CN115943808A - Hillside orchard machinery automatic navigation collection device - Google Patents

Abstract

The application relates to a hillside orchard machinery automatic navigation collection device, including being used for wearing GPS, controller, collection hopper car, circumference guide rail, cable group on one's body in the picker, along the assembly pulley of cable group motion, cable group interval is equipped with a plurality of, collects hopper car sliding connection in circumference guide rail and can dismantle to connect in the assembly pulley. When needs are picked, picking personnel reach the region that needs to be picked in the needs orchard, through gps or picking personnel's coordinate, then collect the hopper wagon and advance to suitable position along the all around guide rail earlier, make collection hopper wagon and assembly pulley be connected again, will collect the hopper wagon and transport the nearest position in the picking region, seek way to picking personnel department by oneself at last by collecting the hopper wagon, make things convenient for picking personnel to put into the fruit. After the fruits are collected, the collecting hopper car moves to the pulley block again, and the collecting hopper car is carried by the pulley block to move to the circumferential guide rail, so that the fruits in the collecting hopper car can be conveniently collected in a fixed point mode, and manpower consumption is reduced.

Description

Hillside orchard machinery automatic navigation collection device

Technical Field

The application relates to the field of fruit industry machinery, in particular to an automatic navigation and collection device for hillside orchard machinery.

Background

With the development of science and technology, more and more operation modes and functions can be realized by artificial intelligence and robots, and even various operations of severe adjustment can be performed instead of manual work. However, there are various complicated situations in the process of human life and industrial and agricultural production, and under the current technical conditions, it is relatively complicated and difficult to achieve full-automatic production and operation by single manual work or single pursuit of intelligence, and even difficult technical problems difficult to overcome occur, which leads to the stagnation of production technology. In more complicated production and operation, the efficiency, the energy consumption, the safety and the like can be better improved integrally by mutually combining and supplementing manpower and intellectualization.

At present, a hillside orchard transportation system is always an important research direction for the development of hillside orchards in China, and is also a main way for realizing mechanization, low carbonization and energy conservation of hillside orchard transportation. At present, a plurality of orchard transport machines such as wheel type transport machines, rail type transport machines, cableway type transport machines and the like are developed at home. When the transportation machinery can only run on the main road due to complex terrain and tortuous mountain roads, farmers still need to manually complete the process of conveying materials to the roadside close to the track, which leads to the consumption of a large amount of labor force.

Disclosure of Invention

For the fruit in the hillside orchard of convenient pair of complicated topography transports, reduces the manpower consumption, the mechanical automatic navigation collection device in hillside orchard that this application provided adopts following technical scheme:

an automatic navigation and collection device of hillside orchard machinery comprises a GPS (global positioning system) used for being worn on a picker, a controller, a collection trolley used for collecting fruits, a circumferential guide rail circumferentially arranged around an orchard, a cable group arranged in the slope direction of an orchard mountain body, and a pulley block moving along the cable group, wherein a plurality of adjacent cable groups are arranged at intervals and are mutually parallel, the circumferential guide rail is connected to two ends of the cable group, the collection trolley is slidably connected to the circumferential guide rail and detachably connected to the pulley block, and the GPS, the controller, the pulley block and the collection trolley are mutually and electrically connected; determining coordinates of a picker and a collection trolley by taking the highest point of the orchard as an origin and taking the downward projection direction of one cable group as an X axis; the controller is used for controlling the collection hopper car to move to the coordinate position of the picker in combination with the GPS.

Through adopting above-mentioned technical scheme, when needs are picked, picking personnel reach the region that needs picking in the orchard, through gps or picking personnel coordinate of locating, then collect the hopper wagon and advance to suitable position along the all-round guide rail earlier, make again to collect the hopper wagon and be connected with the assembly pulley, will collect the hopper wagon and transport the nearest position in picking the region in, seek to picking personnel department by oneself by collecting the hopper wagon at last, make things convenient for picking personnel to put into the fruit. After the fruits are collected, the collecting hopper car moves to the pulley block again, and the collecting hopper car rides the pulley block to move to the circumferential guide rail, so that the fruits in the collecting hopper car can be collected conveniently at a fixed point, and the labor consumption is reduced.

Optionally, the collecting hopper car comprises a walking chassis, a car body arranged on the walking chassis, a connecting assembly used for being connected and installed with the pulley block, and a transmission assembly arranged on one side of the car body, wherein the transmission assembly is used for transmitting fruits above the transmission assembly into the car body; the trolley body is rotatably connected to the walking chassis, when the collecting trolley moves to the position beside a fruit tree where a picker is located, the trolley body rotates to the position, facing the trunk, of the transmission assembly relative to the walking chassis, and the transmission assembly is unfolded.

Through adopting above-mentioned technical scheme to make picking personnel only need with the fruit put into the transmission assembly on can, the transmission assembly can be transported the fruit to the automobile body by oneself, improved efficiency. Can make transmission assembly be better near the regional near trunk for picking personnel more conveniently put the fruit on transmission assembly, improved efficiency.

