be a cylindrical cross-sectional structure of a specific length, with grooves provided on its side for fixing the comb teeth 4.6. The comb teeth are fixed at a specific angle so that they are tilted upward, preferably at an angle of 10 degrees, to achieve stable retention of the fruit, as shown in FIG7b, c, and d.

[0054] Comb teeth 4.6 are made of polyurethane or other soft rubber and are used to fill the gaps between adjacent finger-like structures 4.5. The distance between and length of the teeth 4.6 determine the comb's rigidity and flexibility, which is crucial for sealing the space around plants and preventing fruit from falling. To prevent overlapping and collision between the teeth 4.6 on adjacent fingers 4.5, the teeth on the outer ends of each finger-like structure 4.5 are longest, and their length gradually decreases towards the inner ends.

[0055] The operating principle of the disc-shaped comb system for flexible fruit collection in mechanical harvesters described herein is simple and can be clearly understood from the detailed description and accompanying drawings. Specifically, air supplied via air port 1.4 passes through air channel 1.8 located below support beam 1.1, sequentially flowing through lever shaft 3.2 embedded in steel sleeve 1.2, lever body 3.1, lever sleeve 3.4, and finally through disc rotating shaft 4.2, forming a thin layer of air between disc body 4.1 and the covering film, thereby forming fruit-collecting air cushion 4.4, enabling flexible fruit collection.

Claims

1. A disc comb system for flexible fruit picking by a mechanical picker, comprising rotatable disc comb levers (3) arranged in a row at a certain inclination angle, the inner ends of which are upwardly and outwardly inclined, and the outer ends of which are rotatably connected to two supporting beams (1.1), the levers (3) being elastically supported on the beams (1.1), the beams (1.1) being substantially parallel and opposite to each other, and being suitable for installation on both sides of a mechanical picker channel, characterized in that: A disc body (4.1) is rotatably connected to a rotation plane at the inner end of each lever (3). The edge of the disc body is fixedly connected to a plurality of radially distributed finger-like structures (4.5). Flexible comb teeth (4.6) are laterally fixed on both sides of each finger-like structure (4.5). The comb teeth are upwardly tilted relative to the longitudinal axis of the finger-like structure (4.5), wherein at least part of the comb teeth (4.6) partially overlaps with the comb teeth (4.6) of the adjacent disc-shaped comb. The comb teeth (4.6) at the outer end of each finger-like structure (4.5) are the longest and gradually become shorter towards the inner end.

2. The system according to claim 1, wherein: Both ends of the load-bearing crossbeam (1.1) are elastically supported by springs (1.9), and the lower end of the spring is supported on an ear plate (1.5) suitable for being firmly connected to a mechanical picking machine.

3. The system according to claim 1 or 2, characterized in that: The outer end of each lever (3) extends beyond the bearing crossbeam (1.1) and is provided with a tensioning spring (2.2) to achieve elastic support of the lever (3), wherein one end of the tensioning spring (2.2) is rotatably connected to the outer side of the bearing crossbeam (1.1), and the other end is rotatably connected to the extended end of the lever (3) through an ear plate (3.5).

4. A system according to any preceding claim, characterised in that: A limiter (3.3) is provided at the outer end of each lever (3) perpendicular to its rotation plane, for supporting the lever (3) on the supporting beam (1.1) at two extreme positions.

5. The system according to claim 3, wherein: The spring (2.2) is fixed to the outside of the crossbeam (1.1) through a tensioning profile (2.1). The tensioning profile (2.1) is drilled with a slide slot hole and is firmly connected to the crossbeam (1.1) through a bolt (2.3) passing through an ear plate (1.6). One end of the tensioning profile (2.1) is connected to the ear plate (1.7) fixed to the outside of the crossbeam (1.1) through a tensioning bolt (2.4).

6. The system according to claim 1 or 2, characterized in that: A membrane is fixed to the upper edge of the tray (4.1), and the membrane forms a fruit receiving air cushion (4.4) filled with pressurized air.

7. The system according to claim 6, characterized in that: An opening is provided in the center of the disc body (4.1), the lower part of which is connected to a hollow rotating shaft (4.2). The shaft is non-detachably fixed to the disc body (4.1), and a channel is provided in the shaft for connecting to a compressed air interface (1.4) on the picking machine.

8. The system according to claim 7, characterized in that: The hollow rotating shaft (4.2) is connected to the compressed air interface (1.4) of the picking machine through an air channel (1.8) provided on the bearing crossbeam (1.1), and is connected to the hollow lever body (3.1) through the hollow lever shaft (3.2).

9. The system according to claim 1, 2 or 6, characterized in that: The finger structure (4.5) is fixed to the disc body (4.1) by inserting the finger sleeve (4.3), which is non-detachably fixed along the radial edge of the disc body (4.1). The finger structure (4.5) and the finger sleeve (4.3) are connected by screws passing through their transversely aligned holes.

10. The system according to claim 1, 2 or 6, characterized in that: The finger-shaped structure (4.5) and the comb teeth (4.6) are integrally formed.

11. The system according to claim 1, 2 or 6, characterized in that: Two opposite sides of the finger-like structure (4.5) are provided with channels, and one end of the comb tooth (4.6) is inserted into the channel and fixed.

12. The system according to claim 1, 2 or 6, characterized in that: The disc body (4.1) is a polygonal structure.

13. The system according to claim 1, 2 or 6, characterized in that: The disc body (4.1) is a circular structure.

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