CN115004936B - Differential belt clamping type bionic pineapple picker and picking method thereof - Google Patents
Differential belt clamping type bionic pineapple picker and picking method thereof Download PDFInfo
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- CN115004936B CN115004936B CN202210673860.6A CN202210673860A CN115004936B CN 115004936 B CN115004936 B CN 115004936B CN 202210673860 A CN202210673860 A CN 202210673860A CN 115004936 B CN115004936 B CN 115004936B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/20—Delivering mechanisms for harvesters or mowers with conveyor belts
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D65/00—Grain-crop lifters
- A01D65/02—Lifting fingers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
The application provides a differential belt clamping type bionic pineapple picker and a picking method thereof, belonging to the field of agricultural machinery. The pineapple picking mechanism solves the problems that an existing pineapple picking mechanism is low in working efficiency and cannot adapt to the picking of pineapples of different sizes. The pineapple picking device comprises a left picking mechanism and a right picking mechanism which are arranged in a hanging frame, a space for clamping pineapples is formed between the two picking mechanisms, a distance adjuster is arranged at the bottom of each picking mechanism, the distance between the two picking mechanisms is adjusted through the distance adjuster, the two picking mechanisms are identical in structure and comprise a housing, a supporting fixing plate, a driving motor unit, a transmission assembly and a clamping conveying belt assembly, the supporting fixing plate, the driving motor unit, the transmission assembly and the clamping conveying belt assembly are all arranged in the housing, the supporting fixing plate is vertically arranged at the middle position of the housing, a plurality of supporting rollers are arranged at corners of the housing, the transmission assembly is installed on the supporting rollers, and the clamping conveying belt assembly is arranged on the transmission assembly in a whole set. The application is suitable for picking pineapple.
Description
Technical Field
The application belongs to the field of agricultural machinery, and particularly relates to a differential belt clamping type bionic pineapple picker and a picking method thereof.
Background
Pineapple is a famous tropical fruit, is popular among the public, the planting area is increased year by year, but the pineapple planting mechanization degree is low, especially in the harvesting step, the existing pineapple picking mainly takes manpower as a main part, only a part of the pineapple picking can use mechanical auxiliary equipment, and the labor cost required in the whole harvesting operation period can occupy 40-50% of pineapple production profits. Under the condition of increasingly lacking labor force, pineapple farmers hope to change the current situation through a mechanized means, so that mechanized harvesting of pineapples is realized, and further economic benefits are improved.
Major problems to be solved in mechanical harvesting of pineapple include: firstly, pineapple is a shrub tree species, branches and leaves grown by a parent plant are luxuriant and strong in toughness, and can shield a space for mechanical movement, so that picking operation is difficult; furthermore, the pineapple is just in the mature period of fruits when being picked, most mechanical picking belongs to violent picking, and the pineapple is easy to damage; finally, the picking period of the suitable pineapple is short, and once the optimal period is missed, the pineapple is rotten in the field, and the harvesting and the yield of the pineapple are seriously affected.
Aiming at the existing related patents of pineapple harvesters, such as the pineapple harvesters disclosed in publication No. CN110744570A, CN209120674U, CN108834548B, the pineapple harvesters in the various forms adopt an alignment picking mode (manual alignment is adopted, and automatic alignment is adopted by a visual recognition technology), only one pineapple can be picked each time, the average working efficiency is 3-5 pieces/min, the pineapple land with the planting density reaching 3000-4000 plants/mu is obviously insufficient, the alignment process speed is low, and the problem of low working efficiency exists.
On the other hand, the pineapple harvester disclosed in publication No. CN210444896U, CN210610353U adopts the mode of blade cutting to pick the pineapple, because the height of blade relative to the ground is unchangeable, and the pineapple is different because the difference of growth vigor causes the pineapple growth height difference, consequently the blade can't aim at pineapple stem base department and carry out accurate cutting, causes the pineapple part of gathering to have the damage or the fruit base has too much stem stalk, and the picking precision is low. The height of the picking platform of the spanning pineapple picking vehicle disclosed by the publication number CN 108307795A can be adjusted through the lifting mechanism, so that the spanning pineapple picking vehicle can adapt to different heights of pineapple planting in rows, but the height of the picking platform cannot be adjusted in real time, and therefore the height difference of pineapple individuals caused by different growth vigor cannot be adapted.
