Pepper picking device

Abstract

The invention discloses a pepper picking device, and relates to the technical field of agricultural machinery. The device comprises a shell, a side cover plate, a picking mechanism, a branch retreating mechanism, a connecting rod driving mechanism, a gear driving mechanism and an eccentric driving mechanism; the side cover plate is connected with the shell; the picking mechanism comprises a left picking roller and a right picking roller which are located in the shell, the left picking roller comprises a roller body a and comb teeth a, and the right picking roller comprises a roller body b and comb teeth b; the branch retreating mechanism comprises a left roller and a right roller which are located in the shell and located on the upper portion of the picking mechanism. Through the unique picking and branch retreating mechanism design, pepper damage is effectively reduced, bud bags are protected, and the yield of the next year is guaranteed; the compression roller rod elastically stretches and retracts to adapt to branch buds of different sizes, and adaptability is enhanced; a photoelectric sensor realizes intelligent detection and control, and the picking precision is improved; the overall structure is compact, design is reasonable, and operation is stable and reliable; the device is beneficial to promoting the modernization of the pepper industry, reducing the production cost and increasing the income of farmers.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a pepper harvesting device. Background Technology

[0002] Sichuan pepper, a robust and resilient economic crop, is widely cultivated in hilly and mountainous areas, becoming a vital pillar of the local agricultural industry and playing a significant role in increasing farmers' income. However, the harvesting process has long relied primarily on manual labor, resulting in low efficiency, high labor intensity, the risk of injury, and high labor costs. This severely restricts farmers' economic benefits and the further development of the Sichuan pepper industry.

[0003] Currently, although various pepper harvesting devices have appeared on the market, most have obvious drawbacks. For example, shearing-type harvesting devices require precise location of the pepper root for cutting, which is not only inefficient but also easily damages the buds at the root, affecting the following year's yield. Brush-type harvesting devices, on the other hand, easily pull pepper branches into the device, causing them to get stuck or break, similarly damaging the buds and thus affecting yield. Furthermore, these existing devices often require manual, precise positioning of the pepper fruit stalks, further increasing the difficulty and time cost of harvesting, and failing to meet the needs of the pepper industry for large-scale, high-efficiency development.

[0004] Therefore, developing an efficient, intelligent, and low-damage pepper harvesting device is key to solving the current pepper harvesting problems and promoting the sustainable and healthy development of the pepper industry. Summary of the Invention

[0005] The purpose of this invention is to provide a pepper harvesting device that, through unique mechanical design and control technology, enables rapid and non-destructive harvesting of pepper, significantly improves harvesting efficiency, reduces labor intensity, and provides strong support for the modernization and transformation of the pepper industry.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a pepper harvesting device, comprising a housing, side cover plates, a harvesting mechanism, a branch-removing mechanism, a linkage drive mechanism, a gear drive mechanism, and an eccentric drive mechanism; the side cover plates are connected to the housing; the harvesting mechanism includes a left harvesting roller and a right harvesting roller, located inside the housing, the left harvesting roller including roller body a and comb teeth a, and the right harvesting roller including roller body b and comb teeth b; the branch-removing mechanism includes a left roller and a right roller, located inside the housing and above the harvesting mechanism; the linkage drive mechanism is symmetrically distributed on both sides of the housing and connected to the harvesting mechanism and the branch-removing mechanism respectively, including a swing rod, a drive rod, a push rod, a rotating rod, a roller swing rod, and a roller push rod. The system comprises a rod, a pressure roller rod, a roller connecting rod, and a rotating shaft; a swing rod including a chute and a swing center; a rotating rod including a rotation center; an eccentric shaft for an eccentric drive mechanism installed within the chute; the swing rod, drive rod, push rod, rotating rod, pressure roller rod, roller connecting rod, and roller swing rod connected in sequence; the roller push rod is connected to the rotating rod and roller swing rod at both ends; the rotating shaft connects the drive rod to two symmetrically distributed push rods, and the rotating shaft is connected to the housing via a straight chute, ensuring that the rotating shaft always maintains a vertical reciprocating motion along the housing, guaranteeing that the linkage drive mechanism drives the two picking rollers of the picking mechanism and the two rollers of the branch removal mechanism to perform symmetrical opposite movements.

