WO2023275415A1 - Máquina recolectora de frutos - Google Patents
Máquina recolectora de frutos Download PDFInfo
- Publication number
- WO2023275415A1 WO2023275415A1 PCT/ES2021/070558 ES2021070558W WO2023275415A1 WO 2023275415 A1 WO2023275415 A1 WO 2023275415A1 ES 2021070558 W ES2021070558 W ES 2021070558W WO 2023275415 A1 WO2023275415 A1 WO 2023275415A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- machine
- fruit
- harvesting machine
- conveyor belts
- fruit harvesting
- Prior art date
Links
- 238000003306 harvesting Methods 0.000 title claims description 35
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000004913 activation Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 abstract description 5
- 230000032258 transport Effects 0.000 description 7
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010348 incorporation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 238000012787 harvest procedure Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D2046/262—Collecting surfaces extended around a tree in order to catch the fruit
Definitions
- the present invention refers to a fruit harvesting machine, and more specifically tree fruit, of the type made up of a self-propelled machine and including a trunk vibrator device, with a folding structure for easier transportation and entrance to the store
- the object of the invention is to provide a machine that allows continuous work, avoiding stops and downtime that significantly reduce harvesting operating times,
- the cabin of the machine can be moved in such a way that it allows offering different optimal extreme positions for harvesting and transport maneuvers respectively.
- the cabin includes control means for the entire machine from inside, both with regard to vibration variables and machine movement.
- the object of the invention is to offer a machine whose traction system is optimal from the point of view of transmission of power from the motor to the ground, with smoother movements, less maintenance and greater adjustment of speed, torque and power of the wheels.
- Tree fruit harvesting machines are already known in the state of the art. Generally, they consist of a rigid structure made up of two lateral frames that leave an open longitudinal space at the bottom for the passage of the tree trunk while the machine moves during the harvesting process, and whose open longitudinal space includes vibrating elements, so that timed action, which come into operation when the dampers located on the side frames detect the presence of a fruit tree trunk.
- the vibrating action causes the fruits to detach and fall on mobile means that feed them towards peeling means that peel the fruit and then feed them into storage hoppers that are collapsible for unloading the already peeled fruits.
- FIG. 1 An example of a harvesting machine of the type just mentioned is the machine described in Utility Model U-200002889, in which the harvesting machine comprises two lateral frames attached to each other by means of vertical, parallel, extended porticos. upperly in the transversal direction of the machine, with two channels in a lower position, through the interior of each one of which extends a drag screw with a vibrator mounted on guides with the possibility of displacement along a predetermined path, of so that when a probe detects the presence of a tree trunk in the open longitudinal space between both channels, the vibrator acts on the tree trunk in a timed manner, causing the fruits to fall onto inclined trays to direct them towards the interior of the tree. the channels in which they are transported by the spindles towards peeling devices for their subsequent storage and n the hoppers.
- the machine includes a cabin from which an operator controls the various operations of the machine.
- the applicant is also the holder of the invention patent P20183G2G5, which describes a self-propelled tree fruit harvesting machine, applicable to the harvest of tree fruit by means of the action of a vibrator on the trunk of a tree.
- tree when the presence of the tree trunk is detected by means of a feeler, for which the machine includes two side frames between which there is a lower longitudinal opening for the passage of the tree as the machine moves, these two side frames being linked upperly by means of two parallel portals, extended transversally and separated by a certain distance in the longitudinal direction, the machine counting with drive means located inside respective longitudinal channels, to move the detached fruit towards peeling devices located at the rear of the machine.
- each of the side frames of the machine from where they are pulled once peeled up to two hoppers of considerable capacity also located at the rear of each of the two frames of the machine, where each of said transversal parallel portals is composed of a set of four segments successively articulated together in tilting points of which two end segments constitute fixed uprights emerging from each respective side frame, and the two intermediate segments are articulated with the uprights at articulation points and with each other in an intermediate articulated position.
- the fruit harvesting machine that is recommended resolves in a fully satisfactory manner the previously exposed problem in each and every one of the aspects discussed.
- the conveyor belts of the collected fruits that participate in each of the two frames of the machine unload onto large-capacity lateral hoppers, which in turn include an internal system of conveyor belts. that expel the harvested fruit upon detection of a transfer vehicle.
