Rotary stripping type pepper harvesting vehicle

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a rotary stripping type pepper harvesting vehicle which comprises a stripping device, a clamping device, a collecting device, a dividing and guiding device, a power steering device, a rack and a battery, all the devices are sequentially arranged in the longitudinal direction of the rack to form a single-row picking unit, and multiple sets of units are combined according to a triangular structure. The dividing and guiding device is used for guiding plants through the floating dividers and the auxiliary wheels; the clamping device adopts an air cylinder to drive a synchronous belt and a spring buffer structure to adapt to stalks with different thicknesses; the stripping device drives a rolling frame to rotate through a sectional type engineering gear, the fruits are pulled in a crossed mode in cooperation with stripping teeth distributed circumferentially, and the fruits are conveyed to a collecting bin in combination with a scraper elevator. The power steering device adopts a transmission shaft nesting structure and a hydraulic shock absorber, and adapts to complex terrains. The full-process automatic operation from dividing, clamping, stripping and collecting of the peppers is achieved, the picking efficiency is high, the breakage rate is low, unmanned operation can be achieved, and the pepper picking machine is suitable for large-scale planting and multi-variety pepper picking.

Description

Technical Field

[0001] This invention relates to the field of agricultural automated harvesting equipment technology, specifically to a rotary comb-type chili harvesting vehicle suitable for dried chilies. Background Technology

[0002] Chili peppers are my country's second-largest vegetable crop, with a yield of 39 million tons in 2024, of which over 45% came from the Northwest production areas such as Xinjiang and Gansu. However, the industry has long faced three major bottlenecks: low efficiency of manual harvesting (a certain regiment of the Xinjiang Production and Construction Corps needs to hire 12,000 temporary workers to harvest 2,000 hectares of chili peppers); high harvesting costs (in 2024, the labor cost for harvesting in northern Xinjiang rose to 1.5 yuan / kg, accounting for 42% of the total cost, and some production areas experienced a situation where ripe peppers went unharvested); and high breakage and impurity rates of existing harvesting machines, which cannot meet the requirements for dried chili pepper processing.

[0003] Currently, chili harvesting is still mainly done manually or semi-mechanized. However, with the rapid development of the chili processing industry and the increasing maturity of automation and intelligent technologies, traditional harvesting methods can no longer meet the needs of large-scale planting. Promoting the transformation of chili harvesting towards intelligent mechanization is an inevitable trend. While some areas use mechanized harvesting, the harvested chili fruits and branches are often mixed together, making direct processing impossible and requiring manual sorting. Mechanized chili harvesting is not simply about achieving mechanical picking; it also requires effectively controlling the impurity rate and harvest loss rate to ensure ideal harvest quality.

[0004] The unique aspect of harvesting dried chili peppers lies in the fact that after drying, the chili pepper branches are soft and have a strong connection to the peppers. The weight of the peppers is similar to that of the branches, and vibration cannot generate an inertial force on the peppers greater than the connection force between the fruit and the branches. Therefore, vibration-based harvesting is difficult to apply to chili pepper harvesting. Chili peppers produce a large number of fruits, starting from the root and continuing to the tip of the branch. After entering the ripening stage, the branches tilt significantly under the weight of the fruits. This disperses the branches, making it easier to use a combing method for fruit removal. Generating negative pressure greater than the fruit removal force using pneumatic methods is difficult or too costly. Combing harvesting only requires ensuring that the combing components are fed in from the root of the chili pepper fruit, making combing harvesting a viable method for removing chili peppers.