In summary, the existing pineapple picking mechanism has low working efficiency, cannot adapt to the problems of picking of pineapples with different sizes, and is difficult to realize mechanized picking of pineapples. It is therefore necessary to design a new pineapple picker to solve the above problems.
Disclosure of Invention
In view of the above, the application aims to provide a differential belt clamping type bionic pineapple picker which aims to solve the problems that the existing pineapple picking mechanism has low working efficiency and cannot adapt to the pineapple picking of different sizes.
In order to achieve the above purpose, the technical scheme of the application is realized as follows:
the utility model provides a differential belt centre gripping formula bionical pineapple picker, including arranging left side picking mechanism and the right side picking mechanism in the mounted frame, form the working space of centre gripping pineapple between two picking mechanisms of bilateral symmetry setting, be equipped with the interval adjuster in the bottom of picking mechanism, the distance between two picking mechanisms is adjusted through the interval adjuster, the structure of two picking mechanisms is the same, all include the housing, support the fixed plate, drive motor unit, drive assembly and centre gripping conveyer belt assembly all set up in the housing, support the fixed plate and establish in the intermediate position of housing immediately, be equipped with a plurality of backing rolls in the corner of housing, install the drive assembly on the backing roll, centre gripping conveyer belt assembly is established on the drive assembly in the complete package;
the clamping conveyer belt assembly comprises a low-speed pineapple clamping synchronous belt, a high-speed pineapple clamping synchronous belt and a stalk clamping synchronous belt, wherein the stalk clamping synchronous belt is positioned at the lowest part, the low-speed pineapple clamping synchronous belt is positioned above the high-speed pineapple clamping synchronous belt, the driving motor group is arranged on one side of the supporting and fixing plate, a plurality of groups of conveyer belt supporting mechanisms are hinged on the other side of the supporting and fixing plate, each group of conveyer belt supporting mechanisms respectively supports the low-speed pineapple clamping synchronous belt, the high-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt, and the working areas for clamping pineapples are formed by opening areas on the sides, which are close to each other, of shells of the two picking mechanisms;
the driving assembly is driven by the driving motor group to move so as to drive the low-speed pineapple clamping synchronous belt, the high-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt to move, the low-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt move to clamp the pineapple to be picked and the stalk of the pineapple, and the high-speed pineapple clamping synchronous belt is used for picking the pineapple to be picked.
Still further, the transmission assembly includes a low-speed driving synchronous pulley, a high-speed driving synchronous pulley, a stalk driving synchronous pulley, a plurality of low-speed driven synchronous pulleys, a plurality of high-speed driven synchronous pulleys and a plurality of stalk driven synchronous pulleys, and low-speed pineapple clamping synchronous belts are sleeved on the low-speed driving synchronous pulley and the plurality of low-speed synchronous pulleys, and high-speed pineapple clamping synchronous belts are sleeved on the high-speed driving synchronous pulley and the plurality of high-speed synchronous pulleys, and are sleeved on the stalk driving synchronous pulley and the plurality of stalk synchronous pulleys, and the low-speed pineapple clamping synchronous belts and the high-speed pineapple clamping synchronous belts are arranged vertically and are opposite to each other, and the stalk clamping synchronous belts positioned at the opening area of the housing extend out of the housing.
Furthermore, the low-speed driving synchronous pulley, the high-speed driving synchronous pulley and the stalk driving synchronous pulley are arranged at the corners of one side of the supporting fixing frame, the driven synchronous pulleys are arranged at all the corners of the other side of the supporting fixing frame, the low-speed driving synchronous pulley and the stalk driving synchronous pulley are arranged at the same corner, and the high-speed driving synchronous pulley is arranged at the other corner.
Still further, driving motor group includes low-speed motor, high-speed motor and stalk centre gripping motor, low-speed motor and stalk centre gripping motor arrange from top to bottom, high-speed motor sets up in one side of low-speed motor, and three motors are all fixed on supporting the mount, and three motors are respectively connected with corresponding initiative synchronous pulley through a belt drive mechanism.
Still further, conveyer belt supporting mechanism includes support frame, tension spring and support synchronous pulley, the support frame is including U type mount pad and the bracing piece of integrative setting, the one end of bracing piece is fixed in the bottom of U type mount pad, and the other end articulates on supporting the fixed plate, supports synchronous pulley and installs on U type mount pad, tension spring's one end is fixed on supporting the fixed plate, and the other end is installed on the bracing piece.