Optionally, the transmission assemblies are arranged in parallel and are arranged in a folding mode, when the collecting trolley moves to the position beside a fruit tree where a picker is located, the trolley body rotates to the position, facing the trunk, of the transmission assemblies relative to the walking chassis, and after the transmission assemblies are unfolded, the two transmission assemblies are located on two sides of the trunk respectively.

By adopting the technical scheme, the transmission assembly can better cover the area near the trunk, so that a farmer can conveniently and quickly put fruits into the transmission assembly during picking, the farmer is assisted by machinery to reduce the workload during picking, and the efficiency is improved; in addition, because transmission assembly is located peasant household both sides, the peasant household is in the middle of the transmission assembly at the during operation, and the transmission assembly of both sides forms the protection to the peasant household, can increase the security of peasant household during operation.

Optionally, the transmission assembly comprises two rotating frames, rotating rollers rotatably connected to the rotating frames, a telescopic frame used for connecting the two rotating frames, a transmission belt sleeved outside the two rotating rollers, and a driving motor arranged on the rotating frames and used for driving the rotating rollers to rotate, wherein one of the rotating frames is arranged on the vehicle body, and a driving cylinder used for controlling the distance between the two rotating frames is arranged between the two rotating frames.

Through adopting above-mentioned technical scheme, when need not using transmission assembly, the distance between two turrets is adjusted to the accessible actuating cylinder to adjust whole transmission assembly's length, the convenience is collected advancing and the transportation of hopper car when not using transmission assembly.

Optionally, the telescopic frame comprises a plurality of telescopic units, adjacent telescopic units are rotatably connected through hinges, and the two telescopic units at the outermost edge are respectively rotatably connected to the two rotating frames; when the distance between the two rotating frames is reduced, the telescopic frame is folded and is used for abutting against the conveying belt; and the rotating frame connected with the vehicle body is rotationally connected with the vehicle body, and a rotating motor for driving the rotating frame to rotate is arranged between the vehicle body and the rotating frame.

Through adopting above-mentioned technical scheme, the expansion bracket can play certain supporting role to the transmission belt for when being close to between two rotating turret, the transmission belt still is in by the state of tensioning, is difficult for breaking away from the live-rollers. Depending on the terrain requirements, it may be necessary to choose whether to use the transmission assembly, especially when the terrain is relatively flat and safe, the significance of the transmission assembly is reduced and may even reduce the efficiency of the work. When need not using transmission assembly, the accessible rotates the motor and orders about transmission assembly relative automobile body and rotates to the state that makes progress, conveniently collects advancing and the transportation of hopper car when not using transmission assembly to the adaptation need not use transmission assembly's situation, thereby reaches the balance of the preferred of efficiency, security and energy consumption.

Optionally, cable assembly includes cable and cable frame, the assembly pulley includes the pulley yoke, rotates to connect in the upper pulley of pulley yoke, rotate to connect in the lower pulley of pulley yoke, install and be used for ordering about upper pulley pivoted motor power, mounting bracket on the pulley yoke, the cable passes between upper pulley and the lower pulley and upper pulley butt is in the cable, the mounting bracket is installed in the assembly pulley below through the electric hoist, coupling assembling can dismantle to connect in the mounting bracket.

Through adopting above-mentioned technical scheme for the earth's surface setting can be kept away from to the cable, when needs put the collection hopper wagon on the ground, only need descend the mounting bracket to collection hopper wagon contact bottom surface through the electric hoist, then make coupling assembling break away from the mounting bracket can, convenient operation.

Optionally, coupling assembling includes mounting panel, fixed mounting connecting plate on the automobile body, the inserted bar of sliding connection on the connecting plate of fixed mounting below the mounting bracket, is used for pushing the inserted bar to the thrust spring of mounting panel, is used for pushing away the inserted bar from the electro-magnet of mounting panel, the inserted bar is made by magnet, offer on the mounting panel and supply inserted bar male slot, the electro-magnet is installed and is kept away from inserted bar one end in the slot.

Through adopting above-mentioned technical scheme, when needs assembly mounting bracket and collection hopper car, can the mounting bracket down for the inserted bar on the collection hopper car aims at the slot, makes the electro-magnet outage, and the inserted bar inserts in the slot under thrust spring's effect, thereby makes the stable connection of mounting bracket and collection hopper car together, and convenient operation.

Optionally, the mounting panel is equipped with two and is located the mounting bracket both sides respectively, the connecting plate is equipped with two and is located the automobile body both sides respectively, works as when the collection hopper car marchs as between two mounting panels, the connecting plate is located the mounting panel outside.

Through adopting above-mentioned technical scheme to make collection hopper car can more smooth travel to the mounting panel below and accomplish the multiple spot between the mounting panel and be connected, make the assembly pulley can more stable area collect hopper car motion.

Optionally, the driving rack includes a first driving rack, a second driving rack and a positioning element for positioning the relative position of the first driving rack and the second driving rack so as to adjust the overall length of the driving rack, the positioning element includes a sliding block and a locking bolt, the first driving rack is located below the mesh surface and fixed with the back of the mesh surface, a dovetail adjustment groove extending along the length direction of the first driving rack is provided on the surface of the first rack opposite to the mesh surface, the dovetail adjustment groove penetrates through one end surface of the first driving rack along the length direction of the dovetail adjustment groove, the sliding block is fixed on the second driving rack and slides in the dovetail adjustment groove, the cross section of the sliding block is matched with the dovetail adjustment groove, the second driving rack is located on one side of the first driving rack opposite to the mesh surface, the adjusting bolt is in threaded connection with the second driving rack and abuts against the surface of the first driving rack after penetrating through the second driving rack, and the first driving rack and the second driving rack can slide relatively by loosening the adjusting bolt.

