CN113498677A - Flexible tensioning dynamic separation pickup device and method for fallen forest fruits - Google Patents
Flexible tensioning dynamic separation pickup device and method for fallen forest fruits Download PDFInfo
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- CN113498677A CN113498677A CN202110881281.6A CN202110881281A CN113498677A CN 113498677 A CN113498677 A CN 113498677A CN 202110881281 A CN202110881281 A CN 202110881281A CN 113498677 A CN113498677 A CN 113498677A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D51/00—Apparatus for gathering together crops spread on the soil, e.g. apples, beets, nuts, potatoes, cotton, cane sugar
- A01D51/002—Apparatus for gathering together crops spread on the soil, e.g. apples, beets, nuts, potatoes, cotton, cane sugar for apples or nuts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B15/00—Combinations of apparatus for separating solids from solids by dry methods applicable to bulk material, e.g. loose articles fit to be handled like bulk material
Abstract
A flexible tensioning dynamic separation pick-up device and method for fallen forest fruits, the device comprises: a frame; the picking mechanism is arranged on the rack and used for picking up the fallen forest fruits and performing primary sorting; the tooth-type fruit discharging mechanism is arranged on the picking mechanism, the picking mechanism moves around the tooth-type fruit discharging mechanism, and the tooth-type fruit discharging mechanism automatically discharges the forest fruits in the picking mechanism; the middle fruit collecting mechanism is arranged on the rack corresponding to the tooth type fruit discharging mechanism and used for collecting the discharged forest fruits and providing a forest fruit sorting space; the air outlet of the fan is connected with the air inlet of the middle fruit collecting mechanism; the forest fruit separating mechanism is connected with the middle fruit collecting mechanism and is used for secondarily sorting forest fruit mixtures; the transmission mechanism is arranged on the rack and is respectively connected with the picking mechanism, the fan and the forest fruit separating mechanism; and the control device is connected with the transmission mechanism and is used for controlling and adjusting the working speed of the transmission mechanism in real time. The invention also provides a flexible tensioning dynamic separation picking method for the fallen forest fruits.
Description
Technical Field
The invention relates to a fruit harvesting machine, in particular to a flexible supporting dynamic separation pick-up device and a flexible supporting dynamic separation pick-up method for fallen fruits, which are suitable for the harvesting process among fruit trees.
Background
The forest and fruit industry is the third industry of China after grains and vegetables, the total area for cultivating and planting various forest and fruits always stays at the top of the world, the variety of the forest and fruits is rich, the industrial value is continuously improved, the forest and fruit cultivation method has an important position in crop planting in China, the crop production is a sunward industry with huge potential, and the development scene is very wide. The forest fruits generally have the highest nutritive value when automatically falling after being mature, so that the harvesting period of the forest fruits is artificially delayed in order to better improve the quality of the forest fruits, so that the forest fruits in an orchard continue to bear fruits on fruit branches, and the natural drying process is completed. However, in the mode, 30-50% of the forest fruits naturally fall off to form the fallen forest fruits, so that picking up the fallen forest fruits becomes an important link for harvesting the forest fruits.
China has various forest and fruit varieties and complex planting environments, in the prior art, manual or simple-appliance-assisted picking is still mainly used in the actual harvesting process, the problems of high labor intensity, poor operation environment (easy to be pricked by the forest and fruit), low picking efficiency (average 30kg/h), high labor cost (accounting for about 30% -50% of the orchard cost) and the like exist, and the problems are overlapped with the harvesting period of other crops, the labor force is short, so that a large amount of forest and fruits cannot be harvested in real time, and serious economic loss is caused. Therefore, the realization of mechanized picking of fallen forest fruits is a necessary trend in the development of the forest fruit industry.
The mechanical type and the pneumatic type are mainly adopted in the ground fruit picking machine in the prior art, wherein the mechanical type can be divided into a drum type, a poking rod clamping type, a scraper conveying chain type, a picking hook type and the like according to the operation mode, the hard contact is achieved, the working efficiency is high, the phenomena of fruit damage, missed detection, impurity content and the like are easily caused, the pneumatic type can be divided into an air suction type and an air blowing type according to the pneumatic operation direction, the flexible contact is achieved, the damage rate is low, the existing fan negative pressure is insufficient due to self limitation, the effective operation range is smaller, manual assistance is needed, the working efficiency is low, and the impurity content rate is high. In conclusion, the existing ground fruit picking machine cannot meet the development requirements of forest fruit industrialization and scale, and becomes a bottleneck restricting the industrial development of forest fruit crops, so that the problems of improving the picking efficiency, reducing the impurity rate and the damage rate and improving the ground fruit picking automation degree are urgently needed to be solved by the ground fruit harvesting technology.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a flexible tensioning dynamic separation pick-up device and a flexible tensioning dynamic separation pick-up method for fallen forest fruits, which are suitable for the harvesting process among fruit forests.
In order to achieve the above object, the present invention provides a flexible dynamic separation picking device for fallen forest fruits, wherein the flexible dynamic separation picking device comprises:
a frame;
the picking mechanism is arranged on the rack and used for picking the fallen forest fruits and performing primary sorting to realize flexible stretching and picking of the fallen forest fruits;
the pick-up mechanism moves around the tooth-type fruit-discharging mechanism and automatically discharges the forest fruits in the pick-up mechanism through the tooth-type fruit-discharging mechanism, so that the dynamic separation of the fallen forest fruits is realized;
the middle fruit collecting mechanism is arranged on the rack corresponding to the tooth type fruit discharging mechanism and is used for collecting the forest fruits discharged by the tooth type fruit discharging mechanism and providing a forest fruit sorting space;
the fan is arranged on the rack, and an air outlet of the fan is connected with an air inlet of the middle fruit collecting mechanism so as to provide stable and continuous airflow for the forest fruit sorting space;
the forest and fruit separating mechanism is connected with the middle fruit collecting mechanism and is used for secondarily sorting forest and fruit mixtures;
the transmission mechanism is arranged on the rack and is respectively connected with the picking mechanism, the fan and the forest and fruit separating mechanism; and
and the control device is arranged on the rack, is connected with the transmission mechanism and is used for controlling and adjusting the working speed of the transmission mechanism in real time.
