Automatic picking and shaking machine for facility substrate blueberries

Abstract

The utility model provides an automatic picking and shaking machine for facility substrate blueberries, which comprises a material receiving mechanism and a vibrating mechanism, and the material receiving mechanism comprises two material receiving hoppers which are oppositely arranged left and right; the vibration mechanism comprises a supporting rod, a vibration power assembly and a first fork piece, the supporting rod is vertically installed on one of the material receiving hoppers, the vibration power assembly is fixed to the upper portion of the supporting rod, the first fork piece comprises at least eight first fork needles arranged side by side, the first fork needles are arranged in the left-right direction, and the first fork needles are arranged in the left-right direction. The same ends of all the first fork needles are fixedly connected, the other ends of the first fork needles are suspended, the output end of the vibration power assembly is fixedly connected with one ends of the first fork needles, and the vibration power assembly drives the first fork pieces to conduct reciprocating linear vibration. By means of a reciprocating vibration mode, mature blueberry fruits can be picked, petals after fruit setting can be shaken off, harm of gray mold is reduced, and blueberry branches and trunks cannot be damaged.

Description

Technical Field

[0001] This utility model relates to the field of blueberry harvesting machinery technology, and in particular to an automatic blueberry picking and flower shaking machine for facility substrates. Background Technology

[0002] Gray mold is a common and serious disease in blueberry cultivation, occurring during both flowering and fruit development. It is more prevalent in greenhouse cultivation, causing anything from reduced yields to complete crop failure. To prevent or reduce gray mold, timely removal of remaining petals after flowering and fruit set is an effective method. Traditionally, petal removal requires manual labor, which is time-consuming, labor-intensive, and inefficient.

[0003] There are two main methods for harvesting blueberries: manual harvesting, which is time-consuming, labor-intensive, and costly; and mechanical harvesting, which uses a rotating lever to tap the blueberry bushes. While this method is more efficient, it can damage the bushes. For example, Chinese utility model patent CN221784704U discloses a suspended greenhouse blueberry harvesting device. The walking mechanism is installed above the main body of the device, and the blueberry harvesting mechanism is installed inside. It taps the blueberry bushes to harvest the blueberries. However, the dense array of fingers mounted on the rotating shaft collides with the bushes during the tapping process, causing some damage. Furthermore, greenhouse blueberries ripen in stages, with flowers and fruits appearing simultaneously. Using the finger-tapping method not only knocks off ripe blueberries but also unripe blueberries and unset flowers. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an automatic blueberry picking and flower shaking machine for facility substrates. The machine shakes the blueberry tree by vibration to pick the blueberry fruit and remove the petals after the blueberry flowers have withered. This greatly reduces the manual input in the process of picking blueberry fruit and removing petals, saving time and effort and increasing efficiency.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] An automatic blueberry picking and shaking machine for facility substrates includes a material receiving mechanism and a vibration mechanism, wherein the material receiving mechanism includes two material receiving hoppers arranged opposite each other;

[0007] The vibration mechanism includes a support rod, a vibration power assembly, and a first fork. The support rod is vertically mounted on one of the receiving hoppers. The vibration power assembly is fixed to the upper part of the support rod. The first fork includes at least eight first fork pins arranged side by side. The first fork pins are placed along the left-right direction. All the first fork pins are fixedly connected at the same end, and the other end is suspended. The output end of the vibration power assembly is fixedly connected to one end of the first fork pins. The vibration power assembly drives the first fork to perform reciprocating linear vibration.

[0008] Furthermore, the length of the first fork is greater than 50 cm, and the spacing between adjacent first forks is 3-6 cm; the side projection shape of the first fork is straight.

[0009] Furthermore, the vibration power assembly includes a motor, a gear, a rack, a slider, and a slide rail. The output end of the motor is fixedly connected to the central shaft of the gear. The gear meshes with the rack. The rack is fixed on the slider. The slider is slidably connected to the slide rail. The slide rail and the motor are fixed on the support rod. The output end of the vibration power assembly is either the rack or the slider.

[0010] Furthermore, the vibration mechanism also includes a second fork and a vertical rod. The second fork is located above the first fork and includes at least 20 second forks arranged side by side. The second forks are placed in the left-right direction, and all the second forks are fixedly connected at the same end and suspended at the other end. The vertical rod is set vertically, and the second fork is connected to the first fork through the vertical rod.

[0011] Furthermore, the vibration mechanism also includes a sleeve rod and a locking member. The sleeve rod is vertically fixed on the first fork member, the upright rod slides into the inner hole of the sleeve rod, and the locking member locks the upright rod onto the sleeve rod.