Through adopting above-mentioned technical scheme, can make drive rack advance or postpone and drive gear engagement to adjust the opportunity that the dwang rotated according to actual demand. Earlier make drive rack and drive gear meshing, can realize the upset of wire side under the great condition of wire side length for the fruit is difficult for falling out. The driving rack and the driving gear are meshed later, so that the time point of finishing overturning and containing can be delayed, and the containing effect is optimal.

Optionally, a buffer strip is arranged on the surface of the transmission belt, the buffer strip extends along the length direction of the transmission belt and is distributed along the width direction of the transmission belt, a barrier strip distributed along the length direction of the transmission belt is arranged on the surface of the transmission belt, the barrier strip extends along the width direction of the transmission belt and is distributed along the length direction of the transmission belt, the barrier strip comprises a first barrier strip and a second barrier strip, the first barrier strip and the second barrier strip are alternately distributed at intervals, an arc-shaped limiting sorting strip is arranged at one end, away from the net surface, of the first barrier strip, the limiting sorting strip is bent towards the direction back to the vehicle body, the buffer strip is arranged between the first barrier strip and the adjacent second barrier strip, which is located at one side, away from the vehicle body, of the first barrier strip and the second barrier strip are adjacent to each other, a first barrier strip component sorting limiting opening and a second isolating strip component sorting limiting opening are arranged at two sides of the buffer strip, the distance R from the end point, away from the net surface, of the limiting sorting strip to the second barrier strip is gradually reduced and is smaller than the width R of the spacing sorting opening all the time, namely R is greater than R; guide strips which are symmetrical and used for guiding picked fruits to enter between the first isolating strips and the second isolating strips are arranged between the first isolating strips and the second isolating strips which are adjacent to the first isolating strips and located on one side, facing the vehicle body, of the first isolating strips; the opposite surfaces of the first isolating strip and the second isolating strip on the two sides of the same buffering strip are obliquely arranged so that the sorting limiting opening is large at the top and small at the bottom, picked fruits can be well limited when entering between the first isolating strip and the second isolating strip on the two sides of the same buffering strip, and the fruits can be conveniently separated when reaching the tail end of the conveying belt; the maximum distance from the point of the guide strip far away from the spacing strip to the point of the spacing strip far away from the guide strip along the width direction of the conveying belt is less than the width of the sorting limiting opening; the side edge of the conveyer belt far away from the net surface is provided with a barrier strip for preventing the fruits from rolling out of the conveyer belt along the width direction of the conveyer belt.

Through adopting above-mentioned technical scheme, the fruit that rolls down on the wire side gets into the conveyer belt, then get into the spacing mouth of letter sorting, great fruit card is in the spacing mouth department of letter sorting under the effect of spacing letter sorting strip, the fruit that the radius is less than R rolls out the spacing mouth of letter sorting, lie in the conveyer belt and keep away from one side of wire side, so when the fruit is carried the collection hopper car, great fruit is located the both sides of collecting the hopper car, even around, less fruit is located the collection hopper car intermediate position, only need lay some great fruits on the fruit in the collection hopper car, so the fruit in the collection hopper car just demonstrates better selling looks, intensity of labour and the human cost that the fruit in the collection hopper car continues manual sorting in the later stage to produce have been reduced, also can reduce the fruit of collecting the hopper car and smash repeatedly simultaneously, the fruit that manual sorting produced bumps the scheduling problem.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the fruit conveying efficiency can be improved, and the labor intensity of workers can be reduced;

2. the fruit picking and transporting device is more convenient to collect and transport fruits at various places of the hillside orchard;

3. the fixed-point picking of the fruits can be realized, and the time wasted by workers is reduced.

Drawings

Fig. 1 is a layout view of a circumferential guide rail and a mountain orchard in embodiment 1.

Fig. 2 is a schematic structural view of the hopper car and the pulley block in embodiment 1.

Fig. 3 is a sectional view of the collection hopper car and the pulley block in embodiment 1.

Fig. 4 is a sectional view of the transfer assembly of embodiment 1.

Fig. 5 is a sectional view of the connecting assembly of embodiment 1.

Fig. 6 is a schematic structural view of a collection hopper car and a pulley block in embodiment 2.

Fig. 7 is a side view of the collection hopper car in embodiment 2.

Fig. 8 is a plan view of the hopper car according to embodiment 2.

Fig. 9 is an enlarged view at a in fig. 6.

Fig. 10 is an exploded view of the structure of the driving member in embodiment 2.

Fig. 11 is a schematic structural view of a conveyor belt in embodiment 3.

Fig. 12 is a front view of the structure of the conveyor belt in embodiment 3.