The flexible dynamic separation pickup attachment that supports of forest fruit that falls into ground wherein, pickup mechanism includes:
the picking chain is tensioned on a picking chain wheel, and the picking chain wheel is installed on the rack through a picking shaft; and
the picking wheels are installed on the picking chain at uniform intervals and comprise elastic clamping strips, convex picking strips, concave picking strips and locking discs, two ends of each of the convex picking strips and the concave picking strips are installed on the locking discs, and the elastic clamping strips are installed on the outer surfaces of the convex picking strips.
Foretell forest fruit is flexible to be supported dynamic separation pickup attachment on falling to the ground, wherein, the inboard of locking dish open have with concave pick up the recess of strip and protruding pick up the strip adaptation, in order to avoid concave pick up the strip and the protruding strip slip of picking up and relaxing.
The flexible dynamic separation pickup device that opens of foretell forest fruit falls to ground, wherein, the tooth-like fruit mechanism of arranging is including the symmetry side by side install the epaxial rack plate of picking up, the rack plate with pick up the wheel and intersect, protruding tooth on the rack plate extrudeed protruding pick-up strip and concave pick-up strip, make the clearance increase between protruding pick-up strip and the concave pick-up strip to realize the dynamic separation of forest fruit.
The flexible supporting dynamic separation and pickup device for the fallen forest fruits is characterized in that the concave pickup strips are arranged between the convex pickup strips and are positioned below the convex pickup strips, and the maximum gap between the concave pickup strips and the convex pickup strips is smaller than the size of the fallen forest fruits; on the same concave picking strip, the distance between the elastic clamping strips is far smaller than the size of the fallen forest fruits.
The flexible dynamic separation pickup attachment that holds of aforesaid forest fruit falls to ground, wherein, middle collection fruit mechanism includes:
the fruit collecting mechanism comprises a fruit collecting front plate, a fruit collecting rear plate, a fruit collecting left side plate and a fruit collecting right side plate which are connected with each other to form a first accommodating space, the top end of the first accommodating space is a fruit collecting inlet, and the bottom end of the first accommodating space is a fruit collecting outlet; and
the middle mechanism comprises a front plate, a rear plate, a left side plate, a top plate and a bottom plate which are mutually connected to form a second accommodating space, and the top plate is provided with a strip opening and is connected with the fruit collecting outlet; the left side plate is provided with an air inlet connected with an air outlet of the fan, and one side, opposite to the left side plate, of the second accommodating space is an air outlet.
Foretell forest fruit is flexible to be held dynamic separation pickup attachment on falling to ground, wherein, forest fruit separating mechanism includes:
the forest and fruit separating box comprises a separating box body, a separating plate and a baffle plate, wherein the left side of the separating box body is connected with an air outlet of the intermediate mechanism; the separation plate and the baffle plate are respectively arranged in the separation box body, the separation box body is divided into a separation chamber, a first settling chamber and a second settling chamber, an impurity discharge port is formed in the bottom end of the first settling chamber, a forest fruit discharge port is formed in one side of the separation chamber, and the first settling chamber is arranged on the other side of the separation chamber; and
the shifting wheel sorting mechanism comprises a shifting wheel shaft and shifting wheel blocks, the shifting wheel shaft is arranged on the rack, the shifting wheel blocks are circumferentially and uniformly distributed on the shifting wheel shaft in an array manner to form shifting wheel groups, and the shifting wheel groups are axially and uniformly arranged on the shifting wheel shaft in an array manner.
The flexible dynamic separation pickup attachment that holds of woods fruit on the ground that foretell falls, wherein, the even interval is provided with rectangular hole on the separation plate, rectangular hole with the thumb wheel group one-to-one of thumb wheel sorting mechanism is in order to with impurity sorting to in the second settling chamber.
Foretell forest fruit flexible stretching dynamic separation pickup attachment falls to ground, wherein, middle collection fruit mechanism, forest fruit separating mechanism and the connecting surface of fan is provided with the sealing strip respectively to reinforcing leakproofness and reduction atmospheric pressure loss.