[0005] Based on patent searches, the existing technologies have the following key defects: The invention patents CN202510302374.7 (“A Chili Picking Roller and Picking Method”), CN202411055338.7 (“A Spring-tooth Chili Picking Device with Regularly Changing Spacing”), and CN202411511099.1 (“A Flexible Variable Angle Spring-tooth Chili Picking Device”) all use a comb-tooth structure for their picking equipment. However, the combing mechanism is fixed, and the comb teeth feed vertically along the plant's growth direction during picking, resulting in easy breakage during picking, many impurities that cannot be separated, and an inability to adapt to different chili varieties. The invention patents CN202510574339.0 (“A Chili Picking and Cleaning Integrated Machine”) and CN202422018482.5 (“A Fully Automatic Chili Harvester”) use hockey sticks for picking. This addresses the issues of damage and impurities caused by harvesting along the vertical direction of plant growth to some extent, but it cannot be adapted to the growth characteristics of dried chili peppers, and only works well for specific types of chili peppers. In addition, some barnyard mills are designed for crops such as grains and tobacco with upright stems and varying fruit bonding strength. Directly using their rigid structure and vertical feeding method for dried chili peppers would result in high damage rates, high impurity rates, and an inability to handle leaning branches. Summary of the Invention

[0006] The present invention proposes a rotary comb-type chili harvesting vehicle, which aims to solve the technical problems of existing chili harvesting equipment: existing equipment also generally adopts a comb structure, but the combing mechanism is fixed, and the direction of the comb feed is perpendicular to the direction of plant growth during harvesting, which makes the chili fruit easy to break and impurities difficult to separate. It cannot be adapted to different varieties of chili, especially the growth characteristics of dried chili, and can only achieve better harvesting results for specific chili varieties.

[0007] The rotary combing chili harvester of this invention can realize the fully automated operation of chili harvesting from separating, clamping, combing to collection. It features high harvesting efficiency and low damage rate. It can be operated by a single person and is suitable for large-scale planting scenarios, meeting the harvesting needs of multiple varieties of chili.

[0008] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows: a rotary combing chili harvesting vehicle, the harvesting vehicle adopts a triangular multi-unit combination structure, each unit including a combing device (1), a clamping device (2), a collecting device (3), a seed-separating guide device (4), a power steering device (5), a frame (6), and a battery (7); the front side of the frame (6) is connected to the seed-separating guide device (4), the combing device (1) is symmetrically arranged on the left and right sides in the middle, the lower part is connected to the clamping device (2), the rear end is equipped with the collecting device (3), the four corners are equipped with the power steering device (5), and the top is placed with the battery (7); the combing device (1), the clamping device (2), and the collecting device (3) are arranged in sequence along the longitudinal direction of the frame (6) to form a single-row harvesting unit, and multiple sets of single-row harvesting units are combined in a triangular structure.

[0009] Furthermore, the above-mentioned rice dividing guide device (4) includes an auxiliary wheel (401), a guide mounting frame (402), a rice divider (403), and a guide plate (404); the auxiliary wheel (401) is installed in front of the guide mounting frame (402), the rice divider (403) is floatingly installed in front of the auxiliary wheel (401) and covers the auxiliary wheel (401), and the guide plate (404) is installed in the left and right direction of the guide mounting frame (402).

[0010] Furthermore, the above-mentioned combing device (1) includes a support frame (101), a segmented engineering gear (102), a rolling frame (103), combing teeth (104), a support roller (105), a circular guide rail (107), and a scraper elevator (108); the rolling frame (103) is equipped with the support roller (105) around its circumference, connected to the segmented engineering gear (102) on its side, and connected to the combing teeth (104) on its edge; the support frame (101) is equipped with the circular guide rail (107) on its front and rear sides, and the scraper elevator (108) is installed inside; the rolling frame (103) contacts the circular guide rail (107) through the support roller (105) and can rotate.

[0011] Furthermore, the comb teeth (104) mentioned above are made of engineering plastic material, with bent tooth ends and adjustable tooth spacing. They are evenly distributed along the edge of the rolling frame (103), and the comb teeth (104) of the symmetrical combing device (1) overlap when rotating.

