CN108521995B - Pod picking machine - Google Patents

Abstract

The invention provides a pod picking machine which comprises a rack, and a clamping and conveying mechanism, a pod removing mechanism and a feeding mechanism which are horizontally arranged on the rack. The clamping and conveying mechanism is provided with a clamping part for clamping the root part of the bean stalks along the material conveying direction, and the end parts of the clamping part are respectively provided with a material inlet and a material outlet; the pod-removing mechanism is arranged in the frame and corresponds to the clamping part, and comprises a plurality of groups of pod-removing rollers which are sequentially arranged in the frame along the conveying direction, and each group of pod-removing rollers comprises a pair of rollers which are symmetrically arranged at two sides of the plane where the clamping part is located; the pod removing rollers comprise at least one group of first pod removing rollers, the axes of the rollers of the first pod removing rollers are all vertical to the conveying direction, and one end of each roller is close to the clamping part; the feeding mechanism is arranged at the material inlet and conveys materials into the clamping part, and the bean stalks of the feeding mechanism in the horizontal plane are obliquely arranged in a first direction with a first acute angle with the conveying direction. The pod picking machine provided by the invention can thoroughly remove pods of green soybeans at the root parts of bean stalks.

Description

Pod picking machine

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a pod picking machine.

Background

For a long time, the hulling operation of green soybeans (green soybeans) is manually completed, and the efficiency is low. Prior art CN101543311B discloses a green soybean huller, which comprises a frame, a conveying chain arranged on one side of the upper part of the frame and feeding along the horizontal direction, wherein the conveying chain and a clamping pressing plate arranged on the conveying chain form a clamping conveying mechanism which can clamp bean stems and convey the bean stems towards the conveying direction. The middle part of conveying chain is provided with rotatory podding device, and the podding device comprises the inboard upper and lower podding roller that is located centre gripping conveying mechanism by the first, the second two pairs that arrange around, and the roller axis of first, the second podding roller is 45 and 70 contained angles with direction of delivery respectively. Flexible pod-removing teeth which are distributed at intervals and extend radially are arranged on a roller shaft of the pod-removing roller, and the flexible pod-removing teeth of the upper pod-removing roller and the flexible pod-removing teeth of the lower pod-removing roller are staggered with each other. When the green soybean hulling machine works, bean stems which are not hulled gradually enter between the upper hulling roller and the lower hulling roller along with the movement of the conveying chain, bean pods are broken off from the bean stems in a row under the beating action of the staggered flexible hulling teeth, and in the falling process, the cleaning fan blows off fallen bean leaves, so that the mechanical green soybean hulling operation is completed.

Although the green soybean pod removing machine adopts two pairs of pod removing rollers arranged in front and back, the bean rods in the pod removing machine are vertically conveyed into the pod removing rollers in a mode of being perpendicular to the conveying direction (namely the bean rods are perpendicular to the clamping chain), and the bean rods are easily broken when the roller shafts of the pod removing rollers are parallel to the bean rods, so in order to avoid breaking the bean rods, the pod removing rollers 5 and 6 are always at certain included angles (namely 45 degrees and 70 degrees recorded in the prior art) with the conveying direction, but because the pod removing rollers are obliquely arranged, pod removing blank areas exist when the upper and lower pod removing rollers are used for pod removing, (as shown in a diagonal filling area X in figure 1), the root parts of the bean rods in the blank areas are not acted by the pod removing rollers, so the pods close to the root parts of the bean rods are not easily picked up, and the pods at the root parts of the bean rods are missed.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the green soybean pod remover in the prior art has a blank picking area, so that the pod picking machine capable of thoroughly removing the pod of the green soybeans at the root of the bean stalks is provided.

The invention provides a pod picking machine, which comprises:

a frame;

the clamping and conveying mechanism is horizontally arranged on the rack, a clamping part for clamping the root of the bean stalks is arranged along the material conveying direction, and a material inlet and a material outlet are respectively designed at the end part of the clamping part;

the pod-removing mechanism is arranged in the rack and corresponds to the clamping part, and comprises a plurality of groups of pod-removing rollers which are sequentially arranged in the rack along the conveying direction, and each group of pod-removing rollers comprises a pair of rollers which are symmetrically arranged on two sides of the plane of the clamping part;

the pod removing rollers comprise at least one group of first pod removing rollers, the axes of the rollers of the first pod removing rollers are all vertical to the conveying direction, and the rollers are arranged close to the clamping part;

the feeding mechanism is arranged at the material inlet and conveys the bean stalks into the clamping part obliquely towards a first direction, and the first direction and the conveying direction form a first acute angle in a horizontal plane;

the pod removing roller further comprises at least one set of second pod removing rollers arranged on the upstream of the first pod removing roller, the axis of each second pod removing roller is obliquely arranged towards the second direction, the second direction is arranged at a second acute angle in the horizontal plane with the conveying direction, and the second direction is oblique towards different sides with the first direction.

