CN112586181B

CN112586181B - Intelligent mango harvesting machine

Info

Publication number: CN112586181B
Application number: CN202011427155.5A
Authority: CN
Inventors: 王宏轩; 于珍珍; 汪春; 邹华芬; 李海亮; 孙海天; 严晓丽; 马国庆; 董其昌; 张皓尘
Original assignee: CHINESE ACADEMY OF TROPICAL AGRICULTURAL SCIENCES; South Subtropical Crops Research Institute CATAS
Current assignee: CHINESE ACADEMY OF TROPICAL AGRICULTURAL SCIENCES; South Subtropical Crops Research Institute CATAS
Priority date: 2020-12-09
Filing date: 2020-12-09
Publication date: 2021-08-20
Anticipated expiration: 2040-12-09
Also published as: CN112586181A

Abstract

An intelligent mango harvesting machine belongs to the technical field of agricultural machinery. The invention solves the problem of low mechanization degree of the existing mango harvesting process. The intelligent fruit tree pruning machine comprises a frame, an electric winch arranged on the top end of the frame, a walking assembly arranged at the bottom end of the frame, two fruit collecting boxes relatively fixedly arranged on the lower portion of the frame and an intelligent control system arranged on one fruit collecting box, wherein a gap for a trunk of a fruit tree to pass through exists between the two fruit collecting boxes, a correlation type photoelectric switch is arranged on one side, opposite to the two fruit collecting boxes, of the intelligent control system, the correlation type photoelectric switch and the electric winch are respectively connected in a wired or wireless mode, a rope is wound on the electric winch, and a plurality of annular cutting knives are arranged on the rope in a penetrating mode. Carry out the mango through the harvester of this application and gather, compare with manual work and improve the efficiency about 300% of mango efficiency of gathering. The application can realize the whole mechanized harvesting of mangos, and the harvesting efficiency is high.

Description

Intelligent mango harvesting machine

Technical Field

The invention relates to an intelligent mango harvesting machine, and belongs to the technical field of agricultural machinery.

Background

Mango is a fruit with very high nutritional value, has unique taste and is popular with people, so that the mango planting industry is developing vigorously, the mango cultivation area is continuously enlarged in the world, the yield is increased year by year, and the mango ranking in tropical fruits is 3 rd, and becomes one of five fruits in the world. The mango planting and production in China are mainly distributed in the areas of Hainan, Guangdong, Guangxi, Fujian, Yunnan and the like. The average annual growth rate is increased by 6.62 percent, but the mechanized planting area is only 5 percent. At present, the mechanization degree of mango production in China is very low, especially in the harvesting link, the mango picking is still carried out in a manual picking mode so far, the labor intensity is high, the safety is poor, and the development of mango industrialization and commercialization is greatly limited.

The mango mechanization is an effective technical measure for improving the production efficiency and reducing the operation cost. The manual mango bagging is to wrap the bag 100 outside the mango 101, which is the most effective method for preventing insect damage at present, the mango bagging and harvesting links are the most time-consuming and labor-consuming processes of the whole mango industrial chain, and the storage, processing and sale efficiency is determined by the quality of the mango bagging and picking.

Disclosure of Invention

The invention provides an intelligent mango harvesting machine, aiming at solving the problem of low mechanization degree of the existing mango harvesting process.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides an intelligence mango harvester, it includes the frame, install the electronic capstan winch on the frame top, install walking subassembly, the relative intelligent control system who adorns two fruit collecting boxes in the frame lower part admittedly and install on a fruit collecting box in the frame bottom, wherein, there is the clearance that the trunk that supplies the fruit tree passes through between two fruit collecting boxes, and the relative one side of two fruit collecting boxes installs correlation formula photoelectric switch, through wired or wireless connection respectively between intelligent control system and the correlation formula photoelectricity is opened light and the electronic capstan winch, twines the rope on the electronic capstan winch, and wears to be equipped with a plurality of annular cutting knives on the rope.

Furthermore, rubber separation blades are arranged on the upper parts of the opposite sides of the two fruit collecting boxes.

