WO2024040841A1 - 串果果枝分离装置及集成串果果枝分离装置的水果采摘平台 - Google Patents

串果果枝分离装置及集成串果果枝分离装置的水果采摘平台 Download PDF

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Publication number
WO2024040841A1
WO2024040841A1 PCT/CN2022/143450 CN2022143450W WO2024040841A1 WO 2024040841 A1 WO2024040841 A1 WO 2024040841A1 CN 2022143450 W CN2022143450 W CN 2022143450W WO 2024040841 A1 WO2024040841 A1 WO 2024040841A1
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WIPO (PCT)
Prior art keywords
fruit
branch
fixed
separation device
transmission shaft
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PCT/CN2022/143450
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English (en)
French (fr)
Inventor
李君�
李钊
徐怀伟
熊世杰
黄光文
李�灿
李灯辉
凌广鑫
吴博欣
何铭新
李泓材
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华南农业大学
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Application filed by 华南农业大学 filed Critical 华南农业大学
Publication of WO2024040841A1 publication Critical patent/WO2024040841A1/zh

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    • 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
    • A01D46/20—Platforms with lifting and lowering devices
    • 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
    • A01D46/24—Devices for picking apples or like fruit
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping

Definitions

  • the invention relates to the technical field of agricultural machinery, and in particular to a fruit bunch and fruit branch separation device and a fruit picking platform integrating the fruit bunch and fruit branch separation device.
  • the main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and provide a fruit cluster and fruit branch separation device and a fruit picking platform integrated with the fruit cluster and fruit branch separation device, so as to solve the problem that most of the orchard operating platforms in the prior art cannot operate on rugged terrain.
  • There are problems such as walking operations in mountainous and hilly areas, poor movement intuition, and difficulty in separating fruits with twigs from the mother branches.
  • the present invention provides an integrated fruit bunch and branch separation device, which includes a fixed plate, a rolling bearing, a branch feeding roller, a transmission shaft, a gear set, a motor, a separation cabin, a knife holder and a photoelectric switch;
  • the rolling bearing, branch feeding roller, transmission shaft, gear set, motor, separation cabin, knife holder, and photoelectric switch are all fixed on the fixed plate; the knife holder is provided with a blade; the transmission shaft is connected to the motor through the gear set Connected, the motor drives the transmission shaft to rotate through the gear set; the rolling bearings are located at both ends of the transmission shaft and play a role in supporting the transmission shaft; the branch feeding roller is consolidated with the transmission shaft and rotates with the transmission shaft at the same time; in the fruit clustering During the operation of the fruit branch separation device, the fruiting mother branch enters the separation cabin through the upper end cover of the separation cabin. The photoelectric switch detects the position of the fruiting mother branch and controls the rotation of the motor. The fruit branches are separated under the action of the blade.
  • the separation cabin includes a separation cabin base, a knife holder, a branch feeding plate, a light hole, a spring and a spring support rod; the separation cabin is fixed to the fixed plate through the separation cabin base, so The knife holder and the through hole in the base of the separation cabin form a rotating pair, the spring support rod and the through hole in the base of the separation cabin form a moving pair, and the branch feeding plate is fixed to the base of the separation cabin.
  • the knife rest and the spring strut are connected through the knife rest through hole, and the knife rest rotates under the action of the spring and the fruit branches: when there are no fruit branches, the knife rest is pulled up by the spring strut under the action of the spring; the fruit branches pass through When the knife rest touches the lower edge of the knife rest, the knife rest overcomes the spring tension under the action of the fruit branches, and the upper edge is close to the fruit branches.
  • the side of the cabin base is provided with through holes, and multiple cabins are fixed with bolts.
  • the separation cabin includes two parts arranged symmetrically. Each of the two parts has a semicircular through hole.
  • the two semicircular through holes form a light hole.
  • the photoelectric switch is placed on one side of the light hole. , detect the passage of fruit branches, thereby controlling the rotation of the motor.
  • the transmission shaft and branch feeding roller are composed of multiple sections, and the length can be adjusted according to needs.
  • the rolling bearing can be fixed on the fixed plate at any position through bolts, and cooperates with the installation of the transmission shaft.
