CN210928671U

CN210928671U - Flexible comb brush type apple harvesting machine

Info

Publication number: CN210928671U
Application number: CN201921114237.7U
Authority: CN
Inventors: 陈军; 胡广锐; 卜令昕; 张恩宇
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2019-07-16
Filing date: 2019-07-16
Publication date: 2020-07-07
Anticipated expiration: 2029-07-16

Abstract

The utility model discloses a flexible combing brush formula apple harvester, which comprises a frame, the walking wheel, bottom screw mechanism, the top slide rail, terminal flexibility combing brush pole, the combing roller, step motor, collection device and controller etc. install the walking wheel in the frame, driving motor, the controller, top slide rail and bottom screw mechanism, combing brush roller one end is installed on the bottom lead screw, the other end passes through the shaft coupling and is connected with step motor, step motor installs on the top slide rail, the flexible terminal combing brush pole of installation collection device and equipartition on the combing roller, the arrangement of collection device outside border equipartition has collision sensor. The flexible comb-brushing type apple harvester is suitable for standardized planting orchards such as 'vertical wall shape', can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the material of the flexible tail-end comb-brushing rod when picking operation so as to adapt to apples of different varieties and improve the quality of harvested apples.

Description

Flexible comb brush type apple harvesting machine

Technical Field

The utility model relates to a harvester, in particular to apple harvester belongs to orchard picking machine technical field.

Background

Apple harvesting is an agricultural work with high labor intensity and great labor intensity. The manual picking efficiency is low, the cost is high, the output cost of the apples is increased, and the economic benefit of the apple industry is influenced. The mechanized harvesting of the apples not only helps to liberate labor force, reduce the demand of picking labor force, improve the harvesting efficiency, but also can reduce the cost of apple output and improve the market competitiveness.

The existing apple harvester mainly comprises a vibration type and robot picking. The vibration mode is mainly characterized in that a trunk or a crown is vibrated, vibration energy is transmitted to the apples through branches, the picking efficiency can be improved to a certain degree, energy dissipation is increased, the picking machine has certain damage to the branches and the trunks of the fruit trees, and the harvested apples are mainly used for processing into products such as jam and the like. Although the quality of apples harvested by the robot is high, the apple harvesting robot is still in a research and development state and is not commercially popularized due to high manufacturing cost and strict technical requirements. With the continuous deepening of the concept of agricultural and agricultural technology combination, the traditional multidimensional tree structure is developing towards the modern orchard with higher yield and more suitable for mechanized harvesting, such as a vertical wall shape, a V shape and the like. Existing apple harvesters are not suitable for this new standardized orchard.

SUMMERY OF THE UTILITY MODEL

The utility model provides a flexible comb brush formula apple harvester is a picking machine who is applicable to standardized orchard for example "upright wall shape" orchard, can solve artifical low-cost height of gathering effectively, current vibrating harvester and gather the quality general and robot harvester cost too high defect.

In order to solve the technical problems, the utility model provides a flexible combing type apple harvester, which comprises a frame, a walking wheel, a driving motor, a bottom screw mechanism, a No. 1 slider, a top slide rail, a No. 2 slider, a terminal flexible combing rod, a combing roller, a stepping motor, a combing rod connecting piece, a stepping motor connecting piece, a collecting device, a collision sensor and a controller, wherein the frame is provided with the walking wheel, the driving motor, the controller, the top slide rail and the bottom screw mechanism, the walking wheel is connected with the driving motor through a coupler, the bottom screw is provided with the No. 1 slider, the No. 1 slider is connected with the combing roller through a bearing, the other end of the combing roller is connected with the stepping motor through the coupler, the stepping motor is fixedly arranged on the No. 2 slider through the stepping motor connecting piece, the No. 2 slider is arranged on the top slide rail, the device comprises a combing roller, a combing rod connecting piece and a collecting device, wherein the combing roller is provided with the combing rod connecting piece and the collecting device, the collecting device is arranged under the combing rod connecting piece, collision sensors are uniformly arranged at the edge of the outer side of the collecting device, and flexible tail-end combing rods are uniformly arranged on the combing rod connecting piece.

As an optimal technical scheme of the utility model, the installation number of the combing rod connecting pieces is an even number.

As an optimized technical proposal of the utility model, a collecting device is arranged below each pair of combing rod connecting pieces.

As an optimized technical scheme of the utility model, soft silica gel has been laid on the collection device surface.

As an optimized technical scheme of the utility model, terminal flexibility brush pole comprises hollow aluminum pipe and soft rubber rod, and hollow aluminum pipe passes through bolt fixed connection with soft rubber rod.

As an optimized technical proposal of the utility model, the cross section of the flexible comb-brushing rod at the tail end is oval.

As a preferred technical solution of the present invention, the controller may receive and process signals of the GPS and the collision sensor.

The utility model discloses the beneficial effect who reaches is: this kind of flexible comb brush formula apple picking machine is applicable to standardized planting orchard like "upright wall shape" orchard, can reduce the intensity of labour who picks work, and during flexible comb brush formula apple picking machine operation, terminal flexible comb brush pole and apple direct contact have reduced this link of vibration energy transmission, are favorable to raising the efficiency and reduce the consumption. The flexible combing operation can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing rod when picking operation is carried out so as to adapt to apples of different varieties, reduce the damage to the apples and improve the quality of harvesting the apples.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