The feeding mechanism (4) comprises: a conveyor belt (41) having an output end connected to the material inlet (351); and a plurality of separating strips (42) which are arranged on the surface of the conveyor belt (41) in parallel at intervals, wherein the separating strips (42) and the conveying direction of the conveyor belt are arranged at the first acute angle. The pod-removing mechanism further comprises a deviation-rectifying plate vertically arranged between the adjacent pod-removing rollers, the deviation-rectifying plate is obliquely arranged along a third direction with a third acute angle formed in the conveying direction, and the third direction is obliquely arranged at the same side as the first direction.

One end of the deviation-rectifying plate is connected to the end part, far away from the clamping mechanism, of the roller wheel positioned at the upstream, and the other end of the deviation-rectifying plate points to the outer peripheral surface of the roller wheel positioned at the downstream.

The running roller includes the roller of being connected with drive arrangement, interval arrangement has a plurality of flexible pod-removing strips on the outer peripheral face of roller, flexible pod-removing strip is followed the axial extension of roller.

The flexible pod-removing strips are rubber strips, and 4 rubber strips are uniformly arranged on the peripheral surface of each roll shaft.

The clamping and conveying mechanism comprises an upper clamping chain and a lower clamping chain which are symmetrically arranged and arranged on the rack, and the upper clamping chain and the lower clamping chain are mutually meshed to form the clamping part.

The upper clamping chain and the lower clamping chain comprise a plurality of chain plates which are connected in sequence, and a plurality of meshing teeth which can be meshed with each other are arranged on the outer surface of each chain plate.

The inner sides of the upper clamping chain and the lower clamping chain are respectively provided with a support frame for supporting the clamping chains; and at least one support frame is also connected with a plurality of pressing blocks through elastic pieces, and the pressing blocks apply occlusion pressure to the clamping parts.

The material exit still is equipped with row's pole device, its include with material exit cross connection's row pole centre gripping chain, and with row pole centre gripping chain corresponds the grip block that sets up, the grip block with the centre gripping has the beanstalk after taking off the pod between row pole centre gripping chain.

The clamping plate is provided with an arc-shaped guide plate extending to the material outlet; the arc-shaped guide plate guides the beanstalks to enter the stalk discharging device.

Still including locating the letter sorting mechanism of pod removal mechanism below, it includes:

the vibrating screen is arranged below the pod-removing mechanism, and the tail part of the vibrating screen is provided with saw-shaped strips at intervals for separating bean pods and fallen leaves;

the air outlet of the air blower faces to the lower part of the vibrating screen and outputs air along the horizontal direction;

the pod conveying device is arranged on the rack below the vibrating screen and used for conveying pods outwards;

and the sundries conveying device is arranged on the machine frame at the downstream of the pod conveying device along the wind output direction and is used for conveying sundries outwards.

The automatic walking device is arranged below the rack and comprises a power device and a crawler belt or a wheel driven by the power device.

The technical scheme of the invention has the following advantages:

1. the invention provides a pod picking machine which comprises a rack, and a clamping and conveying mechanism, a pod removing mechanism and a feeding mechanism which are horizontally arranged on the rack. The clamping and conveying mechanism is provided with a clamping part for clamping the root part of the bean stalks along the material conveying direction, and the end parts of the clamping part are respectively provided with a material inlet and a material outlet; the pod removing mechanism comprises at least one group of pod removing rollers which are arranged in the frame and correspond to the clamping part, and each group of pod removing rollers comprises a pair of rollers which are symmetrically arranged on two sides of the plane where the clamping part is located. The pod-removing mechanism at least comprises a group of first pod-removing rollers, the axes of the rollers of the first pod-removing rollers are all vertical to the conveying direction, and one end of each roller is close to the clamping part; the feeding mechanism is arranged at a material inlet and conveys materials into the clamping part in the clamping part, and the bean stalks in the horizontal plane are obliquely arranged in a first acute angle direction with the conveying direction. Because first pod-removing roller is perpendicular to clamping part setting and one end is close to the clamping part, so the regional clamping part that is close to as far as possible is picked in the area of can picking of first pod-removing roller, has eliminated the picking blank area that exists among the prior art for the pod of bean stalk root can be through the pod-removing roller, and the completion is thoroughly pod-removed to bean stalk root, has improved the clean rate of picking. In addition, the feeding mechanism conveys the bean stalks in the horizontal plane into the clamping part in a first acute angle direction with the conveying direction in an inclined mode, and the situation that the bean stalks are broken when passing through the vertically arranged first pod removing roller in the direction perpendicular to the conveying direction is avoided. The feeding mechanism with the structure enables the pod removing roller to be perpendicular to the clamping part, and bean stalks are prevented from being broken in the pod removing process while picking blank areas are eliminated.