  • the transmission shaft and branch feeding roller Through the axle pin consolidation, there are granular protrusions on the outside of the branch feeding roller, which increases the friction factor.
  • Another aspect of the present invention provides a fruit picking platform with an integrated fruit bunch and branch separation device, including an electric crawler chassis, a control box, a hydraulic workstation, a range extender, a lifting straight arm, an extension straight arm, a manned workbench, and an integrated string Fruit branch separation device, fruit conveying pipe, fruit frame, supporting legs and slewing bearing;
  • the control box, hydraulic workstation, range extender, support legs and slewing support are fixed on the electric crawler chassis; the lower part of the lifting straight arm is fixed on the slewing support, and the upper part of the lifting straight arm is fixed on the extension straight arm ;
  • One side of the manned workbench is fixedly connected to the extended straight arm, and the other side is fixed to the fruit bunch and fruit branch separation device; the fruit bunch and fruit branch separation device is also connected to the fruit frame through a fruit conveying pipe.
  • the hydraulic workstation provides power for the support legs.
  • the support legs include three groups, all of which are fixed on the upper plane of the electric crawler chassis.
  • the support cylinder of the support leg is fixed below the movable square tube of the support leg.
  • the extension straight arm is fixed on the lifting straight arm and is used to move the manned workbench to a predetermined position; both the lifting straight arm and the extension straight arm include multi-section arms, which are realized by connecting oil cylinders in series.
  • the multi-section arm expands and contracts in sequence.
  • the manned workbench is equipped with a pedal switch and a touch panel to control various actions of the entire machine and adjust action parameters.
  • the present invention has the following advantages and beneficial effects:
  • the invention provides a fruit picking platform integrated with a fruit bunch and branch separation device, which increases the intuitiveness of the movement of the manned workbench through an orthogonal structure, is simple and convenient, and reduces the difficulty of operation;
  • the invention provides a fruit picking platform integrated with a fruit bunch and branch separation device, which brings the manned workbench closer to the target position through slewing support and extended straight arms, thereby reducing labor intensity and improving operating efficiency;
  • the invention provides a fruit picking platform with an integrated fruit bunch and branch separation device.
  • the chassis is supported and leveled by three sets of supporting legs to ensure safer and more stable high-altitude operations;
  • the invention provides a fruit picking platform that integrates a bunch and fruit branch separation device. It separates fruits with twigs and fruiting mother branches through a separation cabin, and transports the picked fruits through fruit conveying tubes, which solves the problem of being unable to pick fruits quickly in the air. The problem of transporting the fruit back to the ground;
  • the invention provides a fruit picking platform integrated with a fruit bunch and branch separation device, which can walk and work in mountainous orchards on hills and hills, and can assist practitioners in completing operations such as pruning, picking, spraying, and thinning flowers and fruits.
  • Figure 1 is a schematic structural diagram of a fruit picking platform integrated with a fruit bunch and branch separation device provided by an embodiment of the present invention
  • Figure 2 is an enlarged view of the fruit bunch and branch separation device in the rectangular frame in Figure 1;
  • Figure 3 is another schematic diagram of a fruit bunch and fruit branch separation device provided by an embodiment of the present invention.
  • Figure 4 is a schematic structural diagram of the first part of the separation cabin in the fruit bunch and branch separation device provided by the embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of the second part of the separation cabin in the fruit bunch and branch separation device provided by the embodiment of the present invention.
  • an embodiment of the present invention provides a fruit picking platform with an integrated fruit bunch and branch separation device, including an electric crawler chassis 01, a control box 02, a hydraulic workstation 03, a range extender 04, a lifting straight arm 05, an extension Straight arm 06, manned workbench 07, fruit bunch and branch separation device 08 (structure within the rectangular frame in Figure 1), fruit conveying pipe 09, fruit frame 10, support legs 11 and slewing support 12; the control box 02, The hydraulic workstation 03, the range extender 04, the supporting legs 11, and the slewing support 12 are fixed on the electric crawler chassis 01.
  • the lower part of the lifting straight arm 05 is fixed on the slewing support 12, and the upper part of the lifting straight arm 05 is fixed on the extending straight arm.
