Forest fruit tree body profiling beating fruit harvester based on special-shaped crankshaft structure

Abstract

According to the forest and fruit tree body profiling flapping fruit harvester based on the special-shaped crankshaft structure, transmission is achieved through special-shaped crankshafts with different crank throw eccentricity degrees, and the movement amplitude of flapping strips is limited through the inner side edges of amplitude limiting plates; the purpose that the flapping strips are arranged in a manner of imitating the contour of a tree crown can be achieved while the flapping strips are flapped, the flapping strips are arranged in a shape of imitating a tree shape, missed flapping of the top of the tree crown and the pole position of the symmetry axis is avoided, and the net picking rate of different positions is increased. The device comprises a chassis vehicle body and a tree-like flapping device, in the tree-like flapping device, a crankshaft with a plurality of crank throws is rotationally arranged on a base, and the eccentric distances of the crank throws are different; the lower end of each beating strip is hinged to a crank throw of the crankshaft; opposite amplitude limiting plates are arranged on the higher parts of the two sides of the base, and an amplitude limiting hole is formed between the opposite inner side edges of the two amplitude limiting plates; the distance between the inner side edges of the two amplitude limiting plates close to the center of the amplitude limiting plate in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner side edges of the two amplitude limiting plates close to the two ends of the amplitude limiting plate.

Description

Technical Field

[0001] The utility model relates to the field of fruit harvesting, in particular to a fruit harvester which is based on a special-shaped crankshaft structure and is used for beating fruits by beating the fruit tree body in a contoured manner. Background Art

[0002] Common dried fruits in my country include walnuts, chestnuts, cashews, etc. As a major producer of dried fruits, the efficiency of dried fruit picking is of vital importance. Manual picking is time-consuming and poses safety risks. Previous dried fruit picking machines have insufficient automation levels. The same machine has varying picking efficiencies for different trees, and there are problems such as body shaking on rugged terrain, resulting in reduced picking efficiency and mechanical damage. The traditional flapping-type picking machine has a higher cleaning rate for the middle of the crown than for the edge of the crown, resulting in more manpower required to pick the remaining fruits on the tree in the later stage. This utility model patent aims to solve the above problems through existing technologies, achieve smooth tree-like cross-patting on rugged terrain, achieve high-efficiency harvesting, and achieve high automation. Utility Model Content

[0003] The utility model provides a fruit harvester that imitates the shape of fruit trees by beating them, which is based on a special-shaped crankshaft structure. It adopts a special-shaped crankshaft with different eccentricities for transmission, and limits the movement range of the beating bar by the inner side of the limiting plate, so that the beating bar can beat while achieving the purpose of arranging the beating bar to imitate the outline of the tree crown, so that the arrangement shape of the beating bar is "tree-like", avoiding missing beatings at the top of the tree crown and the extreme points of the symmetry axis, and improving the harvesting rate of different parts.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present utility model is:

[0005] A fruit harvester with a contoured beating mechanism for fruit trees based on a special-shaped crankshaft structure, comprising a chassis and a tree-shaped beating mechanism;

[0006] The tree-shaped beating device includes a base arranged on the chassis body, the middle part of the base is concave and the two sides are raised, at least two bearing seats are set in the middle concave part of the base, and a crankshaft with multiple cranks is connected to the bearing seats, and the eccentricity of the crank close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crank away from the center of the crankshaft; the lower end of each beating bar is hinged on a crank of the crankshaft; relative limiting plates are set on the raised parts on both sides of the base, and there is a limiting hole for the beating bar to pass through between the relative inner sides of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plates; a driving device for driving the crankshaft to rotate relative to the bearing seat is set on the base.

[0007] The above-mentioned fruit harvester based on the special-shaped crankshaft structure that imitates and beats the fruit of the fruit tree body is provided with a plurality of cylinders arranged in the axial direction of the crankshaft on the limiting plate, and the piston rod end of each cylinder is connected to the limiting block. When the piston rod is extended, the limiting block can be extended into the limiting hole. Each limiting block extended into the limiting hole is used to contact one side of the beating bar to limit the movement amplitude of the beating bar when it moves toward the side in contact with the limiting block.

