CN112703895B - Fruit harvester applying picking device and collecting method thereof - Google Patents

Abstract

The invention provides a fruit harvester applying a picking device and a collecting method thereof, comprising a fixed picking part and a rotary picking part which are sequentially arranged from top to bottom and are matched with each other, wherein the rotary picking part comprises a plurality of rotary picking plates which concentrically rotate, a feeding interval is arranged between the front end of the fixed picking part and the ground, a fruit picking area is jointly formed among the front end of the fixed picking part, the front end of the rotary picking plate and the ground, a plurality of centrifugal cavities for conveying fruits are jointly formed between the middle part of the fixed picking part and the adjacent rotary picking plates in the rotary picking part, a fruit discharging area is arranged between the rear end of the fixed picking part and a fruit conveying mechanism, the rotary picking part rotates from the front end to the rear end of the fixed picking part, the fixed picking part and the rotary picking plates are used for jointly picking fruits, and when the fruits are picked, the rotary picking plates are not limited by a fruit accommodating structure of the rotary picking plates, and then can effectual improvement press from both sides the volume of getting to the fruit, improve collection efficiency.

Description

Fruit harvester applying picking device and collecting method thereof

Technical Field

The invention relates to the technical field of fruit picking, in particular to a fruit harvester applying a picking device and a collecting method thereof.

Background

At present, a granular fruit harvester is still in a research and development stage at home and even internationally, for example, a red date harvesting mechanism and the like, most of the existing red date harvesting means firstly knock down red dates on the ground and then pick up the red dates manually, mechanical harvesting is basically not needed, and the picking-up harvester is relied on, so that the problem is recognized. Some experts propose to adopt various schemes such as vacuum suction, rolling sweep and the like, and because the red date forest has thick dust on the ground, more dregs, more leaves and uneven ground, the picking action needs to be finished under the forward motion state of the harvester, and the space limitation of the structure of the harvester is also caused, the implementation of various schemes is severely limited by the factors, and finally, the effects are not achieved. At present, the planting area of only domestic dwarf jujube trees reaches 600 ten thousand mu, and the dwarf jujube trees have a continuous expansion trend. A large amount of labor is consumed for picking up only the red dates on the ground in the red date harvesting season every year. Meanwhile, the labor consumed by harvesting other granular fruits similar to red dates is larger. Therefore, there is a need for a new type of picking device and picking method for picking up granular fruits.

Patent document CN103814695A discloses a fruit pickup device and pickup method, wherein the fruit picking mechanism includes that the multiunit that distributes in the claw sleeve axial is chosen the hook structure, every group chooses the hook structure including evenly distributed chooses the hook unit in a plurality of claw sleeve circumferencial direction, every chooses the hook unit to include adjacent and fixed connection two and chooses the hook, the rotatory external diameter of choosing the hook is greater than the external diameter of walking wheel, that is to say that the exclusive use chooses the hook to choose the fruit, but choose the structure of hook limited, it is limited to choose the hook to pick up the fruit purely to utilize, can not effectual improvement pick up efficiency, and choose the hook to be guaranteed can better stock, its bending degree is too big, only can set up the blend stop in order to can block in order to guarantee the ejection of compact choosing the hook, inevitable influence its ejection of compact effect.

Disclosure of Invention

The invention aims to provide a fruit harvester applying a picking device and a collecting method thereof, which are used for solving the problems in the prior art, have simple structure, can pick granular fruits scattered on the ground, and ensure the picking quantity of the fruits by utilizing a fruit picking area formed by the front end of a fixed picking part, the front end of a rotary picking plate and the ground together.

In order to achieve the purpose, the invention provides the following scheme: the utility model provides a fruit picks up device, including from top to bottom arrange in proper order and the cooperation is used fixed pick up the portion and the rotatory portion of picking, rotatory portion of picking includes that a plurality of concentric pivoted are rotatory to pick the board, the fixed feeding interval that has between front end and the ground of picking up the portion, the fixed front end of picking up the portion rotatory front end and the ground of picking up the board between form the fruit jointly and pick the district, the fixed middle part of picking up the portion with it is adjacent rotatory in picking the portion form a plurality of jointly between the board and be used for carrying the centrifugal chamber of fruit jointly, be equipped with fruit ejection of compact district between the rear end of fixed portion of picking up and the fruit transport mechanism, the rotatory portion of picking certainly the direction of the front end of fixed portion of picking up to its rear end is rotatory.