[0007] In a preferred embodiment of the present invention, the gear drive mechanism is installed on both sides of the housing and connected to the picking mechanism and the branch removal mechanism respectively. It includes a gear drive motor, a motor gear, a drive gear, a transmission gear, a rotating gear, a roller transmission gear, a picking mechanism gear, a roller rotating gear, a reversing gear, and a gear drive shaft. The output shaft of the gear drive motor is fixedly connected to the motor gear. The gear drive shaft is fixedly connected to two drive gears on both sides. The left and right picking rollers are respectively fixedly connected to a set of roller transmission gears and a picking mechanism gear. The left and right rollers are respectively fixedly connected to a roller rotating gear. The motor gear is connected to the drive gear, transmission gear, rotating gear, and picking mechanism gear in a specific configuration. The first meshing drives the left picking roller on the left to rotate; the motor gear, through the left drive gear, gear transmission shaft, and right drive gear, sequentially meshes with the transmission gear, reversing gear, rotating gear, and picking mechanism gear to drive the right picking roller on the right to rotate; the left and right picking rollers rotate in opposite directions; the two sets of sequentially meshing roller transmission gears and roller rotating gears drive the left and right rollers to rotate in opposite directions respectively; the gear drive mechanism achieves the opposite rotation of the two rollers of the picking mechanism through a series of gear meshing, and at the same time drives the two rollers of the branch removal mechanism to rotate in opposite directions through gear meshing, and the rotation direction is opposite to that of the rollers of the picking mechanism and the rollers of the branch removal mechanism, so that the pepper branches and buds after the pepper is picked are removed from the picking device.

[0008] As a preferred embodiment of the present invention, the eccentric drive mechanism is connected to the linkage drive mechanism and includes a linkage drive motor, a linkage drive motor gear, an eccentric drive wheel, and a transmission shaft. The eccentric drive wheel includes an eccentric drive gear and an eccentric shaft. Two eccentric drive wheels are installed at both ends of the transmission shaft and are symmetrically distributed on the left and right.

[0009] As a preferred embodiment of the present invention, the sliding groove of the swing rod includes an inner straight sliding groove, a circular sliding groove, and an outer straight sliding groove. The three sliding grooves are connected in sequence to form a three-section sliding groove. At the same time, the center of the circular arc sliding groove is located at the center of the eccentric drive wheel. In the structural design of the three-section sliding groove and the eccentric drive mechanism, the eccentric shaft of the eccentric wheel rotates within the circular arc sliding groove at an angle α, and the position of the eccentric drive mechanism remains unchanged, thereby ensuring that the branch removal mechanism has sufficient time to remove the pepper branch from the picking device.

[0010] As a preferred embodiment of the present invention, the pressure roller rod includes a rod body, an elastic element, and a rod sleeve; after installation, there is a 3mm compression gap between the rod body and the rod sleeve, which can realize the extension and retraction of the pressure roller rod length, ensuring that the two rollers of the branch-removing mechanism have sufficient pressure on the pepper buds to complete the branch removal, while ensuring that it can adapt to the branch removal of pepper buds of different sizes.

[0011] As a preferred embodiment of the present invention, the housing includes a rotating gear mounting hole, a feed inlet, a linkage mechanism drive motor shaft hole, an eccentric shaft mounting hole, a swing center mounting hole, a linear slide, a connecting channel, a gear drive motor shaft hole, a transmission shaft mounting hole, a rotating rod mounting hole, and a transmission gear mounting hole; the rotating gear mounting hole is used to connect the rotating gear and the roller swing rod; the swing center mounting hole is used to connect the swing rod and is coaxial with the swing center; the linear slide connects the rotating shaft, and the rotating shaft connects to two push rods simultaneously; the connecting channel connects to the collection pipe; the rotating rod mounting hole is coaxially mounted with the rotation center of the rotating rod connected to the rotating rod; and the transmission gear mounting hole connects to the transmission gear.