Still further, set up a interval adjuster in the bottom of every picking mechanism, interval adjuster includes slide rail, slider and interval adjustment lead screw, and the slide rail is fixed in the bottom of mounted frame, and interval adjustment lead screw is installed on the mounted frame, and the slider is fixed in the bottom of picking mechanism, interval adjustment lead screw and slider threaded connection, slider and slide rail sliding connection, the one end installation regulating hand wheel on the mounted frame of installation at interval adjustment lead screw.
Furthermore, the inner sides of the low-speed pineapple clamping synchronous belt, the high-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt are provided with a plurality of teeth meshed with the synchronous belt wheels.
Further, a power supply and a motor rotation speed regulator are installed on the support fixing plate.
Further, a grain lifter is arranged at the front ends of the two picking mechanisms.
The application provides a picking method of a differential belt clamping type bionic pineapple picker, which comprises the following steps:
when the pineapple is picked, a power supply is connected, each motor is started, the motor rotation speed is respectively regulated by a motor rotation speed regulator, so that the linear speed of the low-speed pineapple clamping synchronous belt and the linear speed of the stalk clamping synchronous belt are the same as the advancing speed of the differential clamping pineapple picker, and the linear speed of the high-speed pineapple clamping synchronous belt is regulated to be 1.1-1.2 times of the linear speed of the low-speed pineapple clamping synchronous belt;
the pineapple picker is arranged at the front end of the bearing equipment, and driven by the bearing equipment to drive forwards, pineapple is fed into the picker in a vertical state under the action of the grain lifter, and the synchronous belt is supported by the outward supporting force of the supporting synchronous belt wheel, so that the synchronous belt effectively clamps pineapple fruits and stalks; meanwhile, the relative speed of the high-speed pineapple clamping synchronous belt is higher than that of the low-speed pineapple clamping synchronous belt, so that the lower end of the pineapple is subjected to the extrusion force of the synchronous belt and simultaneously is subjected to the action of friction force which is the same as the advancing direction of the pineapple, the pineapple stem base and the pineapple stem are broken, picked pineapple fruits continue to move backwards under the action of the low-speed pineapple clamping synchronous belt and the stem clamping synchronous belt, and finally fall into a subsequent conveying and collecting system after being separated from the clamping actions of the low-speed pineapple clamping synchronous belt and the stem clamping synchronous belt, so that the picking work of the pineapple is completed.
Compared with the prior art, the differential belt clamping type bionic pineapple picker has the beneficial effects that:
(1) The differential belt clamping type bionic pineapple picker has strong applicability and high universality, and the picking height and the spacing of the picking mechanisms can be adjusted according to actual conditions of pineapple fruits in fields, so that the problem that the picking mechanisms are inapplicable due to different sizes and shapes of the fruits caused by different varieties of pineapples can be avoided.
(2) According to the differential belt clamping type bionic pineapple picker, a feeding type harvesting method is adopted, after the picker is aligned to pineapple planting rows, pineapple plants are fed to a picking mechanism for summarizing under the action of a grain lifter even if some pineapple plants fall, the pineapple can be picked only by feeding the pineapple to the picking mechanism, fruits do not need to be accurately identified one by one, the pineapple picking rate is determined by the working speed of picking parts and the walking speed of a machine, and therefore, compared with an accurate fruit identification picking device, the working efficiency is remarkably improved.
(3) The differential belt clamping type bionic pineapple picker provided by the application simulates the action of manually picking pineapples to separate fruits from fruit stalks, and as a large amount of abscisic acid is secreted at the joint of the fruits and the fruit stalks, the joint is the part of the pineapple with the highest structural strength of the whole pineapple, and the pineapple is most likely to break.
(4) The differential belt clamping type bionic pineapple picker provided by the application can be matched with mechanisms such as a conveyor belt, a container and the like to realize whole-course mechanized harvesting of pineapples, and has strong combination capability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation on the application. In the drawings:
FIG. 1 is an isometric view of a differential belt clamped bionic pineapple picker according to an embodiment of the present application;
FIG. 2 is a top view of a differential belt clamped bionic pineapple picker according to an embodiment of the present application;
FIG. 3 is a front view of a differential belt clamped bionic pineapple picker according to an embodiment of the present application;
FIG. 4 is a schematic perspective view of a single picking mechanism at an angle;
fig. 5 is a schematic view of another angular perspective of a single picking mechanism.
