CN109451988B - Combined pineapple harvester - Google Patents
Combined pineapple harvester Download PDFInfo
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- CN109451988B CN109451988B CN201811380062.4A CN201811380062A CN109451988B CN 109451988 B CN109451988 B CN 109451988B CN 201811380062 A CN201811380062 A CN 201811380062A CN 109451988 B CN109451988 B CN 109451988B
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- adjusting
- harvesting
- conveying
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a combined pineapple harvester which comprises at least one pineapple harvester, wherein each pineapple harvester comprises a shifting fork guide module, a floating clamping harvesting module, a transportation collecting module and a driving module. The invention adopts a modularized design, and combines the harvester according to the line and row planting conditions of different pineapples and the requirement. The pineapple picking position can be quickly corrected in the gesture, and the pineapples in different gestures are orderly sent into the harvesting module through the two groups of angle guide plates at the beginning. And then the harvesting module is clamped in a floating manner, clamping force is automatically set according to pineapple with different diameters, and twisting and breaking of the pineapple are realized by differential motion of the two groups of conveying belts. Finally, pineapple is conveyed to a rear collecting device through a conveying and collecting module, so that the integration of picking, automatic collection and conveying of pineapple is realized, and the pineapple picking and collecting device has higher practicability and market value.
Description
Technical Field
The invention relates to the technical field of pineapple picking devices, in particular to a combined pineapple harvester for harvesting and transporting pineapples.
Background
China is the largest fruit producing country and consuming country in the world, and although the total yield of pineapple is continuously increased in recent years, the picking of pineapple is mainly dependent on manpower at present. The manual labor mode has high intensity and low efficiency, is easy to cause personal injury of workers, and has no corresponding mechanical equipment at the present stage, thereby being suitable for planting and picking pineapple.
Disclosure of Invention
Aiming at the defects of the background technology, the invention provides a combined pineapple harvester which is used for solving the technical problems of high manual labor intensity, low efficiency and easiness in causing personal injury of workers.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a combination formula pineapple harvester, includes the pineapple harvester, the pineapple harvester is at least one, and every pineapple harvester all includes shifting fork direction module, float clamp harvesting module, transportation collection module and drive module, float clamp harvesting module installs on drive module and back-and-forth movement along with drive module, shifting fork direction module installs in the front portion of float clamp harvesting module, transportation collection module installs at the back portion of float clamp harvesting module, and shifting fork direction module and transportation collection module all follow the height adjustment subassembly of float clamp harvesting module and reciprocate.
The shifting fork guide module comprises a first rack, and a shifting fork component is movably installed on the first rack.
The shifting fork assembly comprises an air pump, a guide plate and a shifting fork rod; one end of the shifting fork rod is movably connected to the first rack, one end of the guide plate is movably connected to the first rack, and the other end of the guide plate is connected with the shifting fork rod; the cylinder body of the air pump is movably connected to the first rack through a cross rod, and a piston rod of the air pump is movably connected with the shifting fork rod; the shielding objects are separated by the cooperation of the shifting fork rods of the two shifting fork assemblies, and a limit switch is arranged at the free end of each shifting fork rod.
The shifting fork components are symmetrically distributed, the pushing force of the driving module and the pineapple are in relative motion, the air pump is used for opening and closing motion, when the front limit switch contacts the pineapple leaf, the air pump drives the shifting fork rod to move so as to shift the pineapple leaf, and the guide plate is responsible for correcting the pineapple with irregular posture.
The floating clamping harvesting module comprises a second rack and a third rack, wherein the second rack is vertically arranged on the third rack and is connected with a connecting rod of a shifting fork assembly to drive the shifting fork assembly to ascend or descend along with the third bracket.
The third bracket is provided with a height adjusting component, a harvesting component and an included angle adjusting component; the harvesting assembly is arranged on the height adjusting assembly and moves up and down along with the height adjusting assembly, and the included angle adjusting assembly is arranged on the harvesting assembly and is used for adjusting the included angle between the first adjusting unit and the second adjusting unit in the harvesting assembly.
The height adjusting assembly comprises an adjusting bracket and an adjusting unit, wherein the adjusting unit is arranged on the adjusting bracket and connected with the third bracket to drive the third bracket to move up and down; the adjusting bracket is connected with the power bracket of the driving module; the adjusting unit comprises an adjusting motor and an adjusting screw rod, the adjusting motor is arranged on the adjusting bracket, the output shaft is connected with the adjusting screw rod, and the adjusting screw rod downwards penetrates through the third bracket and is in threaded connection with the third bracket; the third bracket moves up and down on the adjusting screw rod.