[0012] As a preferred embodiment of the present invention, the surfaces of the left picking roller (a) and the comb teeth (a) of the picking mechanism are both covered with a soft material; the surfaces of the right picking roller (b) and the comb teeth (b) are both covered with a soft material; the comb teeth (a) of the left picking roller are symmetrically distributed in a spiral shape on both sides with the center as the reference point; the comb teeth (b) of the right picking roller are symmetrically distributed in a spiral shape on both sides with the center as the reference point, which facilitates the gathering of peppercorns towards the center; the comb teeth comb the peppercorns off the ground, achieving rapid picking without the need for cutting tools to cut the peppercorn stems and branches.

[0013] As a preferred embodiment of the present invention, the left roller of the branch-removing mechanism is covered with a soft material, and the right roller is covered with a soft material; the left roller includes a roller body a and a number of evenly distributed protrusions a, and the right roller includes a roller body b and a number of evenly distributed protrusions b, and the multiple protrusions make it easier for the roller to clamp the pepper branches.

[0014] As a preferred technical solution of the present invention, it also includes a photoelectric sensor fixed to the side cover plate. Its light can shine into the inside of the feed inlet through the through hole on the housing, which can detect the peppercorns entering the harvesting device from the feed inlet and transmit the signal to the control system.

[0015] The present invention has the following beneficial effects: This invention, through the optimized harvesting mechanism, utilizes the opposing rotation of left and right harvesting rollers and the spiral symmetrical distribution of comb teeth to achieve rapid gathering and combing of peppercorns, eliminating the need for precise manual positioning of peppercorn stems and significantly improving harvesting efficiency.

[0016] This invention achieves automatic detection of peppercorns entering the harvesting device by introducing photoelectric sensors, and triggers the harvesting action through the control system, thereby improving the level of automation in harvesting, reducing manual intervention, and further improving harvesting efficiency and accuracy.

[0017] The unique design of the harvesting and branch-removing mechanisms in this invention avoids damage to the buds at the base of the pepper plant by the shearing blades, and also prevents the pepper branches from being pulled into the device during the combing process, thus preventing them from getting stuck or broken. This effectively protects the pepper buds and reduces the loss of yield in the following year.

[0018] This invention, through the telescopic design of the pressure roller rod, ensures that pepper branches of different diameters have sufficient pressure and gap to remove them from the harvesting device, preventing them from getting stuck or damaging the pepper buds due to excessively thick branches.

[0019] The components of this invention are compactly arranged. Through the precise coordination of the linkage drive mechanism and the gear drive mechanism, the sequential and precise control of the picking and branch removal actions are achieved, ensuring the overall stability and reliability of the device.

[0020] This invention utilizes a special groove design in the swing rod of the linkage drive mechanism to ensure that the linkage drive mechanism pauses for a period of time after moving to its limit position, thus guaranteeing that the branch removal mechanism has sufficient time to remove the pepper branch.

[0021] This invention, through the innovative design of the eccentric drive mechanism and the swing rod, significantly shortens the return process time compared to the picking process, ensuring sufficient picking time within a picking cycle and quickly returning to the initial position, thus saving time.

[0022] This invention avoids damage to the peppercorns caused by hard contact by wrapping the surfaces of the two rollers of the harvesting mechanism and the two rollers of the branch removal mechanism with soft material.

[0023] This invention uses a branch-removing mechanism with two rollers rotating in opposite directions to push the pepper leaves out of the harvesting device, reducing damage to the branches and leaves and lowering the impurity content.

[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the pepper harvesting process according to the present invention.

[0028] Figure 3 This is a schematic diagram of the eccentric drive mechanism and gear drive mechanism of the present invention.

[0029] Figure 4 This is a schematic diagram of the linkage drive mechanism of the present invention.

[0030] Figure 5 This is a partially enlarged view of the swing rod slide and eccentric drive mechanism of the present invention.

[0031] Figure 6 This is a schematic diagram of the harvesting mechanism of the present invention.

[0032] Figure 7 This is a schematic diagram of the branch removal mechanism of the present invention.

[0033] Figure 8 This is a cross-sectional view of the pressure roller rod of the present invention.

[0034] Figure 9 This is a schematic diagram of the housing of the present invention.

[0035] Figure 10 This is a schematic diagram of the center displacement of the roller in the branch removal mechanism of the present invention.