Reference numerals illustrate:
1. a grain lifter; 2. clamping the synchronous belt by the low-speed pineapple; 3. clamping the synchronous belt by the high-speed pineapple; 4. a drive belt; 5. a support roller; 6. a housing; 7. a slide rail; 8. a pitch adjusting screw; 9. the stalks clamp the synchronous belt; 10. a supporting and fixing plate; 11. supporting a synchronous belt pulley; 12. a support frame; 13. a tension spring; 14. a power supply; 15. a motor rotation speed regulator; 16. a left picking mechanism; 17. a right picking mechanism; 18. a hanging frame; 19. a low-speed motor; 20. a high-speed motor; 21. a stalk clamping motor; 22. a low-speed driving synchronous pulley; 23. a high-speed driving synchronous pulley; 24. stalk driving synchronous pulley; 25. a working area; 26. a sliding block.
Detailed Description
The present application now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application disclosed herein without departing from the scope of the application.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present application will be understood in a specific case by those skilled in the art.
In addition, the technical features which are described below and which are involved in the various embodiments of the application can be combined with one another as long as they do not conflict with one another.
As shown in fig. 1-5, a differential belt clamping type bionic pineapple picker comprises a left picking mechanism 16 and a right picking mechanism 17 which are arranged in a hanging frame 18, a space for clamping pineapples is formed between the two picking mechanisms which are symmetrically arranged left and right, a spacing regulator is arranged at the bottom of each picking mechanism, the distance between the two picking mechanisms is regulated by the spacing regulator, the two picking mechanisms are identical in structure and comprise a housing 6, a supporting and fixing plate 10, a driving motor unit, a transmission assembly and a clamping conveying belt assembly, the supporting and fixing plate 10, the driving motor unit, the transmission assembly and the clamping conveying belt assembly are all arranged in the housing 6, the supporting and fixing plate 10 is vertically arranged in the middle position of the housing 6, the housing 6 is of a cuboid-like structure, and the supporting and fixing plate 10 is arranged in parallel with the long side of the housing 6; a plurality of supporting rollers 5 are arranged at corners of the housing 6, a transmission assembly is arranged on the supporting rollers 5, and the clamping conveyer belt assembly is arranged on the transmission assembly in a sleeved mode;
the clamping conveyer belt assembly comprises a low-speed pineapple clamping synchronous belt 2, a high-speed pineapple clamping synchronous belt 3 and a stalk clamping synchronous belt 9, wherein the stalk clamping synchronous belt 9 is positioned at the lowest position, the low-speed pineapple clamping synchronous belt 2 is positioned above the high-speed pineapple clamping synchronous belt 3, a driving motor group is arranged on one side of a supporting and fixing plate 10, a plurality of groups of conveyer belt supporting mechanisms are hinged on the other side of the supporting and fixing plate 10, each group of conveyer belt supporting mechanisms respectively supports the low-speed pineapple clamping synchronous belt 2, the high-speed pineapple clamping synchronous belt 3 and the stalk clamping synchronous belt 9, and the close sides of shells 6 of the two picking mechanisms form a working area 25 for clamping pineapples;
the driving assembly is driven by the driving motor group to move so as to drive the low-speed pineapple clamping synchronous belt 2, the high-speed pineapple clamping synchronous belt 3 and the stalk clamping synchronous belt 9 to move, the running speeds of the low-speed pineapple clamping synchronous belt 2 and the stalk clamping synchronous belt 9 are the same, and the linear speed of the high-speed pineapple clamping synchronous belt 3 is kept to be 1.1-1.2 times of the linear speed of the low-speed pineapple clamping synchronous belt 2; the low-speed pineapple clamping synchronous belt 2 and the stem clamping synchronous belt 9 move to clamp the pineapple to be picked and the stem of the pineapple, and the high-speed pineapple clamping synchronous belt 3 is used for picking the pineapple to be picked.
The differential clamping type pineapple picker consists of a left picking mechanism and a right picking mechanism, the interval between the picking mechanisms is a space for clamping pineapples, and the length of the interval corresponding to the space for clamping pineapples of the clamping type conveyor belt is the working interval for picking pineapples.