In order to better achieve the aim, the invention also provides a flexible tensioning dynamic separation picking method for the fallen forest fruits, which comprises the following steps:
s100, adjusting the distance between a concave picking strip and a convex picking strip in the picking wheel according to the object for picking up the fallen fruits, so as to be convenient for picking up different types of fruits;
wherein the concave pickup strips are located at the middle positions of the convex pickup strips, wherein the distances L between the convex pickup strips and between the concave pickup strips and the convex pickup strips in the pickup wheelmax＝Kmin(r1，r2) K is an empirical coefficient, generally 0.25-0.50, r1Is the longitudinal diameter of the fruit2The transverse diameter of the forest fruits is adopted; wherein the equation of the rotating curved surface of the convex pickup strip in the pickup wheel is
a1、b1、c1A long half shaft, a middle half shaft and a short half shaft which are respectively convex picking strip rotating curved surfaces; the equation for the concave pickup bar surface of revolution is:
a2、b2、c2a long half shaft, a middle half shaft and a short half shaft which are respectively concave picking strip rotating curved surfaces; a is1＝a2，b1-b2＜Lmax，c1-c2＜Lmax；
S200, adjusting a fan motor, a dial wheel sorting motor and a pickup motor of a transmission mechanism to preset values through a control device, and debugging that the transmission mechanism runs stably;
s300, the pickup wheel moves in a clockwise direction, ground forest fruits on the ground are clamped and extruded into the pickup wheel under the combined action of the elastic clamping strips, the concave pickup strips and the convex pickup strips in a flexible stretching mode, the fruit picking process is achieved, and preliminary sorting is carried out;
s400, the pickup wheel moves to a tooth type fruit arrangement mechanism, and the space between the concave pickup strips and the convex pickup strips is enlarged under the action of the tooth type fruit arrangement mechanism, so that fallen forest fruits are discharged from the space between the concave pickup strips and the convex pickup strips, and the automatic dynamic separation process of the forest fruits is automatically completed;
wherein, the tooth-type of the tooth-type fruit-arranging mechanism is crossed with the pick-up wheel by the width Bmax＝Emax(r1，r2) E is an empirical coefficient and is generally 2-4; namely, the intersecting height of the teeth of the tooth-type fruit-arranging mechanism and the picking wheel is as follows:
theta is a tooth-like inclination angle; pick up distance L between protruding pick-up strip in the wheel, concave pick-up strip and protruding pick-up stripmaxThe tooth-type of the tooth-type fruit-arranging mechanism intersects with the width B of the picking wheelmax；
S500, enabling the forest fruits to freely fall into a middle fruit collecting mechanism from top to bottom, enabling the forest fruits to fall into a first settling chamber under the action of wind power of a fan, and discharging heavy impurities such as broken stones and soil blocks from an outlet of the first settling chamber under the combined action of air flow and inclined rolling; and the lighter mixture such as woods fruit, jujube leaf, branch is blown to the separator, wherein, the inclination of settling chamber satisfies: tan theta is larger than f, wherein theta is the inclination angle of the settling chamber; f is the friction coefficient of impurities such as broken stones and soil blocks and the bottom surface material of the settling chamber; the air flow speed generated by the fan 8 satisfies: max (v)e,vf)＜va＜vg，veIs the suspension velocity v of impurities such as jujube leaves, branches and the likefIs the suspension velocity of the forest fruit, vaSpeed of air flow, v, generated by fansfThe suspension speed of impurities such as broken stones, soil blocks and the like; and
step S600, under the combined action of wind power of the fan and sorting of the thumb wheel, impurities such as fruit leaves and branches are sorted into a second settling chamber, under the combined action of inclined rolling and shifting wheel sorting mechanism shifting, the impurities are discharged from an outlet of the second settling chamber, forest fruits fall to the bottom surface of the separation chamber under the action of insufficient baffle and wind power, and are discharged from an outlet of the separation chamber under the combined action of airflow and inclined rolling, the picking process of the forest fruits falling to the ground is completed, wherein the inclination angle of the separation chamber meets the following requirements: tan theta1＞f1Wherein theta1Is the inclination angle of the settling chamber; f. of1The friction coefficient of impurities such as broken stones and soil blocks and the bottom surface material of the settling chamber.
The invention has the technical effects that:
the flexible stretching-dynamic separation picking process for the fallen forest fruits is realized, the problems of low picking efficiency, high damage rate, high impurity content and the like of the fallen forest fruits are fundamentally solved, the picking efficiency of the fallen forest fruits is greatly improved, the damage rate and the impurity content are effectively reduced, the working effects of high efficiency, low loss, high quality and low impurity content are achieved, the harvesting quality of the forest fruits can be ensured, the problems of high labor intensity, high operation cost and the like are solved, and the picking performance and the automation degree of the fallen forest fruits are effectively improved. The picking wheel is provided with a picking wheel, a picking wheel and a picking wheel, wherein the distance between the picking strips in the picking wheel is adjusted according to an object for picking fallen forest fruits, so that different types of forest fruits can be picked; the picking wheel clamps and extrudes forest fruits on the ground into the picking wheel under the combined action of the elastic clamping strips, the concave picking strips and the convex picking strips in a flexible stretching mode, the flexible stretching picking process of the fallen forest fruits is realized, the picking strips are under the action of the tooth type fruit discharging mechanism, the distance between the picking strips is increased, the forest fruits are discharged from the intervals between the picking strips, the dynamic separation process of the forest fruits is automatically completed, the picking efficiency of the forest fruits is effectively improved, and the damage rate is reduced; under the condition of secondary sorting, the impurity content of the forest fruits is greatly reduced, wherein the picking wheel can preliminarily screen out partial branches, fruit leaves, broken stones, soil blocks and other impurities in the picking process, and primary sorting is completed; under the combined action of pneumatic force and sorting by the shifting wheel, the sorting of the fruits, the branches, the fruit leaves, the broken stones, the soil blocks and other impurities is realized again, and the secondary sorting is completed.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a pick-up mechanism according to an embodiment of the present invention;
fig. 3 is a schematic view of a pickup wheel according to an embodiment of the present invention;
FIG. 4 is a schematic view of a male pick bar configuration in accordance with one embodiment of the present invention;
FIG. 5 is a schematic view of a female pickup bar configuration according to one embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a middle fruit-collecting mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a fruit collecting mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an intermediate mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a forest fruit separating mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a forest fruit separation box according to an embodiment of the present invention;
FIG. 11 is a schematic structural view of a thumb wheel sorting mechanism according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a separating plate structure according to an embodiment of the present invention;
fig. 13 is a schematic structural view of a tooth-type fruit arrangement mechanism according to an embodiment of the present invention.