Specifically, the adjusting unit comprises a first adjusting unit and a second adjusting unit, wherein the first adjusting unit comprises a first adjusting motor, a first adjusting screw rod I, a first main adjusting chain wheel, a first auxiliary adjusting chain wheel, a first adjusting chain and a first adjusting screw rod II; the first adjusting motor is fixed on the third bracket, the output shaft is connected with a first adjusting screw rod I, the first adjusting screw rod I is in threaded connection with the third bracket and penetrates through the third bracket downwards to be connected with a first main adjusting chain wheel, the first main adjusting chain wheel is in transmission connection with a first auxiliary adjusting chain wheel through a first adjusting chain, the first auxiliary adjusting chain wheel is arranged at the lower part of the first adjusting screw rod II, and the upper end of the first auxiliary adjusting chain wheel penetrates through the third bracket upwards and is in threaded connection with the third bracket;
the second adjusting unit comprises a second adjusting motor, a second adjusting screw rod I, a second main adjusting chain wheel, a second auxiliary adjusting chain wheel, a second adjusting chain and a second adjusting screw rod II; the second regulating motor is fixed on the third support, the output shaft is connected with a second regulating screw rod I, the second regulating screw rod I is connected with a second main regulating chain wheel after penetrating through the third support downwards, the second main regulating chain wheel is connected with a second auxiliary regulating chain wheel in a driving way through a second regulating chain, the second auxiliary regulating chain wheel is arranged at the lower part of the second regulating screw rod II, and the upper end of the second auxiliary regulating chain wheel penetrates through the third support upwards and is connected with the third support in a threaded way.
The first adjusting motor drives the first adjusting screw rod I to rotate, the first adjusting screw rod I drives the first main adjusting sprocket to rotate, the first main adjusting sprocket drives the first auxiliary adjusting sprocket to rotate through the first adjusting chain, the first auxiliary adjusting sprocket drives the first adjusting screw rod II to rotate, the second adjusting motor drives the second adjusting screw rod I to rotate, the second adjusting screw rod I drives the second main adjusting sprocket to rotate, the second main adjusting sprocket drives the second auxiliary adjusting sprocket to rotate through the second adjusting chain, and the second auxiliary adjusting sprocket drives the second adjusting screw rod II to rotate.
Because first accommodate the screw rod II and first accommodate the screw rod I with one side threaded connection of the third support, second accommodate the screw rod I and second accommodate the screw rod II with the opposite side of the third support is connected, so third support can carry on the vertical movement on first accommodate the screw rod II, first accommodate the screw rod I, second accommodate the screw rod I and second accommodate the screw rod II.
The harvesting assembly comprises a first harvesting unit and a second harvesting unit, and the first harvesting unit and the second harvesting unit are arranged in a relatively inclined mode to harvest pineapple.
The first harvesting unit comprises a first harvesting motor, a main belt wheel I, a secondary belt wheel I, a conveying belt I and a harvesting bracket I; the harvesting support I is fixed on the third support, the first harvesting motor is mounted on the harvesting support I, an output shaft of the first harvesting motor is connected with the main belt wheel I, the main belt wheel I is connected with the auxiliary belt wheel I in a transmission manner through the conveying belt I, and the auxiliary belt wheel I is mounted on the harvesting support I.
The second harvesting unit comprises a second harvesting motor, a main belt wheel II, a secondary belt wheel II, a conveying belt II and a harvesting bracket II; the harvesting support II is hinged to the third support and forms an included angle with the harvesting support I; the second harvesting motor is arranged on the harvesting support II, an output shaft of the second harvesting motor is connected with the main belt wheel II, the main belt wheel II is in transmission connection with the auxiliary belt wheel II through the conveying belt II, and the auxiliary belt wheel II is arranged on the harvesting support II; the conveyer belt I and the conveyer belt II are matched.
The included angle adjusting assembly comprises a clamping force adjusting air pump, a cylinder body of the clamping force adjusting air pump is fixed on the harvesting support I, and a piston rod of the clamping force adjusting air pump is hinged with the harvesting support II.
When the pineapple with correct gesture enters the floating clamping harvesting module, the adjusting unit is adjusted to a proper height, and then the included angle adjusting component controls the included angle between the symmetrically distributed conveying belt I and the conveying belt II, so as to adjust the clamping force. Finally, the pineapple is picked up by means of the differential operation of the first harvesting motor and the second harvesting motor to generate torsion.
