A continuous kiwifruit picking device and method

Abstract

A continuous picking device and method for arbor trellis kiwifruit, the device comprising: a frame; a picking mechanism comprising a picking component, including a picking large disc, a picking small disc and a picking wheel, the picking small disc being installed inside the picking large disc and connected with the picking wheel; a pose adjustment mechanism for flexible guiding, positioning and attitude correction of the fruit, comprising a support frame and a pose adjustment component, the support frame being installed on the frame corresponding to the picking mechanism, and the pose adjustment component being installed on the support frame and located between the symmetrically arranged picking small discs; and a transmission mechanism comprising a large disc transmission component and a picking drive component, the large disc transmission component being connected with the picking large disc to drive it to rotate, and the picking small disc rotating together; the picking drive component being connected with the picking wheel to drive the picking small disc to rotate, so as to realize clamping, reverse bending, pulling down and pulling, and fruit stem layer fracture of the arbor trellis kiwifruit. The application also provides a continuous picking method for arbor trellis kiwifruit.

Description

Technical Field

[0001] This invention relates to agricultural harvesting technology, and in particular to a continuous harvesting device and method for trellis kiwifruit based on posture adjustment and reverse bending to remove the stem. Background Technology

[0002] Existing kiwifruit harvesting equipment mostly employs a selective harvesting method based on "visual recognition, robotic arm positioning, and end effector grasping or shearing." This typically requires stopping the machine for positioning, individual fruit grasping, and picking one fruit at a time, resulting in a slow operating cycle and high system complexity and maintenance costs. For trellis-style kiwifruit orchards, where fruits are mostly suspended below the trellis, with a relatively concentrated spatial distribution and long stems, an abscission layer exists at the connection between the stem and fruit. During harvesting, bending, pulling, or twisting are often used to break the stem at this abscission layer. A purely mechanical structure can be used for continuous harvesting in such cases.

[0003] Existing robotic arm selective harvesting methods are complex and inefficient, making them unsuitable for continuous batch harvesting in standardized trellis orchards. Cutting, roller, auger, or simple disc harvesting structures are not adaptable enough to the height and posture of the fruit, and feeding difficulties and unstable gripping can easily occur when the fruit is too high or the angle of the stem is not suitable. Disc or finger-type harvesting structures often rely on clamping, flicking, or direct pulling, making it difficult to stably reproduce the "adjusting posture, reverse bending, and pulling down separation" actions in manual harvesting. The stem separation is insufficient, resulting in a low stem removal rate. If a single rotating disc lacks the relative motion between the sun wheel and the planetary frame, the harvesting disc cannot generate the required rotation, making it difficult to form a reverse bending and pulling motion on the fruit.

[0004] Existing technologies can solve some of the problems of continuous harvesting, but they still have the following shortcomings when dealing with fruits of varying heights and dense fruit bunches: the height and posture of the fruits are inconsistent, and fruits that are too tall or skewed are difficult to stably enter the ideal harvesting position; when relying solely on the disc for clamping, the interaction angle between the fruit and the disc is unstable, which may result in fruit getting stuck, abrasions, or a high rate of fruit with stems attached; if the harvesting disc only rotates as a whole and cannot produce a controllable reverse bending and pulling on the fruit, it is difficult to make full use of the biomechanical characteristics of the kiwifruit stem abscission layer being prone to breakage; if the sun wheel, planetary wheel, and large disc are simply rigidly synchronized, the planetary wheel cannot produce the desired relative rotation and cannot form an effective reverse bending action. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a continuous harvesting device and method for trellis kiwifruit based on posture adjustment and reverse bending to remove the stem, in order to address the above-mentioned deficiencies of the prior art.

[0006] To achieve the above objectives, the present invention provides a continuous harvesting device for trellis kiwifruit, comprising:

[0007] frame;

[0008] A harvesting mechanism, mounted on the frame, includes symmetrically arranged harvesting components. Each harvesting component includes a large harvesting disc, a small harvesting disc, and a harvesting wheel. The small harvesting disc is mounted inside the large harvesting disc and connected to the harvesting wheel.

[0009] A posture adjustment mechanism, mounted on the frame and located in front of the harvesting mechanism, is used for gently guiding, positioning, and correcting the posture of the fruit, ensuring it enters the effective working area of ​​the harvesting mechanism. The posture adjustment mechanism includes a support frame and posture adjustment components. The support frame is mounted on the frame corresponding to the harvesting mechanism, and the posture adjustment components are mounted on the support frame and positioned between symmetrically arranged small harvesting discs.

[0010] The transmission mechanism, mounted on the frame, includes a large disc transmission component and a harvesting drive component. The large disc transmission component is connected to the large harvesting disc; the harvesting drive component is connected to the harvesting wheel. The large disc transmission component drives the large harvesting disc to rotate, and the small harvesting disc revolves with the large harvesting disc. The harvesting drive component, through the harvesting wheel, drives the small harvesting disc to rotate, thereby clamping, bending in the reverse direction, pulling down, and breaking the fruit stem at the separation layer, to complete the continuous harvesting of trellis kiwifruit.

[0011] In the aforementioned continuous harvesting device for kiwifruit on trellises, the harvesting wheel includes a sun wheel and planetary wheels. The sun wheel is connected to the small disc transmission component, and the planetary wheels are connected to the small harvesting disc and mesh with the sun wheel.

[0012] In the aforementioned continuous harvesting device for kiwifruit on trellises, the harvesting disc is provided with a phase working surface corresponding to the fruit feeding position. The phase working surface includes a progressive inlet section, a clamping and bending section, and a release section arranged in sequence. Through a combination of revolution and rotation, the device sequentially completes the smooth feeding, flexible clamping, reverse bending, stem removal, and release of the fruit within the effective sweeping area.

[0013] In the aforementioned continuous harvesting device for kiwifruit on trellises, the harvesting disc is either a single-phase harvesting disc or a two-phase harvesting disc.

[0014] The aforementioned continuous harvesting device for kiwifruit on trellises, wherein the posture adjustment component includes:

[0015] A support member, including a support shaft, is mounted above the front end of the support frame via a support bearing seat;

[0016] An adjusting member, corresponding to the support member, is mounted on the support frame and located behind the support shaft; the adjusting member slides vertically relative to the support frame; and

[0017] A position adjustment rod is installed on the support and connected to the adjustment component. The position adjustment rod extends to the working area of ​​the harvesting disc.

[0018] The aforementioned continuous harvesting device for kiwifruit on a trellis includes a position adjustment rod comprising a front guide section, an arc-shaped transition section, and a rear guide section connected sequentially along the fruit entry direction. The front guide section is used to gradually guide the kiwifruit fruits hanging naturally below the trellis into the harvesting channel. The arc-shaped transition section is used to lift, lower, or laterally guide the fruits, gradually adjusting them to a position suitable for harvesting. The rear guide section is used to maintain a relatively stable posture for the fruits and facilitate their smooth entry into the working area of ​​the small harvesting disc.

[0019] In the aforementioned continuous harvesting device for kiwifruit on trellises, the front-end inlet section has a smooth transition contour surface; the rear-end guide section has a flat surface, a micro-arc surface, or a guide surface with a flexible covering.

[0020] The aforementioned continuous harvesting device for kiwifruit on trellises includes an adjusting component comprising a guide rail, a slider, an elastic reset component, and an installation roller. The guide rail is mounted on the support frame, and the slider is connected to the guide rail. The top end of the elastic reset component is connected to the slider, and the installation roller is connected to the sliders on both sides via a roller shaft.