- the transfer vehicle can be of various types; tractors, 4x4 and telescopic forklifts. These vehicles will have a bucket on which the stored fruit is poured directly from the side hoppers of the machine, so that from them the content can be dumped into e! corresponding trailer.
- a continuous and moving download system is offered, synchronizing the movement of! transfer vehicle with the collecting machine, including such hoppers two types of unloading equipment presence detectors, a mechanical actuator materialized in a "U" rod, which is activated by contact with the bucket transported by the transfer vehicle, and can also materialize in a mechanical actuation rod, whose height will depend on the type of transfer vehicle used, and more specifically on the bucket associated with it.
- said detector could be an optical, magnetic, or any other type of sensor without mechanical contact.
- this skid remains raised during movement and a few seconds before it begins to vibrate, it lowers to the ground, exerting a hydraulic force against it through a hydraulic cylinder, which gives the assembly greater structural rigidity and prevents it from collapsing. move the roots of the tree, so that only the trunk flexes.
- Another of the planned improvements refers to the machine's control cabin.
- the cabin will have a character that can be moved between two limit positions, in order to offer a better vision during transport, as well as in the harvesting process.
- the cabin may adopt an infinite number of intermediate positions between said two limit positions, depending on the size and position of the tree.
- the cabin is driven by an electric cylinder that can be commanded from inside the cabin itself, with a simple and intuitive control by means of a lever.
- the cabin will include a board with control of the regulation of the closing pressure of the vibrator fingers, the time of vibration, as well as the frequency of vibration.
- the control board offers different forward speeds, so that in the harvest position, a potentiometer registers the forward speed with absolute precision.
- the machine offers easy adjustment of the speed, torque and power of the wheels, with a very fast start, stop and movement, eliminating work stoppages.
- the vibrating machinery is independent from the displacement machinery, which allows loading/unloading work on ramps or steep slopes.
- Figure 1.- Shows a perspective view of a fruit harvesting machine made in accordance with the object of the present invention.
- Figure 2 - Shows a front elevation view of the machine in an operative situation.
- Figure 3. ⁇ Shows a profile view of the set of figures 1 and 2.
- Figure 4 - Shows a rear elevation view of the machine of figures 1 to 3,
- Figure 5. ⁇ Shows a front elevation view of the folded machine, in its transport/storage situation, devoid of the continuous unloading hoppers.
- Figure 6.- Shows a profile view of the assembly in Figure 5
- Figure 7. Shows a perspective view of one of the hoppers with a continuous discharge system that participate in the device of the invention.
- Figure 8 - Shows, finally, a view in opposite perspective of the device of figure 7.
- the harvesting machine of the invention is made up of two lateral frames (16, 17) separated from each other by an intermediate longitudinal opening of sufficient width to admit the passage of a trunk, of usual diameter, between both frames when the machine moves during the operations of harvesting the fruits of a tree (not shown).
- Each of the side frames (16, 17) incorporates wheels (18) for movement, each of the wheels having independent suspension means (19) on each wheel, which It facilitates the adaptation of the machine to the irregularities of the ground and also the adjustment of the height during transport.
- portals (20, 21) The connection between both side frames (18, 17) is carried out by means of portals (20, 21), parallel to each other, extended according to the transversal direction of the machine and separated in the longitudinal direction by a previously established distance.
- portals (20, 21) These porticos are conceived in the same way, that each of them is made up of four segments successively articulated with each other.
- two of the segments consist of vertical uprights (22), each of them fixed and emerging from each respective side frame (18, 17), and the other two segments referenced as ( 23), they extend according to the upper horizontal direction in general, articulated respectively with the vertical uprights (22) at tilting points (24), and with each other by means of tilting means in a central position.
- This same disposition can be appreciated in relation to the portico (21), with respect to which the description is omitted in order to avoid unnecessary repetitions.
- each one of the lateral frames (18, 17) of the machine of the invention includes, conventionally, a longitudinally extended channel, in mutually facing positions those of both frames, inside which a displacement means is housed. of the fruits collected.
- These means of displacement of the collected fruits consist of conveyor belts (27) specifically designed and finished to avoid damaging the detached fruits, which drag said fruits towards the rear part of the machine where some large capacity hoppers (34) are located, which They store the harvested fruits.
- the belts are complemented laterally with elastic sheets (28) that adapt to the contour of the tree trunk, and that act as deflectors for the fallen fruit towards the aforementioned conveyor belts.
