ES2562529B1 - Fruit harvesting mechanism by means of articulated folding arms - Google Patents

Abstract

Mechanism for harvesting fruits by means of deployable articulated arms. # Mechanism for harvesting fruits that comprises two folding frames, each formed by articulated arms (7) facing each other and presenting a leading edge (9) and a trailing edge (5 ), wherein said double set of folding frames are attached on a collection and tension subset of a tarp (15) or mantle that is attached at one end to the collection means and at the end end to the leading edge (9) of each of folding frames, where, the collection and deployment subset comprises: a collection shaft (4), a tensioning shaft (3), a preferably hydraulic drive motor (1) and transmission mechanisms (2) of the drive motor (1) towards the pickup shaft (4) and the tensioner shaft (3). A system of interception of demolished fruits is achieved, through vibration of trunks or shaking of branches, and which also allows the unloading of it on a logistic system or storage of auxiliary fruit.

Description

OBJECT OF THE INVENTION It is the object of the present invention, a mechanism for collecting fruits by means of deployable articulated arms, that is, a mechanism oriented to the interception of tree fruits demolished by another system. Said mechanism is characterized by allowing the collection of knocked down fruits, when it has been deployed, with the fall of fruits taking place due to the vibration of trunks or shaking of branches. It also allows unloading of the fruit on a logistic or storage system of auxiliary fruit in the process of collecting the canvas.

The present invention is framed in the agriculture sector and, more specifically, in the technical field of agricultural mechanization, its application being the collection of hanging fruits by receiving them after the demolition by grip and vibration on its trunk or by shaking its glass, more particularly it is oriented to the collection of fruits in medium-sized and homogeneous trees such as intensive olive groves, with a separation between 4 and 8 meters between trees characterized by having a single vertical foot and planted in a uniform rectangular frame. In addition it can also be used in other similar tree species such as: nuts, stone fruits, pome fruits, citrus fruits, or any other hanging fruit on trees or shrubs.

The structure object of the invention has among other elements a double set or double folding frame each formed by articulated arms facing each other and having a leading edge and a trailing edge joined on a subset provided with a pick-up axis by way of coil, driven by a hydraulic motor and a tension shaft of the mantle. The present invention admits different geometries and dimensions of the arms

different woody crops.

The main feature of this mechanism is that it allows large

canvas extension developments compared to the width (battle) of the

edge of attack.

Also given the characteristics of the drive, the execution of the development takes place in a short space of time.

This invention has application as part of an agricultural machine

self-propelled fruit collection that develops the arm structure

planes joined together by joints and other pieces, which are

spread over the ground so that it is as adapted as possible to

this one with a small working height and could even be in floating position, so that it is not necessary to support it on the ground, this very desired situation in case of sloping terrain, that have mounds or ridges or that are wet.

Therefore, the present invention is circumscribed within the agricultural field, and more specifically within the machinery sector used to

collection of fruits, and more precisely from among the means used for the collection of the fruits after the demolition process by beating or vibration.

BACKGROUND OF THE INVENTION

In the mechanized harvesting of the olive at present we find that it is mainly carried out by means of trunk or branch vibrators that give off the fruit in a short time and that falls on the nets or mantles placed under the tree. The vast majority of these devices do not include a mantle or canvas where the fruit falls, so it is necessary to place them

manual.

Similar systems for collecting fruit from woody structures with textile interception systems are known in the prior art.

deployable

The use of inverted umbrellas to collect the olive mechanically,

as is the case of the patent ES 2259851 A1 and US 5191758 A. The olive brought down by the equipment falls on the canvas of the inverted umbrella that will be

stored until later emptied. The closing of this type of canvas is done in a circular way whose center is the tree itself or the vibration system.

Patents ES 2018422 and ES 2233157, US3991805, US 6957679, US 3991805 A, ES1138483U and US6957679 describe manual ways of deploying the fruit receiving structure.

In patents ES1010924, ES1042129, ES1037228, ES0294336, ES2200658, ES2166339, ES2265210, ES2249070, ES2311361, ES2264304,

ES2347314, different ways of deploying the receiving structure of the fruit are described.