The differential clamping pineapple picker can be hung at the front end of a running agricultural machine (such as a tractor) through a hanging frame, and the height of the picker can be adjusted through a hydraulic suspension system carried by the agricultural machine so as to adapt to the picking demands of pineapples with different heights. Meanwhile, the pineapple picking machine can also be matched with a conveying mechanism and a fruit collecting mechanism to realize mechanized picking, picking and transporting of pineapples.
Before pineapple picking works, a power supply is connected, each motor is started, the motor rotation speed is respectively regulated by a motor rotation speed regulator, so that the linear speed of the low-speed pineapple clamping synchronous belt and the linear speed of the stem clamping synchronous belt are the same as the advancing speed of the differential clamping type pineapple picker, and after pineapple feeding, the speed of pineapple plants relative to the low-speed pineapple clamping synchronous belt and the stem clamping synchronous belt can be ensured to be zero, and the synchronous belt only plays a role in clamping pineapple fruits and stems; the linear speed of the high-speed pineapple clamping synchronous belt is regulated to be 1.1-1.2 times of the linear speed of the low-speed pineapple clamping synchronous belt, the high-speed pineapple clamping synchronous belt drives the lower end of the pineapple fruit to move relatively forwards, and as the speed difference is generated between the bottom of the pineapple fruit and the pineapple stalks, the breaking stress is generated, and finally, the effect of simulating manual pineapple breaking by people is realized, and the separation of the fruit and the stalks is realized.
The transmission assembly comprises a low-speed driving synchronous pulley 22, a high-speed driving synchronous pulley 23, a stalk driving synchronous pulley 24, a plurality of low-speed driven synchronous pulleys, a plurality of high-speed driven synchronous pulleys and a plurality of stalk driven synchronous pulleys, wherein a low-speed pineapple clamping synchronous belt 2 is sleeved on the low-speed driving synchronous pulley 22 and the low-speed synchronous pulleys, a high-speed pineapple clamping synchronous belt 3 is sleeved on the high-speed driving synchronous pulley 23 and the high-speed synchronous pulleys, and a stalk clamping synchronous belt 9 is sleeved on the stalk driving synchronous pulley 24 and the stalk synchronous pulleys; the low-speed pineapple clamping synchronous belt 2 and the high-speed pineapple clamping synchronous belt 3 are arranged vertically and oppositely, and the stalk clamping synchronous belt 9 positioned at the open area part of the housing 6 extends out of the housing 6.
The pineapple clamping and conveying belt can completely wrap pineapple fruits, wherein the low-speed pineapple clamping and conveying belt 2 can clamp the upper ends of the pineapple fruits, the high-speed pineapple clamping and conveying belt 3 can clamp the lower ends of the pineapple fruits, and the surface of the pineapple clamping and conveying belt is wrapped with a layer of flexible material so as not to damage the pineapple fruits.
The low-speed driving synchronous pulley 22, the high-speed driving synchronous pulley 23 and the stalk driving synchronous pulley 24 are arranged at the corners of one side of the supporting fixed frame, the driven synchronous pulleys are arranged at all the corners of the other side of the supporting fixed frame, the low-speed driving synchronous pulley 22 and the stalk driving synchronous pulley 24 are arranged at the same corner, and the high-speed driving synchronous pulley 23 is arranged at the other corner.
The driving motor group comprises a low-speed motor 19, a high-speed motor 20 and a stalk clamping motor 21, wherein the low-speed motor 19 and the stalk clamping motor 21 are arranged up and down, the high-speed motor 20 is arranged on one side of the low-speed motor 19, three motors are all fixed on a supporting fixing frame, and the three motors are respectively connected with a corresponding driving synchronous belt wheel through a belt transmission mechanism, and the belt transmission mechanism comprises a belt wheel and a transmission belt 4.