The transportation collection module comprises a fourth support, a transportation adjusting assembly and a transportation assembly, wherein the fourth support is vertically arranged at the lower end of the third support, and the transportation adjusting assembly is arranged on the fourth support in parallel and is connected with a transportation bottom plate of the transportation assembly to change the angle between the transportation assembly and the horizontal plane.
The conveying adjusting assembly comprises an adjusting motor, an adjusting screw rod, an adjusting sliding block and an adjusting connecting rod, wherein the adjusting motor is arranged on a fourth bracket, an output shaft is connected with the adjusting screw rod, the adjusting sliding block is in threaded connection with the adjusting screw rod and moves on the adjusting screw rod, one end of the adjusting connecting rod is hinged with the adjusting sliding block, and the other end of the adjusting connecting rod is hinged with a conveying bottom plate of the conveying assembly. The adjusting motor drives the adjusting screw rod to rotate, and the adjusting slide block moves on the adjusting connecting rod, so that the adjusting connecting rod is driven to move, the angle between the conveying bottom plate and the ground is changed by the adjusting connecting rod, and the next picking is prevented from being influenced.
The conveying assembly comprises a conveying bottom plate, a conveying motor, a chain wheel I, a chain wheel II, a transmission shaft I, a chain, a conveying belt, a baffle I, a baffle II and a transmission shaft II, wherein the conveying motor is arranged on the conveying bottom plate, the chain wheel I is arranged on an output shaft, the chain wheel I is connected with the chain wheel II through the chain, the chain wheel II is arranged on the transmission shaft I, the transmission shaft I is arranged on the conveying bottom plate and rotates along with the chain wheel II, and the transmission shaft II is arranged on the conveying bottom plate and is in transmission connection with the transmission shaft I through the conveying belt; the baffle I and the baffle II are fixed on the conveying bottom plate and are respectively arranged on two sides of the conveying belt. Baffle I and baffle II cooperation prevent that the pineapple from dropping, make the pineapple directly drop on the conveyer belt.
The invention adopts a modularized design, and combines the harvester according to the line and row planting conditions of different pineapples and the requirement. And the pineapple picking position can be corrected in a quick gesture, and the pineapple with different gestures is orderly sent into the harvesting module through the two groups of angle guide plates at the beginning. And then the harvesting module is clamped in a floating manner, clamping force is automatically set according to pineapple with different diameters, and twisting and breaking of the pineapple are realized by differential motion of the two groups of conveying belts. Finally, pineapple is conveyed to a rear collecting device through a conveying and collecting module, so that the integration of picking, automatic collection and conveying of pineapple is realized, and the pineapple picking and collecting device has higher practicability and market value.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a three-dimensional block diagram of the final assembly of the present invention.
Fig. 2 is a schematic diagram of a fork guide module according to the present invention.
Fig. 3 is a schematic view of a floating clamping harvesting module according to the present invention.
Fig. 4 is a schematic diagram of a floating clamping harvesting module according to the second embodiment of the present invention.
Fig. 5 is a schematic view of the transport and collection module according to the present invention.
FIG. 6 is a schematic diagram of an assembled structure of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
Example 1: the utility model provides a combination formula pineapple harvester, as shown in fig. 1, includes the pineapple harvester, the pineapple harvester is at least one, and every pineapple harvester all includes shifting fork direction module 1, float clamp harvesting module 2, transport collection module 3 and drive module 4, float clamp harvesting module 2 installs on drive module 4 and moves around along with drive module 4, shifting fork direction module 1 installs in the front portion of float clamp harvesting module 2, transport collection module 3 installs at the back of float clamp harvesting module 2, and shifting fork direction module 1 and transport collection module 3 all reciprocate along with the altitude mixture control subassembly 203 of float clamp harvesting module 2.
Example 2: the utility model provides a combination formula pineapple harvester, is shown as fig. 1, includes the pineapple harvester, the pineapple harvester is at least one, and every pineapple harvester all includes shifting fork direction module 1, float clamp harvesting module 2, transport collection module 3 and drive module 4, float clamp harvesting module 2 installs on drive module 4 and reciprocate along with drive module 4, shifting fork direction module 1 installs in the front portion of float clamp harvesting module 2, transport collection module 3 installs at the back of float clamp harvesting module 2, and shifting fork direction module 1 and transport collection module 3 all reciprocate along with the altitude mixture control subassembly of float clamp harvesting module 2.