  • One side of the manned workbench 07 is fixedly connected to the extended straight arm 06, and the other side is fixed to the fruit cluster separation device 08.
  • the fruit cluster separation device 08 is fixed to one end of the fruit conveying pipe 09.
  • the fruit transportation The other end of tube 09 is connected to fruit frame 10.
  • the staff controls the movement of the orchard's multi-functional working platform, uses support legs to fix the orchard's multi-functional working platform, and moves the manned workbench close to the tree crown through lifting and lowering straight arms, extending straight arms and slewing bearings.
  • the The fruiting mother branch is inserted into the separation cabin through the upper end cover of the separation cabin.
  • the fruiting mother branch realizes the automatic separation of the fruit with twigs and the fruiting mother branch under the action of the motor and the blade.
  • the fruit with twigs flows into the fruit frame through the folding pipe, and the thick branches of the fruiting mother branch are delivered with it.
  • the wheel rotates and falls to the ground.
  • the range extender 04 supplies energy to the hydraulic workstation and the battery.
  • the hydraulic workstation 03 provides power for the lifting straight arm 05, the extending straight arm 06, and the slewing support 12 to assist the operator in approaching the tree crown.
  • the hydraulic workstation 03 provides power for the support legs 11.
  • the support legs 11 include three groups, all of which are fixed on the upper plane of the electric crawler chassis 01.
  • the support cylinders of the support legs 11 are fixed on the support legs.
  • Under the movable square tube, the working platform is kept level when parking and the chassis support radius is increased.
  • the lifting straight arm 05 is fixed on the slewing support 12, and the extending straight arm is fixed on the lifting straight arm. The three work together to move the manned workbench to a predetermined position.
  • the lifting straight arm 05 and the extending straight arm 06 both include multi-section arms, and the multi-section arms can be extended and contracted in sequence by connecting oil cylinders in series to achieve the purpose of large working range and low space occupation.
  • the manned workbench 07 is equipped with a pedal switch and a touch panel, which can conveniently control various actions of the entire machine and adjust action parameters.
  • FIG. 2-5 another embodiment of the present application provides a device for separating fruit clusters and branches, including a fixed plate 0801, a rolling bearing 0802, a branch feeding roller 0803, a transmission shaft 0804, a gear set 0805, and a motor.
  • the branch feeding roller 0803 is consolidated with the transmission shaft 0804 and rotates at the same time as the transmission shaft 0804; during the operation of the fruit bunch and fruit branch separation device, the resulting mother branch enters the separation cabin through the upper end cover of the separation cabin 0807 , the photoelectric switch 0809 detects the position of the mother branch and controls the rotation of the motor 0806 to separate the fruit branches under the action of the blade.
  • the photoelectric switch detects the position of the fruiting mother branches and controls the rotation of the motor.
  • the branch feeding roller is fixed with the transmission shaft and connected with the transmission shaft. Rotating at the same time, the harvesting personnel can start the next round of picking after feeling the movement trend of the fruit branches.
  • the fruiting mother branch automatically separates the fruits with twigs from the fruiting mother branch.
  • the harvesting personnel repeatedly pick the mother branch - —The action of inserting the idle cabin causes the thick branches of the mother branch to fall to the ground as the branch feeding roller rotates, and the fruits with small branches flow into the fruit frame through the folding pipe.
  • the transmission shaft 0804 and the branch feeding roller 0803 are composed of multiple sections, and the length can be adjusted according to the needs.
  • the rolling bearing 0802 can be fixed to any position of the fixed plate 0801 through bolts, and cooperates with the installation of the transmission shaft 0804.
  • the transmission shaft 0804 and The branch feeding roller 0803 is fixed by a shaft pin, and there are granular protrusions on the outside of the branch feeding roller 0803 to increase the friction factor.
  • the separation cabin 0807 includes a separation cabin base 080701, a knife holder 0808, a branch feeding plate 080702, a light hole 080703, a spring 080704 and a spring support rod 080705; the separation cabin 0807 is separated by
  • the cabin base 080701 is fixed on the fixed plate 0801, the knife holder 0808 and the partial through hole of the separation cabin base 080701 form a rotating pair, the spring support rod 080705 and the partial through hole of the separation cabin base 080701 constitute a moving pair, so
  • the branch sending plate 080702 is fixed to the separate cabin base 080701.