The conveyer belt supporting mechanism comprises a supporting frame 12, a tension spring 13 and a supporting synchronous pulley 11, wherein the supporting frame 12 comprises a U-shaped installation seat and a supporting rod which are integrally arranged, one end of the supporting rod is fixed at the bottom end of the U-shaped installation seat, the other end of the supporting rod is hinged to a supporting fixing plate 10, the supporting synchronous pulley 11 is installed on the U-shaped installation seat, one end of the tension spring 13 is fixed on the supporting fixing plate 10, and the other end of the tension spring is installed on the supporting rod. Under the action of the tension spring 13, the support frame 12 always has a movement trend in the contraction direction of the tension spring 13, but the existence of the synchronous belt limits the movement of the support synchronous pulley 11 along with the support frame 12, and finally the support synchronous pulley 11 always provides an outward supporting force for the synchronous belt, the supporting force can be changed along with the change of the stress of the synchronous belt, but the tension state of the synchronous belt is always maintained, so that the automatic adjustment of the clamping force when pineapples with different sizes enter the picking mechanism is realized.
And because of the difference of the working objects, the interval of the stalk clamping synchronous belt is smaller than that of the pineapple clamping synchronous belt, and the relative position can be adjusted by the interval adjuster so as to ensure the clamping effect. The bottom of each picking mechanism is provided with a spacing adjuster, the spacing adjuster comprises a sliding rail 7, a sliding block 26 and a spacing adjusting screw rod 8, the sliding rail 7 is fixed at the bottom of a hanging frame 18, the spacing adjusting screw rod 8 is installed on the hanging frame 18, the sliding block 16 is fixed at the bottom of the picking mechanism, the spacing adjusting screw rod 8 is in threaded connection with the sliding block 26, the sliding block 26 is in sliding connection with the sliding rail 7, and an adjusting hand wheel is installed at one end of the spacing adjusting screw rod 8, which is installed on the hanging frame 18. The interval between the two picking mechanisms can be adjusted by the interval adjuster so as to meet the requirement of different optimal clamping interval distances caused by the difference of the sizes of fruits due to different pineapple varieties.
The inner sides of the low-speed pineapple clamping synchronous belt 2, the high-speed pineapple clamping synchronous belt 3 and the stalk clamping synchronous belt 9 are provided with a plurality of teeth meshed with synchronous pulleys.
A power supply 14 and a motor rotation speed regulator 15 are mounted on the support fixing plate 10, and the power supply 14 supplies power to each motor and power to the motor rotation speed regulator 15. The front ends of the two picking mechanisms are provided with the grain lifter 1, and the grain lifter 1 can collect the lodged pineapple plants successfully fed into the picking mechanisms, so that the pineapple is picked completely.
A picking method of a differential belt clamping type bionic pineapple picker specifically comprises the following steps:
when the pineapples are picked, a power supply 14 is connected, the motors are started, the motor rotation speed is respectively regulated by a motor rotation speed regulator 15, the linear speed of the low-speed pineapple clamping synchronous belt 2 and the linear speed of the stalk clamping synchronous belt 9 are the same as the advancing speed of the differential clamping type pineapple picker, and the linear speed of the high-speed pineapple clamping synchronous belt 3 is regulated to be 1.1-1.2 times of the linear speed of the low-speed pineapple clamping synchronous belt 2;
the pineapple picker is driven by bearing equipment to move forwards, the pineapple is fed into the picker in a vertical state under the action of the grain lifter 1, the low-speed pineapple clamping synchronous belt 2 and the stalk clamping synchronous belt 9 effectively clamp pineapple fruits and stalks due to the outward supporting force of the supporting synchronous belt wheel 11, and the linear speed of the low-speed pineapple clamping synchronous belt 2 and the linear speed of the stalk clamping synchronous belt 9 are the same as the travelling speed of a machine, so that the low-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt do not have relative motion relative to the pineapple fruits and the stalks under the ideal state, namely the upper ends of the pineapple fruits and the stalks are not influenced by other external forces generated by the low-speed pineapple clamping synchronous belt and the stalk clamping synchronous belt except the extrusion force; meanwhile, the relative speed of the high-speed pineapple clamping synchronous belt 3 is higher than that of the low-speed pineapple clamping synchronous belt 2, so that the lower end of a pineapple is subjected to the extrusion force of the synchronous belt and simultaneously subjected to the action of friction force which is the same as that of the advancing direction of the pineapple, thereby generating moment on pineapple fruits, the moment is the same as that generated by manually breaking off the pineapple by hands, the picked pineapple fruits continuously move backwards under the action of the low-speed pineapple clamping synchronous belt 2 and the stalk clamping synchronous belt 9, and finally fall into a subsequent conveying and collecting system after being separated from the clamping action of the low-speed pineapple clamping synchronous belt 2 and the stalk clamping synchronous belt 9, so that the picking work of the pineapple is completed.