[0012] Further, the clamping device (2) includes a cylinder (201), a clamping mounting plate (202), a displacement plate (203), a synchronous pulley (204), a synchronous belt (205), a spring (206), a bearing (207), a tensioning wheel (208), a slider (209), a guide rail (210), a tensioning wheel guide rod (211), a cylinder connecting block (212), a synchronous belt mounting shaft (213), and a tensioning wheel mounting shaft (214). The displacement plate (203) has a bearing (207) installed at the opening, a tensioning wheel guide rod (211) and a spring (206) installed in the middle, and is connected to the slider (209) at the bottom. The synchronous pulley mounting shaft (213) cooperates with the bearing (207) and locks with the synchronous pulley (204). The synchronous belt (205) The tensioning is achieved by two synchronous pulleys (204) and a tensioning wheel (208). A cylinder (201) is placed on the outer edge of the clamping mounting plate (202), a guide rail (210) is installed in the middle, and the bottom is connected to the frame (6). The cylinder connecting block (212) is installed at the front end of the cylinder (201) push rod and connected to the displacement plate (202). The synchronous pulley (204) is installed at the opening of the displacement plate (203). The tensioning wheel (208) is connected to the spring (206) through the tensioning wheel guide rod (211). The tensioning wheel guide rod (211) is fitted with the spring (206) to achieve adaptive adjustment of the synchronous belt tension. The cylinder (201) pushes the clamping mounting plate (202) to make the device move inward synchronously to clamp the plant and move forward in sync with the harvesting vehicle.

[0013] Furthermore, the above-mentioned collection device (3) includes a scraper elevator (301) and a collection bin (302); the scraper elevator (301) is installed on the support frame (101) of the combing device (1) and moves together with the combing device. The surface of the conveyor belt has buffer protrusions, and the tail end is aligned with the notch of the collection bin (302) within the movement range.

[0014] Furthermore, the aforementioned power steering device (5) includes a telescopic drive shaft assembly, a hydraulic shock absorber (501), a wheel (502), a power connection plate (503), and a small divider (506). The telescopic drive shaft assembly is coaxially nested with drive shaft one (504) and drive shaft two (505) to transmit power and adjust length. The cylinder of the hydraulic shock absorber (501) is hinged to the frame (6) or the power connection plate (503), and the piston rod end is hinged to the outer shell of the telescopic drive shaft assembly or the wheel mounting seat. The wheel (502) is connected to the telescopic drive shaft assembly. The output end of the drive shaft assembly; the power connection plate (503) is fixed to the frame (6) and connected to the input end of the telescopic drive shaft assembly; the ground clearance of the chassis can be changed by adjusting the nesting length of drive shaft one (504) and drive shaft two (505); the hydraulic shock absorber (501) provides damping and works in conjunction with the telescopic drive shaft assembly to achieve buffering and posture stability when the harvesting vehicle travels on rugged ridge terrain; the small divider (506) is installed in front of the wheel (502) to ensure that the wheel (502) is not caught in branches and causes transmission blockage.

[0015] Furthermore, the combing device (1) also includes an L-shaped connecting plate (111), a frame fixing plate (109), and a connecting plate (110); the L-shaped connecting plate (111) is installed on the inner edge of the support frame (101), one end of the connecting plate (110) is connected to the L-shaped connecting plate (111), and the other end is connected to the frame fixing plate (109). The frame fixing plate (109) is fixed to the frame (6) through the combing device connecting frame (106).

[0016] After the equipment starts running, the plants are introduced into the equipment through the dividing guide device (4). The cylinder (201) of the clamping device (2) is activated, pushing the displacement plate (203) so that the synchronous belt (204) presses the roots of the plants. At the same time, the rotating combing device (1) is pushed to the appropriate position through the electric cylinder. Meanwhile, the motor drives the rolling frame (103) to rotate through the segmented engineering gear (102). The combing teeth (104) installed on the rolling frame (103) overlap each other and pull the pepper fruits to pick them. The picked fruits are introduced above the scraper elevator (301) through the guide plate (112) and then fall freely. The scraper elevator (301) carries the pepper fruits to the collection bin (302) to complete the picking.

[0017] The present invention has the following beneficial effects: Through the integrated design of the combing device, clamping device, and collecting device, the combing device works with the combing teeth to pull the fruit for picking, achieving efficient chili harvesting and effectively improving the picking rate.

[0018] The harvesting feed direction is along the vertical direction of plant growth on both sides of the plant to avoid damaging the branches during harvesting and reduce the impurity rate.