[0036] The attached diagram lists the components represented by each number as follows: 1. Housing; 10. Rotating gear mounting hole; 11. Feed inlet; 12. Linkage mechanism drive motor shaft hole; 13. Eccentric shaft mounting; 14. Swing center mounting hole; 15. Linear slide; 16. Connecting channel; 17. Gear drive motor shaft hole; 18. Transmission shaft mounting hole; 19. Rotating rod mounting hole; 192. Transmission gear mounting hole; 2. Side cover plate; 3. Harvesting mechanism; 31. Right harvesting roller; 311. Roller 312. Comb teeth b; 32. Left picking roller; 321. Roller body a; 322. Comb teeth a; 4. Branch removal mechanism; 41. Right roller; 42. Left roller; 411. Roller body b; 412. Protrusion b; 421. Roller body a; 422. Protrusion a; 5. Linkage drive mechanism; 51. Swing rod; 511. Slide groove; 5111. Inner straight slide groove; 5112. Circular arc slide groove; 5113. Outer straight slide groove 512. Swing center; 52. Drive rod; 53. Push rod; 54. Rotating rod; 541. Rotating rod rotation center; 55. Roller swing rod; 56. Roller push rod; 57. Pressure roller rod; 571. Rod body; 572. Elastic element; 573. Rod sleeve; 58. Roller connecting rod; 59. Rotating shaft; 6. Gear drive mechanism; 60. Gear drive motor; 61. Motor gear; 62. Drive gear; 63. Transmission gear; 64. Rotating gear; 65. Roller transmission gear; 66. Harvesting mechanism gear; 67. Roller rotating gear; 68. Reversing gear; 69. Gear transmission shaft; 7. Eccentric drive mechanism; 71. Linkage mechanism drive motor; 72. Linkage mechanism drive motor gear; 73. Eccentric drive wheel; 731. Eccentric drive gear; 732. Eccentric shaft; 74. Transmission shaft; 8. Photoelectric sensor; 9. Side cover plate b. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Specific Implementation Example 1: Please see Figure 1-10 As shown, the present invention is a pepper harvesting device, the structure of which includes a shell 1, a side cover plate 2, a harvesting mechanism 3, a branch removal mechanism 4, a connecting rod drive mechanism 5, a gear drive mechanism 6, and an eccentric drive mechanism 7.

[0039] Side cover 2 is connected to housing 1. Harvesting mechanism 3 includes a left harvesting roller 32 and a right harvesting roller 31, located inside housing 1. Left harvesting roller 32 includes roller body a321 and comb teeth a322, and right harvesting roller 31 includes roller body b311 and comb teeth b312. Branch removal mechanism 4 includes a left roller 42 and a right roller 41, located inside housing 1 and above harvesting mechanism 3. Linkage drive mechanism 5 is symmetrically distributed on both sides of housing 1 and connected to harvesting mechanism 3 and branch removal mechanism 4 respectively. It includes swing rod 51, drive rod 52, push rod 53, rotating rod 54, roller swing rod 55, roller push rod 56, pressure roller rod 57, roller connecting rod 58, and rotating shaft 59. Swing rod 51 includes a groove 511 and swing center 512. Rotating rod 54 includes a rotating rod rotation center 541. Eccentric shaft 732 of eccentric drive mechanism 7 is installed in groove 511.

[0040] The swing rod 51, drive rod 52, push rod 53, rotating rod 54, pressure roller rod 57, roller connecting rod 58, and roller swing rod 55 are connected in sequence. The roller push rod 56 is connected to the rotating rod 54 and the roller swing rod 55 at both ends. The rotating shaft 59 connects the drive rod 52 to two symmetrically distributed push rods 53. At the same time, the rotating shaft 59 is connected to the housing 1 through the linear slide groove 15, so that the rotating shaft always maintains a reciprocating motion along the vertical straight line of the housing 1. This ensures that the linkage drive mechanism 5 drives the two picking rollers of the picking mechanism 3 and the two rollers of the branch removal mechanism 4 to move symmetrically in opposite directions.

