CN112237092A - Flexible comb brush type apple harvesting machine - Google Patents
Flexible comb brush type apple harvesting machine Download PDFInfo
- Publication number
- CN112237092A CN112237092A CN201910642316.3A CN201910642316A CN112237092A CN 112237092 A CN112237092 A CN 112237092A CN 201910642316 A CN201910642316 A CN 201910642316A CN 112237092 A CN112237092 A CN 112237092A
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- Prior art keywords
- combing
- flexible
- rod
- brushing
- apple
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- 238000003306 harvesting Methods 0.000 title abstract description 17
- 241000220225 Malus Species 0.000 claims abstract description 49
- 230000001680 brushing effect Effects 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052782 aluminium Inorganic materials 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 235000021016 apples Nutrition 0.000 abstract description 19
- 239000002420 orchard Substances 0.000 abstract description 10
- 230000008859 change Effects 0.000 abstract description 4
- 235000011430 Malus pumila Nutrition 0.000 description 20
- 235000015103 Malus silvestris Nutrition 0.000 description 20
- 230000005540 biological transmission Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Brushes (AREA)
Abstract
The invention discloses a flexible combing and brushing type apple harvester which comprises a rack, walking wheels, a bottom screw rod mechanism, a top sliding rail, tail end flexible combing and brushing rods, a combing and brushing roller, a stepping motor, a collecting device, a controller and the like, wherein the walking wheels, the driving motor, the controller, the top sliding rail and the bottom screw rod mechanism are arranged on the rack, one end of the combing and brushing roller is arranged on the bottom screw rod, the other end of the combing and brushing roller is connected with the stepping motor through a coupler, the stepping motor is arranged on the top sliding rail, the collecting device and the uniformly distributed flexible tail end combing and brushing rods are arranged on the combing and brushing roller, and collision sensors are uniformly distributed on the. The flexible comb-brushing type apple harvester is suitable for standardized planting orchards such as 'vertical wall shape', can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the material of the flexible tail-end comb-brushing rod when picking operation so as to adapt to apples of different varieties and improve the quality of harvested apples.
Description
Technical Field
The invention relates to a harvester, in particular to an apple harvester, and belongs to the technical field of orchard picking machines.
Background
Apple harvesting is an agricultural work with high labor intensity and great labor intensity. The manual picking efficiency is low, the cost is high, the output cost of the apples is increased, and the economic benefit of the apple industry is influenced. The mechanized harvesting of the apples not only helps to liberate labor force, reduce the demand of picking labor force, improve the harvesting efficiency, but also can reduce the cost of apple output and improve the market competitiveness.
The existing apple harvester mainly comprises a vibration type and robot picking. The vibration mode is mainly characterized in that a trunk or a crown is vibrated, vibration energy is transmitted to the apples through branches, the picking efficiency can be improved to a certain degree, energy dissipation is increased, the picking machine has certain damage to the branches and the trunks of the fruit trees, and the harvested apples are mainly used for processing into products such as jam and the like. Although the quality of apples harvested by the robot is high, the apple harvesting robot is still in a research and development state and is not commercially popularized due to high manufacturing cost and strict technical requirements. With the continuous deepening of the concept of agricultural and agricultural technology combination, the traditional multidimensional tree structure is developing towards the modern orchard with higher yield and more suitable for mechanized harvesting, such as a vertical wall shape, a V shape and the like. Existing apple harvesters are not suitable for this new standardized orchard.
Disclosure of Invention
The invention provides a flexible comb-brush type apple harvester, which is a picking machine suitable for a standardized orchard such as a vertical wall-shaped orchard and can effectively overcome the defects of low manual harvesting efficiency, high cost, general harvesting quality of the existing vibrating type harvester and high cost of a robot harvester.
In order to solve the technical problems, the invention provides a flexible combing and brushing type apple harvester which comprises a rack, a walking wheel, a driving motor, a bottom screw mechanism, a No. 1 sliding block, a top sliding rail, a No. 2 sliding block, a tail end flexible combing and brushing rod, a combing and brushing roller, a stepping motor, a combing and brushing rod connecting piece, a stepping motor connecting piece, a collecting device, a collision sensor and a controller, wherein the walking wheel, the driving motor, the controller, the top sliding rail and the bottom screw mechanism are installed on the rack, the walking wheel is connected with the driving motor through a coupler, the bottom screw is provided with the No. 1 sliding block, the No. 1 sliding block is connected with the combing and brushing roller through a bearing, the other end of the combing and brushing roller is connected with the stepping motor through the coupler, the stepping motor is fixedly installed on the No. 2 sliding block through the stepping motor, the device comprises a combing roller, a combing rod connecting piece and a collecting device, wherein the combing roller is provided with the combing rod connecting piece and the collecting device, the collecting device is arranged under the combing rod connecting piece, collision sensors are uniformly arranged at the edge of the outer side of the collecting device, and flexible tail-end combing rods are uniformly arranged on the combing rod connecting piece.
As a preferable technical scheme of the invention, the number of the comb-brush rod connecting pieces is even.
As a preferred technical solution of the present invention, a collecting device is provided below each pair of the combing rod connecting members.