Preferably, the fixed picking part comprises a fixed part and a ground clearance adjusting part located at the front end of the fixed part, and the ground clearance adjusting part is connected to the fixed part in a telescopic manner along the extending direction of the fixed part.

Preferably, the fruit ejection of compact district is including being located the ejection of compact portion of fixed part rear end, ejection of compact portion is followed the extending direction telescopic connection of fixed part is in on the fixed part, just the discharge end of ejection of compact portion articulates there is the ejection of compact baffle that is used for adjusting ejection of compact angle.

Preferably, each rotatory board of choosing is fixed on the outer wall of an axis of rotation along circumference, the both ends of axis of rotation are rotated respectively and are connected with the walking wheel, each the walking wheel is close to one side of axis of rotation is equipped with the walking wheel baffle that is used for preventing that the fruit side direction from dropping, rotatory portion of choosing with fixed portion of picking all is located two between the walking wheel baffle to respectively with walking wheel baffle sliding seal connects.

Preferably, a plurality of annular plates for distributing materials are arranged on the rotating shaft at intervals along the axial direction of the rotating shaft, and each annular plate is sleeved on the outer wall of the rotating shaft.

Preferably, the rotatory board of choosing is kept away from the one end of axis of rotation is equipped with the trimmer, the bottom of trimmer is along radially portable connection in rotatory choosing on the board, the top of trimmer articulates there is adjustable inclination's swing piece, the swing piece court rotatory direction of rotation slope of choosing the board.

Still provide a fruit harvester, the front side that the device was picked up to the fruit is equipped with sweeps the frame soon, sweep the frame soon and be equipped with horizontal device of sweeping soon, horizontal sweep the device soon includes that roller bearing, a plurality of are used for with the fruit court rotatory bar round brush of choosing portion propelling movement, each bar round brush circumference is fixed on the outer wall of roller bearing, just the both ends court of bar round brush the rotation direction slope of roller bearing.

Preferably, the horizontal front side symmetry of sweeping the device soon is equipped with the vertical device of sweeping soon that a plurality of is used for gathering together the fruit, the vertical front side of sweeping the device soon is equipped with keeps away barrier mechanism, keep away barrier mechanism including keeping away the barrier pole, the one end of keeping away the barrier pole articulates in sweeping soon in the frame, the other end is close to the trunk and installs the inductor when the inductor senses the trunk, keep away the direction swing of barrier pole towards keeping away from the trunk, just keep away the bottom that the barrier pole is close to trunk one end and be equipped with and be used for court the vertical flexible dish of sweeping that the device pushed away the fruit of sweeping soon.

Preferably, the fruit transport mechanism is located the rear side of fruit picking device, just the fruit transport mechanism is located the downside in fruit ejection of compact district, the front side and the rear side of fruit transport mechanism are equipped with two striker plates that are used for preventing the fruit and break away from respectively.

Also provided is a fruit collection method comprising the steps of:

s1, gathering fruits for the first time: the whole machine of the fruit harvester moves forward, the vertical rotary sweeping device and the flexible sweeping disc are started to rotate, the flexible sweeping disc gathers fruits close to a trunk between the vertical rotary sweeping devices, and the vertical rotary sweeping devices gather the fruits and convey the fruits backwards;

s2, gathering the fruits for the second time: the strip-shaped rolling brush gathers the fruits gathered by the vertical rotary sweeping device between the front end of the fixed picking part and the ground;

s3, picking up fruits: the rotary picking part rotates from the front end to the rear end of the fixed picking part, the rotary picking plate is gradually close to the bottom end of the fixed picking part and is matched with the fixed picking part to pick up fruits upwards, and the fruits start to centrifugally move in the centrifugal cavity and gradually move backwards under the drive of the rotary picking plate;

s4, throwing out fruits: the fruits move backwards to the fruit discharging area, and when the fruits are not limited by the fixed picking part any more, the fruits are separated from the centrifugal cavity through the fruit discharging area and slide on the fruit conveying mechanism;

s5, fruit conveying: and conveying the fruits by using the fruit conveying mechanism.