[0041] Figure 3 As shown, the gear drive mechanism 6 is installed on both sides of the housing 1 and is connected to the picking mechanism 3 and the branch removal mechanism 4 respectively. It includes a gear drive motor 60, a motor gear 61, a drive gear 62, a transmission gear 63, a rotating gear 64, a roller transmission gear 65, a picking mechanism gear 66, a roller rotating gear 67, a reversing gear 68, and a gear drive shaft 69.

[0042] The output shaft of the gear drive motor 60 is fixedly connected to the motor gear 61. The gear transmission shaft 69 is fixedly connected to two drive gears 62 on both sides. The left picking roller 32 and the right picking roller 31 are respectively fixedly connected to a set of roller transmission gears 65 and picking mechanism gears 66. The left roller 42 and the right roller 41 are respectively fixedly connected to a roller rotation gear 67.

[0043] The motor gear 61 meshes sequentially with the drive gear 62, transmission gear 63, rotating gear 64, and harvesting mechanism gear 66, driving the left harvesting roller 32 to rotate. The motor gear 61, through the left drive gear 62, gear transmission shaft 69, and right drive gear 62, meshes sequentially with the transmission gear 63, reversing gear 68, rotating gear 64, and harvesting mechanism gear 66, driving the right harvesting roller 31 to rotate. The left and right harvesting rollers 32 rotate in opposite directions.

[0044] Two sets of sequentially meshing roller drive gears 65 and roller rotation gears 67 drive the left roller 42 and right roller 41 to rotate in opposite directions, respectively. The gear drive mechanism 6 achieves the opposite rotation of the two rollers of the picking mechanism 3 through a series of gear meshing, and at the same time drives the two rollers of the branch removal mechanism 4 to rotate in opposite directions through gear meshing, and the rotation direction is opposite to that of the rollers of the picking mechanism and the rollers of the branch removal mechanism, so that the pepper branches and buds after the pepper are picked are removed from the picking device.

[0045] Figure 3 , Figure 4 , Figure 5 As shown, the eccentric drive mechanism 7 is connected to the linkage drive mechanism 5 and includes a linkage drive motor 71, a linkage drive motor gear 72, an eccentric drive wheel 73, and a transmission shaft 74. The eccentric drive wheel 73 includes an eccentric drive gear 731 and an eccentric shaft 732. The two eccentric drive wheels 73 are installed at both ends of the transmission shaft 74 and are symmetrically distributed on the left and right.

[0046] like Figure 5 As shown, the sliding groove 511 of the swing rod 51 includes an inner straight sliding groove 5111, a smooth sliding groove 5112, and an outer straight sliding groove 5113. The three grooves are smoothly connected in sequence to form a three-section sliding groove. At the same time, the center of the central circle of the arc sliding groove 5112 is located at the center of the eccentric drive wheel 73. In the structural design of the three-section sliding groove and the eccentric drive mechanism, the eccentric shaft 732 of the eccentric wheel rotates within the arc sliding groove 5112 at a rotation angle α, and the position of the eccentric drive mechanism remains unchanged, thereby ensuring that the branch removal mechanism 4 has sufficient time to remove the pepper branches from the picking device. In particular, the specific structural design of "the center of the arc sliding groove coincides with the center of the eccentric wheel, so that the connecting rod remains stationary within a specific angle range" is used to extend the branch removal time and shorten the reset time.

[0047] like Figure 5 , Figure 10 As shown, the innovatively designed eccentric drive mechanism 7 and the three-section slide on the specially designed swing rod 51 can ensure sufficient time for the picking process. After the picking is completed, the picking mechanism and the branch removal mechanism can quickly return, saving time. The time to return to the initial position is less than the time of the picking process.

[0048] like Figure 8 As shown, the pressure roller rod 57 includes a rod body 571, an elastic element 572, and a sleeve 573. After installation, there is a 3mm compression gap between the rod body 571 and the sleeve 573, which allows for the extension and retraction of the pressure roller rod length. This ensures that the two rollers of the branch-removing mechanism 4 have sufficient pressure on the pepper buds to complete the branch removal, while also ensuring adaptability to branch removal of pepper buds of different sizes.