Description of the reference numerals: 1. a collection trolley; 2. a circumferential guide rail; 3. a cable holder; 4. a cable; 5. a pulley block; 6. a walking chassis; 7. a vehicle body; 8. a connecting assembly; 9. a transmission component; 10. a steering motor; 11. a rotating frame; 12. a rotating roller; 13. a telescopic frame; 14. a conveyor belt; 15. a drive motor; 16. a drive cylinder; 17. rotating the motor; 18. a pulley yoke; 19. an upper pulley; 20. a lower pulley; 21. a power motor; 22. mounting a plate; 23. a connecting plate; 24. inserting a rod; 25. a thrust spring; 26. an electromagnet; 27. a slot; 28. a mounting frame; 29. an electric hoist; 30. a telescopic unit; 31. collecting the net group; 32. a net rod; 33. a screen surface; 34. a fixing rod; 35. rotating the rod; 36. a first bevel gear; 37. a second bevel gear; 38. a drive gear; 39. a drive rack; 391. a first drive rack; 392. a second drive rack; 393. a positioning member; 394. a slider; 395. locking the bolt; 396. dovetail adjustment grooves; 40. a tree; 141. a buffer strip; 142. a spacer bar; 143. a first spacer; 144. a second spacer; 145. limiting sorting strips; 146. sorting limit openings; 147. a guide strip; 148. and (6) blocking strips.

Detailed Description

The present application is described in further detail below with reference to figures 1-12.

Example 1:

the embodiment 1 of the application discloses hillside orchard machinery automatic navigation collection device. Referring to fig. 1, the hillside orchard mechanical automatic navigation collecting device comprises a GPS, a controller, a collecting trolley 1, a circumferential guide rail 2, a cable group and a pulley block 5. The circumferential guide rails 2 are circumferentially arranged along a mountain or an orchard. The cable group comprises a cable 4 rack 3 and cables 4, wherein the cable 4 rack 3 is used for supporting the cables 4, and the cables 4 are arranged along the slope direction of a mountain. The cable 4 covers the circumferential guide 2. The cable groups are provided with a plurality of cables, and the cables 4 in the adjacent cable groups have the same distance and are parallel to each other. The pulley block 5 is slidably connected to the cable 4. The GPS comprises at least one picker GPS module and a plurality of hopper car GPS modules. The picker can choose to bind with any one of the hopper car GPS modules.

And determining the three-dimensional coordinates of the GPS module of the picker and the GPS module of the trolley by taking the highest point of the orchard as an origin and taking the downward vertical projection direction of one cable 4 as an X axis. The picker can move the collection trolley 1 corresponding to the trolley GPS module bound with the picker to the picker by combining the coordinates of the picker GPS and the trolley GPS module through the controller. After the collection trolley 1 is fully collected, the collection trolley returns to the starting point on the original way, and the fruits in the collection trolley 1 are conveniently collected in a centralized manner.

Specifically, after the three-dimensional coordinates of a picker GPS module and a trolley GPS module are determined, the collecting trolley 1 can move to a cable group closest to the picker along the circumferential guide rail 2, then the collecting trolley 1 is connected with the pulley block 5 on the cable group, the collecting trolley 1 is transported to a position closest to the picker through the pulley block 5, the collecting trolley 1 is put down, the collecting trolley 1 is separated from the pulley block 5, and finally the collecting trolley 1 moves to the side of a fruit tree where the picking position is closest by self, so that the fruits are collected conveniently.

Referring to fig. 2 and 3, in order to collect fruits more conveniently, the collecting hopper car 1 includes a walking chassis 6, a car body 7 mounted on the walking chassis 6, a connecting assembly 8 for connecting and mounting with the pulley block 5, and a transmission assembly 9 mounted on one side of the car body 7. The vehicle body 7 is rotatably connected to the walking chassis 6, and the walking chassis 6 is provided with a steering motor 10 for driving the vehicle body 7 to rotate. Two conveying assemblies 9 are arranged in parallel and can be arranged in a foldable manner. After the collecting trolley 1 moves to the vicinity of fruit trees, the trolley body 7 rotates relative to the walking chassis 6 to the position of the transmission assembly 9 facing the trunk, then the transmission assembly 9 is unfolded, and the two transmission assemblies 9 are respectively positioned on two sides of the trunk. When picking, the workman only need put the fruit on transmission assembly 9, can be smooth and easy enter into automobile body 7 by oneself through transmission assembly 9 fruit in, the convenience is collected the fruit.

Referring to fig. 2 and 4, the transmission assembly 9 includes two rotating frames 11, a rotating roller 12 rotatably connected to the rotating frames 11, an expansion frame 13 for connecting the two rotating frames 11, a transmission belt 14 sleeved outside the two rotating rollers 12, and a driving motor 15 mounted on the rotating frames 11 for driving the rotating roller 12 to rotate. One of the rotating frames 11 is mounted on the vehicle body 7, and a rotating motor 17 for driving the rotating frame 11 to rotate is arranged between the vehicle body 7 and the rotating frame 11. A driving cylinder 16 for controlling the distance between the two rotating frames 11 is arranged between the two rotating frames 11. The telescopic frame 13 comprises a plurality of telescopic units 30, the adjacent telescopic units 30 are rotatably connected through hinges, and the two telescopic units 30 at the edge are respectively rotatably connected to the two rotating frames 11; when the distance between the two turrets 11 becomes small, the telescopic frame 13 is folded and the telescopic frame 13 is used to abut against the conveyor belt 14.