[0008] The above-mentioned fruit harvester for fruit trees with contour-profiling beatings based on a special-shaped crankshaft structure has two groups of beating bars, cylinders and limiting holes, the lower end of each left beating bar in the left group of beating bars being hinged on the crank located on one side of the crankshaft axis, and the lower end of each right beating bar in the right group of beating bars being hinged on the crank located on the other side of the crankshaft axis; each left cylinder in the left group of cylinders is arranged on a left limiting plate located on the left side of the crankshaft axis, and each right cylinder in the right group of cylinders is arranged on a right limiting plate located on the right side of the crankshaft axis; the left limiting block connected to the piston rod of the left cylinder is used to limit the movement amplitude of the left beating bar and the right beating bar when they move toward the side of the left limiting block when it is extended into the limiting hole, and the right limiting block connected to the piston rod of the right cylinder is used to limit the movement amplitude of the left beating bar and the right beating bar when they move toward the side of the right limiting block when it is extended into the limiting hole.

[0009] The above-mentioned fruit harvester with contour-profiling beating function for fruit trees based on a special-shaped crankshaft structure has a beating bar with adjustable length.

[0010] The above-mentioned fruit harvester for fruit trees that imitates and beats the fruit based on the special-shaped crankshaft structure is provided with a lifting platform that can be raised and lowered on the chassis body, and the base is arranged on the lifting platform.

[0011] The above-mentioned fruit harvester with contour-beating function for fruit trees based on a special-shaped crankshaft structure has a flexible chassis body, which includes a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, and a loading platform, the lower part of which is connected to the wheel bracket through a shock absorber.

[0012] The above-mentioned fruit harvester based on the special-shaped crankshaft structure for contour-beating fruit in fruit trees also includes a control console and an information collection system; the control console has a cylinder control system for controlling the actions of each cylinder, and the information collection system is equipped with a drone for measuring the shape and diameter of the crown of the fruit tree to be beaten above the tree, and sending the measured data to the control console.

[0013] During beating, the control console controls whether the piston rod of each cylinder is extended and the extension stroke according to the shape and diameter of the tree crown, so that multiple beating bars in contact with the inner side of the same limiting plate and the limiting block connected to the limiting plate are arranged into a shape that basically matches the outer contour of half the crown of the fruit tree being beaten.

[0014] The above-mentioned fruit harvester with contour-beating function for fruit trees based on a special-shaped crankshaft structure, the information collection system also includes an identification device for identifying tree trunks, so that the chassis body can locate the tree during the moving process.

[0015] The beneficial effects of the utility model are:

[0016] The utility model adopts a special-shaped crankshaft transmission with different eccentricities of each crank, and limits the movement range of the beating bar with the inner side of the limiting plate, so that the beating bar can be beaten while achieving the purpose of arranging the beating bar to imitate the outline of the tree crown, making the arrangement shape of the beating bar "tree-like", which can avoid missing beatings at the top of the tree crown and the extreme points of the symmetry axis, improve the collection rate of different parts, realize high-efficiency automatic harvesting, and at the same time achieve consistent collection rate.

[0017] When there are two groups of beating bars and cylinders, the left group of beating bars and the right group of beating bars can cross-beat the fruit trees in a tree-like shape as the crankshaft rotates, thereby achieving high-efficiency harvesting.

[0018] The drone measures the shape and diameter of the crown of the fruit tree to be flapped and sends the data to the control console; according to the data received by the control console, the stroke of the piston rod of each cylinder is controlled by the cylinder control system, so that the flapping bar can adjust the size of the limiting hole according to the different crown diameters. It can not only make fine adjustments to the profiling, but also control the flapping amplitude and improve the level of automation.

[0019] The drone first takes aerial photos of an orchard and determines the shape and size of each tree's crown from a bird's-eye view, sending the information to the control console. Then, when the chassis moves to a tree to tap it, the control console controls the stroke of each cylinder based on the tree's crown's shape and size, truly achieving tree-like tapping. This improves operational efficiency.

[0020] The length of the beating bar can be adjusted to suit fruit trees of different heights. There are many ways to adjust the length, such as using two sections of beating bar connected by threads.

[0021] The base is set on a lifting platform, which can also be used to tap fruit trees at different heights.

[0022] The flexible chassis ensures smooth flapping on uneven terrain. This flexible chassis structure offers strong obstacle avoidance capabilities in orchards with varying soil types and terrain, and offers excellent maneuverability over undulating terrain. The chassis remains stable during operation, effectively ensuring accurate tracking. Poor obstacle avoidance and chassis wobbling during flapping can reduce or even eliminate tracking accuracy, reducing the effectiveness of the flapping operation.

[0023] The cylinder group limits the swing amplitude of the beating bars and fine-tunes the diameter of the "tree-like" shape. The special-shaped crankshaft, combined with the beating amplitude limiting device, directly achieves the tree-like shape. The information collection system collects the crown diameters of all fruit trees in the orchard before the beating operation. This, in conjunction with the cylinder control system, adjusts all beating bars to form an arrangement that better matches the tree crowns. This allows for automated harvesting of dried fruits. The tree-like beating feature improves picking efficiency and reduces harvest residue. The flexible chassis adapts to various ground conditions, making the harvesting process more stable. The information collection system and cylinder control system employed in this system enable a higher level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional image of a fruit harvester.