Furthermore, one side of each rubber separation blade is of a tooth-shaped structure, and the tooth-shaped structures on the two rubber separation blades are arranged in a staggered mode.

Furthermore, the fruit collecting box comprises a bottom plate and four baffle plates arranged in a rectangular structure, wherein an inclined plate is fixedly arranged at each of the top ends of the three baffle plates, and the rubber blocking pieces and the inclined plates are obliquely arranged towards the outer side of the fruit collecting box.

Furthermore, a damping sponge is laid in each fruit collecting box.

Furthermore, the annular cutting knife comprises a cutting knife main body and a rope threading ring fixedly arranged on the cutting knife main body, wherein the cutting knife main body is of an annular structure, and a tooth-shaped blade is fixedly arranged on the inner wall of the cutting knife main body along the annular direction of the cutting knife main body.

Further, the walking assembly comprises a synchronous motor and four walking wheels, each walking wheel provides power through the synchronous motor, and the synchronous motor is connected with the intelligent control system in a wired or wireless mode.

Furthermore, a storage battery is mounted on one fruit collecting box, and the storage battery provides power for the electric winch.

Furthermore, the top end of the frame is fixedly provided with an installation platform, and the electric winch is fixedly arranged on the installation platform.

Further, the size length × width × height of the rack is 3000mm × 4600mm × 3000mm, and the size length × width × height of the fruit collection box is 2800mm × 1900mm × 400 mm.

Compared with the prior art, the invention has the following effects:

carry out the mango through the harvester of this application and gather, compare with manual work and improve the efficiency about 300% of mango efficiency of gathering. The application can realize the whole mechanized harvesting of mangos, and the harvesting efficiency is high.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic front view of the present application;

FIG. 3 is a schematic perspective view of the fruit collection box;

FIG. 4 is a schematic perspective view of the frame;

FIG. 5 is a schematic perspective view of the annular cutter;

FIG. 6 is a schematic view of the annular cutter being sleeved at the mango fruit root;

fig. 7 is a schematic perspective view of the electric winch.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, and an intelligent mango harvesting machine includes a frame 1, an electric capstan 2 installed on the top end of the frame 1, a traveling assembly installed at the bottom end of the frame 1, two fruit collecting boxes 3 relatively and fixedly installed on the lower portion of the frame 1, and an intelligent control system 4 installed on one fruit collecting box 3, wherein a gap for a trunk of a fruit tree to pass through exists between the two fruit collecting boxes 3, and an opposite photoelectric switch 5 is installed on one opposite side of the two fruit collecting boxes 3, the intelligent control system 4 and the opposite photoelectric switch and the electric capstan are respectively connected in a wired or wireless manner, a rope 6 is wound on the electric capstan 2, and a plurality of annular cutters 7 are arranged on the rope 6 in a penetrating manner.

When picking the mango, the trunk of fruit tree is located between two fruit collecting box 3, intelligence control system 4 is prior art, and this place is no longer described repeatedly.

The fruit collection box 3 is used to collect the picked mangoes.

The signals are transmitted to the intelligent control system 4 through the correlation type photoelectric switch 5, and the walking of the walking component and the work of the electric capstan 2 are controlled through the intelligent control system 4.

The frame 1 is higher than the mango tree, and the electric capstan 2 is located above the mango tree.

The electric capstan 2 adopts the prior art, mainly comprises a wire arranging device 2-1, a motor 2-2, a roller 2-3 and an intelligent control receiver 2-4, has the size of 300 multiplied by 120 multiplied by 150mm, the vertical hoisting weight of 200kg and the no-load speed of 6m/min, and is arranged on a platform above the frame 1. The electric capstan 2 is supplied with power through a 24v direct current storage battery 11, and the electric capstan 2 is fixed on a platform above the frame 1 through bolt connection.