[0019] The rotating combing method uses symmetrically arranged combing teeth that create a cross-pulling effect when rotating in opposite directions, mimicking the action of "sweeping" by hand. This method can more effectively comb the fruit off the tilted branches and reduce entanglement on the branches, adapting to the characteristics of dried chili peppers with strong fruit connection and flexible branches.

[0020] The clamping device uses a cylinder-driven synchronous belt and spring buffer structure to adapt to plant stems of different thicknesses, ensuring plant stability and preventing tipping, while also avoiding mechanical damage from stem breakage or fruit drop during harvesting.

[0021] The sorting and guiding device is equipped with a floating sorter and auxiliary wheels, which can automatically adjust the height according to the undulation of the ground to ensure that the plants are accurately guided into the sorting area, effectively improving the harvesting rate and preventing them from being crushed under the vehicle and causing losses. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of a rotary comb-type automated chili harvesting device according to the present invention.

[0024] Figure 2 , 3 4 is a schematic diagram of one side of the combing device (1) of the present invention.

[0025] Figure 5 This is a schematic diagram of one side of the clamping device (2) of the present invention.

[0026] Figure 6 This is a partial schematic diagram of the clamping device of the present invention.

[0027] Figure 7 For the present invention Figure 4 A sectional view of the structure at point A in the diagram.

[0028] Figure 8 For the present invention Figure 4 A sectional view of the structure at point B in the diagram.

[0029] Figure 9 This is a schematic diagram of the collection device (3) of the present invention.

[0030] Figure 10 This is a schematic diagram of the grain-separating guide device (4) of the present invention.

[0031] Figure 11 This is a schematic diagram of the power steering device (5) of the present invention.

[0032] Figure 12 This is a schematic diagram of the frame (6) of the present invention. Detailed Implementation

[0033] The structural and working principles of the present invention will be described in further detail below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the present invention is a rotary combing type automated chili harvesting device, including a combing device (1), a clamping device (2), a collecting device (3), a seed-separating guide device (4), a power steering device (5), a frame (6), and a battery (7). The front side of the frame (6) is connected to the seed-separating guide device (4), the middle part is symmetrically connected to the combing device (1) and the electric cylinder, the bottom is connected to the clamping device (2), and the tail is equipped with the collecting device (3). The assembled single-row harvesting is arranged in a triangular structure to form the device. The power steering device (5) is installed at the four corners of the frame (6), and the battery (7) is placed on the frame (6).

[0035] As a preferred embodiment of the present invention, such as Figure 2 , 3 As shown in Figure 4, the combing device (1) includes a support frame (101), a segmented engineering gear (102), a rolling frame (103), combing teeth (104), support rollers (105), a combing device connecting frame (106), a circular guide rail (107), and a scraper elevator (108). The rolling frame (103) has support rollers (105) installed around its circumference, is connected to the segmented engineering gear (102) on its side, and is connected to the combing teeth (104) on its edge. The support frame (101) has circular guide rails (107) installed on its front and rear sides, and a scraper elevator (108) installed inside. The rolling frame (103) is in contact with the circular guide rails (107) through the support rollers (105) and can rotate.

[0036] As a preferred embodiment of the present invention, the combing device (1) further includes a frame fixing plate (109), a connecting plate (110), an L-shaped connecting plate (111), a guide plate (112), and a bearing plate (113). Circular guide rails (107) are installed on the front and rear sides of the bearing frame, and the bearing plate (113) and the scraper elevator (105) are installed inside. The L-shaped connecting plate (105) is installed on the inner edge. The connecting plate (105) is connected to the L-shaped connecting plate (108) and to the frame fixing plate (109). The combing device connecting frame (106) is connected to the frame fixing plate (109) and connected to the frame (6). The guide plate (112) is installed inside the rolling frame (103) and is flush with the edge.