  • the knife rest 0808 is connected to the spring support rod 080705 through the through hole on the knife rest.
  • the knife rest 0808 rotates under the action of the spring 080704 and the fruit branches: when there are no fruit branches, the knife rest 0808 is supported by the spring support rod under the action of the spring 080704.
  • 080705 is pulled up; when the fruit branch passes through the knife holder 0808, it touches the lower edge of the knife holder.
  • the knife holder overcomes the pulling force of the spring 080704 under the action of the fruit branch, and the upper edge of the knife holder is close to the fruit branch.
  • each of the two parts of the separation cabin 0807 has a semicircular through hole, and the two semicircular through holes form the light hole 080703.
  • the photoelectric switch 0809 is placed on one side of the light hole 080703 to detect the passage of fruit branches, thereby Control motor 0806 to rotate.
  • the cabin base 080701 includes two parts, which are fixed by bolts. There is a through hole on the side of the separation cabin base 080701, and multiple separation cabins 0807 are fixed by bolts.
  • the knife rest 0808 and the spring support rod 080705 are connected through the through hole of the knife rest 0808.
  • the knife rest 0808 acts on the spring 080704 and the fruit branches.
  • the invention can be used for fruit picking work.
  • the staff controls the multi-function working platform in the orchard to move between the rows of fruit trees to the target fruit tree, extends the support legs to adjust the level of the multi-functional working platform in the orchard, and cooperates with the lifting straight arm, extending straight arm and slewing support.
  • the work brings the manned workbench close to the target tree crown. After picking the fruit bunches, insert the fruiting mother branch into the separation cabin through the upper end cover of the separation cabin.
  • the photoelectric switch detects the position of the resultant mother branch and controls the rotation of the motor.