Specifically, as shown in fig. 2, the shifting fork guiding module 1 includes a first frame 101, and a shifting fork assembly is movably mounted on the first frame 101.
The shifting fork assembly comprises an air pump 103, a guide plate 104 and a shifting fork rod 105; one end of a shifting fork rod 105 is movably connected to the first frame 101, one end of a guide plate 104 is movably connected to the first frame 101, and the other end of the guide plate 104 is connected with the shifting fork rod 105; the cylinder body of the air pump 103 is movably connected to the first frame 101 through a cross rod, and a piston rod of the air pump 103 is movably connected with the shifting fork rod 105; the fork bars 105 of the two fork assemblies cooperate to separate the shade and a limit switch 102 is provided at the free end of each fork bar 105.
The shifting fork components are symmetrically distributed, the pushing force of the driving module and the pineapple are in relative motion, the air pump is used for opening and closing motion, when the limit switch 102 contacts the pineapple leaf, the air pump 103 drives the shifting fork rod 105 to move so as to shift the pineapple leaf, and the guide plate 104 is responsible for correcting the pineapple with irregular posture.
The floating clamping harvesting module 2, as shown in fig. 3-4, comprises a second rack 201 and a third rack 202, wherein the second rack 201 is vertically installed on the third rack 202 and is connected with a connecting rod of a shifting fork assembly, and the shifting fork assembly is driven to ascend or descend along with the third bracket.
The third bracket 202 is provided with a height adjusting component, a harvesting component 204 and an included angle adjusting component 205; the harvesting assembly 204 is mounted on the height adjustment assembly and moves up and down with the height adjustment assembly, and the included angle adjustment assembly 205 is mounted on the harvesting assembly 204 to adjust the included angle between the first adjustment unit 2031 and the second adjustment unit 2032 in the harvesting assembly 204.
The height adjusting assembly comprises an adjusting bracket 2030 and an adjusting unit, wherein the adjusting unit is arranged on the adjusting bracket 2030 and is connected with the third bracket 202 to drive the third bracket 202 to move up and down; the adjusting bracket 2030 is connected with a power bracket of the driving module 4; the adjusting unit comprises an adjusting motor and an adjusting screw rod, the adjusting motor is arranged on the adjusting bracket, the output shaft is connected with the adjusting screw rod, and the adjusting screw rod downwards penetrates through the third bracket and is in threaded connection with the third bracket; the third bracket moves up and down on the adjusting screw rod.
Specifically, the adjusting units include a first adjusting unit 2031 and a second adjusting unit 2032, where the first adjusting unit 2031 includes a first adjusting motor 20310, a first adjusting screw i 20311, a first master adjusting sprocket 20312, a first slave adjusting sprocket 20313, a first adjusting chain 20314, and a first adjusting screw ii 20315; the first adjusting motor 20310 is fixed on the third bracket 202, an output shaft is connected with the first adjusting screw rod I20311, the first adjusting screw rod I20311 is connected with the third bracket 202 in a threaded manner and penetrates through the third bracket 202 downwards to be connected with the first main adjusting chain wheel 20312, the first main adjusting chain wheel 20312 is in transmission connection with the first auxiliary adjusting chain wheel 20313 through the first adjusting chain 20314, the first auxiliary adjusting chain wheel 20313 is installed on the lower portion of the first adjusting screw rod II 20315, and the upper end of the first auxiliary adjusting chain wheel 20313 penetrates through the third bracket 202 upwards to be connected with the third bracket 202 in a threaded manner.
A second adjusting unit 2032, which comprises a second adjusting motor 20320, a second adjusting screw rod I20321, a second main adjusting sprocket, a second auxiliary adjusting sprocket 20323, a second adjusting chain 20324 and a second adjusting screw rod II 20325; the second adjusting motor 20320 is fixed on the third bracket 202, the output shaft is connected with the second adjusting screw rod i 20321, the second adjusting screw rod i 20321 is connected with the third bracket 202 in a threaded manner and penetrates through the third bracket 202 downwards, then is connected with the second main adjusting chain wheel, the second main adjusting chain wheel is in transmission connection with the second auxiliary adjusting chain wheel 20323 through the second adjusting chain 20324, the second auxiliary adjusting chain wheel 20323 is arranged on the lower portion of the second adjusting screw rod ii 20325, and the upper end of the second auxiliary adjusting chain wheel 20323 penetrates through the third bracket 202 upwards and is in threaded connection with the third bracket 202.