[0021] The aforementioned continuous harvesting device for kiwifruit on trellises includes a large disc transmission component comprising a pulley drive motor, a slewing support bearing, a transmission gear, and a pulley transmission element. The pulley drive motor is connected to the pulley transmission element via a pulley shaft. The pulley transmission element is connected to the transmission gear, and the transmission gear meshes with the tooth surface of the slewing support bearing. The large harvesting disc is connected to the slewing support bearing. The harvesting drive component includes a main shaft and a harvesting drive motor, with the harvesting drive motor connected to the main shaft. The sun gear is mounted on the main shaft.

[0022] To better achieve the above objectives, the present invention also provides a method for continuous harvesting of trellis kiwifruit, wherein the above-mentioned continuous harvesting device for trellis kiwifruit is used, and the method includes the following steps:

[0023] Position the posture adjustment mechanism in front of the natural hanging area of ​​the kiwifruit under the trellis;

[0024] The transmission mechanism is activated, and the large disc transmission component drives the large harvesting disc to rotate, which in turn drives the small harvesting disc to rotate synchronously; at the same time, the harvesting drive component drives the small harvesting disc to rotate on its own.

[0025] The continuous harvesting device for kiwifruit on trellises moves forward continuously along the trellis, and the posture adjustment mechanism gently guides, elastically repositions, and adjusts the posture of the kiwifruit.

[0026] After being positioned and adjusted, the fruit enters the working area of ​​the small harvesting disc. Driven by the large harvesting disc, the small harvesting disc revolves around the central axis, while simultaneously rotating on its own axis. This causes the small harvesting disc to clamp, bend, and pull downwards onto the fruit. Under the combined effects of bending force, downward force, and the fruit's own weight, the fruit stalk breaks at the abscission point, separating the fruit from the stalk.

[0027] After the fruit detaches from the pedicel, it is released in the detachment area or retreat area of ​​the harvesting disc and enters the receiving trough, conveying or collecting device.

[0028] The technical effects of this invention are as follows:

[0029] The continuous harvesting device for kiwifruit on trellises of the present invention includes a posture adjustment mechanism and a sun gear harvesting mechanism. The posture adjustment mechanism first flexibly guides and floats the fruit to adjust the posture of kiwifruit that are too high or have poor posture to a state where the angle between the fruit stalk and the long axis of the fruit is more suitable for separation. The sun gear harvesting mechanism then uses the relative movement between the sun gear, planetary gear, large disc and small harvesting disc to make the small harvesting disc form a reverse bending and pulling action on the fruit, causing the fruit stalk to break at the abscission layer, thereby improving the stalk removal rate and continuous harvesting efficiency.

[0030] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the device structure according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the harvesting mechanism structure according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the harvesting component structure according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of a single-phase harvesting small disc structure according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of a two-phase harvesting small disk structure according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the posture adjustment mechanism according to an embodiment of the present invention;

[0037] Figure 7A This is a schematic diagram of the pose adjustment component structure according to an embodiment of the present invention;

[0038] Figure 7B This is a schematic diagram of the pose adjustment component structure according to another embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of a compression spring plunger structure according to an embodiment of the present invention;

[0040] Figure 9A This is a schematic diagram of the pose adjustment rod structure according to an embodiment of the present invention;

[0041] Figure 9B This is a schematic diagram of the pose adjustment rod structure according to another embodiment of the present invention;

[0042] Figure 10 This is a schematic diagram of the transmission mechanism structure according to an embodiment of the present invention;

[0043] Figure 11 This is a schematic diagram of the harvesting state according to an embodiment of the present invention.

[0044] Among them, the attached figures are labeled

[0045] 1 rack

[0046] 2. Harvesting organization

[0047] 21 Harvesting discs

[0048] 22-inch ring

[0049] 23 Harvesting discs

[0050] 24 Supporting short shaft

[0051] 25 Bearing Housing

[0052] 26. Sun Wheel

[0053] 27 Planetary Wheels

[0054] 3. Position adjustment mechanism

[0055] 31 Support frame

[0056] 32-position adjustment component

[0057] 321 Support component

[0058] 3211 Support Shaft

[0059] 322 Adjustment component

[0060] 3221 guide rail

[0061] 3222 Slider

[0062] 3223 Compression Spring Plunger

[0063] 3224 Mounting Roller

[0064] 3225 roller

[0065] 3226 Install bearing housing

[0066] 323 Position Adjustment Rod

[0067] 3231 Front-end import section

[0068] 3232 Arc-shaped transition section

[0069] 3233 Backend Guide Section

[0070] 4. Transmission mechanism

[0071] 41 Large disc transmission components

[0072] 411 Belt drive motor

[0073] 412 Slewing bearing

[0074] 413 Transmission Gear

[0075] 414 large pulley

[0076] 415 small pulley

[0077] 416 Synchronous Belt

[0078] 417 Pulley Shaft

[0079] 42 Harvesting drive components

[0080] 421 Spindle

[0081] 422 Harvesting Drive Motor

[0082] 5. Kiwi fruit Detailed Implementation

[0083] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0084] See Figures 1-3 , Figure 1 This is a schematic diagram of the device structure according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the harvesting mechanism 2 according to an embodiment of the present invention. Figure 3This is a schematic diagram of the harvesting component structure according to an embodiment of the present invention. The continuous harvesting device for kiwifruit on a trellis of the present invention includes: a frame 1, serving as the supporting foundation for the entire machine or test bench, used to install a posture adjustment mechanism 3, a harvesting mechanism 2, and a transmission mechanism 4; a harvesting mechanism 2, installed on the frame 1, including symmetrically arranged harvesting components, each harvesting component including a large harvesting disc 21, a small harvesting disc 23, and a harvesting wheel, the small harvesting disc 23 being installed inside the large harvesting disc 21 and connected to the harvesting wheel; a posture adjustment mechanism 3, installed on the frame 1 and located in front of the harvesting mechanism 2, used for gently guiding, positioning, and correcting the posture of the fruit, so that the fruit enters the effective working area of ​​the harvesting mechanism 2; the posture adjustment mechanism 3 includes a support frame 31 and posture adjustment components 32, the support frame 31 corresponding to... The harvesting mechanism 2 is mounted on the frame 1, the posture adjustment component 32 is mounted on the support frame 31 and located between the symmetrically arranged small harvesting discs 23; and the transmission mechanism 4 is mounted on the frame 1, including a large disc transmission component 41 and a harvesting drive component 42. The large disc transmission component 41 is connected to the large harvesting disc 21; the harvesting drive component 42 is connected to the harvesting wheel. The large disc transmission component 41 drives the large harvesting disc 21 to rotate, and the small harvesting discs 23 revolve together with the large harvesting disc 21. The harvesting drive component 42 drives the small harvesting discs 23 to rotate through the harvesting wheel to achieve clamping, reverse bending, downward pulling, and fruit stem separation and breakage, so as to complete the continuous harvesting of trellis kiwifruit.

[0085] Figure 1 The diagram shows a basic harvesting module comprising a posture adjustment mechanism 3 and a harvesting mechanism 2. It can be installed individually on a test bench, mobile platform, or the front end of the machine for single-row, partial harvesting, or arranged in an array as a standard module on a trellis-type orchard harvester. In an array arrangement, multiple basic harvesting modules can be arranged laterally side-by-side along the width of the trellis to cover a wider fruit distribution zone; they can also be staggered forward and backward along the harvester's direction of travel to extend the effective harvesting area and reduce missed harvests; a matrix arrangement combining lateral side-by-side and longitudinal staggered arrangements can also be used to improve the continuous harvesting efficiency of trellis-type kiwifruit. Multiple harvesting devices can be installed on a common frame 1, crossbeam, or the front end of a mobile platform to achieve lateral side-by-side, longitudinal staggered, or matrix array harvesting.