2. The pod removing roller of the pod picking machine further comprises at least one second pod removing roller arranged at the upstream of the first pod removing roller, the axis of the second pod removing roller is obliquely arranged in the horizontal plane where the second pod removing roller is located along a second direction forming a second acute angle with the conveying direction, and the second direction is oblique to the side different from the first direction. The inclined direction of the second pod-removing roller is set to be different sides from the first direction, so that bean stalks can be prevented from being axially same or similar to the roller shaft of the second pod-removing roller in the inclined direction, and the bean stalks of the second pod-removing roller are prevented from being broken. And to the oblique second pod roller that sets up of second direction surely can increase and the bean pole between the angle for the number of times of bean pole and the contact of second pod roller increases, improves the pod-removing net rate of collection.

3. The invention provides a pod picking machine, wherein a feeding mechanism comprises a conveyor belt, and an output end of the conveyor belt is connected with a material inlet; and a plurality of parallel separating strips which are arranged on the surface of the conveyor belt at intervals. The conveying belt used for connecting the material inlet can realize that the pod rods are conveyed into the clamping part quickly and continuously, so that the conveying efficiency of the pods is improved, and the pod removing efficiency of the picking machine can be improved by matching with the high-speed conveying of the clamping and conveying mechanism. In addition, the separating strips arranged in parallel at intervals are obliquely arranged on the surface of the conveying belt in the first direction forming a first acute angle with the conveying direction, so that the bean stalks placed on the conveying belt automatically enter the clamping part in the first direction, the angle of the bean stalks entering the clamping part is limited by the separating strips, the bean stalks are prevented from being parallel to or close to the axis of the pod removing roller, the pod removing process is prevented from being interrupted, manual adjustment is not needed, and the automation of the pod removing process is realized.

4. According to the pod picking machine provided by the invention, the pod removing mechanism further comprises a vertically arranged deviation rectifying plate arranged between the adjacent pod removing rollers, the deviation rectifying plate is obliquely arranged along a third direction forming a third acute angle with the conveying direction, and the third direction is oblique at the same side as the first direction. The bean stalks passing through the pod removing roller for one time can rotate towards the vertical direction along with the included angle of the conveying direction, the bean stalks can still incline towards the first direction by the deviation rectifying plate arranged on the same inclined side of the first direction, and the angle of the bean stalks entering the first pod removing roller can be adjusted due to the included angle between the deviation rectifying plate and the axial direction of the first pod removing roller, so that the bean stalks are prevented from being broken in parallel with the axial line of the first pod removing roller when entering the downstream.

5. The pod picking machine provided by the invention comprises a roller connected with a driving device, wherein a plurality of flexible pod removing strips are arranged on the peripheral surface of the roller at intervals, and extend along the axial direction of the roller. The flexible pod-removing strip is a rubber strip, and 4 rubber strips are uniformly arranged on the peripheral surface of each roll shaft. The flexible pod removing strip adopting the rubber strip is compared with pod removing teeth which are distributed on a pod removing roller shaft in the prior art, the flexible pod removing strip is large in contact area with pods, long in contact time and small in damage to the pods, the pods after being picked cannot produce unqualified products due to damage of the outer wall, and the flexible pod removing strip is suitable for pod removing operation of the pods with tender outer walls. The contact times of the bean stalks can be increased during passing through by the 4 rubber strips uniformly arranged on the roll shaft, and the net picking rate is improved.

6. The pod picking machine provided by the invention comprises a clamping and conveying mechanism, wherein the clamping and conveying mechanism comprises an upper clamping chain and a lower clamping chain which are symmetrically arranged and arranged on a rack, and the upper clamping chain and the lower clamping chain are mutually meshed to form a clamping part. The upper clamping chain and the lower clamping chain comprise a plurality of chain plates which are connected in sequence, and a plurality of meshing teeth which can be meshed with each other are arranged on the outer surface of each chain plate. According to the bean stem clamping and conveying device, bean stems are clamped and conveyed in an upper clamping chain and lower clamping chain meshing mode, compared with a clamping structure with the clamping plates and the clamping chains arranged up and down in the prior art, the bean stems can be kept in a first direction to enter the pod removing mechanism, and the requirement of the first pod removing roller arranged vertically on the entering direction of the bean stems is met. In addition, a plurality of fine meshing teeth are arranged on a single chain plate, and compared with a single large convex tooth on the conventional chain plate, the small gap between the meshing teeth can generate a good clamping effect on bean stalks with different thicknesses. The clamping and conveying mechanism with the structure has better clamping stability, so that the conveying speed of the clamping chain can be increased on the basis, and the pod-removing efficiency is improved.