The first adjusting motor 20310 drives the first adjusting screw rod I20311 to rotate, the first adjusting screw rod I20311 drives the first main adjusting chain wheel 20312 to rotate, the first main adjusting chain wheel 20312 drives the first auxiliary adjusting chain wheel 20313 to rotate through the first adjusting chain 20314, the first auxiliary adjusting chain wheel 20313 drives the first adjusting screw rod II 20315 to rotate, the second adjusting motor 20320 drives the second adjusting screw rod I20321 to rotate, the second adjusting screw rod I20321 drives the second main adjusting chain wheel to rotate, the second main adjusting chain wheel drives the second auxiliary adjusting chain wheel 20323 to rotate through the second adjusting chain 20324, and the second auxiliary adjusting chain wheel 20323 drives the second adjusting screw rod II 20325 to rotate.
Because the first adjusting screw rod II 20315 and the first adjusting screw rod I20311 are in threaded connection with one side of the third bracket, and the second adjusting screw rod I20321 and the second adjusting screw rod II 20325 are connected with the other side of the third bracket, the third bracket can move up and down on the first adjusting screw rod II 20315, the first adjusting screw rod I20311, the second adjusting screw rod I20321 and the second adjusting screw rod II 20325.
The harvesting assembly 204 includes a first harvesting unit and a second harvesting unit, which are disposed in a tilted relationship with respect to each other to harvest pineapple.
The first harvesting unit comprises a first harvesting motor 20400, a main belt wheel I20401, a secondary belt wheel I20402, a conveying belt I and a harvesting support I20404; the harvesting support I20404 is fixed on the third support 202, the first harvesting motor 20400 is mounted on the harvesting support I20404, an output shaft of the first harvesting motor 20400 is connected with the main belt wheel I20401, the main belt wheel I20401 is in transmission connection with the auxiliary belt wheel I20402 through the conveying belt I, and the auxiliary belt wheel I20402 is mounted on the harvesting support I20404.
The second harvesting unit comprises a second harvesting motor 20410, a main belt wheel II 20411, a secondary belt wheel II 20412, a conveying belt II and a harvesting bracket II 20414; the harvesting support II 20414 is hinged to the third support 202 and forms an included angle with the harvesting support I20404; the second harvesting motor 20410 is arranged on the harvesting support II 20414, an output shaft of the second harvesting motor 20410 is connected with the main belt wheel II 20411, the main belt wheel II 20411 is in transmission connection with the auxiliary belt wheel II 20412 through the conveying belt II, and the auxiliary belt wheel II 20412 is arranged on the harvesting support II 20414; the conveyer belt I and the conveyer belt II are matched.
The included angle adjusting assembly 205 comprises a clamping force adjusting air pump 2050, a cylinder body of the clamping force adjusting air pump 2050 is fixed on a harvesting support I20404, and a piston rod of the clamping force adjusting air pump 2050 is hinged with a harvesting support II 20414.
When the pineapple with correct posture enters the floating clamping harvesting module 2, the adjusting unit is adjusted to a proper height, and then the included angle adjusting assembly controls the included angle between the symmetrically distributed conveying belt I and the conveying belt II, so that the clamping force is adjusted. Finally, the pineapple is picked up by the differential operation of the first harvesting motor 20400 and the second harvesting motor 20410 to generate torsion.
The transport collection module 3, as shown in fig. 5, includes a fourth bracket 301, a transport adjustment assembly 302 and a transport assembly 303, where the fourth bracket 301 is vertically installed at the lower end of the third bracket 202, and the transport adjustment assembly 302 is installed on the fourth bracket 301 in parallel and connected with a transport base plate of the transport assembly 303 to change the angle between the transport assembly 303 and the horizontal plane.
The conveying adjusting assembly 302 comprises an adjusting motor 3020, an adjusting screw rod 3021, an adjusting sliding block 3022 and an adjusting connecting rod 3023, the adjusting motor 3020 is installed on the fourth bracket 301, an output shaft is connected with the adjusting screw rod 3021, the adjusting sliding block 3022 is in threaded connection with the adjusting screw rod 3021 and moves on the adjusting screw rod 3021, one end of the adjusting connecting rod 3023 is hinged to the adjusting sliding block 3022, and the other end of the adjusting connecting rod 3023 is hinged to a conveying bottom plate 3030 of the conveying assembly 303. The adjusting motor 3020 drives the adjusting screw rod 3021 to rotate, and the adjusting sliding block 3022 moves on the adjusting connecting rod 3023, so that the adjusting connecting rod 3023 is driven to move, the angle between the conveying bottom plate 3030 and the ground is changed by the adjusting connecting rod 3023, and the next picking is prevented from being influenced.