- the machine incorporates, as usual, a cabin (29) from which an operator controls the operation of the machine at all times during harvesting or displacement operations, although, in the case of the present invention,
- This cabin (29) is not fixed in position but can be moved laterally on guides towards the outside and inside by means of cylinders (not visible in the Figure).
- the cabin (29) can adopt an internal position, corresponding to the transport position, that is to say, occupying the minimum possible width, and an external position, that is to say displaced towards the outside of the machine, corresponding to the operating condition of said machine and therefore away from the passage space of the trees between both side frames (16, 17) so that it does not impinge on the branches of the tree.
- the cabin (29) appears located on the side frame (17), although this should not be understood as limiting, since it could be located on the side frame! opposite, as appropriate.
- the vibrator (30) is located on one of the sides of one of the side frames, in the present case on the side frame (16), being able to be stored in the tree once the presence of the trunk is detected. by means of dampers (31), the actuation of the vibrator (30) being timed.
- Said vibrator can be moved along longitudinal guides, through a predetermined path, in the opposite direction to the movement of the machine, so that this displacement occurs in synchrony with the machine with the vibrator (30) static in relation to the tree to which it is applied, during the period of time established by the timer device associated with said vibrator.
- This action allows the machine to maintain a continuous operation, so that once the timing period has elapsed, the vibrator (30) is released from the shaft to which it was applied and returns to its initial position, to start the cycle again when the machine reach the position of a new tree detected by the surveyors (31).
- FIGs 5 and 6 show the machine in the folded position, in which the upper segments (23) of the portals (20, 21) have been successively folded with respect to the uprights (22).
- each side frame includes a hopper (33) dimensioned according to much larger sizes than the hoppers of conventional machines, thus admitting a much higher storage capacity.
- the conveyor belts (27) of each one of the lateral channels drag the fruits towards the rear end of the machine, where lateral conveyor belts (25) are established, which feed some voluminous hoppers (34) in which they are stored. They store the fruits, after passing through some peelers, so that said fruits can be unloaded through some expulsion conveyor belts (35) which are only activated in the presence of a transfer vehicle, either through a button mechanical (36), optical, magnetic sensors or any other sensor without magnetic contact.
- some strippers (39) Prior to the lateral conveyor belts (25), and in correspondence with the rear end of the conveyor belts (27), some strippers (39) are established as a waterwheel, which through rotating radial arms expel the fallen branches on said belt, preventing them from accessing the hoppers (34), a set that is complemented by some steel bars, crossed over the belts, arranged laterally to the destemmers (39) as a waterwheel, defining a kind of shield that prevents the branches from access these conveyor belts.
- the radiator of the vehicle's engine incorporates a fan that has a rotation reversal system that prevents the leaves from sticking to said radiator.
- the machine incorporates a sliding skid (38), extensible by means of a hydraulic system, which rests and slides on the ground, which allows let the machine follow moving, but it largely prevents the vibrations generated by the vibrator from being absorbed by the suspension system and wheels, by transmitting directly to the ground.
- a sliding skid 38
- this skid remains raised during movement and a few seconds before starting to vibrate, it lowers to the ground, exerting a hydraulic force against it through a hydraulic cylinder (37), which gives the assembly greater structural rigidity and it prevents the roots of the tree from moving, so that it only flexes ⁇ the trunk.
- the cabin will present a moveable character between two limit positions , in order to offer a better view during transport as well as in the harvesting process.
- the cabin is driven by an electric cylinder that can be commanded from inside the cabin itself, with a simple and intuitive control by means of a lever.
- the cabin will include a panel with control of the regulation of the closing pressure of the vibrator fingers, the time of vibration, as well as the frequency of vibration.