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

first, fixed front end and the ground of picking up the portion have the feeding interval between, fixed front end, the rotatory front end of choosing the board of picking up the portion of picking up and the ground between form the fruit jointly and pick the district, utilize fixed picking up portion and the rotatory board of choosing to get the common clamp of board promptly and get the fruit, when getting the clamp of fruit, no longer be subject to the rotation and choose the holding structure of board to the fruit, and then can effectual improvement to the clamp volume of fruit, improve collection efficiency.

The second, utilize fixed portion of picking up to pick and the rotatory board of picking to get the clamp jointly and get the fruit for the rotatory structure of picking the board need not excessively to incline or set up the spoon column structure among the similar prior art, can fully reduce the rotatory limit value of picking the board and removing the fruit, and then make the fruit remove to the fruit ejection of compact zone time, can directly break away from the rotatory board of picking up and the fixed portion of picking up, need not to set up the structure of the blend stop among the similar prior art again, the fruit ejection of compact of being convenient for.

The third, fixed portion of picking up includes the fixed part and is located the geosynclinal adjustment portion of fixed part front end, and the geosynclinal adjustment portion is scalable the connection on the fixed part along the extending direction of fixed part, and then can be according to the circumstances of piling up of different fruits, the feeding volume of timely effectual regulation fruit.

Fourth, fruit ejection of compact district is including the ejection of compact portion that is located the fixed part rear end, and the extension direction scalable connection of ejection of compact portion along the fixed part is on the fixed part, and the discharge end of ejection of compact portion articulates there is the ejection of compact baffle that is used for adjusting ejection of compact angle, and then according to the throwing of the fruit transport mechanism control fruit of difference material angle, guarantees the collection effect of fruit.

Fifthly, each rotary picking plate is fixed on the outer wall of a rotating shaft along the circumferential direction, the two ends of the rotating shaft are respectively and rotatably connected with walking wheels, one side, close to the rotating shaft, of each walking wheel is provided with a walking wheel baffle plate used for preventing fruits from dropping laterally, the rotary picking part and the fixed picking part are both located between the two walking wheel baffle plates and are respectively in sliding sealing connection with the walking wheel baffle plates, and then the fruits can be prevented from flowing out from the walking wheels on the two sides, and the collecting effect of the fruits is influenced.

Sixth, be equipped with the annular slab that a plurality of is used for dividing the material along its axial interval in the axis of rotation, each annular slab cup joints on the axis of rotation outer wall, at the in-process of feeding, the annular slab can be separated the fruit and be a plurality of parts on the one hand, avoids excessively concentrating the phenomenon that the card material appears easily, and on the other hand annular slab can restrict the removal of fruit, avoids influencing the centrifugal motion between each fruit.

Seventhly, the rotatory board of choosing is kept away from the one end of axis of rotation and is equipped with the trimmer, and the bottom of trimmer is along radially movable connection on the rotatory board of choosing, and the top of trimmer articulates there is adjustable inclination's swing piece, and the swing piece inclines towards the rotatory rotation direction of choosing the board, can carry out the adjustment of the board length and the angle of choosing to the pairing rotation according to the fruit of difference in real time, more does benefit to the collection to the fruit.

Eighth, fruit transport mechanism is located the rear side that the device was picked up to the fruit, and fruit transport mechanism is located the downside in fruit ejection of compact district, and the front side and the rear side of fruit transport mechanism are equipped with two striker plates that are used for preventing the fruit and break away from respectively to guarantee that the fruit carries back on the fruit transport mechanism, its restriction is between the striker plate, avoids it to drop from fruit transport mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is an overall side view of a fruit harvester;

FIG. 2 is an overall front view of the fruit harvester;

FIG. 3 is an enlarged view of the fruit harvester at the fruit lifting mechanism;

FIG. 4 is an enlarged view of the horizontal rotary sweep apparatus of the fruit harvester;

FIG. 5 is an enlarged view of the hydraulic lifting assembly of the whole machine of the fruit harvester;

FIG. 6 is a top view of the fruit harvester at the fruit picking device;

FIG. 7 is a side sectional view of the fruit harvester;