  • the branch feeding roller is consolidated with the transmission shaft. The transmission shaft rotates at the same time. After the harvesting personnel feel the movement trend of the fruit branches, they can proceed to the next round of picking.
  • the fruiting mother branch Under the action of the motor and the blade, the fruiting mother branch automatically separates the fruits with twigs from the fruiting mother branch.
  • the harvesting personnel repeat the process of picking the mother branch.
  • the thick branches of the mother branch will fall to the ground with the rotation of the branch feeding roller, and the fruits with small branches will flow into the fruit frame through the folding pipe.
  • connection can be a fixed connection or a detachable connection.
  • Connection, or integration can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements, unless otherwise clear limits.
  • connection or integration
  • connection, or integration can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements, unless otherwise clear limits.
  • specific meanings of the above terms in the present invention can be understood according to specific circumstances.
  • references to the terms “one embodiment,” “some embodiments,” “an example,” “specific examples,” or “some examples” or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

一种集成串果果枝分离装置，包括固定板（0801）、滚动轴承（0802）、送枝滚轮（0803）、传动轴（0804）、齿轮组（0805）、电机（0806）、分离舱（0807）、刀架（0808）和光电开关（0809）。还涉及一种集成串果果枝分离装置的水果采摘平台，包括电动履带底盘（01）、控制箱（02）、液压工作站（03）、增程器（04）、升降直臂（05）、伸展直臂（06）、载人工作台（07）、串果果枝分离装置（08）、水果输送管（09）、果框（10）、支撑腿（11）和回转支承（12）。该水果采摘平台能够在山地丘陵果园行走和作业，能够辅助从业人员完成剪枝、采摘、喷药、疏花疏果等作业，所集成的串果果枝分离装置能够快速分离带小枝水果与结果母枝，提高串果类水果处理效率，解决了无法在空中进行采摘水果后快速的将水果运输回地面的问题。

Description

串果果枝分离装置及集成串果果枝分离装置的水果采摘平台 技术领域
本发明涉及农业机械的技术领域，具体涉及一种串果果枝分离装置及集成串果果枝分离装置的水果采摘平台。
 背景技术
当前，我国果园作业的机械化程度严重滞后，长期以来果实采摘都是依靠人工攀爬采摘为主，劳动强度大，采摘效率低，且存在极大的安全隐患，果园作业的机械化程度低在一定程度上阻碍了我国果园的集约化发展。近年来，市场上涌现了一批果园作业平台，但大多只能在平原上作业，无法在崎岖不平的山地丘陵地带行走和作业，且现有作业平台高空作业多为曲臂式或剪叉式，作业范围小且载人工作台运动直观性差。尤其是移动采摘作业平台，盛放空间小，精细采摘浪费大量机时，采摘环境差；结果母枝占用空间大，易填满盛放容器，影响采摘效率。