[0086] When using an array of multiple harvesting devices, each harvesting device can be equipped with an independent pulley drive motor 411 and a harvesting drive motor 422, or they can be uniformly driven by the same power source via a synchronous belt 416, chain, gearbox, or drive shaft. Each posture adjustment mechanism 3 can float independently or be installed on a common support, a common mounting beam, or a liftable support frame 31. The harvesting mechanisms 2 in each harvesting device can work synchronously in the same direction, work in different phases, or work in separate zones to reduce interference between adjacent modules and improve continuous feeding capacity. The installation spacing, rotation speed, direction of turn, and phase difference between each harvesting device can be set according to the requirements of fruit density, trellis width, walking speed, and harvesting width to reduce interference between adjacent modules and improve continuous feeding and harvesting capacity. By adjusting the rotation speed, direction, phase difference, and installation spacing of individual harvesting devices or modules in an array of harvesting devices, the contact speed, bending speed, pulling time, and harvesting coverage relationship between adjacent harvesting devices of the harvesting disc 23 can be changed. By replacing the single-phase, two-phase, or multi-phase harvesting disc 23, different fruit densities, fruit sizes, trellis widths, and target harvesting efficiencies can be adapted to expand the harvesting width, increase the number of effective harvests, and improve the continuous harvesting efficiency of trellis orchards.

[0087] In this embodiment, the posture adjustment mechanism 3, the harvesting mechanism 2, and the transmission mechanism 4 are all mounted or supported on the frame 1. The posture adjustment mechanism 3 is located in front of the harvesting mechanism 2, allowing the fruit to first pass through the posture adjustment mechanism 3 for flexible introduction and posture correction before entering the working area of ​​the harvesting disc 23 of the harvesting mechanism 2. The transmission mechanism 4 is located on the side and rear of the harvesting mechanism 2, and its power output end is connected to the large disc rotation transmission chain and the sun gear 26 transmission chain, respectively, so that the harvesting disc 23 rotates on its own axis while revolving with the large disc. The large harvesting disc 21 is the rotating support component of the harvesting mechanism 2 and also serves as the planetary carrier in the sun gear 26 system. The supporting short shaft 24 is mounted on the large harvesting disc 21 through the bearing seat 25. The bearing seat 25 is fixedly mounted on the large harvesting disc 21, and the supporting short shaft 24 passes through the bearing seat 25. The small harvesting disc 23 is coaxially mounted on the supporting short shaft 24 with the planetary gears 27. When the planetary gears 27 rotate, they drive the small harvesting disc 23 to rotate synchronously. The sun gear 26 is located at the center of the large harvesting disc 21 and meshes with each planetary gear 27. The main shaft 421 is connected to the sun gear 26 and rotates counterclockwise. The harvesting drive motor 422 drives the sun gear 26 to rotate through the main shaft 421. It may also include a retaining ring 22, which is located on the outside of the harvesting mechanism 2 and is used to protect, limit, or guide the fruit passage or harvesting components. When the large harvesting disc 21 rotates, the small harvesting disc 23 and planetary gear 27 installed on the large harvesting disc 21 revolve with the large harvesting disc 21. When the sun gear 26 rotates, it meshes with the planetary gear 27, driving the planetary gear 27 to rotate, which in turn drives the coaxially mounted small harvesting disc 23 to rotate. The small harvesting disc 23 rotates on its own axis while revolving with the large harvesting disc 21, forming a clamping, reverse bending, and downward pulling effect on the kiwifruit entering the harvesting area, causing the fruit stalk to break at the abscission layer.

[0088] See Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the single-phase harvesting disk 23 according to an embodiment of the present invention. Figure 5This is a schematic diagram of a two-phase harvesting disc 23 according to an embodiment of the present invention. The harvesting mechanism 2 is located behind the posture adjustment mechanism 3 and is used to clamp, reverse bend, and pull down to separate the fruit after posture adjustment. The harvesting disc 23 can be driven by a sun gear 26 to complete clamping, reverse bending, pulling down, and fruit stem separation. In this embodiment, the harvesting wheel includes a sun gear 26 and planet gears 27. The sun gear 26 is connected to the disc transmission component, and the planet gears 27 are connected to the harvesting disc 23 and mesh with the sun gear 26. The harvesting disc 23 has a phase working surface corresponding to the fruit feeding position. The phase working surface includes a sequentially arranged guide section, a clamping and bending section, and a release section. Through a combined revolution and rotation motion, it sequentially completes the smooth feeding, flexible clamping, reverse bending, pulling down to remove the stem, and release within the effective sweeping area. The harvesting disc 23 can be a single-phase harvesting disc or a two-phase harvesting disc.

[0089] The harvesting disc 23 is preferably a single-phase, two-phase, or multi-phase structure. Although a three-phase or higher structure can increase the number of working faces per unit angle, under the constraints of the existing large disc diameter, the installation space of the harvesting disc 23, and the fruit size, the angular distance between adjacent effective working phases decreases, and the fruit introduction and release windows are shortened, which can easily lead to repeated contact, insufficient release, or interference between adjacent working faces. Its shape can be a disc, a notched disc, a variable radius disc, a flexible coated disc, or a flanged disc; its contact surface can be coated with silicone, rubber, polyurethane, or other flexible materials. Figure 4 The harvesting disc 23 shown is a single-phase structure, meaning that each harvesting disc 23 has only one effective harvesting phase around its circumference. This allows the fruit to complete the introduction, clamping, bending, and release within a more defined working window. The single-phase structure reduces unnecessary contact between the fruit and the harvesting disc 23, facilitating adjustment of the bending angle, contact time, and pull-down path. Each single-phase harvesting disc 23 has one effective harvesting phase around its circumference, including an introduction zone, clamping zone, bending zone, and release zone. Each rotation of the harvesting disc 23 completes one full fruit introduction, clamping, reverse bending, and release process. The single-phase structure provides a clearly defined working window, making the contact process between the fruit and the harvesting disc 23 easier to control. This reduces the risk of abrasion caused by continuous contact between the fruit and multiple working surfaces, making it suitable for conditions with low fruit density, requiring longer clamping and bending times, or needing to minimize fruit damage.

[0090] Figure 5The harvesting disc 23 shown is a two-phase structure. The two-phase harvesting disc 23 has two effective harvesting working phases arranged circumferentially on the same disc. This allows for two effective fruit contact, clamping, or bending harvesting cycles per rotation of the disc, increasing the number of effective harvesting cycles per unit angle, reducing ineffective angles, and improving continuous harvesting efficiency. This is suitable for conditions with high fruit density, requiring a higher continuous harvesting cycle, and stable fruit introduction. The two effective harvesting working phases can be arranged circumferentially opposite each other, preferably with a phase angle of 180 degrees. However, they can be appropriately offset based on fruit diameter, introduction direction, the outline of the harvesting disc 23, and the harvesting cycle. Through the combined revolution and rotation of the phased working surface of the harvesting disc 23 and the sun gear 26 system, the fruit experiences a controllable reverse bending and pulling action after entering the harvesting area. The harvesting disc 23 can also be configured as a single-phase, two-phase, or multi-phase structure according to the fruit size, walking speed, and target harvesting frequency. The phased working surface, in conjunction with the composite motion of the sun gear 26, completes the fruit introduction, clamping, bending, and release. The phased settings of the harvesting disc 23 include not only the number of phases but also the angular position of the effective working phase on the circumference, the fruit feeding position, the continuous feeding angle, the clamping bending angle, and the release retreat angle. Single-phase and two-phase harvesting discs 23 are preferred to avoid the decrease in angular distance between adjacent effective working phases as the number of phases increases, which would compress the continuous feeding window of a single phase. This could lead to repeated contact, insufficient clamping, unsmooth release, or fruit surface damage before the fruit has been stably fed in.