The conveying assembly 303 comprises a conveying bottom plate 3030, a conveying motor 3031, a chain wheel I3032, a chain wheel II 3033, a transmission shaft I, a chain 3034, a conveying belt 3035, a baffle I3036, a baffle II 3037 and a transmission shaft II, wherein the conveying motor 3031 is arranged on the conveying bottom plate 3030, the chain wheel I3032 is arranged on the output shaft, the chain wheel I3032 is connected with the chain wheel II 3033 through the chain 3034, the chain wheel II 3033 is arranged on the transmission shaft I, the transmission shaft I is arranged on the conveying bottom plate 3030 and rotates along with the chain wheel II 3033, and the transmission shaft II is arranged on the conveying bottom plate 3030 and is in transmission connection with the transmission shaft I through the conveying belt 3035; a baffle i 3036 and a baffle ii 3037 are secured to the transport floor 3030 and are spaced on either side of the transport belt 3035. Baffle I3036 and baffle II 3037 cooperation prevent that the pineapple from dropping, make the pineapple drop on the conveyer belt directly.
The conveying motor 3031 drives the chain wheel I3032 to rotate, the chain wheel I3032 drives the chain wheel II 3033 to rotate through the chain 3034, the transmission shaft I rotates along with the chain wheel II 3033, and the conveying belt rotates on the transmission shaft I and the transmission shaft II to convey pineapple.
Example 3: a combined pineapple harvester is characterized in that a plurality of combined pineapple harvesters are assembled according to a double-row type, a triple-row type or a four-row type pineapple planting mode, then the combined pineapple harvesters are operated, as shown in fig. 6, the two pineapple harvesters are combined together in a double-row type, and the rest of the combined pineapple harvesters are the same as in the embodiment 2.
The working process comprises the following steps: when the front limit switch of the shifting fork touches pineapple leaves, the shifting fork rod stretches in the horizontal plane to pull the leaves on two sides of the pineapple open under the drive of the air pump, meanwhile, the guide plate corrects the pineapple with irregular postures and sends the pineapple to the floating clamping harvesting module 2, the height and the clamping force of the floating clamping harvesting module 2 are automatically adjusted, then the pineapple is automatically clamped, the pineapple is twisted off by the differential rotation of the conveying belt after the pineapple is automatically clamped, the pineapple is sent to the conveying and collecting module 3, and the pineapple is conveyed to the collecting vehicle by the conveying belt III after the pressure sensor of the conveying and collecting module 3 detects that the pineapple is harvested, so that the pineapple is harvested, transported and collected.
The above embodiments are merely for the description of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that appropriate changes and modifications may be made without departing from the scope of the invention, and therefore all such equivalent arrangements are within the scope of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a combination formula pineapple harvester, includes pineapple harvester, its characterized in that: the pineapple harvester is at least one, each pineapple harvester comprises a shifting fork guide module (1), a floating clamping harvesting module (2), a transportation collection module (3) and a driving module (4), the floating clamping harvesting module (2) is arranged on the driving module (4) and moves back and forth along with the driving module (4), the shifting fork guide module (1) is arranged at the front part of the floating clamping harvesting module (2), the transportation collection module (3) is arranged at the rear part of the floating clamping harvesting module (2), and the shifting fork guide module (1) and the transportation collection module (3) move up and down along with a height adjusting component (203) of the floating clamping harvesting module (2);
the shifting fork guide module (1) comprises a first rack (101), and a shifting fork assembly is movably installed on the first rack (101);
the shifting fork assembly comprises an air pump (103), a guide plate (104) and a shifting fork rod (105); one end of a shifting fork rod (105) is movably connected to the first frame (101), one end of a guide plate (104) is movably connected to the first frame (101), and the other end of the guide plate (104) is connected with the shifting fork rod (105); the cylinder body of the air pump (103) is movably connected to the first frame (101) through a cross rod, and a piston rod of the air pump (103) is movably connected with the shifting fork rod (105); the shielding objects are separated by matching the shifting fork rods (105) of the two shifting fork assemblies, and a limit switch (102) is arranged at the free end of each shifting fork rod (105);
the floating clamping harvesting module (2) comprises a second rack (201) and a third rack (202), wherein the second rack (201) is vertically arranged on the third rack (202) and is connected with a connecting rod of a shifting fork assembly to drive the shifting fork assembly to ascend or descend along with the third rack (202);
the third frame (202) is provided with a height adjusting component, a harvesting component (204) and an included angle adjusting component (205); the harvesting component (204) is arranged on the height adjusting component and moves up and down along with the height adjusting component, and the included angle adjusting component (205) is arranged on the harvesting component (204) and is used for adjusting the included angle between the first adjusting unit (2031) and the second adjusting unit (2032) in the harvesting component (204);
the included angle adjusting assembly (205) comprises a clamping force adjusting air pump (2050), a cylinder body of the clamping force adjusting air pump (2050) is fixed on a harvesting support I (20404), and a piston rod of the clamping force adjusting air pump (2050) is hinged with a harvesting support II (20414).