[0037] As a preferred embodiment of the present invention, such as Figure 5 , 6As shown in Figures 7 and 8, the clamping device (2) includes a cylinder (201), a clamping mounting plate (202), a displacement plate (203), a synchronous pulley (204), a synchronous belt (205), a spring (206), a bearing (207), a tension wheel (208), a slider (209), a guide rail (210), a tension wheel guide rod (211), a cylinder connecting block (212), a synchronous belt mounting shaft (213), and a tension wheel mounting shaft (214); the displacement plate (203) has a bearing (207) installed at the opening, and a tension wheel guide rod (211) is installed in the middle position. The synchronous belt (205) is connected to the spring (206) and the slider (209) below. The synchronous belt pulley mounting shaft (213) cooperates with the bearing (207) and locks with the synchronous belt pulley (204). The synchronous belt (205) is tensioned on the two synchronous belt pulleys (204) and the tensioning wheel (208). The cylinder (201) is placed on the outer edge of the clamping mounting plate (202), the guide rail (210) is installed in the middle position, and it is connected to the frame (6) below. The cylinder connecting block (212) is installed on the front end of the cylinder (201) push rod and connected to the displacement plate (202).

[0038] As a preferred embodiment of the present invention, such as Figure 9 As shown, the collection device (3) includes a scraper elevator (301) and a collection bin (302). The scraper elevator (301) is installed on the support frame (101) of the combing device (1). The conveyor belt has buffer bumps on its surface and its tail is aligned with the notch of the collection bin (302).

[0039] As a preferred embodiment of the present invention, such as Figure 10 As shown, the rice dividing guide device (4) includes an auxiliary wheel (401), a guide mounting frame (402), a rice divider (403), a guide plate (404), and a push cylinder (405). The auxiliary wheel (401) is installed in front of the guide mounting frame (402), and the rice divider (403) is floatingly installed in front of the auxiliary wheel (401) and covers the auxiliary wheel (401). The guide plate (404) is installed on the exposed square tube in the left and right direction of the guide mounting plate (402).

[0040] As a preferred embodiment of the present invention, such as Figure 11 As shown, the power steering device (5) includes a hydraulic shock absorber (501), a wheel (502), a power connection plate (503), a drive shaft 1 (504), a drive shaft 2 (505), and a small divider (506). The drive shaft 1 (504) and drive shaft 2 (505) are nested together, with the outer side connected to the hydraulic shock absorber (501), the lower part connected to the wheel (502), and the upper part connected to the power connection plate (503). The power steering device (5) also includes a small divider (506), which is installed in front of the wheel.

[0041] To explain the technical solution of the present invention in detail, the equipment structure and working process are fully described below in conjunction with actual assembly parameters and working scenarios.

[0042] The main body of the rotary combing chili harvester in this embodiment adopts a modular design. Each functional unit is integrated into the frame (6) through standardized connectors to form an efficient and collaborative operating system. The frame (6) is made of square tube welded and formed. The front side is rigidly connected to the guide mounting bracket (402) of the dividing guide device (4) by bolts. Two sets of combing devices (1) are symmetrically arranged on the left and right sides in the middle. The T-slot is reserved below to cooperate with the guide rail (210) of the clamping device (2) to achieve lateral adjustment. The steel pipe welded at the rear serves as the fixed base of the collecting device (3). The four corners are hinged to the drive shaft assembly of the power steering device (5) through the power connection plate (503). The top plane is covered with anti-slip rubber pads and the battery (7) is fixed. The battery (7) supplies power to the whole machine motor, cylinder and control system through aviation plug to ensure continuous operation.

[0043] The dividing guide device (4) serves as the front-end actuator of the equipment. Its auxiliary wheel (401) is a rubber wheel, which is installed on the bushing at the front end of the guide mounting frame (402) through a deep groove ball bearing (207). The wheel rim is provided with anti-slip grooves of a certain depth to adapt to muddy field surfaces. The divider (403) adopts a floating structure and is connected to the guide mounting frame (402) through two hydraulic shock-absorbing rods. It can automatically adjust its height according to the height of the plant. The front end of the divider has a 15° wedge angle and is coated with polytetrafluoroethylene to reduce plant friction damage. The guide plate (404) is made of stainless steel and is fixed to the square tube in the left and right directions of the guide mounting frame (402) by buckles. The plate body is tilted inward to form a plant introduction channel.