[0091] The kinematic relationship between the sun gear 26, the large harvesting disk 21, and the planetary gears 27 / small harvesting disk 23 can be expressed as follows:

[0092] ;

[0093] Where, ω s The angular velocity of the sun gear is 26 angular velocities, ω c To collect the angular velocity of the large disk 21 or the planetary carrier, ω p Z represents the angular velocity of planetary gear 27 and harvesting disk 23. s For the sun gear with 26 teeth, Z p The number of teeth on planetary gear 27. The angular velocity of the working phase of the small harvesting disk 23 relative to the local harvesting direction of the large harvesting disk 21 can be approximated as:

[0094] ;

[0095] By adjusting the rotational speed of the sun gear 26, the rotational speed of the large harvesting disc 21, and the gear ratio, the speed at which the phase of the small harvesting disc 23 passes through the fruit feeding position can be changed, thereby adjusting the fruit feeding time, clamping time, and reverse bending time.

[0096] The fruit feeding position of the small harvesting disc 23 is set behind the posture adjustment mechanism 3, and within the effective sweeping area at the top or front upper part of the large disc. After the fruit is guided by the posture adjustment rod 323, it should first contact the gradual guide section of the small harvesting disc 23, rather than directly contacting the maximum clamping or maximum bending area. This allows the fruit to gradually transition from a naturally hanging state to a clamped state, reducing the risk of instantaneous impact and fruit surface abrasion.

[0097] Each effective working phase can be sequentially divided along the rotation direction of the harvesting disc 23 into an introduction-progression section, a clamping-bending section, and a release-yield section. The working radius of the introduction-progression section gradually increases, guiding the fruit smoothly into the disc's working area. The clamping-bending section maintains a relatively stable or slowly changing working radius, providing primary clamping, reverse bending, and downward pulling effects on the fruit. The working radius of the release-yield section gradually decreases, reducing the clamping force after the fruit stalk breaks, allowing the fruit to smoothly detach from the harvesting disc 23 and enter the subsequent collection area. A smooth transition is preferred between the introduction-progression section, the clamping-bending section, and the release-yield section to avoid sharp angles or abrupt steps.

[0098] Let n be the number of effective working phases of the harvesting disc 23; n=1 for a single phase and n=2 for two phases. Let the effective angular window that allows the fruit center to enter in each working phase be . If the measured effective arc length is b e The effective radius is r e Then it is acceptable:

[0099] ;

[0100] If the measured value is the effective chord length c e Then it is acceptable:

[0101] ;

[0102] The time the fruit spends within the effective feeding zone can be expressed as:

[0103] ;

[0104] Among them, L e v is the path length where the center of the fruit is within the effective feeding zone. e The relative transport speed between the fruit and the mechanism.

[0105] Considering only whether the phase window will yield fruit, the theoretical probability of a phase encounter can be expressed as:

[0106] ;

[0107] in, This is the actual correction coefficient, used to characterize factors such as fruit diameter dispersion, posture deviation, interference between adjacent fruits, slippage, and clamping failure. This formula only represents the probability of the working window and the fruit meeting, and is not equivalent to the final feeding success rate. For a two-phase structure, although the frequency of the working window increases, if the continuous effective angle of each phase is too small, the fruit may still not be able to be stably fed within a single window.

[0108] Furthermore, the small harvesting disc 23 can only complete feeding within the effective sweeping area at the top of the large harvesting disc 21. Let the effective sweeping angle at the top be... The angular velocity of the large disk is The top sweep time is:

[0109] ;

[0110] Let the continuous open time of each phase be... ,but:

[0111] ;

[0112] in, e The actual angular velocity of the working phase of the harvesting disc 23 relative to the fruit contact direction.

[0113] Let the time required for the fruit to complete its entry and reach a stable clamping position be . To complete the feeding, at least the following conditions must be met:

[0114] ;

[0115] Therefore, the consecutive effective angles of each phase should satisfy:

[0116] ;

[0117] The higher the relative rotational speed of the harvesting disc 23, the larger the minimum continuous effective angle required for stable fruit feeding; if the two-phase structure causes the continuous effective angle of each phase to be less than... Even if two phases increase the frequency of the working window, the actual feeding effect may be reduced due to insufficient continuous opening time in a single operation.

[0118] The single-phase harvesting disc 23 has one effective working phase in its circumference. This phase can have a large continuous effective angle, allowing the fruit to be sequentially introduced, clamped, bent in the opposite direction, and released within a wide working window. This is suitable for conditions with low fruit density, high requirements for fruit damage control, or those requiring longer clamping and bending times. The two-phase harvesting disc 23 has two effective working phases in its circumference. The two-phase structure can increase the effective number of working cycles per unit angle, making it suitable for conditions with relatively stable fruit feeding, high fruit density, and the need to increase the continuous harvesting cycle.

[0119] When the two small harvesting discs 23 on the left and right together form a pair of clamping elements, the actual effective feeding window should be determined by the intersection of the effective windows of the left and right small discs. Let the effective window of the left small disc be... The effective window of the small circular disk on the right is Then the actual effective windows for holding the small discs are:

[0120] ;

[0121] When the left and right small disks work in phase and synchronously. It can approach the effective window of the small disc on one side.

[0122] In one embodiment, the single-phase feeding sector can be 240 degrees, and the fruit's visual span under the current initial geometry is approximately 21.3 degrees. Therefore, the conservative effective window at the center of the fruit can be 218.7 degrees. When the rotational speed of the large harvesting disc 21 is 28 r / min and the angular velocity of the small harvesting disc 23 relative to the working direction is approximately 168 degrees / s, the fruit's dwell time can be estimated based on the effective fruit feeding path and relative conveying speed, and the phase encounter situation of single-phase and two-phase operations can be further calculated. A phased working surface matching the fruit feeding position is set on the single-phase or two-phase small harvesting disc 23. This working surface includes an introduction progressive section, a clamping bending section, and a release yielding section. Through the combined revolution and rotation of the sun gear 26 system, the fruit completes smooth feeding, flexible clamping, reverse bending, pull-down stem removal, and release within the effective sweeping area.

[0123] See Figures 6-8 , Figure 6 This is a schematic diagram of the pose adjustment mechanism 3 according to an embodiment of the present invention. Figure 7A This is a schematic diagram of the pose adjustment component 32 according to an embodiment of the present invention. Figure 7B This is a schematic diagram of the pose adjustment component 32 according to another embodiment of the present invention. Figure 8This is a schematic diagram of the spring plunger 3223 according to an embodiment of the present invention. The posture adjustment mechanism 3 is a floating posture adjustment mechanism 3, which is set at the front end of the fruit entering the harvesting area. It is used to guide, make way for and adjust the posture of kiwifruit that are naturally hanging under the trellis, are too high or have poor posture. It can elastically make way and reset when the fruit is too high or has poor posture, so that the angle between the fruit stem and the long axis of the fruit is within a range that is easier to pick. That is, the floating posture adjustment mechanism 3 first adjusts the fruit to a suitable picking posture, and then the sun wheel 26 drives the small harvesting disc 23 to complete the reverse bending and pulling separation. In this embodiment, the support shaft 3211 is mounted and supported on the support frame 31 through the support shaft 3211 bearing 25. The front end of the posture adjustment rod 323 is mounted on the support shaft 3211. The mounting roller 3224 is mounted and supported on the mounting bearing seat 3226 through the roller shaft 3225. The mounting bearing seat 3226 is connected to the slider 3222, and the slider 3222 moves along the guide rail 3221. The spring plunger 3223 is used to elastically limit and reset the position adjustment rod 323 through the slider 3222 and the mounting roller 3224, so that the position adjustment rod 323 can elastically give way when it contacts the fruit and return to the predetermined position after the fruit passes through.