Wherein the reference numerals
1 forest fruit separating mechanism
11 forest fruit separating box
111 separating plate
112 separating box
113 baffle plate
114 separation chamber
115 first settling chamber
116 second settling chamber
12 thumb wheel sorting mechanism
121 thumb wheel axle
122 dial wheel block
2 tooth type fruit arrangement mechanism
3 middle fruit collecting mechanism
31 fruit collecting mechanism
311 right side plate for collecting fruits
312 fruit collecting front plate
313 fruit-collecting left side plate
314 fruit collecting back plate
32 intermediate mechanism
321 front board
322 ceiling plate
323 left side plate
324 base plate
325 rear plate
4 pick up mechanism
41 pick-up wheel
411 locking disk
412 elastic clamping strip
413 convex pick-up strip
414 concave pick-up strip
42 pick-up chain
43 pick-up shaft
44 pick-up sprocket
5 Transmission mechanism
6 control device
7 machine frame
8 blower fan
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
referring to fig. 1, fig. 1 is a schematic view of the overall structure of an apparatus according to an embodiment of the present invention. Dynamic separation pickup attachment is supported to flexible opening of forest fruit that falls to ground includes: a frame 7; the picking mechanism 4 is fixedly arranged on the rack 7 and used for picking up the fallen forest fruits and performing primary sorting to realize flexible stretching and picking up the fallen forest fruits; the pick-up mechanism 4 moves around the tooth-type fruit discharging mechanism 2, and the fruits in the pick-up mechanism 4 are automatically discharged through the tooth-type fruit discharging mechanism 2, so that the dynamic separation of fallen fruits is realized; the middle fruit collecting mechanism 3 is arranged on the rack 7 corresponding to the tooth type fruit discharging mechanism 2, is positioned below the tooth type fruit discharging mechanism 2, and is used for collecting the forest fruits discharged by the tooth type fruit discharging mechanism 2 and providing a forest fruit sorting space; the fan 8 is arranged on the rack 7, and an air outlet of the fan 8 is connected with an air inlet of the middle fruit collecting mechanism 3 so as to provide stable and continuous airflow for the forest fruit sorting space; the forest fruit separating mechanism 1 is connected with the middle fruit collecting mechanism 3, is preferably positioned on the right side of the middle fruit collecting mechanism 3, and is used for secondarily sorting forest fruit mixtures; the transmission mechanism 5 is arranged on the rack 7, is respectively connected with the picking mechanism 4, the fan 8 and the forest fruit separation mechanism 1, and comprises a fan transmission mechanism, and the fan transmission mechanism is connected with the fan 8 and a fan motor; the shifting wheel sorting transmission mechanism is connected with the shifting wheel sorting mechanism 12 and the shifting wheel sorting motor, and the picking transmission mechanism is connected with the picking mechanism 4 and the picking motor; and the control device 6 is arranged on the rack 7, is connected with the transmission mechanism 5 and is used for controlling and adjusting the working speed of the transmission mechanism 5 in real time, in the embodiment, the control device 6 is respectively connected with the fan motor, the dial wheel sorting motor and the picking motor, the working speeds of the fan transmission mechanism, the dial wheel sorting transmission mechanism and the picking transmission mechanism can be adjusted in real time through the display screen, and the three transmission mechanisms of the fan transmission mechanism, the dial wheel sorting transmission mechanism and the picking transmission mechanism are respectively powered by respective motors. Wherein, middle collection fruit mechanism 3, forest fruit separating mechanism 1 reach the inside and the external connection surface of fan 8 are provided with the sealing strip respectively, seal with the sealing strip in order to strengthen the leakproofness to reduce the loss of atmospheric pressure.
Referring to fig. 2 and 5, fig. 2 is a schematic structural diagram of a pickup mechanism 4 according to an embodiment of the present invention, fig. 3 is a schematic structural diagram of a pickup wheel 41 according to an embodiment of the present invention, fig. 4 is a schematic structural diagram of a convex pickup bar 413 according to an embodiment of the present invention, and fig. 5 is a schematic structural diagram of a concave pickup bar 414 according to an embodiment of the present invention. In this embodiment, the pickup mechanism 4 includes: a pick-up chain 42 tensioned on a pick-up sprocket 44, said pick-up sprocket 44 being mounted on said frame 7 by a pick-up shaft 43; and pickup wheels 41 installed on the pickup chain 42 at regular intervals, the pickup wheels 41 including elastic grip strips 412, convex pickup strips 413, concave pickup strips 414, and locking disks 411, both ends of the convex pickup strips 413 and the concave pickup strips 414 being fixedly installed on the locking disks 411, the elastic grip strips 412 being installed on outer surfaces of the convex pickup strips 413. Under the extrusion effect that the flexibility was held, the trees and fruits that fall to the ground were gripped to adjacent protruding strip 413 of picking up, finally fall to the ground the trees and fruits under the extrusion effect of next trees and fruits that fall to the ground, the clearance between the strip 414 that will arrive is picked up to the protruding strip 413 of picking up and the concave strip 414 of picking up and gets into and pick up the wheel 41 to accomplish and fall to the ground the trees and fruits and pick up the process, and can tentatively screen out impurity such as partial branch, fruit leaf, rubble, clod.
The inner side of the locking disc 411 is provided with a groove matched with the concave pickup strip 414 and the convex pickup strip 413 in a matching way, so that the concave pickup strip 414 and the convex pickup strip 413 are prevented from sliding and loosening. The concave pickup bar 414 is arranged between the convex pickup bars 413 and is positioned below the convex pickup bars 413, and the maximum clearance between the concave pickup bar 414 and the convex pickup bar 413 is smaller than the size of the fallen forest fruits; on the same concave pick-up bar 414, the distance between the elastic clamping bars 412 is much smaller than the size of the fallen forest fruits, so that the fallen forest fruits cannot be clamped between the elastic clamping bars.