[0012] Furthermore, the length of the second fork is greater than 90 cm, and the spacing between adjacent second forks is 3-6 cm; the side projection shape of the second fork is a straight line, a U-shape with flared ends on both sides, an inverted U-shape with flared ends on both sides, or an arc shape.

[0013] Furthermore, each of the two receiving hoppers has a plant clearance hole in the middle of its opposite edge. The plant clearance hole is semi-circular or U-shaped, and the two receiving hoppers are staggered vertically.

[0014] Furthermore, it also includes a trolley, with one of the receiving hoppers fixed on the trolley, which is either an automatic walking trolley or a hand trolley.

[0015] Furthermore, it also includes identification tags and location identification sensors, with the identification tags installed on the blueberry planting pots and the location identification sensors installed on the trolley.

[0016] Furthermore, the receiving mechanism also includes a receiving box, and the receiving hopper has a discharge hole in the middle of the bottom edge away from the blueberry bush. The bottom of the receiving hopper gradually decreases in height from its edges to the discharge hole. The receiving box is placed on the trolley and is located below the discharge hole.

[0017] The beneficial effects of this invention are as follows: by using a vibration mechanism to reciprocate and shake the blueberry tree to shake off the flowers and harvest the fruit, and by using two opposing hoppers to collect the flowers and fruit that fall off after the vibration, it is possible to not only harvest the blueberry fruit and remove the petals after the blueberry flowers have withered, but also to greatly reduce the manual input in the process of harvesting the blueberry fruit and removing the petals, saving time and effort and increasing efficiency. It can also effectively reduce the occurrence and infection of blueberry gray mold, and will not damage the blueberry branches. Attached Figure Description

[0018] Figure 1 This is a perspective view of an automatic blueberry picking and flower-shaking machine for facility substrates according to an embodiment of the present invention;

[0019] Figure 2 This is an embodiment of the present utility model. Figure 1 A magnified view of part A;

[0020] Figure 3 This is a perspective view of the receiving hopper according to an embodiment of the present utility model;

[0021] Figure 4 This is a frontal view of an embodiment of the present invention, showing the positional relationship between the blueberry plant, the two receiving hoppers, the first fork, and the second fork.

[0022] Figure 5 This is a diagram showing the positional relationship between the blueberry tree and the first and second forks, viewed from the right side, according to an embodiment of the present invention.

[0023] Label Explanation:

[0024] 1. Receiving mechanism; 2. Vibration mechanism; 3. Trolley;

[0025] 11. Receiving hopper; 12. Receiving box;

[0026] 111. Plant clearance hole; 112. Material leakage hole; 113. Baffle;

[0027] 21. Support rod; 22. Vibration power assembly; 23. First fork; 24. Second fork; 25. Upright; 26. Sleeve; 27. Locking component;

[0028] 221. Motor; 222. Gear; 223. Rack; 224. Slider; 225. Slide rail;

[0029] 231. First cross needle;

[0030] 241. Second cross needle. Detailed Implementation

[0031] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0032] Please refer to Figures 1 to 5 The embodiments provided by this utility model are as follows:

[0033] An automatic blueberry picking and shaking machine for facility substrate includes a receiving mechanism 1 and a vibration mechanism 2. The receiving mechanism 1 includes two receiving hoppers 11 arranged opposite each other on the left and right sides, which catch the petals and ripe fruits falling from the blueberry tree from the left and right sides.

[0034] The vibration mechanism 2 is located above the receiving mechanism 1. The vibration mechanism 2 is used to reciprocate and shake the blueberry plant. The vibration mechanism 2 includes a support rod 21, a vibration power assembly 22, and a first fork 23. The support rod 21 is vertically installed on one of the receiving hoppers 11. The vibration power assembly 22 is fixed to the upper part of the support rod 21. The first fork 23 includes at least eight first fork pins 231 arranged side by side. The first fork pins 231 are placed in the left-right direction. All the first fork pins 231 are fixedly connected at the same end, which is called the connecting end of the first fork 23. The other end is suspended, which is called the suspended end of the first fork 23. The output end of the vibration power assembly 22 is fixedly connected to the connecting end of the first fork 23. The vibration power assembly 22 drives the first fork 23 to perform reciprocating linear vibration.