Before use, the telescopic frame 13 is in a wave shape and is in a folded state with a short overall length. After the collection trolley 1 is transported to a proper position, the driving cylinder 16 pushes the two rotating frames 11 to move relatively, so that the telescopic frame 13 is gradually unfolded, and the conveying belt 14 is gradually tensioned by the rotating rollers 12 until the telescopic frame 13 leaves the conveying belt 14, and the conveying belt 14 is still kept in a tensioned state. After the fruits are placed on the conveyor belt 14, the drive motor 15 drives the conveyor belt 14 to transport the fruits, so that the fruits fall into the vehicle body 7. If the fruit is difficult to transport, can drive the rotating turret 11 through rotating the motor 17 and rotate for whole transmission assembly 9 is the slope setting, thereby makes the fruit enter into in the automobile body 7 more conveniently. Simultaneously, if the transmission finishes, can be so that two rotating turret 11 are close to each other, accomplish transmission assembly 9's folding, then drive rotating turret 11 through rotating motor 17 and rotate to the vertical upwards setting of transmission assembly 9 to reduce the whole shared space of collection hopper car 1, make things convenient for the transportation and the marching of follow-up collection hopper car 1.

Referring to fig. 2, the pulley block 5 includes a pulley frame 18, an upper pulley 19 rotatably connected to the pulley frame 18, a lower pulley 20 rotatably connected to the pulley frame 18, a power motor 21 mounted on the pulley frame 18 for driving the upper pulley 19 to rotate, and a mounting frame 28. The cable 4 passes through between upper pulley 19 and lower pulley 20 and upper pulley 19 butt in cable 4, and mounting bracket 28 passes through electric hoist 29 and installs in the assembly pulley 5 below, and coupling assembling 8 can dismantle and connect in mounting bracket 28.

Referring to fig. 2 and 5, in particular, the connecting assembly 8 includes a mounting plate 22 fixedly mounted below the mounting frame 28, a connecting plate 23 fixedly mounted on the vehicle body 7, an insert rod 24 slidably connected to the connecting plate 23, a thrust spring 25 for pushing the insert rod 24 toward the mounting plate 22, and an electromagnet 26 for pushing the insert rod 24 away from the mounting plate 22. Mounting panel 22 is equipped with two and is located mounting bracket 28 both sides respectively, and connecting plate 23 is equipped with two and is located automobile body 7 both sides respectively, and when collection hopper car 1 marchd between two mounting panels 22, connecting plate 23 is located the mounting panel 22 outside. The plunger 24 is made of a magnet. The mounting plate 22 is provided with a slot 27 for the insertion rod 24 to insert into, and the electromagnet 26 is mounted at one end of the slot 27 far away from the insertion rod 24.

When it is desired to assemble mounting bracket 28 and collection hopper car 1, mounting bracket 28 may be moved downwardly by hoist 29, and collection hopper car 1 may then be advanced between two mounting plates 22 such that plunger 24 on collection hopper car 1 is aligned with slot 27. Then, the electromagnet 26 is powered off, and the inserted rod 24 is inserted into the slot 27 under the action of the thrust spring 25, so that the mounting frame 28 and the collection hopper car 1 are stably connected together and the operation is convenient. When it is necessary to separate mounting bracket 28 from collection hopper car 1, electromagnet 26 may be energized to push plunger 24 away from slot 27, and then collection hopper car 1 may be moved away from mounting plate 22, which is convenient to operate.

Example 2:

the difference between the embodiment 2 and the embodiment 1 is that, referring to fig. 6 and 7, for better collecting the small fruits, one side or both sides of the conveying assembly 9 are provided with the collecting net sets 31, and the outward side of the conveying assembly 9 is provided with the collecting net sets 31 in the drawing of the embodiment as an example. The collection screen pack 31 comprises a screen rod 32 and a screen surface 33. Two net rods 32 are arranged and fixedly connected to the two rotating frames 11 respectively. The net surface 33 is fixedly connected between the two net rods 32. And the net rod 32 is disposed to be inclined upward away from one end of the rotary frame 11.

Referring to figure 8, in operation, the collection hopper car 1 is moved until a tree trunk is inserted between the two transfer assemblies 9. At the moment, the trees are shaken, and the small fruits (such as the Chinese dates, the Chinese chestnuts and the like) on the trees can fall onto the net surface 33 and the transmission assembly 9 and then are driven by the transmission assembly 9 to be collected into the collecting trolley 1, so that the small fruits are collected and picked conveniently.

When the collecting net sets 31 are arranged on both sides of the transmission assembly 9, the interval between the two transmission assemblies 9 can be set to be larger, and the transmission assemblies are suitable for fruit trees with thicker trunks. When the collecting trolley 1 moves to the position where the trunk is inserted between the two transmission assemblies 9, the net surface 33 abuts against the trunk, so that fruits can be better collected.