7. According to the pod picking machine provided by the invention, the inner sides of the upper clamping chain and the lower clamping chain are respectively provided with a support frame for supporting the clamping chains; at least one support frame is also connected with a plurality of pressing blocks through elastic pieces, and the pressing blocks apply occlusion pressure to the clamping parts. The support frame can provide the support for the rotation of centre gripping chain, briquetting that connects through the elastic component on the support frame can apply interlock pressure to the clamping part, because be mutually independent continuous setting in the polylith on the support frame between the briquetting, it sets up position and quantity and can adjust as required, and accessible adjustment spring can realize the briquetting and exert the adjustment of pressure to the centre gripping chain, consequently go up the automatic adjustment centre gripping dynamics of quantity that different positions can be according to the beans pole of this department centre gripping on the centre gripping chain, compare and hold the board in current pressure and be the monoblock long slab, it has good adaptability.

8. According to the pod picking machine provided by the invention, the material outlet is also provided with the rod arranging device which comprises a rod arranging clamping chain and a clamping plate, wherein the rod arranging clamping chain is in cross connection with the material outlet, the clamping plate is arranged corresponding to the rod arranging clamping chain, and the pod-removed beanstalks are clamped between the clamping plate and the rod arranging clamping chain. The straw discharging device can introduce the hulled beanstalk into the straw discharging device, and the beanstalk is prevented from being rolled into a chain wheel at a material outlet to cause unsmooth operation of a clamping chain. To the longer beans pole of length, its root has reached the material exit and is about to lose the clamping action of clamping part but the beans pole top has not passed through completely and takes off the pod roller yet, arranges the effect that the pole device has extension clamping part length, can cause the row pole device with the pod root in, prevents that the beans pole from losing the clamping action and the card is terminal at the clamping part, causes piling up of beans pole. Simultaneously, the grip block has the arc guide board that extends to material exit, and the arc guide board can reach the material export and be about to lose the clamping action before the beanstalk, leads into row's pole device smoothly with the beanstalk, accomplishes row's pole operation.

9. The pod picking machine provided by the invention is also provided with a sorting mechanism arranged below the pod removing mechanism, the sorting mechanism comprises a vibrating screen, the vibrating screen is arranged below the pod removing mechanism, and the tail part of the vibrating screen is provided with spaced saw-shaped strips for separating pods and fallen leaves; the air outlet of the air blower faces the lower part of the vibrating screen and outputs wind power along the horizontal direction; the pod conveying device is arranged on the rack below the vibrating screen and used for conveying pods outwards; and the sundries conveying device is arranged on the rack at the downstream of the air blower and is used for conveying sundries outwards. The pods with empty light bean leaves can be separated from the pods with heavier weight by matching the vibrating screen and the air blower, so that the impurity rate of picking is reduced. The pod conveying device can convey the screened pods to the collecting container, so that the production efficiency is improved; miscellaneous material conveyor can collect or directly return the field with the miscellaneous material of rejecting in air-blower low reaches, can not produce on the machine and pile up, keeps the clean and tidy of operational environment.

10. The pod picking machine further comprises an automatic walking device arranged below the rack, and the automatic walking device comprises a power device and a crawler belt or a wheel driven by the power device. The automatic walking device realizes walking operation of the picking machine, the picking machine can be moved to a bean stalk picking position in an outdoor operation area, the transportation process is avoided, and therefore the operation efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic illustration of a picking blank area in a prior art pod removing machine;

FIG. 2 is a top view of the pod picking machine of example 1;

fig. 3 is a front view of the pod picking machine of example 1;

FIG. 4 is a cross-sectional view of a set of hulling rollers of example 1;

fig. 5 is a schematic structural view of a single link plate in embodiment 1;

fig. 6 is a partially enlarged view of the pin arranging apparatus according to embodiment 1.

Description of reference numerals:

1-a frame; 4-a feeding mechanism; 5-a rod arranging device;

21-a first hulling roller; 22-a second hulling roller; 23-a deviation rectifying plate; 24-flexible pod-removing strips;

31-upper clamping chain; 32-lower clamping chain; 33-a support frame; 34-a chain plate; 35-a clamping part;

331-briquetting; 332-a connecting rod; 341-engaging teeth; 351-material inlet; 352-material outlet;

41-a conveyor belt; 42-a separator bar;

51-a row rod clamping chain; 52-a clamping plate; 521-arc guide plate.

61-a vibrating screen; 62-a blower; 63-pod delivery device; 64-a sundry material conveying device;

7-crawler belt.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1

This embodiment provides a pod picking machine, which is configured as shown in fig. 2 to 6. Which comprises a frame 1, a clamping and conveying mechanism, a pod removing mechanism and a feeding mechanism 4, wherein the clamping and conveying mechanism, the pod removing mechanism and the feeding mechanism are horizontally arranged on the frame 1.