[0025] Figure 2 This is a top view of the fruit harvester.

[0026] Figure 3 It is a three-dimensional schematic diagram of the base, bearing seat, crankshaft, beating bar, etc.

[0027] Figure 4 for Figure 3 A partial enlarged view of the .

[0028] Figure 5 Schematic diagram of the crankshaft, cylinder, beater bar, etc.

[0029] Figure 6 for Figure 5 Left view of .

[0030] Figure 7 A three-dimensional diagram of a retractable flapping bar.

[0031] Figure 8 It is a three-dimensional diagram of the vehicle body.

[0032] Figure 9 、 10 They are all connection diagrams of wheels, wheel brackets, and load-bearing platforms.

[0033] In the figure, the vehicle body 1, the wheel bracket 11, the wheel 12, the object support 13, the shock absorber 14, the object support stand 15,

[0034] Tree-shaped beating device 2, base 21, bearing seat 22, crankshaft 23, beating bar 24, left beating bar 241, right beating bar 242, cylinder 26, left cylinder 261, right cylinder 262, limiter plate 27, left limiter plate 271, right limiter plate 272, limiter plate inner side 273, limiter hole 28, limiter block 29, left limiter block 291, right limiter block 292,

[0035] Information collection system 3, drone 31. DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0037] The invention relates to a fruit harvester which is based on a special-shaped crankshaft structure and is provided with a contour-profiling beating device for fruit trees. The machine comprises a chassis body 1, a tree-shaped beating device 2, a control console and an information collection system 3.

[0038] The chassis body 1 is a flexible chassis body, including multiple wheel brackets 11, a wheel 12 with a hub motor arranged on each wheel bracket 11, a loading platform 13, and a loading platform frame 15. The loading platform 13 is fixed to the loading platform frame 15, each wheel bracket 11 is hinged to the loading platform frame 15, and the two ends of multiple shock absorbers 14 are respectively hinged to the loading platform frame 15 and the wheel bracket 11.

[0039] The tree-shaped beating device 2 includes a base 21 arranged on the object support platform 13, the middle part of the base is concave and the two sides are raised, two bearing seats 22 are set in the middle concave part of the base, and a crankshaft 23 with multiple cranks is connected to the bearing seats. The eccentricity of the crank close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crank away from the center of the crankshaft. Relative limiting plates 27 are set on the raised parts on both sides of the base, and the limiting hole 28 for the beating bar to pass through is between the opposite inner sides 273 of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plate in the axial direction parallel to the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plate (or in other words, the hole spacing of the limiting holes 28 gradually increases from the center to the two ends); a driving device such as a motor is set on the base to drive the crankshaft to rotate relative to the bearing seat, and the lower end of each beating bar 24 passing through the limiting hole 28 is hinged on a crank of the crankshaft, and a plurality of cylinders 26 arranged in the axial direction of the crankshaft are set on the two limiting plates 27, and the piston rod end of each cylinder is connected to the limiting block 29. When the piston rod is extended, the limiting block 29 can extend into the limiting hole 28, and each limiting block 29 extending into the limiting hole 28 is used to contact one side of the beating bar to limit the movement amplitude of the beating bar when it moves toward the side contacting the limiting block.

[0040] Each of the flapping bars, cylinders, and limiting blocks comprises two groups, one on each side. The lower end of each left flapping bar 241 in the left group is hinged on a crankshaft located on the left side of the crankshaft axis, while the lower end of each right flapping bar 242 in the right group is hinged on a crankshaft located on the right side of the crankshaft axis. Each left cylinder 261 in the left group of cylinders is mounted on a left limiting plate 271 located on the left side of the crankshaft axis, while each right cylinder 262 in the right group of cylinders is mounted on a right limiting plate 272 located on the right side of the crankshaft axis. The left limiting block 291 connected to the piston rod of the left cylinder, when inserted into the limiting hole, is used to limit the movement amplitude of the left and right flapping bars when they move toward one side of the left limiting block. The right limiting block 292 connected to the piston rod of the right cylinder, when inserted into the limiting hole, is used to limit the movement amplitude of the left and right flapping bars when they move toward one side of the right limiting block. That is to say, when the left beating bar 241 moves to the left, it will contact the left limiting block 291 extending into the limiting hole; when the left beating bar 241 moves to the right, it will contact the right limiting block 292 extending into the limiting hole; when the right beating bar 242 moves to the left, it will contact the left limiting block 291 extending into the limiting hole; when the right beating bar 242 moves to the right, it will contact the right limiting block 292 extending into the limiting hole.