FIG. 8 is a schematic view of a stationary pickup;

the automatic picking and conveying device comprises 1-obstacle avoidance rod, 2-inductor, 3-flexible sweeping disc, 4-vertical rotary sweeping device, 5-horizontal rotary sweeping device, 6-travelling wheel, 7-fixed picking part, 8-complete machine hydraulic lifting assembly, 9-fruit conveying mechanism, 10-fruit lifting mechanism, 11-storage hopper, 12-guide chain, 13-strip rolling brush, 14-rolling shaft, 15-hydraulic cylinder, 16-shock-absorbing spring, 17-annular plate, 18-rotary picking plate, 19-discharging guide plate, 20-front side baffle plate, 21-rear side baffle plate, 22-rotating shaft, 23-adjusting plate, 24-discharging part, 25-fixing part and 26-ground clearance adjusting part.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

The invention aims to provide a fruit harvester applying a picking device and a collecting method thereof, which are used for solving the problems in the prior art, have simple structure, can pick granular fruits scattered on the ground, and ensure the picking quantity of the fruits by utilizing a fruit picking area formed by the front end of a fixed picking part, the front end of a rotary picking plate and the ground together.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1 to 8, a fruit picking device is provided, which includes a fixed picking portion 7 and a rotary picking portion, which are sequentially arranged from top to bottom and cooperatively used, wherein the rotary picking portion includes a plurality of rotary picking plates 18 rotating concentrically, and a portion of the rotary picking plate 18 for picking up fruits is preferably provided with a flexible material, so as to reduce impact damage to the fruits. Wherein, the front end of the fixed picking part and the ground are provided with a feeding interval, which can ensure that fruits can fully enter the fixed picking part, thereby facilitating the picking work of a large amount of fruits, and the front end of the fixed picking part, the front end of the rotary picking plate 18 and the ground jointly form a fruit picking area, preferably, the front end of the fixed picking part is close to the rotary outer diameter of the rotary picking plate 18, the gap between the front end and the rotary picking plate is smaller than the structure of the fruits, the front end of the fixed picking part limits the movement of the fruits and picks the fruits by using the rotary picking plate 18, when the fruits are picked, the fruit picking device is not limited by the accommodating structure of the rotary picking plate 18 to the fruits, thereby effectively improving the fruit picking amount and improving the collecting efficiency, and the fruits are picked by using the fixed picking part and the rotary picking plate 18 to pick the fruits together, so that the structure of the rotary picking plate 18 does not need to be excessively inclined or be provided with a spoon-shaped structure similar to the prior art, the limit value of the rotary picking plate 18 to the movement of the fruits can be fully reduced, so that when the fruits move to a fruit discharging area, the fruits can be directly separated from the rotary picking plate 18 and the fixed picking part, a structure similar to a barrier strip in the prior art is not required to be arranged, and the fruits can be conveniently discharged; the work of pressing from both sides of getting the fruit is as follows with fixed picking part to the board is picked in the rotation: in the rotating process of the rotary picking plate 18, the rotary picking plate 18 is gradually close to the front end of the fixed picking part from bottom to top, and meanwhile, the part of the rotary picking plate used for picking the fruits is utilized to strike the fruits, so that the fruits move along the tangential direction of the rotating outer diameter of the rotary picking plate 18, the front end of the fixed picking part is close to the ground and forms a feeding interval, the movement direction of the fruits is inclined upwards at the moment, namely the fruits move towards the fixed picking part, so that the front end of the fixed picking part is utilized to carry out movement limitation on the fruits which are moved, the fruits are limited on the inner side of the fixed picking part, and the fruits are subsequently moved along with the rotation of the rotary picking plate 18.

Wherein, as shown in fig. 7, a plurality of centrifugal cavities for conveying the fruits are formed between the middle part of the fixed picking part 7 and the adjacent rotary picking plate 18 in the rotary picking part, a fruit discharging area is arranged between the rear end of the fixed picking part 7 and the fruit conveying mechanism 9, preferably, the movement of the fruits in the centrifugal cavities is divided into two conditions, one of which is that the fruits enter the fruit discharging area before colliding with the inner wall of the fixed picking part, the other one is that the fruits collide with the inner wall of the fixed picking part before entering the fruit discharging area and slide along the inner wall of the fixed picking part and then leave the fixed picking part when sliding to the fruit discharging area, preferably, when the movement condition of the fruits is the second one, the whole inner wall of the fixed picking part is in a circular arc structure, or the whole structure of the fixed picking part is the same as the rotation track of the rotary picking plate 18, and has an arc-shaped structure and is close to the rotating outer diameter of the rotating picking plate 18. In order to facilitate the clamping of the fruits, the rotating picking part rotates from the front end of the fixed picking part 7 to the rear end of the fixed picking part, the front end of the rotating picking part sequentially and gradually approaches and keeps away from the ground after the rear end of the fixed picking part 7, and then the rotating picking part gradually approaches the front end of the fixed picking part to clamp the fruits.