As shown in fig. 2 and 3, the clamping and conveying mechanism is provided with a clamping part 35 for clamping the root of the bean stalks along a material conveying direction D (the direction indicated by an arrow mark line D in fig. 2), the end parts of the clamping part 35 are respectively provided with a material inlet 351 and a material outlet 352, the bean stalks which are not subjected to pod removal enter from the material inlet 351, and the bean stalks subjected to pod removal are discharged from the material outlet 352; the pod-removing mechanism comprises at least one group of pod-removing rollers which are arranged in the machine frame 1 and correspond to the clamping part 35, each group of pod-removing rollers comprises a pair of rollers which are symmetrically arranged on two sides of a horizontal plane where the clamping part 35 is located, the rotating directions of the upper roller and the lower roller are opposite, for example, the upper roller rotates anticlockwise, and the lower roller corresponding to the upper roller rotates clockwise. Specifically, as shown in fig. 2, the pod removing mechanism in this embodiment includes a set of first pod removing rollers 21, the roller axes of the first pod removing rollers 21 are all perpendicular to the conveying direction D, and one end of the roller is close to the clamping portion 35; the feeding mechanism 4 is arranged at the material inlet 351 and conveys materials into the clamping part 35, and the bean stalks in the horizontal plane and the negative direction of the conveying direction D are inclined and arranged in the first direction of a first acute angle A, and the bean stalks are conveyed into the clamping part in the first direction in an inclined way, namely the first direction and the conveying direction D are arranged in the horizontal plane in the first acute angle A. Specifically, the first acute angle ≈ a in this embodiment is 45 °. Because first pod removing roller 21 is perpendicular to clamping part 35 setting and one end is close to clamping part 35, so do not have between first pod removing roller 21 and the clamping part 35 and pick blank area for the pod of bean stalk root portion can pass through the pod removing roller, accomplishes and thoroughly takes off the pod to bean stalk root portion, has improved the clean rate of collection. In addition, the bean stalks in the horizontal plane and the conveying direction D are conveyed into the clamping part 35 in the inclined mode in the first direction of the first acute angle A, the phenomenon that the bean stalks are broken in the first pod removing roller 21 by the direction close to the roller axis of the first pod removing roller 21 is avoided, therefore, the feeding mechanism 4 in the embodiment enables the pod removing roller to be arranged in the conveying direction D in a perpendicular mode, and the problem that the picking blank area exists due to the fact that the pod removing roller needs to be inclined in the conveying direction D in order to avoid breaking the bean stalks in the prior art is solved.

As shown in fig. 2, the pod-removing mechanism in the embodiment further comprises a set of second pod-removing rollers 22 arranged upstream of the first pod-removing rollers 21 (the upstream of the position refers to the direction opposite to the conveying direction D, namely, the left side in fig. 2 is the upstream), the axes of the second pod-removing rollers 22 are arranged in a horizontal plane in an inclined mode along a second direction which is at a second acute angle B with the positive direction of the conveying direction D, namely, the second direction and the conveying direction D form a second acute angle B in the horizontal plane, and the second direction and the first direction are respectively inclined towards the positive direction and the negative direction of the conveying direction D. Arranging the second pod-removing roller 22 to be inclined in a different direction from the first direction prevents the stem from being broken when it is axially identical or close to the roller axis of the second pod-removing roller 22. The specific second acute angle B in this embodiment is 45 °, the roots of the pods enter the second pod-removing roller 22 first in the pod-removing process, the second pod-removing roller 22 obliquely arranged in the second direction forms a 90 ° included angle with the bean stalks, the number of times of contact between the bean stalks and the second pod-removing roller 22 is increased, most of the pods on the bean stalks are removed by the second pod-removing roller 22 in advance, and the pods at the roots are treated by the first pod-removing roller 21 in cooperation with the downstream (the downstream at the position refers to the same direction as the conveying direction D, that is, the right side in fig. 2 is the downstream), so that the net-taking rate of the pods is improved.

As an alternative embodiment, the number of the first pod removing roller and the second pod removing roller is not limited to one, and may be provided in plurality, respectively; of course, as a further alternative, it is also possible to provide no second pod-removing roller 22 inclined to the conveying direction D, but only a first pod-removing roller perpendicular to the conveying direction D.

As shown in fig. 2, the feeding mechanism 4 in this embodiment includes a horizontally disposed conveyor belt 41, the output end of which is connected to a material inlet 351; and a plurality of separation strips 42 arranged on the surface of the conveyor belt 41 at intervals in parallel, wherein the separation strips 42 are arranged at a first acute angle A with the conveying direction D of the conveyor belt 41. The pod rod can be conveyed into the clamping part 35 quickly and continuously by using the conveying belt 41 connected with the material inlet 351, the conveying efficiency of the pods is improved, and the pod removing efficiency of the picking machine can be improved by matching with the high-speed conveying of the clamping and conveying mechanism. In addition, the parallel and spaced separating strips 42 are obliquely arranged on the surface of the conveyor belt 41 in a first direction forming a first acute angle with the conveying direction D, so that the bean stalks placed on the conveyor belt 41 enter the clamping part 35 in the first direction by themselves without manual adjustment, the automation of the pod removing process is realized, the angle of the bean stalks entering the clamping part 35 is limited by arranging the separating strips 42, the bean stalks are prevented from being parallel to or close to the axis of the pod removing roller, and therefore the bean stalks are prevented from being interrupted in the pod removing process. In a particular operation, unpodlated stems are placed between the dividing strips 42 with an end portion of their roots extending beyond the edge of the belt to facilitate entry of the roots into the nip 35. The conveyor belt 41 replaces manual work to place the pods in the clamping part 35, and the working efficiency is improved.