Referring to fig. 6 and 9, in order to reduce the volume of the collection net set 31 when being transported, the net pole 32 includes a fixing pole 34 fixedly connected to the rotating frame 11 and a rotating pole 35 rotatably connected to the fixing pole 34. The rotating rod 35 is fixedly connected with a rotating shaft, and the rotating rod 35 is rotatably connected to the fixing rod 34 through the rotating shaft. The rotating rod 35 is provided with a first bevel gear 36. The first bevel gear 36 is engaged with a second bevel gear 37 rotatably connected to the fixing lever 34. The second bevel gear 37 is coaxially connected with a driving gear 38, and a driving rack 39 is arranged on the outward side of the net surface 33 along the length direction of the transmission assembly 9. When the transmission assembly 9 is contracted, the driving rack 39 is close to the driving gear 38 until the driving rack is meshed with the driving gear 38, so that the driving gear 38 is driven to rotate to drive the rotating rod 35 to rotate relative to the fixed rod 34, the folding is completed, the whole volume of the collecting net group 31 is reduced, and the subsequent transportation is facilitated. Meanwhile, the fruits on the net surface 33 can be more easily and better dropped onto the transmission assembly 9 by driving the rotating rod 35 to rotate relative to the fixed rod 34, so that the fruits can enter the collecting hopper car 1.

As shown in fig. 9 and 10, the driving rack 39 includes a first driving rack 391, a second driving rack 392, and a positioning member 393 for positioning the first driving rack 391 and the second driving rack 392 relative to each other to adjust the overall length of the driving rack 39, the positioning member 393 includes a sliding block 394 and a locking bolt 395, the first driving rack 391 is located below the net surface 33 and fixed to the back of the net surface 33, a dovetail adjustment groove 396 extending along the length direction of the first driving rack 391 is formed on the surface of the first rack 391 opposite to the net surface 33, the dovetail adjustment groove 396 penetrates through one end surface of the first driving rack 391 along the length direction of the dovetail adjustment groove 396, the sliding block 394 is fixed on the second driving rack 392 and slides in the dovetail adjustment groove 396, the cross section of the sliding block 394 matches the dovetail adjustment groove 396, the second driving rack 392 is located on the side of the first driving rack 391 opposite to the net surface 33, and the adjustment bolt 395 is screwed on the second driving rack 392 and abuts against the surface of the first driving rack 391 after passing through the second driving rack 392. By loosening the adjustment bolt 395, the first and second drive racks 391 and 392 can be slid relative to each other. When the driving rack 39 is meshed with the driving gear 38, the second driving rack 392 is firstly meshed with the lower half part of the driving gear 38, when the driving gear 38 moves to the position of the first driving rack 391, the first driving rack 391 is meshed with the upper half part of the driving gear 38, so that the driving rack 39 can be meshed with the driving gear 38 in advance or in a delayed manner by adjusting the length of the driving rack 39, and the rotating time of the rotating rod 35 can be adjusted according to actual requirements. The earlier meshing of the drive rack 39 with the drive gear 38 allows the mesh 33 to be turned over in the event that the mesh 33 is of a greater length, so that the fruit is less likely to fall out. The late engagement of the driving rack 39 with the driving gear 38 delays the time point at which the reverse storage is completed, and the effect of the storage is also optimized.

Example 3:

example 3 differs from example 2 only in that:

as shown in fig. 11 and 12, in embodiment 3, a buffer strip 141 is provided on a surface of the conveying belt 14, the buffer strip 141 extends along a length direction of the conveying belt 14 and is distributed along a width direction of the conveying belt 14, a spacer strip 142 distributed along the length direction of the conveying belt 14 is provided on the surface of the conveying belt 14, the spacer strip 142 extends along the width direction of the conveying belt 14 and is distributed along the length direction of the conveying belt 14, the spacer strip 142 includes a first spacer strip 143 and a second spacer strip 144, the first spacer strip 143 and the second spacer strip 144 are alternately distributed at intervals, an end of the first spacer strip 143 away from the net surface 33 is provided with an arc-shaped spacing sorting strip 145, the spacing sorting strip 145 is bent in a direction away from the vehicle body 7, the buffer strip 141 is located between the first spacer strip 143 and the adjacent second spacer strip 144 located on a side of the first spacer strip 143 away from the vehicle body 7, the first spacer strip 143 and the second spacer strip 144 on two sides of the buffer strip 141 form a sorting limit opening 146, a distance R from the end point of the spacing sorting strip 145 to the end point of the first spacer strip 143 is smaller than a distance R of the second spacer strip 145, and R is smaller than a distance R from the spacing strip R33. A guide strip 147 which is symmetrical and used for guiding picked fruits to enter between the first spacing strip 143 and the second spacing strip 144 is arranged between the first spacing strip 143 and the adjacent second spacing strip 144 which is positioned on one side of the first spacing strip 143 facing the vehicle body 7.

The relative surface slope of the first parting bead 143 of same buffer strip 141 both sides, second parting bead 144 sets up thereby makes the spacing mouth 146 of letter sorting big-end-up to make the fruit of picking can be well spacing when getting into between first parting bead 143 and the second parting bead 144 of same buffer strip 141 both sides, can break away from when can making things convenient for the fruit to reach the tail end of conveyer belt 14 again betterly.