In US patent 6557612 82 the operation of the bars is carried out in

Hydraulic form through hydraulic cylinders, while in US3991805 the tilt and chopper of the collector are performed

Hydraulic through hydraulic cylinders.

All those patents that describe manual forms of interception surface deployment show a clear aspect that can be

improved. Other patents, such as those indicated above, although

allow an automatic deployment of the interception surface are alternative solutions. However, in none of the cases a collection system is disclosed that allows in addition to an automatic unfolding, an emptying to a transport system of the collected fruits while the collection or rolling of the surface or canvas is taking place

deployed

Therefore, it is the object of the present invention to develop a system of

fruit collection that allows an automated deployment of

a catchment surface and in which the transfer of the intercepted or collected fruits on said catchment surface to a transport system can be carried out automatically at the same time as the

winding the canvas or interception surface, developing a mechanism

of collection as described below and is collected in its essentiality in the first claim of the present application.

DESCRIPTION OF THE INVENTION The object of the present invention is a mechanism for harvesting fruits by means of folding arms attachable to a machine for the collection of tree fruits, comprising two folding frames formed each

one of them by articulated arms facing each other and presenting an attack edge and an exit edge joined on a subset of pick-up and tension of a canvas or mantle attached at one end to the collection means and at the end end to the edge of attack of each of deployable racks.

The collection and tension subset is provided with a collection axis to

coil mode and a tensioning shaft of the mantle or canvas, both powered by a

engine through a gear set.

The motor can be of hydraulic drive or of any other type of drive, the essentiality of the invention not varying by the nature of the invention by the type of motor drive.

The collection axis is the axis on which the canvas or mantle is rolled to

folding / unfolding, which is driven by a mechanism of sprockets and chains that transmit the movement from the hydraulic motor. Said axis is responsible for carrying out the action of collecting the canvas by compressing the folding mechanisms on the carrier. In the extension action

it simply behaves like a crazy axis that allows the deployment of the

deployment of articulated arms driven by hydraulic pistons.

The tensioning axis of the canvas, its main function is to keep the canvas taut in the

folding / unfolding actions to avoid bags of fruit on the screen of

reception and enable the functioning matched in the movements of the different mechanisms.

The drive mechanisms of the tensioning and folding axes are formed by three sprockets and a transmission chain, each sprocket dragging the carriage shaft in its movement, allowing the action of collecting the canvas,

acting freely in the collector extension.

The hydraulic motor that acts on the roller axis and tensioning shaft is the one that

provides torque to the system in the collection of the collector, transmitted through the mechanisms described above.

The drop-down frames each comprise an exit edge, which is attached to the chassis of the supporting machine or support system.

which is arranged in parallel together with the collection subset and

tension of the canvas, joined both edges at its ends by arms

articulated in the union with each other and to the exit and attack edges, actuated in their deployment by actuator means, from which they can

used: hydraulic cylinders, rack-and-pinion, chain-sprocket, spindle, belt sprocket or similar systems.

The so-called leading edge of each articulated frame is formed by a square tubular rack that supports a roller with a cylindrical tubular profile that comes into contact with the ground and protects the folding system, the canvas is fixed on the

upper part of the leading edge to be dragged in the extended action and vice versa in the folding action.

The folding arms s at the connecting end between them have articulated ball joints connecting the arms. Said markers are formed by the lugs of the folding arms, which are joined by a shaft or buIón with two bearings that facilitate the movement of the patella, said mechanism is packaged with two mechanized washers taken by screws to avoid cuts in the canvas .

The canvas is held at one of its ends on the collection axis,

while its opposite end is attached to the leading edge of each folding frame, presenting a partial central cut that allows it to accommodate in

said space the trunk of the trees, therefore the racks must also be slightly separated from each other leaving a space in which to accommodate the trunk of the tree.