As shown in fig. 2, a vertically arranged deviation rectifying plate 23 is also arranged between the second pod removing roller 22 and the first pod removing roller 21, and is obliquely arranged along a third direction which is at a third acute angle C with the negative direction of the conveying direction D, namely the third direction and the conveying direction D are arranged at the third acute angle C in the horizontal plane, and the third direction is oblique at the same side with the first direction. Bean pole is taken off the pod roller 22 back through the second, receives the pod roller application of force, and bean pole and direction of transfer D's contained angle can take place to deflect, has the contained angle between the axial of the board 23 of rectifying that sets up with the same slope side of first direction and the first pod roller this moment, can adjust the angle when bean pole gets into first pod roller, avoids bean pole to get into in the first pod roller of low reaches when breaking with its axis is parallel.

Specifically, one end of the deviation rectifying plate 23 in this embodiment is connected to the end of the upstream second pod-removing roller 22, which is far away from the clamping part 35, and the other end of the deviation rectifying plate 23 points to the outer peripheral surface of the downstream first pod-removing roller 21. After the bean stalks pass through the second pod-removing roller 22, the bean stalks are limited by the deviation-correcting plate 23, so that the whole bean stalks are forced to incline towards the third direction, and the bean stalks enter the first pod-removing roller 21 in a direction which is inclined to the axial direction of the roller of the first pod-removing roller 21, and are prevented from being broken.

As shown in fig. 2, the pod removing roller wheel in this embodiment includes the roller shaft of being connected with drive arrangement, interval arrangement has a plurality of flexible pod removing strip 24 on the outer peripheral face of roller shaft, flexible pod removing strip 24 extends along the axial of roller shaft, flexible pod removing strip 24 is the rubber strip, the flexible pod removing strip 24 that adopts the rubber strip compares in prior art and distributes the pod removing tooth that sets up on the pod removing roller shaft, it is big with pod area of contact, contact time is long, the injury to the pod shell is less, the pod after picking can not produce the defective work because of the outer wall is destroyed, be fit for the pod removing operation of the tender pod of shell. As shown in fig. 4, in this embodiment, the width of each flexible pod removing strip 24 is greater than or equal to 10 mm, 4 or more rubber strips are uniformly arranged on the outer peripheral surface of each roll shaft, and the flexible pod removing strips 24 on the upper roll shaft and the lower roll shaft in each set of pod removing rolls are exactly corresponding to each other in rotation, so that the pod removing times in unit time can be increased, the conveying speed of the clamping chain can also be increased in multiples, and the operation efficiency is improved.

As shown in fig. 3, the clamping and conveying mechanism in this embodiment includes an upper clamping chain 31 and a lower clamping chain 32 which are symmetrically arranged and mounted on the frame 1, and the upper clamping chain 31 and the lower clamping chain 32 are engaged with each other to form a clamping portion 35. The mode of centre gripping chain 32 interlock carries out the centre gripping conveying to the beans pole about using in this embodiment, compares the grip block and centre gripping chain complex clamping structure who adopts among the prior art, and is more firm stable to the centre gripping of beans pole, can keep the first direction with the beans pole and get into the pod mechanism, has satisfied the first pod roller 21 of taking off of perpendicular setting and has got into the demand of direction to the beans pole.

As shown in fig. 3 and 5, the upper holding chain 31 and the lower holding chain 32 comprise a plurality of link plates 34 connected in series, and the outer surface of each link plate 34 (wherein the outer surface refers to the side surface contacting the bean stalks) is provided with a plurality of engaging teeth 341 capable of engaging with each other. Compared with the single large convex tooth on the existing chain plate 34, the gap between the meshing teeth 341 is smaller, and a good clamping effect can be generated on bean stalks with different thicknesses. The clamping and conveying mechanism with the structure has good clamping stability, so that the conveying speed of the clamping chain can be increased on the basis, and the pod removing efficiency is further increased.