Referring to fig. 6-8, fig. 6 is a schematic structural diagram of an intermediate fruit collecting mechanism 3 according to an embodiment of the present invention, fig. 7 is a schematic structural diagram of a fruit collecting mechanism 31 according to an embodiment of the present invention, and fig. 8 is a schematic structural diagram of an intermediate mechanism 32 according to an embodiment of the present invention. The intermediate fruit collecting mechanism 3 comprises a fruit collecting mechanism 31 and an intermediate mechanism 32, the fruit collecting mechanism 31 comprises a fruit collecting front plate 312, a fruit collecting rear plate 314, a fruit collecting left side plate 313 and a fruit collecting right side plate 311 which are connected with each other to form a first accommodating space, the top end of the first accommodating space is a fruit collecting inlet, and the bottom end of the first accommodating space is a fruit collecting outlet; the middle mechanism 32 comprises a front plate 321, a rear plate 325, a left side plate 323, a top plate 322 and a bottom plate 324 which are connected with each other to form a second accommodating space, wherein the top plate 322 is provided with a long opening and is connected with the fruit collecting outlet so as to ensure that the forest fruits accurately fall into the middle fruit collecting mechanism 3; the left side plate 323 is provided with an air inlet connected with an air outlet of the fan 8, and one side of the second accommodating space opposite to the left side plate 323 is an air outlet.
Referring to fig. 9-11, fig. 9 is a schematic structural view of a forest fruit separating mechanism 1 according to an embodiment of the present invention, fig. 10 is a schematic structural view of a forest fruit separating box 11 according to an embodiment of the present invention, and fig. 11 is a schematic structural view of a thumb wheel sorting mechanism 12 according to an embodiment of the present invention. The forest fruit separating mechanism 1 of the embodiment comprises: the forest and fruit separating box 11 comprises a separating box body 112, a separating plate 111 and a baffle 113, wherein the left side of the separating box body 112 is connected with an air outlet of the intermediate mechanism 32; the separation plate 111 and the baffle 113 are respectively installed in the separation box body 112, and divide the separation box body 112 into a separation chamber 114, a first settling chamber 115 and a second settling chamber 116, the bottom end of the first settling chamber 115 is provided with an impurity discharge port for discharging impurities such as broken stones and soil blocks, and one side (preferably, the middle of the right side is downward) of the separation chamber 114 is provided with a forest fruit discharge port for discharging forest fruits; the first settling chamber 115 is disposed on the other side of the separation chamber 114; and the shifting wheel sorting mechanism 12 comprises a shifting wheel shaft 121 and shifting wheel blocks 122, the shifting wheel shaft 121 is mounted on the rack 7 through a bearing, the shifting wheel blocks 122 are circumferentially and uniformly distributed on the shifting wheel shaft 121 in an array manner to form shifting wheel sets, the shifting wheel sets are axially and uniformly mounted on the shifting wheel shaft 121 in an array manner, and impurities such as branches and fruit leaves can be discharged into the second settling chamber 116.
Referring to fig. 12, fig. 12 is a schematic structural diagram of a separation plate 111 according to an embodiment of the present invention. A plurality of strip holes are uniformly arranged on the separation plate 111 at intervals, and the strip holes correspond to the shifting wheel sets of the shifting wheel sorting mechanism 12 one by one, so that the impurities such as fruit leaves and branches can be sorted into the second settling chamber 116 conveniently.
Referring to fig. 13, fig. 13 is a schematic structural view of the tooth-type fruit arrangement mechanism 2 according to an embodiment of the present invention. The tooth type fruit arrangement mechanism 2 comprises rack plates symmetrically arranged on the picking shaft in parallel through bearings, the rack plates are intersected with the picking wheels 41, convex teeth on the rack plates press the convex picking strips 413 and the concave picking strips 414, and gaps between the convex picking strips 413 and the concave picking strips 414 are increased, so that the dynamic separation of the forest fruits is realized.