 技术问题
本发明的主要目的在于克服现有技术的缺点与不足，提供一种串果果枝分离装置及集成串果果枝分离装置的水果采摘平台，以解决现有技术中果园作业平台大多无法在崎岖不平的山地丘陵地带行走作业、运动直观性差以及作业时难以实现带小枝果实与结果母枝分离的问题。
 技术解决方案
为了达到上述目的，本发明采用以下技术方案：
本发明一方面提供了一种集成串果果枝分离装置，包括固定板、滚动轴承、送枝滚轮、传动轴、齿轮组、电机、分离舱、刀架和光电开关；
所述滚动轴承、送枝滚轮、传动轴、齿轮组、电机、分离舱、刀架、光电开关均固结于固定板上；所述刀架上设置有刀片；所述传动轴经齿轮组与电机相连，所述电机通过齿轮组带动传动轴转动；所述滚动轴承分别位于传动轴两端，起到支撑传动轴作用；所述送枝滚轮与传动轴固结，与传动轴同时转动；在串果果枝分离装置运行过程中，结果母枝经过分离舱上端盖进入分离舱内，光电开关检测结果母枝位置并控制电机转动，在刀片作用下实现果枝分离。
作为优选的技术方案，所述分离舱包括分离舱基座、刀架、送枝板、通光孔、弹簧和弹簧支杆；所述分离舱通过分离舱基座固结于固定板上，所述刀架与分离舱基座部分通孔构成旋转副，所述弹簧支杆与分离舱基座部分通孔构成移动副，所述送枝板固结于分离舱基座。
作为优选的技术方案，所述刀架与弹簧支杆通过刀架通孔连接，刀架在弹簧和果枝作用下转动：无果枝时，刀架在弹簧作用下被弹簧支杆拉起；果枝经过刀架时碰触刀架下边沿，刀架在果枝作用下克服弹簧拉力，上边沿靠近果枝。
作为优选的技术方案，所述分离舱基座侧面设有通孔，多个分离舱之间通过螺栓固结。
作为优选的技术方案，所述分离舱包括对称设置的两部分，两部分各开有半圆形通孔，两半圆形通孔组成通光孔，所述光电开关置于通光孔一侧，检测果枝通过情况，从而控制电机转动。
作为优选的技术方案，所述传动轴与送枝滚轮由多段组成，可按照需求调节长度，所述滚动轴承可通过螺栓固结于固定板任意位置，配合传动轴的安装，传动轴与送枝滚轮通过轴销固结，送枝滚轮外侧有颗粒状突起，增大摩擦因数。
本发明又一方面提供了一种集成串果果枝分离装置的水果采摘平台，包括电动履带底盘、控制箱、液压工作站、增程器、升降直臂、伸展直臂、载人工作台、集成串果果枝分离装置、水果输送管、果框、支撑腿和回转支承；
所述控制箱、液压工作站、增程器、支撑腿和回转支承固结于电动履带底盘上；所述升降直臂下方固结于回转支承上，所述升降直臂上方固结伸展直臂上；所述载人工作台一侧与伸展直臂固结相连，另一侧与串果果枝分离装置固结；所述串果果枝分离装置还通过水果输送管连接至果框。
作为优选的技术方案，所述液压工作站为支撑腿提供动力，所述支撑腿包括三组，均固结于电动履带底盘上平面，支撑腿的支撑油缸固结于支撑腿活动方管下方，在驻车时保证作业平台水平，同时增加底盘支撑半径。
作为优选的技术方案，所述伸展直臂固结于升降直臂上，用于将载人工作台移动到预定位置；所述升降直臂与伸展直臂均包含多节臂，通过串联油缸实现多节臂按次序伸缩。
作为优选的技术方案，所述载人工作台安装有踩踏开关与触摸面板，控制整机各项动作及动作参数调节。
 有益效果
本发明与现有技术相比，具有如下优点和有益效果：
本发明提供的一种集成串果果枝分离装置的水果采摘平台，通过正交结构增加载人工作台运动直观性，简单便捷，降低操作难度；
本发明提供的一种集成串果果枝分离装置的水果采摘平台，通过回转支承、伸展直臂使载人工作台更接近目标位置，降低了劳动强度，提高作业效率；
本发明提供的一种集成串果果枝分离装置的水果采摘平台，通过三组支撑腿对底盘进行支撑、及调平，保障高空作业更加安全稳定；
本发明提供的一种集成串果果枝分离装置的水果采摘平台，通过分离舱分离带小枝果实与结果母枝，对采摘下的水果通过水果输送管运输，解决了无法在空中进行采摘水果后快速的将水果运输回地面的问题；
本发明提供的一种集成串果果枝分离装置的水果采摘平台，能够在山地丘陵果园行走和作业，能够辅助从业人员完成剪枝、采摘、喷药、疏花疏果等作业。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种集成串果果枝分离装置的水果采摘平台的结构示意图；
图2是图1中矩形框内串果果枝分离装置的放大图；
图3是本发明实施例提供的串果果枝分离装置的另一示意图；
图4为本发明实施例提供的串果果枝分离装置中分离舱第一部分的结构示意图；
图5为本发明实施例提供的串果果枝分离装置中分离舱第二部分的结构示意图；
图1-图5中，符号表示为：01-电动履带底盘、02-控制箱、03-液压工作站、04-增程器、05-升降直臂、06-伸展直臂、07-载人工作台、08-串果果枝分离装置、0801-固定板、0802-滚动轴承、0803-送枝滚轮、0804-传动轴、0805-齿轮组、0806-电机、0807-分离舱、080701-分离舱基座、080702-送枝板、080703-通光孔、080704-弹簧、080705-弹簧支杆、0808-刀架、0809-光电开关、09-水果输送管、10-果框、11-支撑腿、12-回转支承。