The working principle is as follows:

in the process of manually bagging mangos in the earlier stage, the annular cutting knife 7 is sleeved at the root of a mango stem, then the annular cutting knives 7 are connected in series through the rope 6, or the annular cutting knives 7 are penetrated together through the rope 6 before the manual bagging, and then the mango stem is sleeved with the annular cutting knife 7. After the bagging is finished, the rope 6 is reserved on the mango tree to prepare for harvesting mango at the later stage.

When picking the mango, drive whole harvester through the walking subassembly and remove, when the harvester passed the mango tree, the trunk of mango tree can cut off the laser that correlation formula photoelectric switch 5 sent, and correlation formula photoelectric switch 5 is given intelligent control system 4 with laser by cutting off signal transmission. After the intelligent control system 4 receives the signal transmitted by the correlation type photoelectric switch 5, the walking assembly is controlled to stop moving, after the harvester stops moving, the rope arranged on the mango tree in advance is connected with the electric winch, then the winch starts working, and meanwhile the electric winch 2 is controlled to start working. The rope 6 is driven to tighten and pull the annular cutting knife 7 through the rotation of the electric capstan, so that the mangos are completely cut off, and the purpose of harvesting the mangos is further achieved.

After harvesting, separating the rope 6 from the electric capstan 2, taking off all the annular cutters 7, and controlling the walking assembly to move by the intelligent control system 4, so that the harvester is moved to the next mango tree, and the actions are repeated.

In the actual use process, a reciprocating platform can be arranged at each of two ends of the mango tree, and when the mango harvesting machine finishes harvesting a row of mango trees, the mango trees travel to the reciprocating platform and reciprocate along with the moving platform to complete the line changing work. After the whole row of mango trees are harvested, the intelligent mango harvester drives to the upper side of a reciprocating type mobile platform of the forest land head and moves to the position of the next row of mango trees along with the mobile platform.

The upper parts of the opposite sides of the two fruit collecting boxes 3 are respectively provided with a rubber baffle 8. The mangos are prevented from falling to the ground through the gap between the two fruit collection boxes 3 under the condition of ensuring that the mangos smoothly pass through the two fruit collection boxes 3.

One side of each rubber separation blade 8 is in a tooth-shaped structure, and the tooth-shaped structures on the two rubber separation blades 8 are arranged in a staggered mode. So design, when guaranteeing that the fruit tree trunk passes through between two fruit collecting box 3, can play better guard action, further prevent that the mango from dropping on the ground through the clearance between two fruit collecting box 3.

The fruit collecting box 3 comprises a bottom plate and four baffles which are arranged in a rectangular structure, wherein an inclined plate 3-1 is fixedly arranged at each of the top ends of the three baffles, and the rubber baffle 8 and the inclined plate 3-1 are obliquely arranged towards the outer side of the fruit collecting box 3. Prevent that the mango from dropping outside the mango harvesting vehicle. The bottom plate, the baffle plate and the inclined plate 3-1 are all made of hot rolling common thin steel plates with the thickness of 2mm

Each fruit collecting box 3 is internally paved with a damping sponge. Prevent the mango from being damaged after falling.

The annular cutting knife 7 comprises a cutting knife main body 7-1 and a rope threading ring 7-2 fixedly arranged on the cutting knife main body 7-1, wherein the cutting knife main body 7-1 is of an annular structure, and a tooth-shaped blade 7-3 is fixedly arranged on the inner wall of the cutting knife main body along the annular direction. The cutter body 7-1 is in a spring buckle form, is similar to a round mountain-climbing buckle structure in the prior art, is made of 304 stainless steel, and preferably has an outer diameter of 30mm and an opening width of 12mm, and the cutter body 7-1 is made of stainless steel. The arc length of the tooth-shaped blade 7-3 is 25mm, and the outer diameter of the rope threading ring 7-2 is 5 mm. The rope 6 is threaded on the rope threading ring 7-2. The cutting knife main body 7-1 is sleeved at the root of the mango fruit.

The walking assembly comprises a synchronous motor 9 and four walking wheels 10, each walking wheel 10 provides power through the synchronous motor 9, and the synchronous motor 9 is in wired or wireless connection with the intelligent control system 4. The four traveling wheels 10 include two front wheels and two rear wheels, so that the forward and backward movement of the whole harvester is realized.