The invention discloses a flexible tensioning dynamic separation picking method for fallen forest fruits, which comprises the following steps:
step S100, adjusting the distance between a concave picking strip 414 and a convex picking strip 413 in the picking wheel 41 according to the objects for picking up the fallen fruits, so as to pick up different types of fruits conveniently;
wherein the concave pickup bar 414 is located at the middle position of the convex pickup bar 413, wherein the distances L between the convex pickup bars 413 and between the concave pickup bar 414 and the convex pickup bar 413 in the pickup wheel 41max＝Kmin(r1，r2) K is an empirical coefficient, generally 0.25-0.50, r1Is the longitudinal diameter of the fruit2The transverse diameter of the forest fruits is adopted; wherein the equation of the surface of revolution of the convex pickup strip 413 in the pickup wheel 41 is
a1、b1、c1A long half shaft, a middle half shaft and a short half shaft which are respectively a rotating curved surface of the convex picking strip 413; the equation for the surface of revolution of the concave pickup bar 414 is:
a2、b2、c2a long half shaft, a middle half shaft and a short half shaft which are respectively a rotary curved surface of the concave picking strip 414; a is1＝a2，b1-b2＜Lmax，c1-c2＜Lmax；
S200, adjusting a fan motor, a dial wheel sorting motor and a picking motor of a transmission mechanism 5 to preset values through a control device 6, and debugging that the transmission mechanism 5 runs stably;
step S300, the pickup wheel 41 moves in a clockwise direction, and under the combined action of the elastic clamping strip 412, the concave pickup strip 414 and the convex pickup strip 413 which are flexibly tensioned, the fallen forest fruits on the ground are clamped and extruded into the pickup wheel 41, so that a fruit picking process is realized, and preliminary sorting is performed;
step S400, the pickup wheel 41 moves to the tooth type fruit arrangement mechanism 2, the distance between the concave pickup strip 414 and the convex pickup strip 413 is increased under the action of the tooth type fruit arrangement mechanism 2, so that fallen forest fruits are discharged from the space between the concave pickup strip 414 and the convex pickup strip 413, and the automatic dynamic separation process of the forest fruits is automatically completed;
wherein, the teeth of the tooth-type fruit-arranging mechanism 2 have the width B intersected with the picking wheel 41max＝Emax(r1，r2) E is an empirical coefficient and is generally 2-4; namely, the intersecting height of the teeth of the tooth type fruit-arranging mechanism 2 and the picking wheel 41 is as follows:
theta is a tooth-like inclination angle; distances L between the convex pickup strips 413, between the concave pickup strips 414 and the convex pickup strips 413 in the pickup wheel 41maxThe width B of the tooth-shaped fruit arrangement mechanism 2 intersected with the pick-up wheel 41max；
S500, the forest fruits freely fall into the middle fruit collecting mechanism 3 from top to bottom, at the moment, under the action of wind power of the fan 8, the forest fruits, such as gravels, soil blocks and other heavy impurities fall into the first settling chamber 115, and are discharged from an outlet of the first settling chamber 115 under the combined action of air flow and inclined rolling; and the lighter mixture of forest fruits, jujube leaves, branches and the like is blown into the separation chamber 114, wherein the inclination angle of the settling chamber satisfies: tan theta is larger than f, wherein theta is the inclination angle of the settling chamber; f is the friction coefficient of impurities such as broken stones and soil blocks and the bottom surface material of the settling chamber; the air flow speed generated by the fan 8 satisfies: max (v)e,vf)＜va＜vg，veIs the suspension velocity v of impurities such as jujube leaves, branches and the likefIs the suspension velocity of the forest fruit, vaIs the speed of the air flow, v, generated by the fan 8fThe suspension speed of impurities such as broken stones, soil blocks and the like; and
step S600, wind power of the fan 8 is increasedUnder the combined action of thumb wheel sorting, impurity such as fruit leaf, branch are selected separately in second deposit room 116, roll and thumb wheel sorting mechanism 12 stirs under the combined action, follow the export of second deposit room 116 is discharged, and the forest fruit falls under baffle 113 and the not enough effect of wind-force the bottom surface of separation chamber 114 is followed under the combined action of air current and roll slope the export of separation chamber 114 is discharged, accomplishes the forest fruit that falls to the ground and picks up the process, and wherein, the inclination of separation chamber 114 satisfies: tan theta1＞f1Wherein theta1Is the inclination angle of the settling chamber; f. of1The friction coefficient of impurities such as broken stones and soil blocks and the bottom surface material of the settling chamber.
In the working process, after each transmission mechanism 5 rotates stably, the picking mechanism 4 picks up fallen forest fruits through the clamping and extruding processes in a flexible stretching mode of the elastic clamping strip 412, the concave picking strip 414 and the convex picking strip 413, can primarily screen out partial branches, fruit leaves, broken stones, soil blocks and other impurities, and completes primary sorting; then, the automatic dynamic separation process of the forest fruits is completed under the action of the tooth-type fruit arrangement mechanism 2, the forest fruits freely fall into the middle fruit collection mechanism 3 from top to bottom, and at the moment, under the action of the air force generated by the fan 8, the forest fruits are separated into the first settling chamber 115 through impurities such as soil blocks, broken stones and the like; the mixture of the forest fruits, the fruit leaves, the branches and the like is sorted into the separation chamber 114, the fruit leaves, the branches and the like are sorted out through the winding of the thumb wheel sorting mechanism 12 and the action of air flow, the fruit leaves and the branches are discharged into the second settling chamber 116 to finish secondary sorting, and finally the forest fruits fall to the bottom surface of the separation chamber 114 under the action of the baffle 113 and insufficient air force to finish picking work of the forest fruits.
The device and the method can realize the flexible stretching-dynamic separation picking process of the fallen forest fruits, fundamentally solve the problems of low picking efficiency, high damage rate, high impurity content and the like of the fallen forest fruits, achieve the working effects of high efficiency, low loss, high quality and low impurity content, ensure the harvesting quality of the forest fruits, and effectively improve the picking performance and the automation degree of the fallen forest fruits. The distance between the concave picking strips 414 and the convex picking strips 413 in the picking wheel 41 is adjusted according to the objects for picking up the fallen forest fruits, so that picking up of different types of forest fruits can be realized; under the combined action of the elastic clamping strip 412, the concave picking strip 414 and the convex picking strip 413, the picking wheel 41 clamps and extrudes forest fruits on the ground into the picking wheel 41 to realize the flexible standing picking process of the fallen forest fruits, and the distance between the concave picking strip 414 and the convex picking strip 413 is increased under the action of the tooth-type fruit discharging mechanism 2, so that the forest fruits are discharged from the space between the concave picking strip 414 and the convex picking strip 413, the dynamic separation process of the forest fruits is automatically completed, the picking efficiency of the forest fruits is effectively improved, and the damage rate is reduced; under the condition of secondary sorting, the impurity content of the forest fruits is greatly reduced, wherein the picking wheel 41 can primarily screen out part of branches, fruit leaves, broken stones, soil blocks and other impurities in the picking process, and primary sorting is completed; under the combined action of pneumatic force and sorting by the shifting wheel, the sorting of the fruits, the branches, the fruit leaves, the broken stones, the soil blocks and other impurities is realized again, and the secondary sorting is completed.