- hopper load sensors and peeler obstruction detectors have been incorporated. In this way the machine is fully controlled from the cab, although the controls are programmed before starting work so that the necessary adjustment during the harvest is minimal.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Agricultural Machines (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2021454158A AU2021454158A1 (en) | 2021-07-01 | 2021-07-23 | Fruit-harvesting machine |
EP21948207.2A EP4364553A1 (en) | 2021-07-01 | 2021-07-23 | Fruit-harvesting machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ESP202130616 | 2021-07-01 | ||
ES202130616A ES2932204B2 (es) | 2021-07-01 | 2021-07-01 | Maquina recolectora de frutos |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023275415A1 true WO2023275415A1 (es) | 2023-01-05 |
Family
ID=84690738
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2021/070558 WO2023275415A1 (es) | 2021-07-01 | 2021-07-23 | Máquina recolectora de frutos |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4364553A1 (es) |
AU (1) | AU2021454158A1 (es) |
ES (1) | ES2932204B2 (es) |
WO (1) | WO2023275415A1 (es) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1186224A1 (en) * | 2000-09-08 | 2002-03-13 | Tenias, S.A. | Machine for harvesting tree fruit |
ES2630833A1 (es) * | 2016-02-24 | 2017-08-24 | Tenias, S.A. | Una máquina recolectora de frutos en árbol |
-
2021
- 2021-07-01 ES ES202130616A patent/ES2932204B2/es active Active
- 2021-07-23 WO PCT/ES2021/070558 patent/WO2023275415A1/es active Application Filing
- 2021-07-23 AU AU2021454158A patent/AU2021454158A1/en active Pending
- 2021-07-23 EP EP21948207.2A patent/EP4364553A1/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1186224A1 (en) * | 2000-09-08 | 2002-03-13 | Tenias, S.A. | Machine for harvesting tree fruit |
ES2630833A1 (es) * | 2016-02-24 | 2017-08-24 | Tenias, S.A. | Una máquina recolectora de frutos en árbol |
Also Published As
Publication number | Publication date |
---|---|
EP4364553A1 (en) | 2024-05-08 |
ES2932204B2 (es) | 2023-05-23 |
ES2932204A1 (es) | 2023-01-16 |
AU2021454158A1 (en) | 2024-01-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3698171A (en) | Mechanical picker for strawberries | |
CA1292018C (en) | Sod harvester with curved conveyor | |
US3473311A (en) | Grape harvester | |
US20020083694A1 (en) | Grass cutting machine with mower unit | |
EP3504957B1 (en) | Integrated dual-use machine for harvesting and treating fruit on trees | |
EP1186224B1 (en) | Machine for harvesting tree fruit | |
ES2932204B2 (es) | Maquina recolectora de frutos | |
KR20120030350A (ko) | 주행차량 | |
US4520617A (en) | Cotton harvester | |
US4876844A (en) | Field crop harvesting, carton packaging and packed carton handling machine and method | |
US20050034441A1 (en) | Olive harvesting machine | |
CN110035651A (zh) | 带有远侧储存料斗的用于农业收割机的升运器组件以及相关方法 | |
WO2007043854A1 (es) | Maquina cosechadora de hortalizas con deposito y sistema de descarga | |
KR200224977Y1 (ko) | 농업용 축전지 전동 자주식 작업기 | |
JP3380866B2 (ja) | 茶畝跨走型茶刈機における刈取茶の荷捌き装置 | |
JP2563907Y2 (ja) | コンバイン | |
CN216163534U (zh) | 果树用自动双行采摘机 | |
CN212677796U (zh) | 一种菊花采摘车 | |
CN113242689B (zh) | 用于采收具有均匀成熟度的水果的机器、及相关方法 | |
JPH10286019A (ja) | 野菜収穫機 | |
CN113728802A (zh) | 果树用自动双行采摘机 | |
JP5444887B2 (ja) | コンバイン | |
JP5960617B2 (ja) | コンバインの穀粒排出装置 | |
ES1260283U (es) | Equipo para la recoleccion de frutos mediante vibrado de arboles | |
WO2023203262A1 (es) | Máquina para el trasvase de frutos desde una máquina cosechadora de frutos hacia un remolque o camión cisterna para el transporte y almacenamiento de los mismos |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21948207 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: MX/A/2023/014553 Country of ref document: MX |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18570175 Country of ref document: US Ref document number: 2021454158 Country of ref document: AU Ref document number: AU2021454158 Country of ref document: AU |
|
ENP | Entry into the national phase |
Ref document number: 2021454158 Country of ref document: AU Date of ref document: 20210723 Kind code of ref document: A |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112023027732 Country of ref document: BR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2021948207 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2021948207 Country of ref document: EP Effective date: 20240201 |
|
ENP | Entry into the national phase |
Ref document number: 112023027732 Country of ref document: BR Kind code of ref document: A2 Effective date: 20231228 |