[0124] The pose adjustment component 32 of this embodiment includes: a support member 321, including a support shaft 3211, which is mounted above the front end of the support frame 31 via a support shaft 3211 bearing 25, so that the pose adjustment component can rotate or float within a small range with the support shaft 3211 as the support base; an adjustment member 322, which is mounted on the support frame 31 corresponding to the support member 321 and located behind the support shaft 3211; the adjustment member 322 slides vertically relative to the support frame 31; and a pose adjustment rod 323, which is mounted on the support member 321 and connected to the adjustment member 322, and the pose adjustment rod 323 extends to the working area of ​​the harvesting disc 23.

[0125] The adjusting component 322 includes a guide rail 3221, a slider 3222, an elastic reset component, and an mounting roller 3224. The guide rail 3221 is mounted on the support frame 31, and the slider 3222 is connected to the guide rail 3221. The elastic reset component is preferably a spring plunger 3223, the top of which is connected to the slider 3222. The mounting roller 3224 is connected to the sliders 3222 on both sides via a roller shaft 3225. The spring plunger 3223 is inserted into the left and right base holes through its top and connected to the slider 3222 via the base. The elastic end of the spring plunger 3223 is used to hold, limit, or reset the position adjusting component, so that it maintains a preset initial posture when not squeezed by fruit, can elastically yield when squeezed by fruit, and returns to its original position after the fruit passes through. The mounting roller 3224 can be a rotating shaft, hinge shaft, roller shaft, swing shaft with bearing, or guide shaft with a low-friction surface; any component that enables the posture adjustment component to have a certain floating, swinging, or yielding function is acceptable. The elastic reset component can be a compression spring plunger 3223, compression spring, torsion spring, tension spring, gas spring, elastic rubber block, elastic sheet, or adjustable damping component, used to achieve the limiting, buffering, and reset of the posture adjustment component.

[0126] During operation, the kiwifruit hanging below the trellis first comes into contact with the position adjustment rod 323. For fruits that are too high or tilted, the position adjustment rod 323 floats or moves slightly under the combined action of the support shaft 3211, the mounting roller 3224, the guide rail 3221, the slider 3222, and the compression spring plunger 3223, thus avoiding rigid impact on the fruit and guiding the fruit into the effective working area of ​​the harvesting mechanism 2 behind it.

[0127] See Figure 9A and 9B , Figure 9A This is a schematic diagram of the posture adjustment rod 323 according to an embodiment of the present invention. Figure 9BThis is a schematic diagram of the posture adjustment rod 323 according to another embodiment of the present invention. The posture adjustment rod 323 can be an arc plate, an arc rod, a guide roller, a flexible guide strip, a rubber-coated guide component, or a multi-segment combined guide component, so as to realize the introduction, repositioning, and posture adjustment of the kiwi fruit. The posture adjustment rod 323 in this embodiment includes a front guide section 3231, an arc-shaped transition section 3232, and a rear guide section 3233 connected sequentially along the fruit entry direction. The front guide section 3231 is used to first contact the kiwi fruit or the area near the fruit stem, so that the kiwi fruit hanging naturally under the trellis gradually enters the harvesting channel from its natural hanging state. The arc-shaped transition section 3232 is used to lift, lower, or laterally guide the fruit, so that excessively high fruits can be flexibly guided and adjusted to the ideal working area of ​​the harvesting disc 23, making it easier to harvest. This section is the main posture adjustment section of the posture adjustment rod 323, and its curvature and length can be matched according to the trellis height, fruit hanging height, fruit equivalent diameter, and the entrance position of the harvesting disc 23. The rear guide section 3233 is used to ensure that the fruit maintains a relatively stable posture after leaving the posture adjustment mechanism 3 and smoothly enters the working area of ​​the harvesting disc 23. Preferably, the front inlet section 3231 has a smooth transition contour surface to reduce impact and scratching when the fruit enters; the rear guide section 3233 is a flat, slightly curved, or flexible-coated guide surface. When an excessively tall kiwi fruit contacts the posture adjustment component, the posture adjustment component floats or rotates slightly around the support shaft 3211 with the mounting roller 3224, compressing the spring plunger 3223 and providing a reverse elastic force. This avoids a hard collision between the fruit and the rigid guide component, while using the elastic restoring force to moderately hold and guide the fruit, adjusting the angle between the fruit stem and the long axis of the fruit to a range more conducive to subsequent reverse bending and separation.

[0128] Let the equivalent diameter of the kiwi fruit be D, the length of the front guide segment 3231 be L1, the length of the arc transition segment 3232 be L2, the length of the rear guide segment 3233 be L3, the radius of curvature of the arc transition segment 3232 be R, and the guide angle of the pose adjustment rod 323 relative to the fruit's entry direction be . The elastic clearance stroke of the position adjustment rod 323 is s. Among them, L1 is used to ensure the smooth entry of the fruit, L2 is used to provide a sufficient posture adjustment path, and L3 is used to ensure the posture stability of the fruit before entering the harvesting mechanism 2; R is determined according to the equivalent diameter of the fruit, the initial height deviation of the fruit, and the entrance height of the harvesting disc 23; s is determined according to the allowable compression deformation of the fruit, the preload of the spring plunger 3223, and the installation position of the position adjustment rod 323.

[0129] The pose adjustment rod 323, along the fruit's movement direction, includes a front guide section 3231, an arc-shaped transition section 3232, and a rear guide section 3233. The central angle of the arc-shaped transition section 3232 is... The length of the arc-shaped transition segment 3232 can be expressed as:

[0130] ;

[0131] When the rear guide segment 3233 is arranged approximately horizontally, and the front inlet segment 3231 is at an inlet angle... When the fruit is introduced into the arc-shaped transition section 3232, let the total horizontal projection of the pose adjustment rod 323 be X, and the total height adjustment amount be H. Then the parameters of each section can satisfy:

[0132] ;

[0133] ;

[0134] Therefore, the adjustment amount H, available installation length X, and entry angle can be determined based on the target height. The radius R of the arc-shaped transition section 3232 determines L1, L2, and L3. When it is necessary to determine L3 from the known H, X, ... When calculating the lengths of the front-end import segment 3231 and the back-end guide segment 3233 using R, the following method can be used:

[0135] ;

[0136] ;

[0137] To ensure that the length of the front-end import segment 3231 is a positive value, the following must be satisfied:

[0138] ;

[0139] Furthermore, to better accommodate different varieties and sizes of kiwifruit, the main parameters of the position adjustment rod 323 can be proportionally set according to the fruit size. Let D be the 95th percentile transverse diameter of the target kiwifruit. 95 Then it is acceptable:

[0140] ;

[0141] in, , , and The proportionality coefficient can be determined based on fruit size, trellis height, inlet position of harvesting disc 23, installation height of posture adjustment rod 323, and prototype test results. If a fruit passageway is formed between posture adjustment rod 323 and adjacent limiting components, let the effective passage size be G, and the required safety clearance for fruit passage be... Then it is acceptable:

[0142] ;