The maximum distance from the point of the guide strip 145 far from the spacer strip 142 to the spacer strip 142 far from the guide strip 145 in the width direction of the conveyor belt 14 is smaller than the width of the sorting limit opening 146. Avoid a plurality of fruit cards of picking simultaneously at spacing mouthful 146 of letter sorting. So that the fruit just entering the sorting limit opening 146 can roll into the next sorting limit opening 146 in the direction away from the collecting trolley 1.

On the side of belt 14 remote from wire 33, bars 148 project to stop the fruit from rolling off belt 14 across the width of belt 14.

Fruits rolling down on the net surface 33 enter the conveying belt and then enter the sorting limiting opening 146, larger fruits are clamped at the sorting limiting opening 146 under the action of the limiting sorting strip 145, the fruits with the radius smaller than R roll out of the sorting limiting opening 146 and are located on one side, far away from the net surface 33, of the conveying belt, so that when the fruits are conveyed to the collecting hopper car 1, the larger fruits are located on two sides of the collecting hopper car 1, even around, the smaller fruits are located in the middle of the collecting hopper car 1, only the larger fruits need to be laid on the fruits in the collecting hopper car 1, the fruits in the collecting hopper car 1 show better selling phases, the labor intensity and the labor cost for continuously and manually sorting the fruits in the collecting hopper car 1 in the later period are reduced, and meanwhile the problems that the fruits in the collecting hopper car 1 are repeatedly beaten, the fruits generated by manual sorting are bumped and the like can be reduced.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. The utility model provides a hillside orchard machinery automatic navigation collection device which characterized in that: the fruit picking device comprises a GPS (global positioning system) worn on a picker, a controller, a collecting hopper car (1) used for collecting fruits, a circumferential guide rail (2) circumferentially arranged around an orchard, cable groups arranged along the gradient direction of an orchard mountain and a pulley block (5) moving along the cable groups, wherein a plurality of cable groups are arranged at intervals and are parallel to each other, the circumferential guide rail (2) is connected to two ends of each cable group, the collecting hopper car (1) is connected to the circumferential guide rail (2) in a sliding mode and is detachably connected to the pulley block (5), and the GPS, the controller, the pulley block (5) and the collecting hopper car (1) are electrically connected with each other; determining coordinates of a picker and a collecting trolley (1) by taking the highest point of the orchard as an origin and taking the downward projection direction of one cable group as an X axis; the controller is used for controlling the collection trolley (1) to move to the coordinate of the picker in combination with the GPS.

2. The hillside orchard mechanical automatic navigation collection device of claim 1, wherein: the collecting hopper car (1) comprises a walking chassis (6), a car body (7) arranged on the walking chassis (6), a connecting assembly (8) used for being connected and arranged with the pulley block (5), and a transmission assembly (9) arranged on one side of the car body (7), wherein the transmission assembly (9) is used for transmitting fruits above the transmission assembly into the car body (7); the trolley body (7) is rotatably connected to the walking chassis (6), when the collecting trolley (1) moves to the side of a fruit tree where a picker is located, the trolley body (7) rotates to the position, facing a trunk, of the transmission component (9) relative to the walking chassis (6), and the transmission component (9) is unfolded.

3. The hillside orchard mechanical automatic navigation collection device of claim 2, wherein: transmission component (9) parallel be equipped with two just transmission component (9) are folding setting, work as when collection hopper car (1) moves to the fruit tree next door that plucker locates, automobile body (7) relative walking chassis (6) rotate to the position of transmission component (9) towards the trunk, transmission component (9) expand the back, two transmission component (9) are located the trunk both sides respectively.

4. The hillside orchard mechanical automatic navigation collection device of claim 3, wherein: the transmission assembly (9) comprises two rotating frames (11), rotating rollers (12) rotatably connected onto the rotating frames (11), a telescopic frame (13) used for connecting the two rotating frames (11), a transmission belt (14) sleeved outside the two rotating rollers (12), and a driving motor (15) arranged on the rotating frames (11) and used for driving the rotating rollers (12) to rotate, wherein one of the rotating frames (11) is arranged on the vehicle body (7), and a driving cylinder (16) used for controlling the distance between the two rotating frames (11) is arranged between the two rotating frames (11).

5. The hillside orchard mechanical automatic navigation collection device of claim 4, wherein: the telescopic frame (13) comprises a plurality of telescopic units (30), adjacent telescopic units (30) are rotatably connected through hinges, and the two telescopic units (30) at the outermost edges are respectively rotatably connected to the two rotating frames (11); when the distance between the two rotating frames (11) is reduced, the telescopic frame (13) is folded, and the telescopic frame (13) is used for abutting against a conveying belt (14); and a rotating frame (11) connected with the vehicle body (7) is rotationally connected to the vehicle body (7), and a rotating motor (17) for driving the rotating frame (11) to rotate is arranged between the vehicle body (7) and the rotating frame (11).