In order to adjust the feeding amount of the fruits timely and effectively, as shown in fig. 7 and 8, the fixed picking part 7 includes a fixed part 25 and a ground clearance adjusting part 26 located at the front end of the fixed part 25, the ground clearance adjusting part 26 is telescopically connected to the fixed part 25 along the extending direction of the fixed part 25, preferably, a lug plate and a sliding groove are provided between the fixed part 25 and the ground clearance adjusting part 26, the sliding groove is provided along the extending direction of the fixed part 25, and the lug plate can slide along the sliding groove to adjust the extension length of the ground clearance adjusting part 26, when the ground clearance adjusting part 26 moves towards the fixing part 25, the ground clearance adjusting part 26 is stacked on the outer wall or the inner wall of the fixing part 25, or other similar structure that the lug plate is matched with the sliding groove, during the sliding adjustment, it is necessary to ensure that there is no gap between the fixing portion 25 and the ground clearance adjusting portion 26 to prevent the fruit from flowing out from the gap therebetween.

In order to adjust the discharging angle of the fruit, as shown in fig. 7, the fruit discharging area includes a discharging portion 24 located at the rear end of the fixing portion 25, the discharging portion 24 is telescopically connected to the fixing portion 25 along the extending direction of the fixing portion 25, preferably, a lug plate and a sliding chute are provided between the fixing portion 25 and the discharging portion 24, the sliding chute is provided along the extending direction of the fixing portion 25, and further, the lug plate can slide along the sliding chute to adjust the extending length of the discharging portion 24, when the discharging portion 24 moves towards the fixing portion 25, the discharging portion 24 is stacked on the outer wall or the inner wall of the fixing portion 25, or other structures similar to the lug plate and the sliding chute are adopted, and during the sliding adjustment, no gap is required to be ensured between the fixing portion 25 and the discharging portion 24, so as to prevent the fruit from flowing out from the gap between the fixing portion 25 and the discharging portion; preferably, the discharging end of the discharging part 24 is hinged with a discharging guide plate 19 for adjusting the discharging angle, so as to ensure the discharging direction of the fruits, and further control the throwing angle of the fruits according to different fruit conveying mechanisms 9, thereby ensuring the collecting effect of the fruits.

As shown in fig. 7, each of the rotary picking plates 18 is fixed on the outer wall of a rotating shaft 22 along the circumferential direction, the two ends of the rotating shaft 22 are respectively connected with the traveling wheels 6 in a rotating manner, and in the process of traveling of the traveling wheels 6, the rotating direction of the rotating shaft 22 is opposite to that of the traveling wheels 6, for example, a driving mechanism is adopted, for example, one end of the rotating shaft 22 extends out of the traveling wheels 6 and is connected to the driving mechanism, so as to ensure the relative rotation between the rotating shaft 22 and the traveling wheels 6, and further ensure the matching clamping work of the rotary picking plate 18 and the fixed picking part 7. Each walking wheel 6 is equipped with the walking wheel 6 baffle that is used for preventing the fruit side direction and drops near one side of axis of rotation 22, and the portion of picking is all located between two walking wheel 6 baffles to rotatory portion of picking and fixed portion 7 of picking to slide sealing connection with walking wheel 6 baffle respectively, and then can avoid the fruit to flow from the walking wheel 6 of both sides, influence the collection effect of fruit.