[0049] like Figure 9As shown, the housing 1 includes a rotating gear mounting hole 10, a feed inlet 11, a linkage mechanism drive motor shaft hole 12, an eccentric shaft mounting hole 13, a swing center mounting hole 14, a linear slide 15, a connecting channel 16, a gear drive motor shaft hole 17, a transmission shaft mounting hole 18, a rotating rod mounting hole 19, and a transmission gear mounting hole 192.

[0050] The rotating gear mounting hole 10 is used to connect the rotating gear 64 and the roller swing arm 55. The swing center mounting hole 14 is used to connect the swing arm 51 and is coaxial with the swing center 512. The linear groove 15 connects the rotating shaft 59, and the rotating shaft 59 also connects to two push rods 53. The connecting channel 16 connects to the collection pipe. The rotating rod mounting hole 19 is coaxially mounted with the rotating rod rotation center 541 that connects to the rotating rod 54. The transmission gear mounting hole 192 connects to the transmission gear 63.

[0051] like Figure 6 As shown, the surfaces of the left harvesting roller 32 (roller body a321) and comb teeth a322 of the harvesting mechanism 3 are covered with a soft material. The surfaces of the right harvesting roller 31 (roller body b311) and comb teeth b312 are also covered with a soft material. The comb teeth a322 of the left harvesting roller 32 are symmetrically distributed in a spiral pattern on both sides, with the center as the reference point. The comb teeth b312 of the right harvesting roller 31 are symmetrically distributed in a spiral pattern on both sides, facilitating the gathering of peppercorns towards the center. The comb teeth comb the peppercorns off the roller, achieving rapid harvesting without the need for cutting tools to cut the peppercorn stems and branches.

[0052] like Figure 7 As shown, the left roller 42 and right roller 41 of the branch-removing mechanism 4 are covered with a soft material. The left roller 42 includes a roller body a421 and several evenly distributed protrusions a422, while the right roller 41 includes a roller body b411 and several evenly distributed protrusions b412. The multiple protrusions make it easier for the rollers to clamp the pepper branches. A pair of branch-removing rollers reverse the direction of the pepper branches that have been harvested in the pepper harvesting device and exit the harvesting device. The working sequence of the harvesting mechanism 3 and the branch-removing mechanism 4 is as follows: the rollers of the harvesting mechanism 3 drive the pepper clusters inward to simultaneously comb and harvest the peppers. After that, the two rollers of the branch-removing mechanism 4 are closest together, pulling the pepper branches out of the harvesting device. This design avoids damage to the buds at the root of the pepper fruit stalk caused by the shearing of the cutting blades, which would affect the yield of the following year. It also avoids the pepper branches being brought into the harvesting device by ordinary simple combing, which could cause jamming or breakage of the pepper branches, damaging the buds and affecting the yield of the following year. At the same time, it eliminates the need to precisely locate the stem of the Sichuan pepper fruit, saving harvesting time and improving harvesting efficiency.

[0053] The linkage drive mechanism 5 synchronously drives a pair of rollers of the picking mechanism 3 and the branch-removing mechanism 4 to move towards the center and then return to the initial position, completing one picking action. The two rollers of the branch-removing mechanism 4 have a large swing distance, while the two rollers of the picking mechanism 3 have a small swing distance, ensuring that in the initial state, the two rollers of the branch-removing mechanism 4 are outside the picking opening range and do not affect the entry of peppercorns. After picking peppercorns, the branch-removing of peppercorns can be achieved.

[0054] The eccentric drive mechanism, through its specially designed three-section slide groove in conjunction with the swing rod in the linkage drive mechanism, drives the picking mechanism 3 and the branch-removing mechanism 4 to complete their operations. Simultaneously, it ensures that when the eccentric shaft in the eccentric drive mechanism moves within the included angle α within this arc range, the eccentric linkage drive mechanism remains stationary, allowing the linkage mechanism, picking mechanism, and branch-removing mechanism to remain in their extreme positions for a period of time. Figure 10 The display shows the branch removal stage, ensuring the branch removal mechanism has sufficient time to remove the pepper branches. Furthermore, after the pepper branches are removed, the eccentric drive mechanism and swing rod design ensure the return time after harvesting is shorter than the harvesting stage (e.g., ...). Figure 10 ).