The picking efficiency of the ground fruit is greatly improved, the damage rate, the impurity content rate, the labor intensity and the operation cost are effectively reduced, the harvesting quality of the fruit is ensured, the problems of low picking efficiency, high damage rate, high impurity content rate, high labor intensity, high operation cost and the like of the ground fruit are fundamentally solved, the picking performance and the automation degree of the ground fruit are effectively improved, and the working effects of high efficiency, low loss, high quality and low impurity are achieved.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a dynamic separation pickup attachment is supported to flexible the opening of forest fruit that falls to ground which characterized in that includes:
a frame;
the picking mechanism is arranged on the rack and used for picking the fallen forest fruits and performing primary sorting to realize flexible stretching and picking of the fallen forest fruits;
the pick-up mechanism moves around the tooth-type fruit-discharging mechanism and automatically discharges the forest fruits in the pick-up mechanism through the tooth-type fruit-discharging mechanism, so that the dynamic separation of the fallen forest fruits is realized;
the middle fruit collecting mechanism is arranged on the rack corresponding to the tooth type fruit discharging mechanism and is used for collecting the forest fruits discharged by the tooth type fruit discharging mechanism and providing a forest fruit sorting space;
the fan is arranged on the rack, and an air outlet of the fan is connected with an air inlet of the middle fruit collecting mechanism so as to provide stable and continuous airflow for the forest fruit sorting space;
the forest and fruit separating mechanism is connected with the middle fruit collecting mechanism and is used for secondarily sorting forest and fruit mixtures;
the transmission mechanism is arranged on the rack and is respectively connected with the picking mechanism, the fan and the forest and fruit separating mechanism; and
and the control device is arranged on the rack, is connected with the transmission mechanism and is used for controlling and adjusting the working speed of the transmission mechanism in real time.
2. A flexible stand-by dynamic separation pickup as claimed in claim 1 wherein said pickup mechanism comprises:
the picking chain is tensioned on a picking chain wheel, and the picking chain wheel is installed on the rack through a picking shaft; and
the picking wheels are installed on the picking chain at uniform intervals and comprise elastic clamping strips, convex picking strips, concave picking strips and locking discs, two ends of each of the convex picking strips and the concave picking strips are installed on the locking discs, and the elastic clamping strips are installed on the outer surfaces of the convex picking strips.
3. The flexible standing forest fruit dynamic separation and pickup device as claimed in claim 2, wherein the inner side of the locking disc is provided with grooves matched with the concave pickup strips and the convex pickup strips to prevent the concave pickup strips and the convex pickup strips from sliding and loosening.
4. The flexible supporting dynamic separation pickup device for fallen forest fruits as claimed in claim 2, wherein the toothed fruit arrangement mechanism comprises rack plates symmetrically mounted on the pickup shaft side by side, the rack plates intersect with the pickup wheel, and convex teeth on the rack plates press the convex pickup strips and the concave pickup strips to increase the gap between the convex pickup strips and the concave pickup strips, so as to realize dynamic separation of the forest fruits.
5. The flexible tensioned dynamic separation pick-up device for fallen forest fruits as set forth in claim 2, wherein the concave pick-up strip is installed between the convex pick-up strips and below the convex pick-up strips, and the maximum gap between the concave pick-up strip and the convex pick-up strip is smaller than the size of the fallen forest fruits; on the same concave picking strip, the distance between the elastic clamping strips is far smaller than the size of the fallen forest fruits.
6. The flexible standing forest fruit dynamic separation and pickup device as claimed in claim 1, 2, 3, 4 or 5, wherein the intermediate fruit collecting mechanism comprises:
the fruit collecting mechanism comprises a fruit collecting front plate, a fruit collecting rear plate, a fruit collecting left side plate and a fruit collecting right side plate which are connected with each other to form a first accommodating space, the top end of the first accommodating space is a fruit collecting inlet, and the bottom end of the first accommodating space is a fruit collecting outlet; and
the middle mechanism comprises a front plate, a rear plate, a left side plate, a top plate and a bottom plate which are mutually connected to form a second accommodating space, and the top plate is provided with a strip opening and is connected with the fruit collecting outlet; the left side plate is provided with an air inlet connected with an air outlet of the fan, and one side, opposite to the left side plate, of the second accommodating space is an air outlet.
7. The flexible standing forest fruit dynamic separation and pickup device as claimed in claim 1, 2, 3, 4 or 5, wherein the forest fruit separation mechanism comprises:
the forest and fruit separating box comprises a separating box body, a separating plate and a baffle plate, wherein the left side of the separating box body is connected with an air outlet of the intermediate mechanism; the separation plate and the baffle plate are respectively arranged in the separation box body, the separation box body is divided into a separation chamber, a first settling chamber and a second settling chamber, an impurity discharge port is formed in the bottom end of the first settling chamber, a forest fruit discharge port is formed in one side of the separation chamber, and the first settling chamber is arranged on the other side of the separation chamber; and
the shifting wheel sorting mechanism comprises a shifting wheel shaft and shifting wheel blocks, the shifting wheel shaft is arranged on the rack, the shifting wheel blocks are circumferentially and uniformly distributed on the shifting wheel shaft in an array manner to form shifting wheel groups, and the shifting wheel groups are axially and uniformly arranged on the shifting wheel shaft in an array manner.
8. The flexible dynamic separation and pickup apparatus for forest fruits on the land as claimed in claim 7, wherein the separation plate is provided with long holes at regular intervals, and the long holes correspond to the thumb wheel sets of the thumb wheel sorting mechanism one by one to sort the impurities into the second settling chamber.