[0044] The combing device (1) is the core picking component. Its support frame (101) is constructed with aluminum alloy profiles. It is detachably connected to the frame fixing plate (109) through an L-shaped connecting plate (111). The surface of the connecting plate has waist-shaped holes to accommodate installation error adjustment. The rolling frame (103) is a polygonal near-circular frame welded from steel pipes. Eight sets of bearing rollers (105) are evenly distributed along the circumference. The rollers are made of polyurethane and are connected to the rolling frame (103) through bearing seats. They cooperate with the circular guide rail (107) fixed on the support frame (101) to achieve smooth rotation of the rolling frame (103) with reasonable transmission clearance control. The segmented engineering gear (102) is rigidly connected to the threaded hole on the side of the rolling frame (103) through countersunk screws. If wear occurs during use, it can be replaced in segments. The gear meshes with the metal gear on the output shaft of the drive motor to enable the rolling frame (103) to rotate on the support frame (101); the combing tooth (104) is an integral injection molded structure with adjustable tooth spacing and an arc-shaped structure. The root is connected to the mounting groove on the edge of the rolling frame (103) by a buckle. Each rolling frame is equipped with 4 sets of combing teeth. The combing device (1) placed in opposite directions makes the combing teeth (104) overlap during rotation to form a continuous combing area; the scraper elevator (108) is installed inside the support frame (101). The conveyor belt is made of food-grade polyurethane material, and the surface is equipped with a material scraper. The tail is connected to the feed port of the collection device (3).

[0045] The clamping device (2) is symmetrically arranged below the combing device (1). The clamping mounting plate (202) is fixed to the support beam below the frame (6). The front end of the cylinder (201) push rod is hinged to the displacement plate (203) through the cylinder connecting block (212). Two sets of sliders (209) are installed below the displacement plate (203) and cooperate with the guide rail (210) to achieve linear motion. The synchronous pulley (204) is locked to the synchronous belt mounting shaft (213) through a key connection. The two ends of the mounting shaft are connected to the synchronous belt mounting shaft (213). The bearing (207) at the opening of the displacement plate (203) is fitted, and the synchronous belt (205) is a polyurethane synchronous belt, which is tensioned between two sets of synchronous belt pulleys (204). A tensioning pulley (208) is set in the middle. The tensioning pulley (208) is connected to the tensioning pulley guide rod (211) through the tensioning pulley mounting shaft (214). The guide rod is fitted with a spring (206) to realize the automatic tensioning of the synchronous belt (205), ensuring that the clamping force is stable within a stable range and adapting to the stems of chili plants of different diameters.

[0046] The power steering device (5) adopts a four-wheel drive structure. The drive shaft 1 (503) and drive shaft 2 (504) are nested and connected, which can realize stepless adjustment of chassis height within a suitable range. The outer side is connected to the frame (6) through a hydraulic shock absorber (501), which can absorb the impact load generated by field bumps. The bottom is connected to a rubber wheel (502), which is suitable for complex terrains such as mud and slopes. Stepless speed change is achieved through a differential motor.