 本发明的实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示，本发明实施例提供的一种集成串果果枝分离装置的水果采摘平台，包括电动履带底盘01、控制箱02、液压工作站03、增程器04、升降直臂05、伸展直臂06、载人工作台07、串果果枝分离装置08（图1中矩形框内的结构）、水果输送管09、果框10、支撑腿11和回转支承12；所述控制箱02、液压工作站03、增程器04、支撑腿11、回转支承12固结于电动履带底盘01上，所述升降直臂05下方固结于回转支承12上，升降直臂05上方固结伸展直臂06，载人工作台07一侧与伸展直臂06固结相连，另一侧与串果果枝分离装置08固结，串果果枝分离装置08固结于水果输送管09一端，所述水果输送管09的另一端连接至果框10。
采用上述实现方式，工作人员控制果园多功能作业平台移动，使用支撑腿固定果园多功能作业平台，通过升降直臂、伸展直臂、回转支承使载人工作台靠近树冠，采摘串果后，将结果母枝经过分离舱上端盖插入分离舱，结果母枝在电机与刀片作用下实现带小枝果实与结果母枝自动分离，带小枝果实通过折叠管道流入果框，结果母枝粗枝随送枝滚轮转动掉落地面。
进一步的，所述增程器04向液压工作站及电池供能，所述液压工作站03为升降直臂05、伸展直臂06、回转支承12提供动力，辅助操作人员接近树冠。
更进一步的，所述液压工作站03为还支撑腿11提供动力，所述支撑腿11包括三组，均固结于电动履带底盘01上平面，所述支撑腿11的支撑油缸固结于支撑腿活动方管下方，在驻车时保证作业平台水平，同时增加底盘支撑半径。
进一步的，所述升降直臂05固结于回转支承12上，所述伸展直臂固结于升降直臂上，三者协同工作，将载人工作台移动到预定位置。
更进一步的，所述升降直臂05与伸展直臂06均包含多节臂，通过串联油缸实现多节臂按次序伸缩，达到大工作范围、低空间占用的目的。
进一步的，所述载人工作台07安装有踩踏开关与触摸面板，可以方便控制整机各项动作及动作参数调节。
如图2-图5所示，在本申请的另一个实施例中提供了一种串果果枝分离装置，包括固定板0801、滚动轴承0802、送枝滚轮0803、传动轴0804、齿轮组0805、电机0806、分离舱0807、刀架0808和光电开关0809；所述滚动轴承0802、送枝滚轮0803、传动轴0804、齿轮组0805、电机、分离舱、刀架、光电开关均固结于固定板上；所述刀架上设置有刀片；所述传动轴0804经齿轮组0805与电机0806相连，所述电机0806通过齿轮组0805带动传动轴0804转动；所述滚动轴承0802分别位于传动轴0804两端，起到支撑传动轴0804作用；所述送枝滚轮0803与传动轴0804固结，与传动轴0804同时转动；在串果果枝分离装置运行过程中，结果母枝经过分离舱0807上端盖进入分离舱内，所述光电开关0809检测结果母枝位置并控制电机0806转动，在刀片作用下实现果枝分离。
可以理解的是，采收人员采摘串果后，将结果母枝经过分离舱上端盖插入分离舱，光电开关检测结果母枝位置并控制电机转动，送枝滚轮与传动轴固结，与传动轴同时转动，采收人员感受到果枝运动趋势后即可进行下一轮采摘动作，结果母枝在电机与刀片作用下实现带小枝果实与结果母枝自动分离，采收人员重复进行采摘母枝——插入空闲分离舱动作，结果母枝粗枝随送枝滚轮转动掉落地面，带小枝果实通过折叠管道流入果框。
进一步的，所述传动轴0804与送枝滚轮0803由多段组成，可按照需求调节长度，所述滚动轴承0802可通过螺栓固结于固定板0801任意位置，配合传动轴0804的安装，传动轴0804与送枝滚轮0803通过轴销固结，送枝滚轮0803外侧有颗粒状突起，增大摩擦因数。
进一步的，如图4所示，所述分离舱0807包括分离舱基座080701、刀架0808、送枝板080702、通光孔080703、弹簧080704和弹簧支杆080705；所述分离舱0807通过分离舱基座080701固结于固定板0801上，所述刀架0808与分离舱基座080701部分通孔构成旋转副，所述弹簧支杆080705与分离舱基座080701部分通孔构成移动副，所述送枝板080702固结于分离舱基座080701。
进一步的，所述刀架0808与弹簧支杆080705通过刀架上的通孔连接，刀架0808在弹簧080704和果枝作用下转动：无果枝时，刀架0808在弹簧080704作用下被弹簧支杆080705拉起；果枝经过刀架0808时碰触刀架的下边沿，刀架在果枝作用下克服弹簧080704的拉力，刀架的上边沿靠近果枝。
更进一步的，分离舱0807两部分各开有半圆形通孔，两半圆形通孔组成通光孔080703，所述光电开关0809置于通光孔080703一侧，检测果枝通过情况，从而控制电机0806转动。