9. The flexible tensioning dynamic separation and pickup device for fallen forest fruits according to claim 1, 2, 3, 4 or 5, wherein the connecting surfaces of the intermediate fruit collecting mechanism, the forest fruit separating mechanism and the fan are respectively provided with a sealing strip to enhance the sealing performance and reduce the air pressure loss.
10. A flexible tensioning dynamic separation picking method for fallen forest fruits is characterized by comprising the following steps:
s100, adjusting the distance between a concave picking strip and a convex picking strip in the picking wheel according to the object for picking up the fallen fruits, so as to be convenient for picking up different types of fruits;
wherein the concave pickup strips are located at the middle positions of the convex pickup strips, wherein the distances L between the convex pickup strips and between the concave pickup strips and the convex pickup strips in the pickup wheelmax＝Kmin(r1，r2) K is an empirical coefficient, and is 0.25-0.50 r1Is the longitudinal diameter of the fruit2The transverse diameter of the forest fruits is adopted; wherein the convex pick-up strip in the pick-up wheel rotatesThe equation of the surface is
a1、b1、c1A long half shaft, a middle half shaft and a short half shaft which are respectively convex picking strip rotating curved surfaces; the equation for the concave pickup bar surface of revolution is:
a2、b2、c2a long half shaft, a middle half shaft and a short half shaft which are respectively concave picking strip rotating curved surfaces; a is1＝a2，b1-b2＜Lmax，c1-c2＜Lmax；
S200, adjusting a fan motor, a dial wheel sorting motor and a pickup motor of a transmission mechanism to preset values through a control device, and debugging that the transmission mechanism runs stably;
s300, the pickup wheel moves in a clockwise direction, ground forest fruits on the ground are clamped and extruded into the pickup wheel under the combined action of the elastic clamping strips, the concave pickup strips and the convex pickup strips in a flexible stretching mode, so that the fruits are picked up and primarily sorted;
s400, the pickup wheel moves to a tooth type fruit arrangement mechanism, and the space between the concave pickup strips and the convex pickup strips is enlarged under the action of the tooth type fruit arrangement mechanism, so that fallen forest fruits are discharged from the space between the concave pickup strips and the convex pickup strips, and automatic dynamic separation of the forest fruits is automatically completed;
wherein, the tooth-type of the tooth-type fruit-arranging mechanism is crossed with the pick-up wheel by the width Bmax＝Emax(r1，r2) E is an empirical coefficient, and 2-4 is taken; the tooth of the tooth-type fruit-discharging mechanism is intersected with the picking wheel by the height:
theta is a tooth-like inclination angle; pick up distance L between protruding pick-up strip in the wheel, concave pick-up strip and protruding pick-up stripmaxTooth and pick-up of tooth-like fruit mechanism of arrangingWidth B of pick-up wheel intersectionmax；
S500, allowing the forest fruits to freely fall into a middle fruit collecting mechanism from top to bottom, allowing heavy impurities of the forest fruits to fall into a first settling chamber under the action of wind power of a fan, and discharging the forest fruits from an outlet of the first settling chamber under the combined action of airflow and inclined rolling; while the light mixture is blown into the separation chamber, wherein the inclination of the settling chamber satisfies: tan theta is larger than f, wherein theta is the inclination angle of the settling chamber; f is the friction coefficient of the heavy impurities and the material on the bottom surface of the settling chamber; the air flow speed generated by the fan satisfies the following conditions: max (v)e,vf)＜va＜vg，veThe suspension velocity v of light impuritiesfIs the suspension velocity of the forest fruit, vaSpeed of air flow, v, generated by fansfThe suspension velocity of heavy impurities; and
step S600, under the combined action of wind power of the fan and the sorting of the thumb wheel, light impurities are sorted into a second settling chamber, under the combined action of inclined rolling and the shifting of the sorting mechanism of the thumb wheel, the light impurities are discharged from an outlet of the second settling chamber, forest fruits fall to the bottom surface of the separation chamber under the action of insufficient baffle and wind power, and are discharged from the outlet of the separation chamber under the combined action of airflow and inclined rolling, so that the picking process of the forest fruits falling to the ground is completed, wherein the inclination angle of the separation chamber meets the following requirements: tan theta1＞f1Wherein theta1Is the inclination angle of the settling chamber; f. of1The coefficient of friction between the heavy impurities and the material on the bottom surface of the settling chamber.
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| CN205085019U (en) * | 2015-06-26 | 2016-03-16 | 安新辉 | Red date that falls to ground is collected separation and is picked up machine |
| KR20160059056A (en) * | 2014-11-17 | 2016-05-26 | 김종광 | Fruit collecting Apparatus |
| CN111194615A (en) * | 2020-01-14 | 2020-05-26 | 天津农学院 | Robot is picked up to forest fruit that falls to ground |
| CN211064197U (en) * | 2019-07-30 | 2020-07-24 | 靖远恒瑞科技发展有限公司 | Jujube pickup device with strong terrain adaptability |
| CN112205175A (en) * | 2020-10-24 | 2021-01-12 | 卢乐 | Double-spring type Chinese chestnut pickup device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160059056A (en) * | 2014-11-17 | 2016-05-26 | 김종광 | Fruit collecting Apparatus |
| CN205085019U (en) * | 2015-06-26 | 2016-03-16 | 安新辉 | Red date that falls to ground is collected separation and is picked up machine |
| CN211064197U (en) * | 2019-07-30 | 2020-07-24 | 靖远恒瑞科技发展有限公司 | Jujube pickup device with strong terrain adaptability |
| CN111194615A (en) * | 2020-01-14 | 2020-05-26 | 天津农学院 | Robot is picked up to forest fruit that falls to ground |
| CN112205175A (en) * | 2020-10-24 | 2021-01-12 | 卢乐 | Double-spring type Chinese chestnut pickup device |
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