6. The hillside orchard mechanical automatic navigation collection device of claim 5, wherein: cable assembly includes cable (4) and cable (4) frame (3), assembly pulley (5) are including pulley yoke (18), rotate to connect in upper pulley (19) of pulley yoke (18), rotate to connect in lower pulley (20) of pulley yoke (18), install and be used for ordering about upper pulley (19) pivoted motor power (21), mounting bracket (28) on pulley yoke (18), cable (4) pass between upper pulley (19) and lower pulley (20) and upper pulley (19) butt in cable (4), mounting bracket (28) are installed in assembly pulley (5) below through electric hoist (29), coupling assembling (8) can be dismantled and connect in mounting bracket (28).

7. The hillside orchard mechanical automatic navigation collection device of claim 6, wherein: coupling assembling (8) including mounting panel (22), connecting plate (23), the inserted bar (24) of sliding connection on connecting plate (23) of fixed mounting in mounting bracket (28) below, fixed mounting on automobile body (7), be used for pushing inserted bar (24) to thrust spring (25) of mounting panel (22), be used for pushing away inserted bar (24) from electro-magnet (26) of mounting panel (22), inserted bar (24) are made by magnet, offer on mounting panel (22) and supply inserted bar (24) male slot (27), electro-magnet (26) are installed and are kept away from inserted bar (24) one end in slot (27).

8. The hillside orchard mechanical automatic navigation collection device of claim 7, wherein: mounting panel (22) are equipped with two and are located mounting bracket (28) both sides respectively, connecting plate (23) are equipped with two and are located automobile body (7) both sides respectively, work as when collecting hopper car (1) march as between two mounting panel (22), connecting plate (23) are located the mounting panel (22) outside.

9. The hillside orchard mechanical automatic navigation collection device according to claim 8, wherein: the driving rack (39) comprises a first driving rack (391), a second driving rack (392) and a positioning piece (393) used for positioning the relative positions of the first driving rack (391) and the second driving rack (392) so as to adjust the whole length of the driving rack (39), the positioning piece (393) comprises a sliding block (394) and a locking bolt (395), the first driving rack (391) is positioned below the net surface (33) and fixed with the back surface of the net surface (33), the surface of the first driving rack (391) opposite to the net surface (33) is provided with a dovetail adjusting groove (396) extending along the length direction of the first driving rack (391), the dovetail adjusting groove (396) penetrates through one end surface of the first driving rack (391) along the length direction of the dovetail adjusting groove (396), the sliding block (394) is fixed on the second driving rack (392) and slides in the adjusting groove (396), the cross section of the dovetail adjusting groove (394) is matched with the adjusting groove (396), the second driving rack (392) is positioned on the side, opposite to the net surface of the first driving rack (391), and is connected with the screw thread of the second driving rack (392) and tightly pressed against the driving bolt (395).

10. The hillside orchard mechanical automatic navigation collection device according to claim 9, wherein: the surface of the transmission belt (14) is provided with buffer strips (141), the buffer strips (141) extend along the length direction of the transmission belt (14) and are distributed along the width direction of the transmission belt (14), the surface of the transmission belt (14) is provided with isolating strips (142) distributed along the length direction of the transmission belt (14), the isolating strips (142) extend along the width direction of the transmission belt (14) and are distributed along the length direction of the transmission belt (14), the isolating strips (142) comprise first isolating strips (143) and second isolating strips (144), the first isolating strips (143) and the second isolating strips (144) are alternately distributed at intervals, one ends, far away from the net surface (33), of the first isolating strips (143) are provided with arc-shaped limiting sorting strips (145), spacing letter sorting strip (145) are to the crooked setting of the direction of back to automobile body (7), buffering strip (141) are located between first parting bead (143) and adjacent second parting bead (144) that just is located one side of first parting bead (143) back to automobile body (7), first parting bead (143) and second parting bead (144) of buffering strip (141) both sides form spacing mouthful of letter sorting (146), along spacing letter sorting strip (145) and first parting bead (143) junction to keeping away from first parting bead (143) direction, spacing letter sorting strip (145) reduce gradually and be less than the distance r of the terminal point of letter sorting limit (33) all the time to second parting bead (144) back to the net face (33) apart from the distance r The width R of the bit port (146), namely R is larger than R; guide strips (147) which are symmetrical and used for guiding picked fruits to enter between the first spacing strips (143) and the second spacing strips (144) are arranged between the first spacing strips (143) and the second spacing strips (144) which are adjacent to the first spacing strips (143) and located on one side, facing the vehicle body (7), of the first spacing strips (143); the opposite surfaces of the first isolating strip (143) and the second isolating strip (144) on the two sides of the same buffer strip (141) are obliquely arranged, so that the sorting limiting opening (146) is large at the top and small at the bottom, picked fruits can be well limited when entering between the first isolating strip (143) and the second isolating strip (144) on the two sides of the same buffer strip (141), and the picked fruits can be conveniently separated from the tail end of the conveying belt; the maximum distance from the point of the guide strip (147) far away from the isolating strip (142) to the isolating strip (142) far away from the guide strip (147) along the width direction of the conveying belt is smaller than the width of the sorting limit opening (146); the side of the conveyer belt far away from the net surface (33) is provided with a baffle strip (148) for stopping fruits from rolling out of the conveyer belt along the width direction of the conveyer belt.

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