[0143] The position adjustment lever 323 can also achieve elastic displacement and reset via a spring plunger 3223 or an elastic element. Let the initial preload of the spring plunger 3223 be F0, the stiffness of the elastic element be k, and the compression be x, then the restoring force of the elastic element can be expressed as:

[0144] ;

[0145] When the pose adjustment rod 323 swings at a small angle around the support shaft 3211, let the lever arm from the point of action of the elastic element to the support shaft 3211 be l. s The lever arm from the fruit contact point to the support shaft 3211 is l. f Then the equivalent contact force of the guide component on the fruit can be approximately expressed as:

[0146] ;

[0147] To reduce the risk of fruit surface damage, the equivalent contact force of the guide component on the fruit should be less than the allowable contact force of the fruit. ,Right now:

[0148] ;

[0149] The above parameters and formulas are used to explain the relationship between the dimensions of each segment of the position adjustment rod 323, the lead-in angle, the arc transition radius, and the elastic clearance capacity. In actual implementation, the parameters L1, L2, L3, R, and R can be adjusted according to different kiwi fruit varieties, fruit size, trellis height, harvesting device installation height, inlet position of the harvesting disc 23, and prototype test results. The parameters of s and elastic elements are adjusted. Through the continuous cooperation of the front-end inlet section 3231, the arc-shaped transition section 3232 and the rear-end guide section 3233, the fruit completes the inlet, displacement and posture adjustment with a small impact, and enters the action area of ​​the subsequent harvesting disc 23 in a stable posture.

[0150] See Figure 10 , Figure 10This is a schematic diagram of the transmission mechanism 4 according to an embodiment of the present invention. The transmission mechanism 4 is mounted on the frame 1 and is used to drive the rotation of the large disc and the movement of the sun gear 26 in the harvesting mechanism 2, respectively. The two power paths enable the sun gear 26 and the planet gears 27 to form a controllable relative motion, avoiding the rigid synchronization of the sun gear 26 and the large harvesting disc 21, which would cause the planet gears 27 to lose their rotation. Through the combined motion of the reverse rotation of the small harvesting disc 23 and the revolution of the large disc, as well as the adjustment of the feeding angle of the kiwifruit, the kiwifruit is bent and pulled in the opposite direction, causing the fruit stem to break at the abscission point, thereby improving the stem removal rate. The large disc transmission component 41 in this embodiment includes a pulley drive motor 411, a slewing support bearing 412, a transmission gear 413, and a pulley transmission component. The pulley drive motor 411 is connected to the pulley transmission component via a pulley shaft 417. The pulley transmission component is connected to the transmission gear 413, and the transmission gear 413 meshes with the tooth surface of the slewing support bearing 412. The large harvesting disc 21 is connected to the slewing support bearing 412. The slewing support bearing 412 has a two-layer structure, with its outer ring toothed and meshing with the transmission gear 413. The outer ring is mounted on the large harvesting disc 21 through a connecting hole. The inner ring of the slewing support bearing 412 is mounted on a mounting plate, which is mounted or fixed at a corresponding support position on the frame 1. The large harvesting disc 21 receives power input from the transmission gear 413 via the outer ring of the slewing support bearing 412, and rotates stably relative to the frame 1. The pulley drive motor 411 rotates clockwise to drive the pulley shaft 417. A small pulley 415 is mounted on the pulley shaft 417 and is connected to the large pulley 414 via a synchronous belt 416. The large pulley 414 is coaxially mounted with the transmission gear 413 via a hollow bearing, driving the large harvesting disc 21 to rotate around its central axis. The small harvesting disc 23 mounted on the large harvesting disc 21 revolves with it. The pulley drive can also be a chain drive, gear drive, friction wheel drive, direct drive motor, or direct connection to a reducer, as long as it can drive the large harvesting disc 21 to rotate as a planetary carrier.

[0151] The harvesting drive component 42 includes a main shaft 421 and a harvesting drive motor 422. The harvesting drive motor 422 is connected to the main shaft 421. The sun gear 26 is mounted on the main shaft 421. The harvesting drive motor 422 drives the sun gear 26 to rotate via the main shaft 421. The sun gear 26 meshes with planet gears 27, which drive the small harvesting disk 23 to rotate. The harvesting drive component 42 can also be a servo motor, stepper motor, DC geared motor, hydraulic motor, or a mechanical transmission branch distributed from the overall machine power, as long as it can drive the sun gear 26 to generate a controllable speed relative to the large harvesting disk 21. Since the sun gear 26 and the large harvesting disk 21 are not rigidly synchronized, but driven by two separate power paths, the small harvesting disk 23 can rotate in the opposite direction relative to the large harvesting disk 21 while revolving around it. After the fruit enters the harvesting mechanism 2 through the posture adjustment mechanism 3, the working surface of the small harvesting disc 23 contacts the fruit; the rotation of the large harvesting disc 21 drives the fruit to move in the harvesting direction, and the relative reverse rotation of the small harvesting disc 23 causes the fruit to bend, and the downward pulling effect is superimposed, causing the fruit stem to break at the abscission layer. This simulates the process of adjusting the fruit posture first and then bending and pulling the fruit down in manual harvesting, which can improve the stem removal rate.

[0152] In this embodiment, the rotary transmission chain of the large harvesting disc 21 and the transmission chain of the sun gear 26 are driven by different power sources. The rotary transmission chain of the large harvesting disc 21 is as follows: the pulley drive motor 411 drives the pulley mounting shaft and the small pulley 415 to rotate counterclockwise through the pulley motor coupling. The small pulley 415 drives the large pulley 414 to rotate through the synchronous belt 416. The large pulley 414 drives the transmission gear 413 to rotate through the large pulley 414-drive gear connecting shaft. The transmission gear 413 drives the outer ring of the slewing support bearing 412 to rotate clockwise, thereby driving the large harvesting disc 21 connected to the outer ring of the slewing support bearing 412 to rotate clockwise. The transmission chain of the sun gear 26 is as follows: the sun gear 26 is fixedly connected to the main shaft 421. The harvesting drive motor 422 drives the main shaft 421 to rotate counterclockwise through the gear system drive motor coupling, thereby driving the sun gear 26 to rotate counterclockwise. Since the sun gear 26 meshes with the three planet gears 27, when the sun gear 26 rotates counterclockwise, it drives the three planet gears 27 to rotate clockwise, which in turn drives the harvesting disc 23, which is coaxially mounted with the planet gears 27, to rotate clockwise.

[0153] During harvesting, the harvester moves continuously along the direction of travel of the trellis. The kiwifruit below the trellis first comes into contact with the posture adjustment mechanism 3 as the machine or test bench moves forward. The posture adjustment rod 323 can float within a certain range under the action of the spring plunger 3223, which flexibly guides, repositions, and corrects the posture of the fruit, preventing the fruit from being hard-hit if it is too low. At the same time, it guides the fruit stalk to form a suitable angle for picking with the long axis of the fruit, so that the fruit enters the effective working area of ​​the harvesting disc 23 of the harvesting mechanism 2. While the harvesting disc 23 rotates with the large disc, the sun gear 26 and planet gear 27 mesh to drive the harvesting disc 23 to rotate, thereby forming a reverse bending force and downward pulling force on the fruit that is not completely consistent with the direction of the fruit stalk, causing the fruit stalk to break at the abscission point, thus completing the continuous harvesting of kiwifruit on the trellis.