The inventive embodiments disclosed above are merely intended to help illustrate the inventive embodiments. The examples are not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application.
Claims (10)
1. A differential belt clamping type bionic pineapple picker is characterized in that: the device comprises a left picking mechanism (16) and a right picking mechanism (17) which are arranged in a hanging frame (18), wherein a working space for clamping pineapple is formed between the two picking mechanisms which are symmetrically arranged left and right, a spacing regulator is arranged at the bottom of each picking mechanism, the distance between the two picking mechanisms is regulated by the spacing regulator, the two picking mechanisms are identical in structure and comprise a housing (6), a supporting and fixing plate (10), a driving motor unit, a transmission assembly and a clamping conveying belt assembly, the supporting and fixing plate (10), the driving motor unit, the transmission assembly and the clamping conveying belt assembly are all arranged in the housing (6), the supporting and fixing plate (10) is vertically arranged in the middle of the housing (6), a plurality of supporting rollers (5) are arranged at corners of the housing (6), the transmission assembly is arranged on the supporting rollers (5), and the clamping conveying belt assembly is arranged on the transmission assembly in a sleeved mode;
the clamping conveyer belt assembly comprises a low-speed pineapple clamping synchronous belt (2), a high-speed pineapple clamping synchronous belt (3) and a stalk clamping synchronous belt (9), the stalk clamping synchronous belt (9) is positioned at the lowest position, the low-speed pineapple clamping synchronous belt (2) is positioned above the high-speed pineapple clamping synchronous belt (3), the driving motor group is arranged on one side of the supporting and fixing plate (10), a plurality of groups of conveyer belt supporting mechanisms are hinged on the other side of the supporting and fixing plate (10), each group of conveyer belt supporting mechanisms respectively support the low-speed pineapple clamping synchronous belt (2), the high-speed pineapple clamping synchronous belt (3) and the stalk clamping synchronous belt (9), and one side, close to a housing (6) of each picking mechanism, is an open area to form a working area (25) for clamping pineapples;
the driving assembly is driven to move through the driving motor group so as to drive the low-speed pineapple clamping synchronous belt (2), the high-speed pineapple clamping synchronous belt (3) and the stalk clamping synchronous belt (9) to move, the low-speed pineapple clamping synchronous belt (2) and the stalk clamping synchronous belt (9) are used for respectively clamping the pineapple to be picked and the stalk of the pineapple, and the high-speed pineapple clamping synchronous belt (3) is used for picking the pineapple to be picked.
2. The differential belt clamping type bionic pineapple picker according to claim 1, wherein: the transmission assembly comprises a low-speed driving synchronous pulley (22), a high-speed driving synchronous pulley (23), a stalk driving synchronous pulley (24), a plurality of low-speed driven synchronous pulleys, a plurality of high-speed driven synchronous pulleys and a plurality of stalk driven synchronous pulleys, wherein a low-speed pineapple clamping synchronous belt (2) is sleeved on the low-speed driving synchronous pulley (22) and the plurality of low-speed driven synchronous pulleys, a high-speed pineapple clamping synchronous belt (3) is sleeved on the high-speed driving synchronous pulley (23) and the plurality of high-speed driven synchronous pulleys, and a stalk clamping synchronous belt (9) is sleeved on the stalk driving synchronous pulley (24) and the plurality of stalk driven synchronous pulleys; the low-speed pineapple clamping synchronous belt (2) and the high-speed pineapple clamping synchronous belt (3) are arranged vertically and oppositely, and the stalk clamping synchronous belt (9) positioned at the open area part of the housing (6) extends out of the housing (6).
3. The differential belt clamping type bionic pineapple picker according to claim 2, wherein: the low-speed driving synchronous pulley (22), the high-speed driving synchronous pulley (23) and the stalk driving synchronous pulley (24) are arranged at the corners of the housing (6) on one side of the supporting and fixing plate, at least one of the low-speed driven synchronous pulley, the high-speed driven synchronous pulley and the stalk driven synchronous pulley is arranged at all the corners of the housing (6) on the other side of the supporting and fixing plate, the low-speed driving synchronous pulley (22) and the stalk driving synchronous pulley (24) are arranged at the same corner, and the high-speed driving synchronous pulley (23) is arranged at the other corner.