The canvas is formed by a single porous or perforated piece to allow the passage of fluids that can pour or push the structure; the canvas connects the two deployable systems, it also has some cabins to accommodate flexible rods or crossbows, which have a double functionality, in

First, they allow the fruit to be dragged during the harvesting of the

Folding and on the other hand allow the adjustment of the canvas to the trunk at the opening and entry of the trunk avoiding the bagging of the fruits collected. The canvas or textile must have adequate mechanical characteristics since it has to withstand the traction of the entire collecting mechanism. The canvas has a trapezoidal shape, with one side greater than the other to avoid excessive thickening at the ends in the action of its collection.

The drive system in the deployment of the racks is by

hydraulic cylinders that mounted on the trailing edge and acting on

The first articulated arm allows the deployment of each frame and therefore the canvas.

The collection of the canvas and folding the racks to a collection position is carried out by means of the hydraulic motor acting on the collection axis.

During this process of collecting the canvas, the discharge of the

fruits stored on the canvas towards a medium tape of reception of the fruits,

thanks to the crossbows protruding above the canvas surface of

of receiving them.

There are also other features that can easily be incorporated into the mechanism, such as the movements of elevation and leveling of the structure with respect to the terrain, which can be implemented by

hydraulic drives at the trailing edge.

An important aspect is that the extension of the racks once deployed is much greater than the width of coupling of the edge of the structure to the chassis of the machine, which will allow to extend a surface of

canvas in sufficient quantity to cover the area of fall of the fruit, and that

The two articulated arms cross over each other at their central joints.

So that during the extension of the mechanism, the leading and trailing edges are parallel to each other, so that the extension of the canvas is linear and without offsets, it is necessary that the mechanism of actuation of the articulated arms forces the extension and arm pickup

always describe angles of the same magnitude between the trailing edge and the

First leg of each arm.

The proposed invention has achieved the parallelism of the leading edges and

connection to the machine, through the use of hydraulic cylinders that work as actuators of the arms. These cylinders are powered by a high precision flow divider valve.

However, this same action can be achieved through various actuator systems: rack-and-pinion, chain-sprocket, spindles, belt sprocket,

etc.

A factor that should not be forgotten is that when the canvas is rolled on an axis that is behind the trailing edge, it forces the extension and collection to be bound by the geometry of the canvas, which clearly helps to eliminate

forces the arms to open symmetrically.

Unless otherwise indicated, all technical and scientific elements used herein have the meaning usually understood by the person skilled in the art to which this invention belongs. In the

practice of the present invention procedures and materials can be used

similar or equivalent to those described in the report.

Throughout the description and the claims the word ucomprendequot; and its variants are not intended to exclude other technical characteristics, additives,

components or steps. For experts in the field, other objects, advantages

and features of the invention will be derived partly from the description and partly from the practice of the invention.

EXPLANATION OF THE FIGURES

In order to achieve a better understanding of the invention set forth above about the objectives, characteristics and advantages thereof, a set of detailed drawings is included with an illustrative and non-limiting nature such as the following:

Figure 1. Plan view of the invention coupled to a fruit logistics system consisting of two conveyor belts, one horizontal and one vertical.

In addition, the different system components are indicated.

Figure 2. Detailed view of the drives of the roller shaft and the shaft

Canvas tensioner, detailing the main components.

Figure 3. Detail view of components of the connection pads of the

folding arms, detailing the main components.

Figure 4. Plan view of the canvas or textile recipient of the fruit, with the different

components and housings

PREFERRED EMBODIMENT OF THE INVENTION In view of the figures, an embodiment is described below.

preference of the proposed invention.

In the figures we can see the folding arm collection mechanism comprises two folding frames s formed each of

they by articulated arms (7) facing each other and presenting an edge of

attack (9) and an exit edge (5), where said double set of racks

deployable are attached on a collection and tension subset of a

canvas (15) or mantle that is attached at one end to the collection means and at the end end to the leading edge (9) of each of the folding frames.

The collection and tension subset includes:

a pickup shaft (4) a tensioning shaft (3)

a preferably hydraulic drive motor (1) transmission mechanisms (2) of the motor drive (1)

towards the pickup shaft (4) and the tensioner shaft (3).

The mechanism for deployment has drive means

hydraulic or hydraulic pistons (6) so that they act on articulated arms (7). while for its collection it is the engine (1) that is responsible for the collection of the canvas and therefore the folding of the folding frames.