As a preferred technical scheme of the invention, soft silica gel is paved on the surface of the collecting device.
As a preferred technical scheme of the invention, the tail end flexible combing and brushing rod consists of a hollow aluminum pipe and a soft rubber rod, and the hollow aluminum pipe is fixedly connected with the soft rubber rod through a bolt.
As a preferable technical scheme of the invention, the cross section of the tail end flexible combing rod is in an oval shape.
As a preferred technical scheme of the invention, the controller can receive and process signals of the GPS and the collision sensor.
The invention has the following beneficial effects: this kind of flexible comb brush formula apple picking machine is applicable to standardized planting orchard like "upright wall shape" orchard, can reduce the intensity of labour who picks work, and during flexible comb brush formula apple picking machine operation, terminal flexible comb brush pole and apple direct contact have reduced this link of vibration energy transmission, are favorable to raising the efficiency and reduce the consumption. The flexible combing operation can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing rod when picking operation is carried out so as to adapt to apples of different varieties, reduce the damage to the apples and improve the quality of harvesting the apples.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in figure 1, the invention discloses a flexible combing and brushing type apple picking machine, which comprises a frame 9, a walking wheel 1, a driving motor 15, a bottom screw rod mechanism 14, a No. 1 sliding block 12, a top sliding rail 8, a No. 2 sliding block 7, a tail end flexible combing and brushing rod 4, a combing and brushing roller 11, a stepping motor 6, a combing and brushing rod connecting piece 10, a stepping motor connecting piece 5, a collecting device 3, a collision sensor 2 and a controller 13, wherein the frame 9 is provided with the driving motor 15, the controller 13, a top sliding rail 8 and the bottom screw rod mechanism 14, the driving motor 15 is connected with the walking wheel 1 through a coupler, the No. 1 sliding block 12 is arranged on the bottom screw rod 14, the No. 1 sliding block is connected with the combing and brushing roller 11 through a bearing, the other end of the combing and brushing roller 11 is connected with the stepping motor 6 through the coupler, the stepping motor 6 is arranged on the No. 2 sliding block 7, install combing rod connecting piece 10 and collection device 3 on combing roller 11, collection device 3 installs under the combing rod connecting piece, and 3 outside borders equipartitions of collection device have collision sensor 2 of settling, and the flexible end combing rod 4 of equipartition installation on combing rod connecting piece 10.
Furthermore, the number of the comb-brush rod connecting pieces 10 is even, so that a 'two-finger' comb brush is formed for apples, and the success rate of picking the comb brush is increased.
Furthermore, a collecting device 3 is arranged below each pair of combing rod connecting pieces 10, so that the dropping height of the apples is reduced.
Further, soft silica gel is laid on the surface of the collecting device 3, materials can be replaced according to different apple varieties, and damage caused when the apples fall is reduced.
Further, terminal flexibility brush-holder stud 4 comprises hollow aluminum pipe and soft rubber pole, and hollow aluminum pipe passes through bolt fixed connection with soft rubber pole, is convenient for change the material of terminal flexibility brush-holder stud 4 to adapt to different apple varieties.
Furthermore, the cross section of the tail end flexible combing and brushing rod 4 is oval, so that the contact area between the tail end flexible combing and brushing rod and an apple can be increased, and the collision force can be reduced.
Further, the controller 13 can receive and process signals of the GPS and the collision sensor 2, positions the position of the picking machine according to the GPS signals, controls the advancing speed and the advancing direction of the picking machine, and controls the No. 1 sliding block 12 on the bottom screw rod mechanism 14 to move inwards according to the signals of the collision sensor 2, so that the collection device 3, the tail end flexible combing and brushing rod 4 and the apple tree trunk are prevented from seriously colliding.
The working principle of the invention is as follows: the flexible combing and brushing rods 4 at the tail ends are inserted into the tree wall, so that the branches are positioned between the flexible combing and brushing rods 4 at the upper tail end and the lower tail end. The driving motor 15 drives the travelling wheels to rotate 1, and the device is arranged to advance. The step motor 6 drives the combing roller 12 to rotate, the tail end flexible combing rod 4 rotates, and the flexible combing rod 4 is in direct contact with the fruits to comb the apples. The apples are separated from the branches and then fall into a collecting device 3 to finish the picking task.