[0041] The information collection system 3, equipped with drones 31 and other devices, measures the crown shape and diameter of fruit trees to be tapped from above and transmits the measured data to a control console. The control console includes a cylinder control system that controls the operation of each cylinder, a controller that controls the motor that drives the crankshaft, and controllers for the wheel hub motors that drive the chassis.

[0042] The above-mentioned fruit tree body profiling and beating fruit harvester is used to perform fruit beating and harvesting, and the adopted fruit tree body intelligent profiling and beating method includes the following steps:

[0043] The drone flies along a predetermined route, takes aerial photos of an orchard, and determines the shape and size of each tree's crown from a bird's-eye view. The drone then sends the shape and size of each tree's crown from a bird's-eye view corresponding to the tree number to the control console.

[0044] The chassis body moves while the crankshaft rotates. The controller controls the stroke of each cylinder according to the shape and size of the tree's crown from a top view, so that the limiting blocks connected to the limiting plate on one side are arranged into a shape that basically matches the outer contour of half the crown of the fruit tree being beaten, or the limiting blocks connected to the limiting plate on one side and the inner side of the limiting plate on this side are arranged into a shape that basically matches the outer contour of half the crown of the fruit tree being beaten. In this way, multiple beating bars contact the limiting blocks on the limiting plate on one side and extending into the limiting holes, or multiple beating bars contact the limiting blocks on the limiting plate on one side and extending into the limiting holes and the inner side of the limiting plate on this side at the same time, and the beating bars are arranged into a shape that basically matches the outer contour of half the crown of the fruit tree being beaten. The chassis body moves while the left and right groups of beating bars perform tree-like cross-beating on the fruit tree.

[0045] Certainly, the beating bar can be an adjustable beating bar of length.On the chassis body, a lifting platform that can be lifted can be set, and the base is arranged on the lifting platform.

[0046] The information collection system may further include an identification device for identifying tree trunks, so that the chassis body can quickly identify and locate the tree to be hit during the moving process.

[0047] The power of the wheels comes from the hub motors, and the connection between the wheels and the vehicle body is a flexible connection containing springs. When the vehicle body travels on a relatively rough road, the springs can offset most of the vibrations caused by bumps.

[0048] The beating bar can be extended and retracted to change its length to adapt to trees of different ages and heights.

[0049] The information collection system can be equipped with a drone. Before collection, the drone measures the diameter of the tree crown over the orchard and enters the measured data.

[0050] The beating bars are hinged to the crankshaft, which is connected to a bearing housing. The motor on the bearing housing drives the beating bar to rotate about a fixed axis. The beating mechanism consists of two groups of beating bars, one on the left and one on the right, depending on the direction of the crankshaft's deviation from the axis. As the crankshaft rotates, the two groups of beating bars achieve cross-beating of the tree canopy.

[0051] The information collection system can be equipped with a drone, which measures the diameter of the tree crowns over the orchard before collection and records the measured data.

[0052] The swing limiting device includes a limiting plate, a (dual-axis) cylinder group consisting of multiple (dual-axis) cylinders, a limiting block, and a cylinder control system. The cylinder control system can jointly control the extension and contraction of the (dual-axis) cylinders so that the limiting block on the side extending into the limiting hole is arranged in a suitable arc shape, or so that the limiting block on the side extending into the limiting hole and the inner side edge of the limiting plate on that side are arranged in a suitable arc shape.

[0053] The wheels of the flexible chassis are symmetrically distributed on both sides, and there can be multiple wheels on both sides. The tree-shaped beating device is placed on the object-bearing platform of the vehicle body.

[0054] The object support platform is a platform for placing the drone and the storage device, and the drone in the information collection system is placed on the platform when it is not working.

[0055] The power of the wheels comes from the hub motors, and the connection between the wheels and the vehicle body is a flexible connection containing springs. When the vehicle body travels on a relatively rough road, the springs can offset most of the vibrations caused by bumps.

[0056] When the beating bar swings, it can always contact the curved edge formed by a group of limiting blocks extending into the limiting hole, or contact the curved edge formed by a group of limiting blocks extending into the limiting hole and the inner side of the limiting plate.