As shown in figure 1, the utility model relates to a flexible combing and brushing type apple picking machine, which comprises a frame 9, a walking wheel 1, a driving motor 15, a bottom screw mechanism 14, a No. 1 slider 12, a top slide rail 8, a No. 2 slider 7, a tail end flexible combing and brushing rod 4, a combing and brushing roller 11, a stepping motor 6, a combing and brushing rod connecting piece 10, a stepping motor connecting piece 5, a collecting device 3, a collision sensor 2 and a controller 13, wherein the frame 9 is provided with the driving motor 15, the controller 13, a top slide rail 8 and the bottom screw mechanism 14, the driving motor 15 is connected with the walking wheel 1 through a shaft coupling, the bottom screw 14 is provided with the No. 1 slider 12, the No. 1 slider is connected with the combing and brushing roller 11 through a bearing, the other end of the combing and brushing roller 11 is connected with the stepping motor 6 through the shaft coupling, the stepping motor 6 is arranged on the No. 2 slider 7 through the stepping motor connecting piece, install combing rod connecting piece 10 and collection device 3 on combing roller 11, collection device 3 installs under the combing rod connecting piece, and 3 outside borders equipartitions of collection device have collision sensor 2 of settling, and the flexible end combing rod 4 of equipartition installation on combing rod connecting piece 10.

Furthermore, the number of the comb-brush rod connecting pieces 10 is even, so that a 'two-finger' comb brush is formed for apples, and the success rate of picking the comb brush is increased.

Furthermore, a collecting device 3 is arranged below each pair of combing rod connecting pieces 10, so that the dropping height of the apples is reduced.

Further, soft silica gel is laid on the surface of the collecting device 3, materials can be replaced according to different apple varieties, and damage caused when the apples fall is reduced.

Further, terminal flexibility brush-holder stud 4 comprises hollow aluminum pipe and soft rubber pole, and hollow aluminum pipe passes through bolt fixed connection with soft rubber pole, is convenient for change the material of terminal flexibility brush-holder stud 4 to adapt to different apple varieties.

Furthermore, the cross section of the tail end flexible combing and brushing rod 4 is oval, so that the contact area between the tail end flexible combing and brushing rod and an apple can be increased, and the collision force can be reduced.

Further, the controller 13 can receive and process signals of the GPS and the collision sensor 2, positions the position of the picking machine according to the GPS signals, controls the advancing speed and the advancing direction of the picking machine, and controls the No. 1 sliding block 12 on the bottom screw rod mechanism 14 to move inwards according to the signals of the collision sensor 2, so that the collection device 3, the tail end flexible combing and brushing rod 4 and the apple tree trunk are prevented from seriously colliding.

The utility model discloses a theory of operation: the flexible combing and brushing rods 4 at the tail ends are inserted into the tree wall, so that the branches are positioned between the flexible combing and brushing rods 4 at the upper tail end and the lower tail end. The driving motor 15 drives the travelling wheels to rotate 1, and the device is arranged to advance. The step motor 6 drives the combing roller 12 to rotate, the tail end flexible combing rod 4 rotates, and the flexible combing rod 4 is in direct contact with the fruits to comb the apples. The apples are separated from the branches and then fall into a collecting device 3 to finish the picking task.

The utility model relates to a flexible comb brush formula apple picking machine is applicable to standardized planting orchard like "upright wall shape" orchard, can reduce the intensity of labour who picks work, and during flexible comb brush formula apple picking machine operation, terminal flexibility comb brush pole and apple direct contact have reduced this link of vibration energy transmission, are favorable to raising the efficiency and reduce the consumption. The flexible combing operation can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing rod when picking operation is carried out so as to adapt to apples of different varieties, reduce the damage to the apples and improve the quality of harvesting the apples.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible comb brush type apple harvester comprises a rack (9), a walking wheel (1), a driving motor (15), a bottom screw rod mechanism (14), a No. 1 sliding block (12), a top sliding rail (8), a No. 2 sliding block (7), a tail end flexible comb brush rod (4), a comb brush roller (11), a stepping motor (6), a comb brush rod connecting piece (10), a stepping motor connecting piece (5), a collecting device (3), a collision sensor (2) and a controller (13), and is characterized in that the rack (9) is provided with the driving motor (15), the controller (13), the top sliding rail (8) and a bottom screw rod mechanism (14), the driving motor (15) is connected with the walking wheel (1) through a coupler, the bottom screw rod mechanism (14) is provided with the No. 1 sliding block (12), and the No. 1 sliding block (12) is connected with the comb brush roller (11) through a bearing, the other end of combing roller (11) passes through the shaft coupling and is connected with step motor (6), step motor (6) are through step motor connecting piece (5) fixed mounting on slider (7) No. 2, slider (7) No. 2 are installed on top slide rail (8), install combing rod connecting piece (10) and collection device (3) on combing roller (11), collection device (3) are installed under the combing rod connecting piece, the equipartition is settled along the outside of collection device (3) has collision sensor (2), terminal flexibility combing rod (4) are installed to the equipartition on combing rod connecting piece (10).

2. A flexible combed apple harvester according to claim 1, characterized in that the number of combing rod attachments (10) mounted on the combing roller (11) is even.

3. A flexible comb apple harvester according to claim 1, characterized in that one collecting device (3) is arranged below each pair of comb rod connectors (10).

4. The flexible comb-brush type apple harvester according to claim 1, wherein soft silica gel is laid on the surface of the collecting device (3), and materials can be changed according to different apple varieties.

5. The flexible combing and brushing type apple harvester according to claim 1, characterized in that the tail end flexible combing and brushing rod (4) is composed of a hollow aluminum pipe and a soft rubber rod, the hollow aluminum pipe and the soft rubber rod are fixedly connected through a bolt, and the material of the tail end flexible combing and brushing rod (4) can be conveniently replaced to adapt to different apple varieties.

6. A flexible comb brush apple harvester according to claim 1, characterized in that the cross-sectional shape of the distal flexible comb brush bar (4) is oval.

7. A flexible combed apple harvester according to claim 1, characterized in that the controller (13) can accept and process signals from GPS and collision sensors (2).