4. A differential belt gripping type bionic pineapple picker according to claim 3, wherein: the driving motor group comprises a low-speed motor (19), a high-speed motor (20) and a stalk clamping motor (21), wherein the low-speed motor (19) and the stalk clamping motor (21) are arranged up and down, the high-speed motor (20) is arranged on one side of the low-speed motor (19), three motors are fixed on a supporting and fixing plate, and the three motors are connected with corresponding driving synchronous pulleys through a belt transmission mechanism respectively.
5. The differential belt clamping type bionic pineapple picker according to claim 4, wherein: the conveyer belt supporting mechanism comprises a supporting frame (12), a tension spring (13) and a supporting synchronous pulley (11), wherein the supporting frame (12) comprises a U-shaped installation seat and a supporting rod which are integrally arranged, one end of the supporting rod is fixed at the bottom end of the U-shaped installation seat, the other end of the supporting rod is hinged to a supporting fixing plate (10), the supporting synchronous pulley (11) is installed on the U-shaped installation seat, one end of the tension spring (13) is fixed on the supporting fixing plate (10), and the other end of the tension spring is installed on the supporting rod.
6. The differential belt clamping type bionic pineapple picker according to claim 5, wherein: the bottom of every picking mechanism is provided with a spacing regulator, the spacing regulator comprises a sliding rail (7), a sliding block and a spacing regulating screw rod (8), the sliding rail (7) is fixed at the bottom of a hanging frame (18), the spacing regulating screw rod (8) is installed on the hanging frame (18), the sliding block is fixed at the bottom of the picking mechanism, the spacing regulating screw rod (8) is in threaded connection with the sliding block, the sliding block is in sliding connection with the sliding rail (7), and an adjusting hand wheel is installed at one end of the spacing regulating screw rod (8) which is installed on the hanging frame (18).
7. The differential belt clamping type bionic pineapple picker according to claim 6, wherein: the inner sides of the low-speed pineapple clamping synchronous belt (2), the high-speed pineapple clamping synchronous belt (3) and the stalk clamping synchronous belt (9) are provided with a plurality of teeth meshed with the synchronous pulleys.
8. The differential belt clamping type bionic pineapple picker according to claim 7, wherein: a power supply (14) and a motor rotation speed regulator (15) are arranged on the supporting and fixing plate (10).
9. The differential belt clamping type bionic pineapple picker according to claim 8, wherein: the front ends of the two picking mechanisms are provided with grain lifters (1).
10. The picking method of the differential belt clamping type bionic pineapple picker according to claim 9, wherein the picking method comprises the following steps: the method specifically comprises the following steps:
when the pineapples are picked, a power supply (14) is connected, each motor is started, the motor rotation speed is respectively regulated by a motor rotation speed regulator (15), the linear speed of the low-speed pineapple clamping synchronous belt (2) and the linear speed of the stalk clamping synchronous belt (9) are the same as the advancing speed of the differential belt clamping type pineapple picker, and the linear speed of the high-speed pineapple clamping synchronous belt (3) is regulated to be 1.1-1.2 times of the linear speed of the low-speed pineapple clamping synchronous belt (2);
the pineapple picker is arranged at the front end of the bearing equipment, and driven by the bearing equipment to drive forwards, pineapple is fed into the picker in a vertical state under the action of the grain lifter (1), and the clamping conveyer belt assembly is enabled to effectively clamp pineapple fruits and stalks due to the outward supporting force of the supporting synchronous pulley (11); meanwhile, the relative speed of the high-speed pineapple clamping synchronous belt (3) is higher than that of the low-speed pineapple clamping synchronous belt (2), so that the lower end of a pineapple is subjected to the extrusion force of the high-speed pineapple clamping synchronous belt and simultaneously subjected to the action of friction force identical to the advancing direction of the pineapple, the base of the pineapple and the pineapple stalks are broken, picked pineapple fruits continue to move backwards under the action of the low-speed pineapple clamping synchronous belt (2) and the stalk clamping synchronous belt (9), and finally fall into a follow-up conveying and collecting system after being separated from the clamping action of the low-speed pineapple clamping synchronous belt (2) and the stalk clamping synchronous belt (9), so that the pineapple picking work is completed.
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| CN115004936A (en) | 2022-09-06 |
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