[0035] During operation, the two receiving hoppers 11 are first brought close to each other from the left and right sides of the blueberry bush. At this time, the two opposite edges of the two receiving hoppers 11 are brought close until there is no gap between them, so that blueberry petals and ripe fruits will not fall to the ground between the two receiving hoppers 11. At the same time as the receiving hoppers 11 are close to the blueberry bush, the vibration mechanism 2 is also extended into the interior of the blueberry bush canopy, that is, the first forked needle 231 is inserted into the branches inside the blueberry bush canopy. Then the vibration mechanism 2 is turned on, and the blueberry branches are shaken back and forth simultaneously by at least 8 first forked needles 231. This can not only shake off the petals after fruit set, but also shake off the ripe blueberries. The petals and ripe fruits shaken off by the vibration fall onto the two receiving hoppers 11 for collection. The operation is simple, convenient and efficient. It not only saves time and labor, but also effectively reduces the occurrence and infection of gray mold, and will not damage the blueberry branches.

[0036] Specifically, the length of the first crosspin 231 is greater than 50 cm, and the spacing between adjacent first crosspins 231 is 3-6 cm; for example Figure 5 As shown, viewed from the left or right, the side projection of the first fork 23 is in the shape of a straight line. The first fork 23 can be placed horizontally or at an angle to the horizontal plane. As the first fork 231 extends into the blueberry branch from right to left or from left to right, the vibration power component 22 drives the first fork 23 to vibrate back and forth to shake the blueberry tree.

[0037] Specifically, the vibration power assembly 22 includes a motor 221, a gear 222, a rack 223, a slider 224, and a slide rail 225. The output end of the motor 221 is fixedly connected to the central shaft of the gear 222. The gear 222 meshes with the rack 223. The rack 223 is fixed on the slider 224. The slider 224 is slidably connected to the slide rail 225. The slide rail 225 and the motor 221 are fixed on the support rod 21. The output end of the vibration power assembly 22 is either the rack 223 or the slider 224.

[0038] Furthermore, the vibration mechanism 2 also includes a second fork 24 and a support rod 25. The second fork 24 is located above the first fork 23. The second fork 24 includes at least 20 second forks 241 arranged side by side. The second forks 241 are placed along the left-right direction. All the second forks 241 are fixedly connected at the same end, which is called the connecting end of the second fork 24. The other end is suspended, which is called the suspended end of the second fork 24. The support rod 25 is set vertically. The connecting end of the second forks 241 is fixedly connected to the connecting end of the first forks 231 through the support rod 25. The suspended end of the first fork 23 and the suspended end of the second fork 24 face the same direction. This makes the first forks 231 and the second forks 241 have suspended ends in the same orientation, so that they can be inserted into the branches of the blueberry tree at the same time.

[0039] Specifically, the width of the second fork 24 is greater than the width of the first fork 23, and it is located above the first fork 23. This allows the second fork 24 to cooperate with the first fork 23 to reciprocate and shake the branches at different heights of the blueberry tree, which can more comprehensively shake the flowers and fruits of the blueberry tree, and also make the vibration of the entire blueberry tree more uniform.

[0040] Furthermore, the vibration mechanism 2 also includes a sleeve rod 26 and a locking member 27. The sleeve rod 26 is vertically fixed to the first fork member 23, and the upright rod 25 slides into the inner hole of the sleeve rod 26. The locking member 27 locks the upright rod 25 to the sleeve rod 26. The height distance between the first fork member 23 and the second fork member 24 is adjusted by the sliding arrangement between the upright rod 25 and the sleeve rod 26, so that the height difference between the first fork member 23 and the second fork member 24 can accommodate blueberry bushes of different sizes.

[0041] Specifically, the length of the second forked pin 241 is greater than 90 cm, the spacing between adjacent second forked pins 241 is 3-6 cm, and the second forked pin 241 is relatively long, allowing it to penetrate the entire blueberry bush in the left-right direction, thus achieving a relatively complete vibration and shaking of the blueberry bush. Preferably, as follows... Figure 5 As shown, viewed from the left or right, the side projection shape of the second fork 24 is a straight line, a U-shaped with flared ends on both sides, an inverted U-shaped with flared ends on both sides, or an arc, so that the second fork 24 can fit well with the blueberry tree.

[0042] Preferably, each of the two receiving hoppers 11 has a plant clearance hole 111 at the center of its opposite edge, and the plant clearance hole 111 is semi-circular or U-shaped. This allows the two receiving hoppers 11 to be brought closer together, such as... Figure 4 As shown, the lower part of the blueberry trunk is placed in the plant clearance hole 111, and the two receiving hoppers 11 work together to completely catch the fallen flowers and fruits.

[0043] Preferably, the two receiving hoppers 11 are staggered vertically to further ensure that fallen flowers and fruits can be completely caught.

[0044] In addition, the fixing method of the two receiving hoppers 11 also includes a trolley 3, wherein one of the receiving hoppers 11 is fixed on one of the trolleys 3, and the trolley 3 is an automatic walking trolley or a hand trolley.