[0055] like Figure 1 As shown, a pepper harvesting device also includes a photoelectric sensor 9, which is fixed to the side cover plate 2. Its light can shine into the feed inlet through the through hole on the housing 1, and can detect the peppers entering the harvesting device from the feed inlet and transmit the signal to the control system.

[0056] In specific implementation, the control logic is as follows: the photoelectric sensor 8 detects that peppercorns have entered the harvesting device. The control system receives the signal from the photoelectric sensor 8, and the programmable controller in the control system sends an instruction to the driver to control the gear drive motor 60 to rotate. The gear drive motor 60 drives the two harvesting rollers of the harvesting mechanism 3 to rotate in opposite directions through the gears in the gear drive mechanism to perform the harvesting operation. At the same time, it drives the two rollers of the branch removal mechanism to rotate in opposite directions, and the harvesting rollers and the rollers of the branch removal mechanism 4 located on the same side rotate in opposite directions. Meanwhile, the programmable controller sends an instruction to the driver to control the linkage mechanism drive motor 71 in the eccentric drive mechanism to rotate. Through the eccentric drive mechanism 7 and the linkage drive mechanism 5, the two harvesting rollers of the harvesting mechanism 3 and the two rollers of the branch removal mechanism 4 move towards the center respectively. When the limit position is reached, the linkage drive mechanism 5 returns to the initial position. After returning to the initial position, the linkage mechanism drive motor 71 and the gear drive motor 60 stop working and enter the next working preparation state.

[0057] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A device for harvesting Sichuan peppercorns, characterized in that: It includes a housing (1), a side cover plate (2), a picking mechanism (3), a branch removal mechanism (4), a linkage drive mechanism (5), a gear drive mechanism (6), and an eccentric drive mechanism (7). The side cover plate (2) is connected to the housing (1); The picking mechanism (3) includes a left picking roller (32) and a right picking roller (31) located inside the housing (1) and arranged opposite to each other. Each picking roller includes a roller body and comb teeth. The branch removal mechanism (4) includes a left roller (42) and a right roller (41) located above the picking mechanism (3). The linkage drive mechanism (5) is installed on both sides of the housing (1), symmetrically distributed, and connected to the picking mechanism (3) and the branch removal mechanism (4) to drive them to move towards each other; The gear drive mechanism (6) is installed on both sides of the housing (1) and connected to the picking mechanism (3) and the branch removal mechanism (4) to realize the opposite rotation of the rollers; The eccentric drive mechanism (7) is connected to the linkage drive mechanism (5) to provide driving force.

2. The pepper picking device according to claim 1, characterized in that, The linkage drive mechanism (5) includes a swing rod (51), a drive rod (52), a push rod (53), a rotating rod (54), a roller swing rod (55), a roller push rod (56), a pressure roller rod (57), a roller connecting rod (58), and a rotating shaft (59); the swing rod (51) is provided with a three-section slide groove (511), which cooperates with the eccentric shaft (732) of the eccentric drive mechanism (7) to achieve precise control of picking and branch removal actions; The swing rod (51), drive rod (52), push rod (53), rotating rod (54), pressure roller rod (57), roller connecting rod (58) and roller swing rod (55) are connected in sequence. The two ends of the roller push rod (56) are respectively connected to the rotating rod (54) and the roller swing rod (55). The rotating shaft (59) connects the drive rod (52) and the two symmetrically distributed push rods (53). At the same time, the rotating shaft (59) is connected to the housing (1) through the straight groove (15) opened in the housing (1) to realize that the rotating shaft always maintains vertical straight reciprocating motion along the housing (1). The linkage drive mechanism (5) drives the two picking rollers of the picking mechanism (3) and the two rollers of the branch removal mechanism (4) to move symmetrically in opposite directions.

3. The pepper picking device according to claim 2, characterized in that The pressure roller rod (57) includes a rod body (571), an elastic element (572), and a rod sleeve (573). After installation, there is a 3mm compression gap between the rod body (571) and the rod sleeve (573) to realize the extension and retraction of the length of the pressure roller rod (57) to adapt to the pruning of pepper branches of different sizes.