[0154] See Figure 11 , Figure 11 This is a schematic diagram of the harvesting state according to an embodiment of the present invention. The continuous harvesting method for trellis kiwifruit of the present invention is implemented using the aforementioned continuous harvesting device for trellis kiwifruit, sequentially performing fruit entry, posture adjustment, combined harvesting, stem breakage, and fruit detachment. Specifically, the fruit posture is adjusted by floating, the fruit enters the working area of ​​the harvesting disc 23, the sun wheel 26 drives the disc to rotate in the opposite direction, the fruit bends and is pulled downwards in the opposite direction, the stem breaks at the abscission layer, and the fruit enters the collection area. In array-based operations, multiple harvesting devices are also included to perform zoned, staggered, or continuous harvesting of fruits at different lateral or front-back positions below the trellis, specifically including the following steps:

[0155] Position the posture adjustment mechanism 3 in front of the natural hanging area of ​​the kiwi fruit 5 under the trellis;

[0156] When the transmission mechanism 4 is activated, the large disc transmission component 41 drives the large harvesting disc 21 to rotate and drives the small harvesting disc 23 to rotate synchronously; at the same time, the harvesting drive component 42 drives the small harvesting disc 23 to rotate on its own.

[0157] The trellised kiwifruit continuous harvesting device moves forward continuously along the trellise, and the posture adjustment mechanism 3 flexibly guides, elastically yields, and adjusts the posture of the kiwifruit fruit 5.

[0158] After being positioned and adjusted, the kiwifruit 5 enters the working area of ​​the small harvesting disc 23. The small harvesting disc 23 revolves under the influence of the large harvesting disc 21, while the harvesting drive component 42 drives the small harvesting disc 23 to rotate on its own axis. This causes the small harvesting disc 23 to clamp, bend in the opposite direction, and pull downwards on the fruit. Under the combined action of bending force, downward force, and the fruit's own weight, the fruit stalk breaks at the abscission point, separating the kiwifruit 5 from the fruit stalk.

[0159] After the kiwifruit fruit 5 detaches from the fruit stalk, it is released in the detachment area or retreat area of ​​the small harvesting disc 23 and enters the fruit receiving trough, conveying or collecting device.

[0160] During harvesting in the orchard, the installation height of the entire machine or harvesting device is first adjusted according to the trellis height, fruit hanging height, and the installation position of the harvesting device or array of harvesting devices, so that the posture adjustment mechanism 3 is located in front of the natural hanging area of ​​the kiwifruit. The harvester travels at a constant speed along the trellis direction, and the posture adjustment components of each harvesting device or array first come into contact with the fruit. When the fruit is too high or its posture deviates from the ideal harvesting posture, the posture adjustment component elastically floats under the action of the mounting roller 3224 and the compression spring plunger 3223, giving way to and guiding the fruit, so that the fruit is adjusted to the position corresponding to the action of the harvesting mechanism 2.

[0161] Subsequently, the belt drive motor 411 drives the large harvesting disc 21 to rotate, and the harvesting drive motor 422 drives the sun gear 26 to rotate. The sun gear 26 meshes with the planet gears 27, causing the small harvesting disc 23 to rotate relative to the large harvesting disc 21. After the fruit has been positioned and adjusted, it enters the working area of ​​the small harvesting disc 23 and comes into contact with it. The small harvesting disc 23 has both the motion of revolving with the large harvesting disc 21 and the relative reverse rotation. As the fruit is moved downward, it bends in the opposite direction relative to the fruit stalk. The fruit stalk breaks at the abscission layer, and the fruit separates from the fruit stalk.

[0162] In one embodiment of the present invention, the following steps may be included:

[0163] Step S100: Before operation, adjust the installation height of the whole machine, test bench or harvesting device according to the height of the trellis, the hanging height of the kiwi fruit and the installation position of the harvesting device, so that the posture adjustment mechanism 3 is located in front of the natural hanging area of ​​the kiwi fruit 5 under the trellis, and the harvesting mechanism 2 is located in the harvesting area that the fruit can enter after the posture adjustment.

[0164] Step S200: Start the transmission mechanism 4. The pulley drive motor 411 drives the large harvesting disc 21 to rotate via the small pulley 415, the synchronous belt 416, the large pulley 414, the transmission gear 413, and the outer ring of the slewing support bearing 412. The harvesting drive motor 422 drives the sun gear 26 to rotate via the main shaft 421. The sun gear 26 drives the planet gear 27 and the small harvesting disc 23 mounted on the same axis to rotate.

[0165] In step S300, the harvester, mobile platform or test bench moves forward continuously along the trellis. The kiwi fruit 5 first contacts the posture adjustment rod 323. The posture adjustment rod 323 flexibly guides, elastically yields and adjusts the posture of the fruit through the front guide section 3231, the arc transition section 3232 and the rear guide section 3233.

[0166] Step S400: After the fruit has been positioned and adjusted, it enters the working area of ​​the small harvesting disc 23 of the harvesting mechanism 2. The large harvesting disc 21 drives the small harvesting disc 23 to revolve around the sun. The sun wheel 26 drives the small harvesting disc 23 to rotate through the planetary wheel 27, so that the small harvesting disc 23 clamps, bends in the opposite direction and pulls down on the kiwi fruit 5.

[0167] In step S500, under the action of the phased working surface of the small harvesting disc 23, the kiwi fruit 5 tends to bend relative to the fruit stem and is pulled downwards. Under the combined action of bending force, downward force and the weight of the fruit, the fruit stem breaks at the abscission layer, causing the fruit to separate from the fruit stem.

[0168] In step S600, after the kiwifruit fruit 5 is separated from the fruit stalk, it is released in the separation area or retreat area of ​​the harvesting disc 23 and enters the subsequent fruit receiving trough, conveying device or collection mechanism.

[0169] During operation, parameters can be adjusted according to fruit size, fruit density, fruit stem strength, and trellis height. Adjustable parameters include: the forward speed of the whole machine or moving platform, the rotation speed of the large disc, the rotation speed of the sun wheel 26, the relative rotation speed between the sun wheel 26 and the large disc, the phase form of the harvesting disc 23, the installation height of the posture adjustment mechanism 3, the elastic preload of the posture adjustment rod 323, the contact gap between the harvesting disc 23 and the fruit, and the installation spacing and phase difference between adjacent harvesting devices.

[0170] When the fruit density is low or the fruit is easily damaged, a single-phase harvesting disc 23 can be used, and the rotation speed of the large disc or the overall forward speed of the machine can be appropriately reduced to prolong the single clamping and bending action time and reduce impact. When the fruit density is high and the feeding is stable, a two-phase harvesting disc 23 can be used to increase the effective harvesting times per unit angle and the continuous harvesting efficiency. When the fruit stalk is hard or the abscission layer is not sufficiently broken, the relative rotation speed between the sun wheel 26 and the large disc can be appropriately increased to make the harvesting disc 23 generate a more obvious reverse rotation effect in the clamping area. When the fruit skin is soft or the risk of damage is high, the rotation speed can be reduced, the elastic preload of the position adjustment rod 323 can be reduced, or a flexible covering layer can be set on the contact surface of the harvesting disc 23 to reduce impact and local pressure damage. By adjusting the above steps and parameters, the fruit can first complete the position adjustment, then enter the combined movement area of ​​the harvesting disc 23, and finally break the fruit stem at the abscission layer through the combined action of reverse bending and downward pulling, thereby improving the adaptability of continuous harvesting of trellis kiwifruit and the stem removal effect.

[0171] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0172] 1) A floating posture adjustment mechanism 3 is set in front of the harvesting mechanism 2 to adapt to the situation where the fruits are of different heights and have inconsistent postures under the trellis, and to reduce the jamming and damage caused by the fruits being too high, tilted or fed at an improper angle.