[0045] If the trolley 3 is an automatic walking trolley, specifically, during operation, identification tags are set on the blueberry planting pots, and position identification sensors are installed on the trolley 3. Two trolleys 3 are positioned on the left and right sides of multiple blueberry pots arranged in a straight line, and the two trolleys 3 automatically move forward along the direction in which the blueberry pots are placed. When the position identification sensors detect the identification tags, the two trolleys 3 stop moving forward and begin to automatically move towards the current blueberry planting pot, causing the two receiving hoppers 11 to begin moving closer to the blueberry plant. Once the two receiving hoppers 11 are aligned... The first fork 23 and the second fork 24 have also been inserted between the branches of the blueberry canopy, and the vibration power component 22 is activated to start shaking the flowers and fruits. After shaking the flowers and fruits, the two trolleys 3 move away from the current blueberry planting pot, while driving the two receiving hoppers 11 to move away from the blueberry plants, until the first fork 23 and the second fork 24 are also placed outside the branches of the blueberry tree. The two trolleys 3 continue to move forward automatically, repeating the above actions to identify the next blueberry planting pot and reciprocate the blueberry plants in that pot, until all blueberry plants have been processed.

[0046] If the trolley 3 is a handcart, when using it, a person holds the trolley 3 and pushes it towards the blueberry bush, thus bringing the receiving hopper 11 close to the blueberry bush. During operation, since one blueberry bush requires two trolleys 3 from different directions, two people can be used, one pushing one trolley 3 each. During operation, two people push one trolley 3 from each side of a row of blueberries. When they reach the same blueberry plant, they move the trolleys 3 closer to the plant until the plant is positioned within the plant's clearance hole 111, and there are no gaps between the opposite edges of the two receiving hoppers 11. Ideally, they should be staggered vertically. Figure 4 As shown, at this time, the first fork 23 and the second fork 24 also extend into the branches of the blueberry plant, and the vibration power unit 22 is activated to start shaking the flowers and fruits. After shaking the flowers and fruits, the two people pull their respective carts 3 away from the blueberry plant until the first fork 23 and the second fork 24 are also placed outside the branches of the blueberry plant. The two people repeat the above actions to carry out the reciprocating vibration operation on the next blueberry plant.

[0047] Furthermore, the receiving mechanism 1 also includes a receiving box 12. The receiving hopper 11 has a leakage hole 112 at the bottom center away from the edge of the blueberry bush. The bottom of the receiving hopper 11 gradually decreases in height from its edges to the leakage hole 112. The receiving box 12 is placed on the trolley 3 and is located below the leakage hole 112. Blueberry petals and ripe fruits caught by the receiving hopper 11 fall into the receiving box 12 through the leakage hole 112 for collection. By replacing the receiving box 12, fruit picking and flower shaking operations can be continuously carried out.

[0048] Specifically, the receiving hopper 11 has a rectangular shape when viewed from above. Except for the edge facing the plant, the other three sides of the receiving hopper 11 are equipped with baffles 113, which can better collect the fallen flowers and fruits.

[0049] Furthermore, to better adapt to the shaking and harvesting operations of blueberry bushes of different varieties and at different stages, a controller was installed. The controller has buttons for adjusting vibration frequency and amplitude parameters. Through specific experiments, a suitable vibration frequency and amplitude were selected for shaking and / or harvesting the same batch of blueberry bushes. By controlling the vibration frequency and amplitude, mature blueberry fruits can be shaken off, significantly reducing the probability of picking unripe fruits.

[0050] In summary, the beneficial effects of the automatic blueberry picking and flower-shaking machine for facility substrates provided by this utility model are as follows:

[0051] 1. The first fork 23 and the second fork 24 extending into the blueberry canopy are driven by the vibration power component 22 to vibrate back and forth, which causes little damage to the blueberry tree and can quickly pick blueberries with high efficiency. It can also remove the petals after fruit set in time, reducing the occurrence and infection of gray mold.

[0052] 2. The entire blueberry plant is vibrated more completely by the first fork 23 and the second fork 24, which have a height difference.

[0053] 3. The receiving mechanism 1 is ingeniously designed and can catch the fallen petals and mature fruits through two oppositely arranged receiving hoppers 111 with plant clearance holes 111 in the middle. It can catch the fallen petals and fruits relatively completely.

[0054] 4. By adjusting the vibration frequency and amplitude of motor 221, the automatic blueberry picking and shaking machine in the facility substrate can have more suitable vibration parameters, which can greatly reduce the drop of unripe blueberries and improve the ripeness of blueberries during picking.