4. The zanthoxylum picking device of claim 1, wherein The gear drive mechanism (6) includes a gear drive motor (60), a motor gear (61), a drive gear (62), a transmission gear (63), a rotating gear (64), a roller transmission gear (65), a picking mechanism gear (66), a roller rotating gear (67), a reversing gear (68), and a gear drive shaft (69). The gear drive motor (60) is fixedly connected to the motor gear (61); the gear transmission shaft (69) is fixedly connected to the two drive gears (62) on both sides; the left picking roller (32) and the right picking roller (31) are respectively fixedly connected to a set of roller transmission gears (65) and the picking mechanism gears (66); the left roller (42) and the right roller (41) are respectively fixedly connected to a roller rotation gear (67); The motor gear (61) meshes sequentially with the drive gear (62), transmission gear (63), rotating gear (64), and harvesting mechanism gear (66) to drive the left harvesting roller (32) on the left side to rotate; the motor gear (61) drives the right harvesting roller (31) on the right side to rotate through the drive gear (62) on the left side, the gear transmission shaft (69), and the drive gear (62) on the right side, the transmission gear (63), the reversing gear (68), the rotating gear (64), and the harvesting mechanism gear (66); the left harvesting roller (32) and the right harvesting roller (31) rotate in opposite directions; The two sets of sequentially meshing roller drive gears (65) and roller rotation gears (67) drive the left roller (42) and the right roller (41) to rotate in opposite directions, respectively.

5. The pepper harvesting device according to claim 2, characterized in that, The eccentric drive mechanism (7) includes a linkage drive motor (71), a linkage drive motor gear (72), an eccentric drive wheel (73), and a transmission shaft (74). The eccentric drive wheel (73) includes an eccentric drive gear (731) and an eccentric shaft (732). The two eccentric drive wheels (73) are installed at both ends of the transmission shaft (74) and are symmetrically distributed on the left and right.

6. The pepper harvesting device according to claim 1, characterized in that, The surfaces of the roller body a (321) and comb teeth a (322) of the left picking roller (32) of the picking mechanism (3) are covered with soft material; the surfaces of the roller body b (311) and comb teeth b (312) of the right picking roller (31) are covered with soft material; the comb teeth a (322) of the left picking roller (32) are symmetrically distributed in a spiral shape on both sides with the middle as the reference; the comb teeth b (312) of the right picking roller (31) are symmetrically distributed in a spiral shape on both sides with the middle as the reference.

7. The pepper harvesting device according to claim 1, characterized in that, The left roller (42) of the retraction mechanism (4) is covered with a soft material, and the right roller (41) is covered with a soft material; the left roller (42) includes a roller body a (421) and a number of evenly distributed protrusions a (422), and the right roller (41) includes a roller body b (411) and a number of evenly distributed protrusions b (412).

8. The pepper harvesting device according to claim 5, characterized in that, The sliding groove (511) of the swing rod (51) includes an inner straight sliding groove (5111), an arc sliding groove (5112), and an outer straight sliding groove (5113). The three sliding grooves are connected in sequence to form a three-section sliding groove. At the same time, the center of the circle of the arc sliding groove (5112) is located at the center of the eccentric drive wheel (73). Through the cooperation of the three-section sliding groove with the eccentric shaft (732), it is used to achieve precise control of picking and branch removal actions.

9. The pepper harvesting device according to claim 2, characterized in that, The housing (1) includes a rotating gear mounting hole (10), a feed inlet (11), a linkage mechanism drive motor shaft hole (12), an eccentric shaft mounting hole (13), a swing center mounting hole (14), the linear slide (15), a connecting channel (16), a gear drive motor shaft hole (17), a transmission shaft mounting hole (18), a rotating rod mounting hole (19), and a transmission gear mounting hole (192), for the installation and connection of various components.

10. The pepper harvesting device according to claim 9, characterized in that, It also includes a photoelectric sensor (9), which is fixed on the side cover plate (2). Its light can shine into the feed inlet (11) through the through hole on the housing (1) to detect the situation of pepper entering the picking device and transmit the signal to the control system to trigger the start of the picking action.

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