[0047] During equipment operation, the operator starts the system via the touch screen. The power steering device (5) drives the equipment along the chili planting ridge. The divider (403) of the dividing guide device (4) first contacts the plant, pushing away weeds and ineffective branches through the floating structure. The auxiliary wheel (401) adjusts its height according to the undulation of the ground to ensure that the guide plate (404) always maintains a certain tilt angle, guiding the chili plant stems into the working area between the combing device (1) and the clamping device (2). When the plant enters the clamping range, the photoelectric sensor sends a signal to the controller, and the cylinder (201) of the clamping device (2) extends, pushing the displacement plate (203) to move along the guide rail (210). The synchronous belt (205) clamps the stem under the action of the tension wheel (208) and the spring (206). At this time, the drive motor of the combing device (1) starts and drives the rolling frame (103) to rotate through the segmented engineering gear (102). The combing teeth (104) comb the pepper fruit. Since the combing teeth are made of engineering plastic and the tooth ends are rounded, the rigid compression of the fruit can be effectively avoided. The overlapping pulling action of adjacent combing teeth separates the fruit from the fruit stalk. When the two sets of combing teeth (104) are rotated in opposite directions, their tooth ends form a cross pulling action in the overlapping area, which can more effectively comb the fruit off the inclined branches and reduce the entanglement of the branches. The fallen fruit slides down the guide plate (112) onto the conveyor belt of the scraper elevator (108); the scraper elevator (108) continuously conveys the fruit to the tail end, where it falls freely into the collection bin (302) through the transition slide. The collection bin (302) is equipped with a cushioning cotton pad to reduce the impact of the falling fruit. When the fruit in the bin reaches the maximum amount, an audible and visual alarm prompts the operator to unload the fruit. The fruit is then tilted onto the accompanying transport vehicle by a hydraulically controlled tilting mechanism. Throughout the operation, the intelligent control system monitors parameters such as the rotation speed of the combing teeth, the clamping force, and the conveying speed in real time. When the fruit damage rate is detected to exceed the limit, the rotation speed of the rolling frame (103) is automatically reduced, or the relative position of the combing device (1) and the plant is adjusted by an electric cylinder to ensure the harvesting quality. This embodiment, through the above structural design, realizes the fully automated operation of chili peppers from separation, clamping, combing to collection. Verification shows that the equipment significantly enhances the harvesting efficiency of varieties such as long peppers and facing-heaven peppers, reduces fruit damage rate, greatly reduces missed harvesting rate, and significantly improves efficiency compared to manual harvesting, while reducing labor intensity.

[0048] It should be noted that the above embodiments are only preferred embodiments of the present invention. In practical applications, the spacing between the comb teeth, the clamping force, and the conveying speed can be adjusted according to the characteristics of the chili variety. For example, for the small-fruited Chaotian chili variety, the spacing between the comb teeth can be reduced and the clamping force of the synchronous belt can be reduced to avoid fruit leakage. For the tall-planted Longan chili variety, the chassis height of the power steering device (5) can be adjusted to ensure operational stability. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rotary comb-type chili harvesting vehicle, characterized in that, The harvesting vehicle adopts a triangular multi-unit combination structure. Each unit includes a combing device (1), a clamping device (2), a collecting device (3), a dividing guide device (4), a power steering device (5), a frame (6), and a battery (7). The front of the frame (6) is connected to the dividing guide device (4), the combing device (1) is symmetrically arranged on the left and right sides in the middle, the clamping device (2) is connected to the bottom, the collecting device (3) is installed at the rear, the power steering device (5) is installed at the four corners, and the battery (7) is placed on the top. The combing device (1), clamping device (2), and collecting device (3) are arranged in sequence along the longitudinal direction of the frame (6) to form a single-row harvesting unit. Multiple single-row harvesting units are combined in a triangular structure.

2. The rotary comb-type chili harvesting vehicle according to claim 1, characterized in that, The rice dividing guide device (4) includes an auxiliary wheel (401), a guide mounting frame (402), a rice divider (403), and a guide plate (404); the auxiliary wheel (401) is installed in front of the guide mounting frame (402), the rice divider (403) is floatingly installed in front of the auxiliary wheel (401) and covers the auxiliary wheel (401), and the guide plate (404) is installed in the left and right direction of the guide mounting frame (402).

3. The rotary comb-type chili harvesting vehicle according to claim 1, characterized in that, The combing device (1) includes a support frame (101), a segmented engineering gear (102), a rolling frame (103), combing teeth (104), a support roller (105), a circular guide rail (107), and a scraper elevator (108). The rolling frame (103) has the support roller (105) installed around its circumference, is connected to the segmented engineering gear (102) on its side, and is connected to the combing teeth (104) on its edge. The support frame (101) has the circular guide rail (107) installed on its front and rear sides, and the scraper elevator (108) installed inside. The rolling frame (103) is in contact with the circular guide rail (107) through the support roller (105) and can rotate.