As shown in FIG. 6, as a preferred embodiment of the present invention, a plurality of annular plates 17 for distributing material are provided on the rotating shaft 22 at intervals along the axial direction thereof, each annular plate 17 is sleeved on the outer wall of the rotating shaft 22, wherein the outer edges of the annular plates 17 are close to each other, so as to form a separation effect on the fruits, during the feeding process, on one hand, the annular plates 17 can separate the fruits into a plurality of parts, thereby avoiding the phenomena that the fruits are too concentrated and are easy to be jammed, or squeezing the fruits is caused, and on the other hand, the annular plates 17 can limit the movement of the fruits, thereby avoiding the fruits from colliding with each other and further influencing the centrifugal movement between the fruits during the movement of the fruits inside the fixed picking part 7.

Further, as shown in fig. 7, an adjustment sheet 23 is disposed at one end of the rotary picking plate 18 away from the rotating shaft 22, the bottom end of the adjustment sheet 23 is movably connected to the rotary picking plate 18 along a radial direction, preferably, a plurality of bolt holes are disposed on the rotary picking plate 18 along the radial direction, bolts adapted to the bolt holes are disposed on the adjustment sheet 23, and are connected to different bolt holes through adjustment bolts to adjust the extension length of the adjustment sheet 23, the top end of the adjustment sheet 23 is hinged to a swing sheet capable of adjusting the inclination angle, the swing sheet inclines towards the rotating direction of the rotary picking plate 18, for example, a hinge manner such as pin shaft connection is provided, and the angle of the swing sheet is limited by setting a jackscrew, so that the length and the angle of the rotary picking plate 18 can be adjusted in real time according to different fruits, and the fruit collection is facilitated.

Still provide a fruit harvesting machine, as shown in fig. 1-6, the front side of the fruit picking device is equipped with a rotary sweeping frame, the rotary sweeping frame is equipped with a horizontal rotary sweeping device 5, the horizontal rotary sweeping device 5 comprises a roller 14, a plurality of bar-shaped rolling brushes 13 for pushing the fruits towards the rotary picking part, or other flexible strip-shaped structures similar to the bar-shaped rolling brushes 13, so as to rake and sweep the fruits, each bar-shaped rolling brush 13 is circumferentially fixed on the outer wall of the roller 14, and both ends of the bar-shaped rolling brush 13 incline towards the rotating direction of the roller 14, so as to gather and concentrate the fruits towards the middle, and ensure the fruit collecting effect, preferably, the fruit harvesting machine is further equipped with a whole machine hydraulic lifting assembly 8, when picking the fruits, the whole machine hydraulic lifting assembly 8 moves the fruit harvesting machine downwards and leans against the ground, when picking, the fruit harvesting machine is lifted by the whole machine hydraulic lifting assembly 8, the whole fruit harvester is convenient to move integrally to change the working position, and the preferred whole machine hydraulic lifting assembly 8 comprises a hydraulic cylinder 15 and a shock absorption spring 16, when the fruit harvester works, the hydraulic cylinder 15 pushes out a hydraulic rod and drives the fruit harvester to move downwards to the ground through the shock absorption spring 16.

The front side of the horizontal rotary sweeping device 5 is symmetrically provided with a plurality of vertical rotary sweeping devices 4 for gathering fruits, and preferably, the vertical rotary sweeping devices 4 rotate oppositely, so that the fruits are conveniently gathered. Vertical 4 front sides of sweeping device soon are equipped with keeps away barrier mechanism, keep away barrier mechanism including keeping away barrier pole 1, keep away barrier pole 1 one end and articulate in sweeping the frame soon, the other end is close to the trunk and installs inductor 2, when inductor 2 senses the trunk, keep away barrier pole 1 towards the direction swing of keeping away from the trunk, the one end that preferred keeps away barrier pole 1 and fix in sweeping the frame soon is equipped with motor and spring assembly, when keeping away barrier pole 1 swing, the motor overcomes spring assembly and to keeping away barrier pole 1's motive force, the drive keeps away barrier pole 1 towards the direction swing of keeping away from the trunk, after the trunk, motor stall, spring assembly promotes and keeps away barrier pole 1 towards the trunk sideslip. And the bottom of the obstacle avoidance rod 1 close to one end of the trunk is provided with a flexible sweeping disc 3 used for pushing and sweeping the fruits towards the vertical rotary sweeping device 4, the preferred flexible sweeping disc 3 is similar to a circular broom-shaped structure so as to reduce the impact damage to the fruits, and the preferred vertical rotary sweeping mechanism is also similar to a circular broom-shaped structure.