The positioning of the articulated arms (7) facing each frame

Folding is such that the articulated arms cross over each other in their central joints when the frames are folded back.

The canvas is rolled up the collection axis (4) that is behind the trailing edge (5) so that the extension and collection is marked

loss of parallelism between the leading edges (9) and exit (5).

In figure 2 you can see the motor shaft (1) that transmits by means of transmission mechanisms (2), which in a possible embodiment can be a series of pinions and chains, the latter not drawn

drive to the pickup shaft (4) and to the tensioner shaft (3).

A detailed view of an explosion of one of the intermediate connection markers of the folding arms s (7) is shown in Figure 3. Said ball joints are arranged at the connecting ends of the articulated arms and are composed of connecting lugs that are arranged in the

connecting ends of the articulated arms, a bolt or pivot shaft (12), bearings (14), clamping washers (11), packing bolt (10) and a

oiler (13), forming a protected articulated joint.

Figure 4 shows how the canvas (15) adopts a trapezoidal shape

presenting a series of crossbows (16) housed in receptacles formed on the canvas. The crossbows (16) protrude above the surface

of the canvas and have a double functionality, first they enable the

fruit drag during the drop-down collection action and on the other hand

They allow the adjustment of the canvas to the trunk at the opening and entrance of the trunk avoiding the losses of fruits collected at the opening of the same.

The canvas (15) has a central cut (17) approximately halfway up

its length in an unfolded position, such that it can accommodate the trunk inside

of said cut (17).

Finally, in figure 5 an iso metric view of the invention can be observed to improve the compression thereof, where only

represented one of the folding racks.

Therefore, thanks to the invention an interception system of

downed fruits, by vibration of trunks or shaking of branches, and that

auxiliary fruit storage.

Describes sufficiently the nature of the present invention, as well as the

5 way of putting it into practice, it is noted that, within its essentiality, it may be implemented in other embodiments that differ in

detail of that indicated by way of example, and which will also reach the

protection that is sought, provided that it does not alter, change or modify its fundamental principle.

Claims (6)

1.-Interception mechanism and collection of the fruit given off by a system demolition auxiliary composed of folding arms and characterized in that It comprises two folding racks each formed by articulated arms (7) facing each other and having a leading edge (9) and an exit edge (5), where said double set of folding racks are joined on a collection subset and tension of a canvas (15) that is attached at one end to the collection means and at the end end to the edge of attack (9) of each of deployable racks, where, the subset of collection and tension includes: a pickup shaft (4) a tensioning shaft (3) a preferably hydraulic drive motor (1) transmitting mechanisms (2), by means of pinions and chains, (from the motor drive (1) towards the pick-up shaft (4) and the shaft tensioner (3). The drop-down racks have actuators for their deployment. 2.-Collection mechanism for folding arms according to claim 1 characterized in that the actuators for the deployment of racks consist of hydraulic pistons (6) that act on the articulated arms (7) which extend the extension. 3.-Collection mechanism for folding arms according to claim 1 characterized in that the actuators for the deployment of racks consist of pinion-rack or pinion-chain or spindle or pinion belt systems. 4.-Collection mechanism for folding arms according to claim 1 characterized in that the positioning of the articulated arms (7) facing each folding frame is such that the articulated arms are  5.-Collection mechanism for folding arms according to claim 5 1 characterized in that the connection of the articulated arms (7) to each other is made by means of intermediate connection pads comprising connection lugs arranged at the connecting ends of the arms articulated (7), a spindle or pivot shaft (12), bearings (14), clamping washers (11), packing screw (10) and an oiler (13), forming  10 a protected articulated joint. 6.-Collection mechanism for folding arms, according to claim 1, characterized in that the canvas (15) adopts a rectangular shape presenting a series of leaf springs (16) housed in receptacles formed on the canvas 15 leaving the leaf springs (16) protruding above the surface of the canvas presenting a central cut (17) approximately halfway along its length in an unfolded position, such that it allows the trunk to be housed inside said cut (17).