A storage battery 11 is arranged on one fruit collecting box 3, and the electric capstan 2 is powered by the storage battery 11. The battery 11 is a 24v dc battery 11.

The top end of the frame 1 is fixedly provided with a mounting platform 12, and the electric winch 2 is fixedly arranged on the mounting platform 12.

The size length × width × height of the rack 1 is 3000mm × 4600mm × 3000mm, and the size length × width × height of the fruit collection box 3 is 2800mm × 1900mm × 400 mm. Frame 1 adopts 100 mm's square steel pipe, and the mounting platform 12 on frame 1 top is 950mm 1200mm, and 100mm 120 mm's quad slit has been seted up at mounting platform 12's center, and rope 6 passes through the quad slit and is connected with electric capstan 2.

Claims

1. The utility model provides an intelligence mango harvester which characterized in that: it includes frame (1), install electric capstan (2) on frame (1) top, install the running assembly in frame (1) bottom, adorn two fruit collecting box (3) in frame (1) lower part and install intelligent control system (4) on a fruit collecting box (3) admittedly relatively, wherein, there is the clearance that supplies the trunk of fruit tree to pass through between two fruit collecting box (3), and bijection formula photoelectric switch (5) are installed to one side that two fruit collecting box (3) are relative, through wired or wireless connection respectively between intelligent control system (4) and the bijection formula photoelectricity is opened light and the electric capstan, twines rope (6) on electric capstan (2), and wears to be equipped with a plurality of annular cutting knife (7) on rope (6).

2. The intelligent mango harvesting machine according to claim 1, characterized in that: the upper parts of the opposite sides of the two fruit collecting boxes (3) are respectively provided with a rubber baffle (8).

3. The intelligent mango harvesting machine according to claim 2, characterized in that: one side of each rubber separation blade (8) is in a tooth-shaped structure, and the tooth-shaped structures on the two rubber separation blades (8) are arranged in a staggered mode.

4. An intelligent mango harvesting machine according to claim 2 or 3, characterized in that: the fruit collecting box (3) comprises a bottom plate and four baffles which are arranged in a rectangular structure, wherein an inclined plate (3-1) is fixedly arranged at each of the top ends of the three baffles, and the rubber blocking piece (8) and the inclined plate (3-1) are obliquely arranged towards the outer side of the fruit collecting box (3).

5. The intelligent mango harvesting machine according to claim 1, characterized in that: each fruit collecting box (3) is internally paved with a damping sponge.

6. The intelligent mango harvesting machine according to claim 1, characterized in that: the annular cutting knife (7) comprises a cutting knife main body (7-1) and a rope threading ring (7-2) fixedly arranged on the cutting knife main body (7-1), wherein the cutting knife main body (7-1) is of an annular structure, and a tooth-shaped blade (7-3) is fixedly arranged on the inner wall of the cutting knife main body along the annular direction of the cutting knife main body.

7. The intelligent mango harvesting machine according to claim 1, characterized in that: the walking assembly comprises a synchronous motor (9) and four walking wheels (10), each walking wheel (10) provides power through the synchronous motor (9), and the synchronous motors (9) are in wired or wireless connection with the intelligent control system (4).

8. The intelligent mango harvesting machine according to claim 1, characterized in that: a storage battery (11) is arranged on one fruit collecting box (3), and the storage battery (11) provides power for the electric winch (2).

9. The intelligent mango harvesting machine according to claim 1, characterized in that: the top end of the frame (1) is fixedly provided with a mounting platform (12), and the electric winch (2) is fixedly arranged on the mounting platform (12).

10. The intelligent mango harvesting machine according to claim 1, characterized in that: the size length multiplied by the width multiplied by the height of the frame (1) is 3000mm multiplied by 4600mm multiplied by 3000mm, and the size length multiplied by the width multiplied by the height of the fruit collecting box (3) is 2800mm multiplied by 1900mm multiplied by 400 mm.