Further, fruit conveying mechanism 9 is located the rear side that the device was picked up to the fruit, and preferred fruit conveyer adopts the conveyer belt structure to carry the fruit, be equipped with simultaneously in one side of conveyer belt with the fruit promotion transport assembly of conveyer belt intercommunication, and then can conveniently be to the promotion of fruit and collect. And fruit transport mechanism 9 is located the downside in fruit ejection of compact district, and the front side and the rear side of fruit transport mechanism 9 are equipped with two striker plates that are used for preventing the fruit and break away from respectively, and the striker plate divide into front side striker plate 20 and rear side striker plate 21 to guarantee that the fruit is carried to fruit transport mechanism 9 back on, its restriction is between front side striker plate 20 and rear side striker plate 21, avoids it to drop from fruit transport mechanism 9.

Also provided is a fruit collection method comprising the steps of:

s1, gathering fruits for the first time: the whole machine of the fruit harvester moves forward, the vertical rotary sweeping device 4 and the flexible sweeping disc 3 are started to rotate, the flexible sweeping disc 3 gathers the fruits close to the tree trunk between the vertical rotary sweeping devices 4, and the vertical rotary sweeping devices 4 gather the fruits and convey the fruits backwards; a plurality of preferred vertical rotary sweeping devices 4 are symmetrically arranged on two sides along the advancing direction of the fruit harvester so as to ensure the effect of multi-stage rotary sweeping and gathering of the fruits;

s2, gathering the fruits for the second time: the bar-shaped rolling brush 13 gathers the fruits gathered by the vertical rotary sweeping device 4 between the front end of the fixed picking part and the ground, and the preferable bar-shaped rolling brush 13 gathers the fruits to the middle position thereof, so that the fruits are prevented from being scattered towards two sides, and the rotary picking plate 18 and the fixed picking part 7 can be used for clamping and collecting a large number of fruits;

s3, picking up fruits: the rotary picking part rotates from the front end to the rear end of the fixed picking part 7, the rotary picking plate 18 is gradually close to the bottom end of the fixed picking part 7 and is matched with the fixed picking part 7 to pick up the fruits upwards, and the fruits start to move centrifugally in the centrifugal cavity and gradually move backwards under the drive of the rotary picking plate 18;

s4, throwing out fruits: the fruits move backwards to a fruit discharging area, and when the fruits are not limited by the fixed picking part 7 any more, the fruits are separated from the centrifugal cavity through the fruit discharging area and slide on the fruit conveying mechanism 9;

s5, fruit conveying: utilize fruit transport mechanism 9 to carry the fruit, the preferred one side at fruit transport mechanism 9 is equipped with fruit hoist mechanism 10, carry out horizontal migration to its one side with the fruit after, transmit to fruit hoist mechanism 10 on, in order to conveniently collect the fruit, follow-up terminal setting at fruit hoist mechanism 10 holds structures such as bag, directly collect the fruit, preferred fruit hoist mechanism 10 is including leading chain 12 and relying on the storage hopper 11 that leads the chain and upwards or transmit downwards, the fruit of transmitting from fruit transport mechanism 9 collects in each storage hopper 11 in proper order, and then storage hopper 11 upwards transmits, and empty the fruit in holding the bag.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A fruit picking device is characterized by comprising a fixed picking part and a rotary picking part which are sequentially arranged from top to bottom and are matched with each other, wherein the rotary picking part comprises a plurality of rotary picking plates rotating concentrically, a feeding interval is arranged between the front end of the fixed picking part and the ground, a fruit picking area is formed among the front end of the fixed picking part, the front end of each rotary picking plate and the ground, fruits are clamped by the fixed picking part and the rotary picking plates together, a plurality of centrifugal cavities for conveying the fruits are formed between the middle part of the fixed picking part and the adjacent rotary picking plates in the rotary picking part together, a fruit discharging area is arranged between the rear end of the fixed picking part and a fruit conveying mechanism, and the rotary picking part rotates from the front end of the fixed picking part to the rear end of the fixed picking part;

the fixed picking part comprises a fixed part and a ground clearance adjusting part positioned at the front end of the fixed part, and the ground clearance adjusting part is connected to the fixed part in a telescopic way along the extension direction of the fixed part; the fruit ejection of compact district is including being located the ejection of compact portion of fixed part rear end, ejection of compact portion is followed the extending direction telescopic connection of fixed part is in on the fixed part, just the discharge end of ejection of compact portion articulates there is the ejection of compact baffle that is used for adjusting ejection of compact angle.