As shown in fig. 3, the inner sides of the upper holding chain 31 and the lower holding chain 32 in the present embodiment are respectively provided with a support bracket 33 for supporting the holding chains; the support frame 33 supports the clamping chain to improve the overall strength of the clamping chain, wherein the support frame 33 of the upper clamping chain 31 is further connected with a plurality of pressing blocks 331 through a spring link structure, as shown in fig. 3, the spring link structure has a link 332 with two ends respectively connected with the pressing blocks 331 and the support frame 33, and a compression spring (not shown in the figure) sleeved outside the link 332. One end of the connecting rod 332 is fixedly connected with the pressing block 331, and the other end of the connecting rod 332 is movably connected with the supporting frame 33, so that the connecting rod 332 can drive the pressing block 331 to move up and down relative to the supporting frame 33. The two ends of the spring respectively abut against the pressing block 331 and the supporting frame 33, and provide downward pressure to the pressing block 331. The pressing piece 331 applies an engaging pressure to the link plate 34 on the clamping portion 35. The support frame 33 can provide support for the rotation of the clamping chain, and the pressing block 331 connected through the elastic piece on the support frame 33 can apply occlusion pressure to the clamping part 35, so that the clamping part 35 can clamp the bean stalks more stably. Because briquetting 331 is mutually independent sets up the polylith on the support frame in succession, its setting position and quantity can be adjusted as required, and the accessible adjustment spring can realize that the briquetting exerts the adjustment of pressure to the centre gripping chain, consequently go up the automatic adjustment clamping dynamics of the quantity of the bean stalks of different positions on the centre gripping chain 31 and can be according to the centre gripping of this department, compare in present pressure and hold the board and be monoblock long plate, it has good adaptability.

As shown in fig. 3 and 6, a rod discharging device 5 is further disposed at the material outlet 352, and includes a rod discharging clamping chain 51 cross-connected to the material outlet 352, and a clamping plate 52 disposed corresponding to the rod discharging clamping chain 51, and the hulled beanstalk is clamped between the clamping plate 52 and the rod discharging clamping chain 51. The straw discharging device 5 can introduce the hulled beanstalk therein, and prevent the beanstalk from being rolled into the chain wheel at the material outlet 352 to cause unsmooth operation of the clamping chain. For longer bean stems, the root of the bean stem reaches the position of the material outlet 352 to lose the clamping effect of the clamping part 35, but the top end of the bean stem does not completely pass through the pod removing roller, the stem arranging device 5 has the effect of prolonging the length of the clamping part 35, the root of the pod can be led into the stem arranging device 5, and the bean stem is prevented from losing the clamping effect and being clamped at the tail end of the clamping part 35 to cause the accumulation of the bean stems.

Specifically, as shown in fig. 2 and 6, the chain wheel at one end of the row bar holding chain 51 in this embodiment and the chain wheel at one end of the lower holding chain 32 near the material outlet 352 are coaxially disposed at the inner side thereof (where the inner side refers to the inward direction perpendicular to the paper plane), and the row bar holding chain 51 is disposed at the inner side of the lower holding chain 32, so that the row bar holding chain 51 and the lower holding chain 32 have a partial overlapping region to provide a transition region for the holding of the beanstalk. Meanwhile, the clamping plate 52 has an arc-shaped guiding plate 521 extending to the material outlet 352, and the arc-shaped guiding plate 521 can smoothly guide the beanstalk into the stalk discharging device 5 to complete the stalk discharging operation before the beanstalk reaches the material outlet 352 and loses the clamping effect.

As shown in fig. 3, the present embodiment further includes a sorting mechanism disposed below the pod removing mechanism, which includes a vibrating screen 61 disposed below the pod removing mechanism, and a saw-shaped spacing strip is disposed at the tail of the vibrating screen 61 for separating pods and fallen leaves; the air blower 62 is arranged on the frame 1, an air outlet of the air blower 62 faces the lower part of the vibrating screen 61, and wind power is output along the horizontal direction; the pod conveying device 63 is arranged on the rack 1 below the vibrating screen 61 and used for conveying pods outwards; and a sundry material conveying device 64 which is arranged on the frame 1 at the downstream of the vibrating screen 61 (the downstream refers to the same direction with the wind direction, namely the right side in figure 3) and is used for conveying sundry materials outwards. The pods with light empty bean leaves can be separated from the pods with heavier weight by the cooperation of the vibrating screen 61 and the blower 62, so that the impurity rate of picking is reduced. The pod conveying device 63 can convey the screened pods to the collecting container, so that the production efficiency is improved; the sundry material conveying device 64 can collect the rejected sundry materials at the downstream of the air blower 62 or return the rejected sundry materials to the field directly, so that the machine is not piled up, and the tidiness of the working environment is kept.

As shown in fig. 3, the crawler belt 7 driven by the power device is further disposed below the frame 1 in this embodiment, so that the walking operation of the picking machine is realized, the picking machine can be moved to the bean stalk picking position in the outdoor operation area, the transportation process is avoided, and the operation efficiency is improved. As an alternative embodiment, the track 7 may instead be replaced by wheels.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.