4. A rotary comb-type chili harvesting vehicle according to claim 3, characterized in that, The comb teeth (104) are made of engineering plastic material, with bent tooth ends and adjustable tooth spacing. They are evenly distributed along the edge of the rolling frame (103), and the comb teeth (104) of the symmetrical combing device (1) overlap when rotating.

5. A rotary comb-type chili harvesting vehicle according to claim 1, characterized in that, The clamping device (2) includes a cylinder (201), a clamping mounting plate (202), a displacement plate (203), a synchronous pulley (204), a synchronous belt (205), a spring (206), a bearing (207), a tension wheel (208), a slider (209), a guide rail (210), a tension wheel guide rod (211), a cylinder connecting block (212), a synchronous belt mounting shaft (213), and a tension wheel mounting shaft (214). The displacement plate (203) has a bearing (207) installed at its opening, a tension wheel guide rod (211) and a spring (206) installed in the middle, and is connected to the slider (209) at the bottom. The synchronous pulley mounting shaft (213) cooperates with the bearing (207) and locks with the synchronous pulley (204). The synchronous belt (205) is tensioned... The device is tightly mounted on two synchronous pulleys (204) and a tensioning pulley (208). A cylinder (201) is placed on the outer edge of the clamping mounting plate (202), a guide rail (210) is installed in the middle, and the lower part is connected to the frame (6). The cylinder connecting block (212) is mounted on the front end of the cylinder (201) push rod and connected to the displacement plate (202). The synchronous pulley (204) is installed at the opening of the displacement plate (203). The tensioning pulley (208) is connected to the spring (206) through the tensioning pulley guide rod (211). The tensioning pulley guide rod (211) is fitted with the spring (206) to realize the adaptive adjustment of the synchronous belt tension. The cylinder (201) pushes the clamping mounting plate (202) to make the device move inward synchronously to clamp the plant and move forward in sync with the harvesting vehicle.

6. A rotary comb-type chili harvesting vehicle according to claim 1, characterized in that, The collecting device (3) includes a scraper elevator (301) and a collecting bin (302); the scraper elevator (301) is installed on the support frame (101) of the combing device (1) and moves together with the combing device. The surface of the conveyor belt has buffer protrusions, and the tail is aligned with the notch of the collecting bin (302) within the moving range.

7. A rotary comb-type chili harvesting vehicle according to claim 1, characterized in that, The power steering device (5) includes a telescopic drive shaft assembly, a hydraulic shock absorber (501), a wheel (502), a power connection plate (503), and a small divider (506). The telescopic drive shaft assembly is formed by coaxially nesting a first drive shaft (504) and a second drive shaft (505) for transmitting power and adjusting length. The cylinder of the hydraulic shock absorber (501) is hinged to the frame (6) or the power connection plate (503), and the piston rod end is hinged to the outer shell of the telescopic drive shaft assembly or the wheel mounting seat. The wheel (502) is connected to the telescopic drive shaft assembly. The output end of the component; the power connection plate (503) is fixed to the frame (6) and connected to the input end of the telescopic drive shaft assembly; the ground clearance of the chassis can be changed by adjusting the nesting length of the first drive shaft (504) and the second drive shaft (505); the hydraulic shock absorber (501) provides damping and works in conjunction with the telescopic drive shaft assembly to achieve buffering and posture stability when the harvesting vehicle travels on rugged ridge terrain; the small divider (506) is installed in front of the wheel (502) to ensure that the wheel (502) is not caught in branches and causes transmission blockage.

8. A rotary comb-type chili harvesting vehicle according to claim 3, characterized in that, The combing device (1) also includes an L-shaped connecting plate (111), a frame fixing plate (109), and a connecting plate (110); the L-shaped connecting plate (111) is installed on the inner edge of the support frame (101), one end of the connecting plate (110) is connected to the L-shaped connecting plate (111), and the other end is connected to the frame fixing plate (109). The frame fixing plate (109) is fixed to the frame (6) through the combing device connecting frame (106).

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