[0057] The key points of this utility model patent are the use of a flexible chassis, which enables it to move more steadily on relatively rugged ground; the use of a tree-like beating device, so that during the beating process, the dried fruits in the middle and edges of the crown can be beaten; the use of a special-shaped crankshaft drive, so that the beating bars at the left and right ends can cross-beat and achieve the purpose of imitating the tree shape;

[0058] A (dual-axis) cylinder group control device is used, and the cylinder drives the limit block to move, which can adjust the size of the curve limit hole. It can not only make fine adjustments to the profiling, but also control the flapping amplitude; an information collection device is used, in which the drone can take aerial photos of each dry fruit tree in the orchard, calculate the diameter of its crown, and record it in the memory. The cylinder group joint control device can adjust the extension and retraction of each cylinder according to the information stored in the memory.

[0059] For example, when harvesting walnuts in a walnut orchard, the vehicle's onboard drone flies over the orchard, measures the tree crown diameters through aerial photography, and stores this diameter data in memory. When the vehicle moves in front of the walnut tree, the swing limiting device adjusts the expansion and contraction of each cylinder based on the diameter data in memory, thereby adjusting the size of the curved limiting hole to control the flapping amplitude. It also adjusts the curvature of the flapping bar arrangement curve to more closely resemble the tree shape, creating a "tree-like" arrangement of the flapping bars. After the swing limiting device is adjusted, the motor on the bearing seat drives the crankshaft to rotate, which in turn drives the flapping bars to flap. Adjusting the crankshaft's speed changes the flapping frequency of the flapping bars. Since the trees in the orchard are arranged relatively neatly, the machine can flap while moving, improving harvesting efficiency.

[0060] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field fall within the protection scope of the present invention.

Claims

1. The fruit harvester based on the special-shaped crankshaft structure is characterized by It includes chassis body and tree-shaped flapping device; The tree-shaped beating device includes a base arranged on the chassis body, the middle part of the base is concave and the two sides are raised, at least two bearing seats are set in the middle concave part of the base, and a crankshaft with multiple cranks is connected to the bearing seats, and the eccentricity of the crank close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crank away from the center of the crankshaft; the lower end of each beating bar is hinged on a crank of the crankshaft; relative limiting plates are set on the raised parts on both sides of the base, and there is a limiting hole for the beating bar to pass through between the relative inner sides of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plates; a driving device for driving the crankshaft to rotate relative to the bearing seat is set on the base.

2. The fruit harvester based on the special-shaped crankshaft structure of claim 1, characterized in that: A plurality of cylinders arranged in the axial direction of the crankshaft are provided on the limiting plate, and the piston rod end of each cylinder is connected to the limiting block. When the piston rod is extended, the limiting block can be extended into the limiting hole. Each limiting block extended into the limiting hole is used to contact one side of the beating bar to limit the movement amplitude of the beating bar when it moves toward the side in contact with the limiting block.

3. The fruit harvester for fruit trees with contoured beating motion based on a special-shaped crankshaft structure according to claim 1, characterized in that: There are two groups of left and right beating bars, cylinders and limiting holes. The lower end of each left beating bar in the left group is hinged on the crank located on one side of the crankshaft axis, and the lower end of each right beating bar in the right group is hinged on the crank located on the other side of the crankshaft axis; each left cylinder in the left group of cylinders is arranged on the left limiting plate located on the left side of the crankshaft axis, and each right cylinder in the right group of cylinders is arranged on the right limiting plate located on the right side of the crankshaft axis; the left limiting block connected to the piston rod of the left cylinder is used to limit the movement amplitude of the left beating bar and the right beating bar when they move toward the side of the left limiting block when it is extended into the limiting hole, and the right limiting block connected to the piston rod of the right cylinder is used to limit the movement amplitude of the left beating bar and the right beating bar when they move toward the side of the right limiting block when it is extended into the limiting hole.

4. The fruit harvester for fruit trees with contour-profiling and beating according to claim 1, wherein: The beating bar is a beating bar whose length can be adjusted.

5. The fruit harvester for fruit trees with contour-profiling and beating according to claim 1, wherein: A lifting platform that can be raised and lowered is arranged on the chassis body, and the base is arranged on the lifting platform.

6. The fruit harvester for fruit trees with contour-profiling and beating according to claim 1, wherein: The chassis body is a flexible chassis body, comprising a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, and an object support platform, wherein the lower part of the object support platform is connected to the wheel bracket through a shock absorber.

7. The fruit harvester for fruit trees with contour-profiling and beating according to claim 2, characterized in that: It also includes a control console and an information collection system; the control console has a cylinder control system for controlling the actions of each cylinder, and the information collection system is equipped with a drone for measuring the shape and diameter of the crown of the fruit tree to be tapped above the tree, and sending the measured data to the control console.

8. The fruit harvester for fruit trees with contour-profiling and beating according to claim 7, characterized in that: The information collection system also includes an identification device for identifying tree trunks, so that the chassis body can locate the tree during the moving process.

Images