The flexible comb-brush type apple picking machine is suitable for standardized planting orchards such as 'upright wall-shaped' orchards, labor intensity of picking work can be reduced, and when the flexible comb-brush type apple picking machine works, the flexible comb-brush rod at the tail end is in direct contact with apples, so that the link of vibration energy transmission is reduced, efficiency is improved, and power consumption is reduced. The flexible combing operation can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing rod when picking operation is carried out so as to adapt to apples of different varieties, reduce the damage to the apples and improve the quality of harvesting the apples.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A flexible comb brush type apple harvester comprises a rack (9), a walking wheel (1), a driving motor (15), a bottom screw rod mechanism (14), a No. 1 sliding block (12), a top sliding rail (8), a No. 2 sliding block (7), a tail end flexible comb brush rod (4), a comb brush roller (11), a stepping motor (6), a comb brush rod connecting piece (10), a stepping motor connecting piece (5), a collecting device (3), a collision sensor (2) and a controller (13), and is characterized in that the rack (9) is provided with the driving motor (15), the controller (13), the top sliding rail (8) and a bottom screw rod mechanism (14), the driving motor (15) is connected with the walking wheel (1) through a coupler, the bottom screw rod (14) is provided with the No. 1 sliding block (12), and the No. 1 sliding block (12) is connected with the comb brush roller (11) through a bearing, the other end of combing roller (11) passes through the shaft coupling and is connected with step motor (6), step motor (6) are through step motor connecting piece (5) fixed mounting on slider (7) No. 2, slider (7) No. 2 are installed on top slide rail (8), install combing rod connecting piece (10) and collection device (3) on combing roller (11), collection device (3) are installed under the combing rod connecting piece, the equipartition is settled along the outside of collection device (3) has collision sensor (2), flexible terminal combing rod (4) are installed to the equipartition on combing rod connecting piece (10).
2. A flexible combed apple harvester according to claim 1, characterized in that the number of combing rod attachments (10) mounted on the combing roller (11) is even.
3. A flexible combed apple harvester according to claim 1, characterized in that one collecting device (3) is arranged below each pair of combing rod attachments (10).
4. The flexible comb-brush type apple harvester according to claim 1, wherein soft silica gel is laid on the surface of the collecting device (3), and materials can be changed according to different apple varieties.
5. The flexible combing and brushing type apple harvester according to claim 1, characterized in that the tail end flexible combing and brushing rod (4) is composed of a hollow aluminum pipe and a soft rubber rod, the hollow aluminum pipe and the soft rubber rod are fixedly connected through a bolt, and the material of the tail end flexible combing and brushing rod (4) can be conveniently replaced to adapt to different apple varieties.
6. A flexible comb brush apple harvester according to claim 1, characterized in that the cross-sectional shape of the distal flexible comb brush bar (4) is oval.
7. A flexible combed apple harvester according to claim 1, characterized in that the controller (13) can accept and process signals from GPS and collision sensors (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642316.3A CN112237092A (en) | 2019-07-16 | 2019-07-16 | Flexible comb brush type apple harvesting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642316.3A CN112237092A (en) | 2019-07-16 | 2019-07-16 | Flexible comb brush type apple harvesting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112237092A true CN112237092A (en) | 2021-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910642316.3A Pending CN112237092A (en) | 2019-07-16 | 2019-07-16 | Flexible comb brush type apple harvesting machine |
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| Country | Link |
|---|---|
| CN (1) | CN112237092A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750619A (en) * | 2016-08-22 | 2018-03-06 | 西北农林科技大学 | Mechanism is curried in a kind of vibration for collecting medlar |
| CN108064551A (en) * | 2017-12-13 | 2018-05-25 | 谷新运 | A kind of synchronous belt bilayer curries adjustable-angle winter jujube harvesting end effector |
| CN108401669A (en) * | 2018-04-27 | 2018-08-17 | 青岛理工大学 | Pair roller type indirect labor's winter jujube picker and lifting lockable mechanism |
| CN109121720A (en) * | 2018-08-15 | 2019-01-04 | 中国农业大学 | A kind of rotating vibrating type jujube harvester and jujube collecting method |
| CN208714043U (en) * | 2018-09-13 | 2019-04-09 | 安徽工程大学 | A kind of anticollision speed-regulating system of picking robot mobile platform |
| CN109699298A (en) * | 2019-03-06 | 2019-05-03 | 中国科学院合肥物质科学研究院 | A kind of brush fructus lycii picker of the adjustable vibrating comb of amplitude-frequency |
| CN210928671U (en) * | 2019-07-16 | 2020-07-07 | 西北农林科技大学 | Flexible comb brush type apple harvesting machine |
-
2019
- 2019-07-16 CN CN201910642316.3A patent/CN112237092A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750619A (en) * | 2016-08-22 | 2018-03-06 | 西北农林科技大学 | Mechanism is curried in a kind of vibration for collecting medlar |
| CN108064551A (en) * | 2017-12-13 | 2018-05-25 | 谷新运 | A kind of synchronous belt bilayer curries adjustable-angle winter jujube harvesting end effector |
| CN108401669A (en) * | 2018-04-27 | 2018-08-17 | 青岛理工大学 | Pair roller type indirect labor's winter jujube picker and lifting lockable mechanism |
| CN109121720A (en) * | 2018-08-15 | 2019-01-04 | 中国农业大学 | A kind of rotating vibrating type jujube harvester and jujube collecting method |
| CN208714043U (en) * | 2018-09-13 | 2019-04-09 | 安徽工程大学 | A kind of anticollision speed-regulating system of picking robot mobile platform |
| CN109699298A (en) * | 2019-03-06 | 2019-05-03 | 中国科学院合肥物质科学研究院 | A kind of brush fructus lycii picker of the adjustable vibrating comb of amplitude-frequency |
| CN210928671U (en) * | 2019-07-16 | 2020-07-07 | 西北农林科技大学 | Flexible comb brush type apple harvesting machine |
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