[0173] 2) Instead of relying solely on cutting, plucking, or pulling, it utilizes the characteristic that the abscission layer of kiwifruit stems is prone to breakage under the combined action of bending and pulling. The 26-series sun gear generates a controllable reverse bending and pulling action, which helps to improve the stem removal rate.

[0174] 3) By superimposing the revolution of the large harvesting disc 21 and the rotation of the small harvesting disc 23, compared with the structure that relies solely on the overall rotation of the discs, the effective harvesting action can be increased, the ineffective angle can be reduced, and the continuous harvesting efficiency can be improved.

[0175] 4) The sun wheel 26 and the large harvesting disc 21 are driven by different power paths. The rotation speed and phase relationship between the two can be adjusted according to the kiwi fruit variety, fruit size, fruit stalk strength and walking speed, and the harvesting action is highly controllable.

[0176] 5) The small harvesting disc 23 can adopt a two-phase, single-phase or multi-phase structure. The phased working surface, in conjunction with the composite motion of the sun wheel 26, completes the fruit introduction, clamping, bending and detachment. This allows the fruit to be subjected to a controllable reverse bending and pulling action after entering the harvesting area, thereby improving the continuous harvesting efficiency.

[0177] 6) The harvesting device is modular and can be used alone on a small test platform or arranged in a horizontal or vertical array on the whole machine. Compared with relying entirely on a single large harvesting mechanism 2 for the harvesting width, the modular array makes it easy to flexibly increase or decrease the number of harvesting devices according to the row spacing, trellis width and fruit distribution density in the orchard, thereby improving the overall harvesting efficiency and adaptability.

[0178] 7) Primarily based on mechanical transmission and passive / elastic guidance, the structure is relatively simple, suitable for continuous batch harvesting in standardized trellis kiwi orchards, and has good practicality.

[0179] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A continuous harvesting device for trellis kiwifruit, characterized in that, include: frame; A harvesting mechanism, mounted on the frame, includes symmetrically arranged harvesting components. Each harvesting component includes a large harvesting disc, a small harvesting disc, and a harvesting wheel. The small harvesting disc is mounted inside the large harvesting disc and connected to the harvesting wheel. A posture adjustment mechanism, mounted on the frame and located in front of the harvesting mechanism, is used for gently guiding, positioning, and correcting the posture of the fruit, ensuring it enters the effective working area of ​​the harvesting mechanism. The posture adjustment mechanism includes a support frame and posture adjustment components. The support frame is mounted on the frame corresponding to the harvesting mechanism, and the posture adjustment components are mounted on the support frame and positioned between symmetrically arranged small harvesting discs. The transmission mechanism, mounted on the frame, includes a large disc transmission component and a harvesting drive component. The large disc transmission component is connected to the large harvesting disc; the harvesting drive component is connected to the harvesting wheel. The large disc transmission component drives the large harvesting disc to rotate, and the small harvesting disc revolves with the large harvesting disc. The harvesting drive component, through the harvesting wheel, drives the small harvesting disc to rotate, thereby clamping, bending in the reverse direction, pulling down, and breaking the fruit stem at the separation layer, to complete the continuous harvesting of trellis kiwifruit.

2. The continuous harvesting device for kiwifruit on trellises as described in claim 1, characterized in that, The harvesting wheel includes a sun gear and planet gears. The sun gear is connected to the small disc transmission component, and the planet gears are connected to the small harvesting disc and mesh with the sun gear.

3. The continuous harvesting device for kiwifruit on trellises as described in claim 1, characterized in that, The small harvesting disc is equipped with a phase working surface corresponding to the fruit feeding position. The phase working surface includes an introductory progressive part, a clamping bending part, and a release and retraction part arranged in sequence. Through a combination of revolution and rotation, the disc sequentially completes the smooth feeding, flexible clamping, reverse bending, pull-down stem removal, and release of the fruit within the effective sweeping area.

4. The continuous harvesting device for kiwifruit on trellises as described in claim 3, characterized in that, The harvesting disc is a single-phase harvesting disc or a two-phase harvesting disc.

5. The continuous harvesting device for kiwifruit on trellises as described in claim 1, characterized in that, The pose adjustment component includes: A support member, including a support shaft, is mounted above the front end of the support frame via a support bearing seat; An adjusting member, corresponding to the support member, is mounted on the support frame and located behind the support shaft; the adjusting member slides vertically relative to the support frame; and A position adjustment rod is installed on the support and connected to the adjustment component. The position adjustment rod extends to the working area of ​​the harvesting disc.

6. The continuous harvesting device for kiwifruit on trellises as described in claim 5, characterized in that, The posture adjustment rod includes a front guide section, an arc-shaped transition section, and a rear guide section connected sequentially along the fruit entry direction. The front guide section is used to gradually guide the kiwifruit fruits that are naturally hanging under the trellis into the harvesting channel. The arc-shaped transition section is used to lift, lower, or guide the fruit laterally, so that the fruit is gradually adjusted to a position that is easy to harvest. The rear guide section is used to maintain a relatively stable posture of the fruit and smoothly enter the working area of ​​the small harvesting disc.

7. The continuous harvesting device for kiwifruit on a trellis as described in claim 6, characterized in that, The front-end inlet section is a smooth transition contour surface; the rear-end guide section is a planar surface, a micro-arc surface, or a guide surface with a flexible coating.

8. The continuous harvesting device for trellis kiwifruit as described in claim 5, characterized in that, The adjusting component includes a guide rail, a slider, an elastic reset component, and a mounting roller. The guide rail is mounted on the support frame, and the slider is connected to the guide rail. The top end of the elastic reset component is connected to the slider, and the mounting roller is connected to the sliders on both sides via a roller shaft.

9. The continuous harvesting device for kiwifruit on a trellis as described in claim 1, characterized in that, The large disc transmission component includes a pulley drive motor, a slewing support bearing, a transmission gear, and a pulley transmission element. The pulley drive motor is connected to the pulley transmission element via a pulley shaft. The pulley transmission element is connected to the transmission gear. The transmission gear meshes with the tooth surface of the slewing support bearing. The large harvesting disc is connected to the slewing support bearing. The harvesting drive component includes a main shaft and a harvesting drive motor. The harvesting drive motor is connected to the main shaft, and the sun gear is mounted on the main shaft.

10. A method for continuous harvesting of trellis kiwifruit, characterized in that, The continuous harvesting device for kiwifruit on trellises, as described in any one of claims 1-9, is used to achieve this, comprising the following steps: Position the posture adjustment mechanism in front of the natural hanging area of ​​the kiwifruit under the trellis; The transmission mechanism is activated, and the large disc transmission component drives the large harvesting disc to rotate, which in turn drives the small harvesting disc to rotate synchronously; at the same time, the harvesting drive component drives the small harvesting disc to rotate on its own. The continuous harvesting device for kiwifruit on trellises moves forward continuously along the trellis, and the posture adjustment mechanism gently guides, elastically repositions, and adjusts the posture of the kiwifruit. After being positioned and adjusted, the fruit enters the working area of ​​the small harvesting disc. Driven by the large harvesting disc, the small harvesting disc revolves around the central axis, while simultaneously rotating on its own axis. This causes the small harvesting disc to clamp, bend, and pull downwards onto the fruit. Under the combined effects of bending force, downward force, and the fruit's own weight, the fruit stalk breaks at the abscission point, separating the fruit from the stalk. After the fruit detaches from the pedicel, it is released in the detachment area or retreat area of ​​the harvesting disc and enters the receiving trough, conveying or collecting device.

Images