2. The combination pineapple harvester as set forth in claim 1, wherein: the height adjusting assembly comprises an adjusting bracket (2030) and an adjusting unit, wherein the adjusting unit is arranged on the adjusting bracket (2030) and is connected with the third rack (202) to drive the third rack (202) to move up and down; the adjusting bracket (2030) is connected with a power bracket of the driving module (4); the adjusting unit comprises an adjusting motor and an adjusting screw rod, the adjusting motor is arranged on the adjusting bracket, the output shaft is connected with the adjusting screw rod, and the adjusting screw rod downwards passes through the third frame (202) and is in threaded connection with the third frame (202); the third frame (202) moves up and down on the adjusting screw.
3. The combination pineapple harvester as set forth in claim 2, wherein: the adjusting unit comprises a first adjusting unit (2031) and a second adjusting unit (2032), wherein the first adjusting unit (2031) comprises a first adjusting motor (20310), a first adjusting screw rod I (20311), a first main adjusting sprocket (20312), a first auxiliary adjusting sprocket (20313), a first adjusting chain (20314) and a first adjusting screw rod II (20315); the first adjusting motor (20310) is fixed on the third rack (202) and an output shaft is connected with the first adjusting screw rod I (20311), the first adjusting screw rod I (20311) is in threaded connection with the third rack (202) and penetrates through the third rack (202) downwards to be connected with the first main adjusting sprocket (20312), the first main adjusting sprocket (20312) is in transmission connection with the first auxiliary adjusting sprocket (20313) through the first adjusting chain (20314), the first auxiliary adjusting sprocket (20313) is arranged at the lower part of the first adjusting screw rod II (20315), and the upper end of the first auxiliary adjusting sprocket (20313) penetrates through the third rack (202) upwards and is in threaded connection with the third rack (202);
the second adjusting unit (2032) comprises a second adjusting motor (20320), a second adjusting screw rod I (20321), a second main adjusting sprocket, a second auxiliary adjusting sprocket (20323), a second adjusting chain (20324) and a second adjusting screw rod II (20325); the second adjusting motor (20320) is fixed on the third rack (202) and the output shaft is connected with a second adjusting screw rod I (20321), the second adjusting screw rod I (20321) is in threaded connection with the third rack (202) and downwards penetrates through the third rack (202) to be connected with a second main adjusting chain wheel, the second main adjusting chain wheel is in transmission connection with a second auxiliary adjusting chain wheel (20323) through a second adjusting chain (20324), the second auxiliary adjusting chain wheel (20323) is arranged on the lower portion of a second adjusting screw rod II (20325), and the upper end of the second auxiliary adjusting chain wheel (20323) upwards penetrates through the third rack (202) and is in threaded connection with the third rack (202).
4. A combined pineapple harvester according to claim 2 or 3, wherein: the harvesting assembly (204) comprises a first harvesting unit and a second harvesting unit, and the first harvesting unit and the second harvesting unit are arranged in a relatively inclined mode to harvest pineapple.
5. The combination pineapple harvester as set forth in claim 4, wherein: the first harvesting unit comprises a first harvesting motor (20400), a main belt wheel I (20401), a secondary belt wheel I (20402), a conveying belt I and a harvesting bracket I (20404); the harvesting support I (20404) is fixed on the third frame (202), the first harvesting motor (20400) is mounted on the harvesting support I (20404), an output shaft of the first harvesting motor (20400) is connected with the main belt wheel I (20401), the main belt wheel I (20401) is in transmission connection with the auxiliary belt wheel I (20402) through the conveying belt I, and the auxiliary belt wheel I (20402) is mounted on the harvesting support I (20404);
the second harvesting unit comprises a second harvesting motor (20410), a main belt wheel II (20411), a secondary belt wheel II (20412), a conveying belt II and a harvesting bracket II (20414); the harvesting support II (20414) is hinged on the third frame (202) and forms an included angle with the harvesting support I (20404); the second harvesting motor (20410) is arranged on the harvesting support II (20414), an output shaft of the second harvesting motor (20410) is connected with the main belt wheel II (20411), the main belt wheel II (20411) is in transmission connection with the auxiliary belt wheel II (20412) through the conveying belt II, and the auxiliary belt wheel II (20412) is arranged on the harvesting support II (20414); the conveyer belt I and the conveyer belt II are matched.