[0055] 5. It features simple equipment, low cost, and flexible operation, using two automatic walking trolleys or hand trolleys;

[0056] 6. The continuous operation of blueberry flower and fruit collection is achieved by the cooperation of the material discharge hole 112 on the receiving hopper 11 and the receiving box 12.

[0057] It can not only harvest blueberries and remove petals after the blueberry flowers have faded, greatly reducing the manual input in the process of harvesting blueberries and shaking flowers, saving time and effort and increasing efficiency, but also effectively reduce the occurrence and infection of gray mold.

[0058] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An automatic blueberry picking and flower-shaking machine for facility substrates, characterized in that, It includes a receiving mechanism (1) and a vibration mechanism (2), wherein the receiving mechanism (1) includes two receiving hoppers (11) arranged opposite each other on the left and right; The vibration mechanism (2) includes a support rod (21), a vibration power assembly (22), and a first fork (23). The support rod (21) is vertically installed on one of the receiving hoppers (11). The vibration power assembly (22) is fixed to the upper part of the support rod (21). The first fork (23) includes at least 8 first fork pins (231) arranged side by side. The first fork pins (231) are placed along the left and right direction. One end of all the first fork pins (231) is fixedly connected, and the other end is suspended. The output end of the vibration power assembly (22) is fixedly connected to one end of the first fork pins (231). The vibration power assembly (22) drives the first fork (23) to perform reciprocating linear vibration.

2. The facility substrate blueberry automatic picking shaker as claimed in claim 1, characterized in that, The length of the first fork (231) is greater than 50 cm, and the distance between adjacent first forks (231) is 3-6 cm; the side projection shape of the first fork (23) is straight.

3. The facility substrate blueberry automatic picking shaker as claimed in claim 1, characterized in that, The vibration power assembly (22) includes a motor (221), a gear (222), a rack (223), a slider (224), and a slide rail (225). The output end of the motor (221) is fixedly connected to the central shaft of the gear (222). The gear (222) meshes with the rack (223). The rack (223) is fixed on the slider (224). The slider (224) is slidably connected to the slide rail (225). The slide rail (225) and the motor (221) are fixed on the support rod (21). The output end of the vibration power assembly (22) is either the rack (223) or the slider (224).

4. The automatic blueberry picking and flower-shaking machine for facility substrates according to claim 1, characterized in that, The vibration mechanism (2) further includes a second fork (24) and a vertical rod (25). The second fork (24) is located above the first fork (23). The second fork (24) includes at least 20 second fork pins (241) arranged side by side. The second fork pins (241) are placed along the left and right direction. One end of all the second fork pins (241) is fixedly connected, and the other end is suspended. The vertical rod (25) is set vertically. The second fork (24) is connected to the first fork (23) through the vertical rod (25).

5. The automatic blueberry picking and flower-shaking machine for facility substrates according to claim 4, characterized in that, The vibration mechanism (2) further includes a sleeve (26) and a locking member (27). The sleeve (26) is vertically fixed on the first fork (23). The upright (25) slides into the inner hole of the sleeve (26). The locking member (27) locks the upright (25) on the sleeve (26).

6. The facility substrate blueberry automatic picking shaker as claimed in claim 4, characterized in that, The length of the second fork (241) is greater than 90 cm, and the distance between adjacent second forks (241) is 3-6 cm; the side projection shape of the second fork (24) is a straight line, a U-shaped with flared openings on both sides, an inverted U-shaped with flared openings on both sides, or an arc.

7. The automatic blueberry picking and flower-shaking machine for facility substrates according to claim 1, characterized in that, The two receiving hoppers (11) are provided with plant clearance holes (111) in the middle of their opposite edges. The plant clearance holes (111) are semi-circular or U-shaped, and the two receiving hoppers (11) are staggered vertically.

8. The automatic blueberry picking and flower-shaking machine for facility substrates according to claim 1, characterized in that, It also includes a trolley (3), one of the receiving hoppers (11) is fixed on the trolley (3), the trolley (3) being an automatic walking trolley or a hand trolley.

9. The facility substrate blueberry automatic picking shaker as claimed in claim 8, characterized in that, It also includes identification tags and location identification sensors, the identification tags being installed on the blueberry planting pots and the location identification sensors being installed on the trolley (3).

10. The automatic blueberry picking and flower-shaking machine for facility substrates according to claim 8, characterized in that, The receiving mechanism (1) also includes a receiving box (12). The receiving hopper (11) has a leakage hole (112) in the middle of the bottom edge away from the blueberry tree. The bottom of the receiving hopper (11) gradually decreases in height from each edge to the leakage hole (112). The receiving box (12) is placed on the trolley (3) and is located below the leakage hole (112).

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