更进一步的，如图4、图5所示，所述分离舱基座080701包括两部分，通过螺栓固结。分离舱基座080701侧面设有通孔，多个分离舱0807之间通过螺栓固结，所述刀架0808与弹簧支杆080705通过刀架0808通孔连接，刀架0808在弹簧080704和果枝作用下转动：无果枝时，刀架0808在弹簧080704作用下被弹簧支杆080705拉起；果枝经过刀架0808时碰触刀架0808下边沿，刀架0808在果枝作用下克服弹簧080704拉力，上边沿靠近果枝。
本发明可用于果实采摘工作，工作人员控制果园多功能作业平台在果树行间移动至目标果树，将支撑腿伸出调节果园多功能作业平台水平，通过升降直臂、伸展直臂、回转支承协同工作使载人工作台靠近目标树冠，采摘串果后，将结果母枝经过分离舱上端盖插入分离舱，光电开关检测结果母枝位置并控制电机转动，送枝滚轮与传动轴固结，与传动轴同时转动，采收人员感受到果枝运动趋势后即可进行下一轮采摘动作，结果母枝在电机与刀片作用下实现带小枝果实与结果母枝自动分离，采收人员重复进行采摘母枝——插入空闲分离舱动作，结果母枝粗枝随送枝滚轮转动掉落地面，带小枝果实通过折叠管道流入果框。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“固结”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种集成串果果枝分离装置，其特征在于，包括固定板、滚动轴承、送枝滚轮、传动轴、齿轮组、电机、分离舱、刀架和光电开关；
    所述滚动轴承、送枝滚轮、传动轴、齿轮组、电机、分离舱、刀架、光电开关均固结于固定板上；所述刀架上设置有刀片；所述传动轴经齿轮组与电机相连，所述电机通过齿轮组带动传动轴转动；所述滚动轴承分别位于传动轴两端，起到支撑传动轴作用；所述送枝滚轮与传动轴固结，与传动轴同时转动；在串果果枝分离装置运行过程中，结果母枝经过分离舱上端盖进入分离舱内，光电开关检测结果母枝位置并控制电机转动，在刀片作用下实现果枝分离。
  2. 根据权利要求1所述集成串果果枝分离装置，其特征在于，所述分离舱包括分离舱基座、刀架、送枝板、通光孔、弹簧和弹簧支杆；所述分离舱通过分离舱基座固结于固定板上，所述刀架与分离舱基座部分通孔构成旋转副，所述弹簧支杆与分离舱基座部分通孔构成移动副，所述送枝板固结于分离舱基座。
  3. 根据权利要求2所述集成串果果枝分离装置，其特征在于，所述刀架与弹簧支杆通过刀架通孔连接，刀架在弹簧和果枝作用下转动：无果枝时，刀架在弹簧作用下被弹簧支杆拉起；果枝经过刀架时碰触刀架下边沿，刀架在果枝作用下克服弹簧拉力，上边沿靠近果枝。
  4. 根据权利要求2所述集成串果果枝分离装置，其特征在于，所述分离舱基座侧面设有通孔，多个分离舱之间通过螺栓固结。
  5. 根据权利要求1所述集成串果果枝分离装置，其特征在于，所述分离舱包括对称设置的两部分，两部分各开有半圆形通孔，两半圆形通孔组成通光孔，所述光电开关置于通光孔一侧，检测果枝通过情况，从而控制电机转动。
  6. 根据权利要求1所述集成串果果枝分离装置，其特征在于，所述传动轴与送枝滚轮由多段组成，可按照需求调节长度，所述滚动轴承可通过螺栓固结于固定板任意位置，配合传动轴的安装，传动轴与送枝滚轮通过轴销固结，送枝滚轮外侧有颗粒状突起，增大摩擦因数。
  7. 一种集成串果果枝分离装置的水果采摘平台，其特征在于，包括电动履带底盘、控制箱、液压工作站、增程器、升降直臂、伸展直臂、载人工作台、权利要求1-6中任一项所述的集成串果果枝分离装置、水果输送管、果框、支撑腿和回转支承；
    所述控制箱、液压工作站、增程器、支撑腿和回转支承固结于电动履带底盘上；所述升降直臂下方固结于回转支承上，所述升降直臂上方固结伸展直臂上；所述载人工作台一侧与伸展直臂固结相连，另一侧与串果果枝分离装置固结；所述串果果枝分离装置还通过水果输送管连接至果框。
  8. 根据权利要求7所述的一种集成串果果枝分离装置的水果采摘平台，其特征在于，所述液压工作站为支撑腿提供动力，所述支撑腿包括三组，均固结于电动履带底盘上平面，支撑腿的支撑油缸固结于支撑腿活动方管下方，在驻车时保证作业平台水平，同时增加底盘支撑半径。
  9. 根据权利要求7所述的一种集成串果果枝分离装置的水果采摘平台，其特征在于，所述伸展直臂固结于升降直臂上，用于将载人工作台移动到预定位置；所述升降直臂与伸展直臂均包含多节臂，通过串联油缸实现多节臂按次序伸缩。
  10. 根据权利要求7所述的一种集成串果果枝分离装置的水果采摘平台，其特征在于，所述载人工作台安装有踩踏开关与触摸面板，控制整机各项动作及动作参数调节。
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