6. The combination pineapple harvester as set forth in claim 1, wherein: the transportation collection module (3) comprises a fourth rack (301), a conveying adjustment assembly (302) and a conveying assembly (303), wherein the fourth rack (301) is vertically arranged at the lower end of the third rack (202), and the conveying adjustment assembly (302) is arranged on the fourth rack (301) in parallel and is connected with a conveying bottom plate of the conveying assembly (303) to change the angle between the conveying assembly (303) and the horizontal plane.
7. The combination pineapple harvester as set forth in claim 6, wherein: the conveying adjusting assembly (302) comprises an adjusting motor (3020), an adjusting screw rod (3021), an adjusting sliding block (3022) and an adjusting connecting rod (3023), wherein the adjusting motor (3020) is arranged on the fourth frame (301) and an output shaft is connected with the adjusting screw rod (3021), the adjusting sliding block (3022) is in threaded connection with the adjusting screw rod (3021) and moves on the adjusting screw rod (3021), one end of the adjusting connecting rod (3023) is hinged with the adjusting sliding block (3022), and the other end of the adjusting connecting rod is hinged with a conveying bottom plate (3030) of the conveying assembly (303);
the conveying assembly (303) comprises a conveying bottom plate (3030), a conveying motor (3031), a chain wheel I (3032), a chain wheel II (3033), a transmission shaft I, a chain (3034), a conveying belt (3035), a baffle I (3036), a baffle II (3037) and a transmission shaft II, wherein the conveying motor (3031) is arranged on the conveying bottom plate (3030) and is provided with the chain wheel I (3032) on an output shaft, the chain wheel I (3032) is connected with the chain wheel II (3033) through the chain (3034), the chain wheel II (3033) is arranged on the transmission shaft I, and the transmission shaft I is arranged on the conveying bottom plate (3030) and rotates along with the chain wheel II (3033) and is in transmission connection with the transmission shaft I through the conveying belt (3035); the baffle I (3036) and the baffle II (3037) are fixed on the conveying bottom plate (3030) and are arranged on two sides of the conveying belt (3035) in a separated mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380062.4A CN109451988B (en) | 2018-11-20 | 2018-11-20 | Combined pineapple harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380062.4A CN109451988B (en) | 2018-11-20 | 2018-11-20 | Combined pineapple harvester |
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| CN109451988A CN109451988A (en) | 2019-03-12 |
| CN109451988B true CN109451988B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811380062.4A Active CN109451988B (en) | 2018-11-20 | 2018-11-20 | Combined pineapple harvester |
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| CN113767756B (en) * | 2021-10-27 | 2023-05-02 | 山东农业大学 | End effector of fruit rapid picking robot and picking method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3271940A (en) * | 1963-12-05 | 1966-09-13 | Massey Ferguson Ltd | Corn harvester |
| US4976094A (en) * | 1988-01-29 | 1990-12-11 | Clemson University | Harvesting machinery |
| CN108207318A (en) * | 2017-12-29 | 2018-06-29 | 重庆大学 | A kind of quick pineapple picking machine |
| CN207885204U (en) * | 2018-02-11 | 2018-09-21 | 广西科技大学 | A kind of pineapple picker |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
-
2018
- 2018-11-20 CN CN201811380062.4A patent/CN109451988B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3271940A (en) * | 1963-12-05 | 1966-09-13 | Massey Ferguson Ltd | Corn harvester |
| US4976094A (en) * | 1988-01-29 | 1990-12-11 | Clemson University | Harvesting machinery |
| CN108207318A (en) * | 2017-12-29 | 2018-06-29 | 重庆大学 | A kind of quick pineapple picking machine |
| CN207885204U (en) * | 2018-02-11 | 2018-09-21 | 广西科技大学 | A kind of pineapple picker |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
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| CN109451988A (en) | 2019-03-12 |
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