Claims (11)

1. A pod picking machine, comprising:

frame (1)

The clamping and conveying mechanism is horizontally arranged on the rack (1), and is provided with a clamping part (35) which is arranged along the material conveying direction and used for clamping the root of the bean stalks, and a material inlet (351) and a material outlet (352) are respectively designed at the end part of the clamping part (35);

the pod removing mechanism is arranged in the rack (1), corresponds to the clamping part (35), and comprises a plurality of groups of pod removing rollers which are sequentially arranged in the rack (1) along the conveying direction, and each group of pod removing rollers comprises a pair of rollers which are symmetrically arranged on two sides of the horizontal plane where the clamping part (35) is located;

the method is characterized in that:

the pod-removing rollers comprise at least one group of first pod-removing rollers (21), the roller axes of the first pod-removing rollers (21) are all perpendicular to the conveying direction, and the roller is arranged close to the clamping part (35);

the bean curd stick conveying device is characterized by further comprising a feeding mechanism (4) arranged at the material inlet (351), wherein the feeding mechanism (4) conveys bean curd sticks into the clamping part in a manner of inclining towards a first direction, and the first direction and the conveying direction form a first acute angle in a horizontal plane;

the pod-removing mechanism also comprises a vertically arranged deviation-rectifying plate (23) arranged between the adjacent pod-removing rollers, the deviation-rectifying plate is obliquely arranged along a third direction forming a third acute angle with the conveying direction, and the third direction is oblique at the same side as the first direction;

the pod-removing roller also comprises at least one group of second pod-removing rollers (22) arranged at the upstream of the first pod-removing roller (21), the axes of the second pod-removing rollers (22) are obliquely arranged towards a second direction, the second direction and the conveying direction are arranged at a second acute angle in the horizontal plane, and the second direction and the first direction are obliquely arranged at a different side;

one end of the deviation-rectifying plate (23) is connected to the end part, far away from the clamping mechanism, of the roller wheel positioned at the upstream, and the other end of the deviation-rectifying plate (23) points to the outer peripheral surface of the roller wheel positioned at the downstream.

2. A pod picking machine according to claim 1, characterised in that the feeding mechanism (4) comprises: a conveyor belt (41) having an output end connected to the material inlet (351); and a plurality of separating strips (42) which are arranged on the surface of the conveyor belt (41) in parallel at intervals, wherein the separating strips (42) and the conveying direction of the conveyor belt are arranged at the first acute angle.

3. A pod picking machine according to claim 1, wherein the roller comprises a roller shaft connected with the driving device, a plurality of flexible pod-removing strips (24) are arranged on the outer circumference of the roller shaft at intervals, and the flexible pod-removing strips (24) extend along the axial direction of the roller shaft.

4. A pod picking machine according to claim 3, wherein the flexible pod-removing strips (24) are rubber strips, 4 of which are evenly arranged on the peripheral surface of each roller.

5. A pod picking machine according to any of claims 1 to 3, wherein the gripping and conveying mechanism comprises symmetrically arranged upper (31) and lower (32) gripping chains mounted on the frame (1), the upper (31) and lower (32) gripping chains engaging each other to form the gripping portion (35).

6. A pod picking machine according to claim 5, wherein the upper holding chain (31) and the lower holding chain (32) comprise a plurality of chain plates (34) connected in series, the outer surface of each chain plate (34) being provided with a plurality of engaging teeth (341) engageable with each other.

7. A pod picking machine according to claim 6, wherein the inner sides of the upper and lower gripping chains (31, 32) are provided with a support bracket (33) supporting the gripping chains, respectively; at least one support frame (33) is further connected with a plurality of pressing blocks (331) through elastic pieces, and the pressing blocks (331) apply occlusion pressure to the clamping parts (35).

8. A pod picking machine according to any of claims 1 to 4, wherein a row bar device (5) is further arranged at the material outlet (352), the row bar device comprises a row bar clamping chain (51) which is connected with the material outlet (352) in a cross way, and a clamping plate (52) which is arranged corresponding to the row bar clamping chain (51), and the hulled beanstalks are clamped between the clamping plate (52) and the row bar clamping chain (51).

9. A pod picking machine according to claim 8, wherein the gripping plate (52) has an arcuate guide plate (521) extending to the material outlet (352); the arc-shaped guide plate (521) guides the beanstalks to enter the stalk discharging device (5).

10. A pod picking machine as claimed in any one of claims 1 to 4, further comprising a sorting mechanism located below the pod removal mechanism and comprising

The vibrating screen (61) is arranged below the pod-removing mechanism, and the tail part of the vibrating screen (61) is provided with a saw-shaped strip at intervals for separating bean pods and fallen leaves;

the air blower (62) is arranged on the rack (1), and an air outlet of the air blower (62) faces to the lower part of the vibrating screen (61) and outputs air along the horizontal direction;

the pod conveying device (63) is arranged on the rack (1) below the vibrating screen (61) and used for conveying pods outwards;

and the sundries conveying device (64) is arranged on the machine frame (1) at the downstream of the bean pod conveying device (63) along the wind output direction and is used for conveying sundries outwards.

11. A pod picking machine according to claim 1, further comprising automatic walking means arranged below the frame (1), comprising power means and tracks (7) or wheels driven by said power means.

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