2. The fruit picking device of claim 1, wherein each of the rotary picking plates is fixed to an outer wall of a rotating shaft along a circumferential direction, the rotating shaft is rotatably connected with a traveling wheel at each of two ends thereof, a traveling wheel guard is provided at a side of each of the traveling wheels adjacent to the rotating shaft for preventing the fruit from falling off laterally, and the rotary picking portion and the fixed picking portion are located between the two traveling wheel guards and are respectively connected with the traveling wheel guards in a sliding and sealing manner.

3. The fruit picking device of claim 2, wherein the rotatable shaft has a plurality of annular plates spaced axially along the shaft for distributing material, each annular plate being sleeved onto an outer wall of the rotatable shaft.

4. The fruit picking device of claim 2, wherein an adjustment tab is provided at an end of the rotary picking plate remote from the rotary shaft, a bottom end of the adjustment tab is movably connected to the rotary picking plate along a radial direction, a top end of the adjustment tab is hinged to a swing piece with an adjustable inclination angle, and the swing piece is inclined toward a rotation direction of the rotary picking plate.

5. A fruit harvesting machine using the fruit picking device as claimed in any one of claims 1 to 4, wherein a rotary sweeping frame is provided at a front side of the fruit picking device, a horizontal rotary sweeping device is provided on the rotary sweeping frame, the horizontal rotary sweeping device comprises a roller, a plurality of strip-shaped rolling brushes for pushing the fruits towards the rotary picking part, each strip-shaped rolling brush is circumferentially fixed on an outer wall of the roller, and two ends of the strip-shaped rolling brush are inclined towards a rotation direction of the roller.

6. The fruit harvester as claimed in claim 5, wherein the horizontal rotary sweeping device is symmetrically provided with a plurality of vertical rotary sweeping devices for gathering fruits at the front side, the vertical rotary sweeping device is provided with an obstacle avoiding mechanism at the front side, the obstacle avoiding mechanism comprises an obstacle avoiding rod, one end of the obstacle avoiding rod is hinged to the rotary sweeping rack, the other end of the obstacle avoiding rod is close to the trunk and is provided with a sensor, when the sensor senses the trunk, the obstacle avoiding rod swings towards the direction away from the trunk, and the bottom of the end, close to the trunk, of the obstacle avoiding rod is provided with a flexible sweeping disc for pushing and sweeping the fruits towards the vertical rotary sweeping device.

7. The fruit harvester of claim 6, wherein the fruit transport mechanism is located at a rear side of the fruit picking device and at a lower side of the fruit discharge area, and wherein two striker plates for preventing fruit from being detached are respectively provided at a front side and a rear side of the fruit transport mechanism.

8. A fruit collection method using the fruit harvester according to claim 7, comprising the steps of:

s1, gathering fruits for the first time: the whole machine of the fruit harvester moves forward, the vertical rotary sweeping device and the flexible sweeping disc are started to rotate, the flexible sweeping disc gathers fruits close to a trunk between the vertical rotary sweeping devices, and the vertical rotary sweeping devices gather the fruits and convey the fruits backwards;

s2, gathering the fruits for the second time: the strip-shaped rolling brush gathers the fruits gathered by the vertical rotary sweeping device between the front end of the fixed picking part and the ground;

s3, picking up fruits: the rotary picking part rotates from the front end to the rear end of the fixed picking part, the rotary picking plate is gradually close to the bottom end of the fixed picking part and is matched with the fixed picking part to pick up fruits upwards, and the fruits start to centrifugally move in the centrifugal cavity and gradually move backwards under the drive of the rotary picking plate;

s4, throwing out fruits: the fruits move backwards to the fruit discharging area, and when the fruits are not limited by the fixed picking part any more, the fruits are separated from the centrifugal cavity through the fruit discharging area and slide on the fruit conveying mechanism;

s5, fruit conveying: and conveying the fruits by using the fruit conveying mechanism.

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