阅读说明：本技术 一种菠萝收割机 (Pineapple harvester ) 是由 陈义保 李佳霖 王守丽 崔立民 张夫奕 常耀文 李啸 柴永生 王昌辉 于 2020-12-17 设计创作，主要内容包括：本发明公开了一种菠萝收割机,包括车体、收集仓、传送绞龙辊、收割刀、传送带、储料仓和凸轮；所述车体上设置有车轮行走机构,由动力装置驱动行走；所述收集仓位于车体的前端位置,其上部和前端开口；所述输送带设置于收集仓中,由第一减速机驱动旋转,所述收割刀设置于收集仓的上方位置,本发明的有益效果：采用的收割装置可以进行多排收割,在集中种植的收割中做到采摘效率达到最大化,降低人工所带来的不必要劳动力及低效率因素并且相比现有的收割机械装置实现多排收割；采摘过程中智能化的根据采集图像的数据分析来精准计算每株菠萝的高度,从而进行有效采摘。(The invention discloses a pineapple harvester, which comprises a vehicle body, a collection bin, a conveying auger roller, a harvesting knife, a conveying belt, a storage bin and a cam, wherein the collecting bin is arranged on the vehicle body; the vehicle body is provided with a wheel travelling mechanism which is driven by a power device to travel; the collecting bin is positioned at the front end of the vehicle body, and the upper part and the front end of the collecting bin are opened; the conveying belt is arranged in the collecting bin and is driven to rotate by the first speed reducer, and the collecting cutter is arranged above the collecting bin, so that the conveying belt has the beneficial effects that: the adopted harvesting device can harvest in multiple rows, the picking efficiency is maximized in the harvesting of concentrated planting, unnecessary labor force and low-efficiency factors caused by manpower are reduced, and the harvesting device realizes multiple rows of harvesting compared with the existing harvesting mechanical device; the height of each pineapple is intelligently calculated according to data analysis of the collected images in the picking process, so that effective picking is carried out.)

1. A pineapple harvester is characterized by comprising a vehicle body, a collection bin (1), a conveying belt (2), a harvesting knife (3), a conveying belt (4), a storage bin (5) and a cam (6);

the vehicle body is provided with a wheel travelling mechanism which is driven by a power device to travel;

the collecting bin (1) is located at the front end of the vehicle body, the upper portion and the front end of the collecting bin are provided with openings and used for collecting the cut pineapples, the conveying belt (2) is arranged at the right side position inside the collecting bin (1), the conveying belt (2) is driven to rotate by the first speed reducer, the collecting cutter (3) is arranged at the upper position of the collecting bin (1), the rear end of the collecting cutter is rotatably connected with the collecting bin (1), the front end of the collecting cutter is provided with a plurality of V-shaped openings, and cutting edges (31) are arranged on the inner sides of the V-shaped openings;

the storage bin (5) is arranged on the vehicle body, the conveying belt (4) is annularly and obliquely arranged on the vehicle body and is driven to rotate by a second speed reducer, the lower end of the conveying belt extends into the collecting bin (1), the upper end of the conveying belt extends into the storage bin (5), and the conveying shifting piece (41) is arranged on the conveying belt (4);

the cam (6) is positioned below the middle part of the harvesting knife (3) and is rotatably arranged on the collecting bin (1) through a cam shaft (61), and the cam shaft (61) is driven to rotate through a third speed reducer.

2. The pineapple harvester of claim 1, wherein the conveyor belt (4) has an inclined section and a horizontal section, wherein the horizontal section is located at the left end position inside the collecting bin (1).

3. The pineapple harvester of claim 1, further comprising a camera, an image processing device and a controller, wherein the camera is arranged at the front end of the vehicle body and used for collecting pineapple images and transmitting the collected images to the image processing device, the image processing device performs image processing, the height of pineapple fruits is identified and transmitted to the controller, the controller controls the third speed reducer to rotate according to the heights of the pineapple fruits, the height position of the harvesting knife ((3)) is adjusted, and the most appropriate harvesting height is found.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a pineapple harvester.

Background

At present, the manual picking is mainly used for picking pineapples in China under most conditions. The pineapple picking operation is time-consuming and seasonal. If the manual picking is used, the efficiency is low, the labor amount is large, the manual damage is easily caused in the fruit picking process, and the economic loss can be caused if the manual picking is not enough and the picking cannot be carried out in time.

Mechanical assistance has been currently employed in pineapple picking. In recent years, different pineapple picking tools are designed in China, are small in size and convenient to carry, and can help fruit growers to pick pineapples to a certain extent, so that the pineapple picking tools play a certain role in relieving fatigue of the fruit growers after working and improve picking efficiency, but the picking method has high requirements on labor force, and the requirements on the number of workers in the era of rapid technological development are not improved to a great extent.

Disclosure of Invention

The pineapple harvester is provided for solving the problems that the existing domestic pineapple harvesting in the prior art is low in automation degree, mainly equipment is miniaturized, the dependence on labor force is high, the efficiency is low, and the labor amount is large.

A pineapple harvester comprises a vehicle body, a collection bin, a conveying belt, a harvesting knife, a conveying belt, a storage bin and a cam;

the vehicle body is provided with a wheel travelling mechanism which is driven by a power device to travel; the collecting bin is positioned at the front end of the vehicle body, and the upper part and the front end of the collecting bin are opened;

the collecting bin is positioned at the front end of the vehicle body, the upper part and the front end of the collecting bin are provided with openings and used for collecting the cut pineapples, the conveying belt is arranged at the right side position inside the collecting bin and is driven to rotate by the first speed reducer, the collecting cutter is arranged at the upper position of the collecting bin, the rear end of the collecting bin is rotatably connected with the collecting bin, the front end of the collecting bin is provided with a plurality of V-shaped openings, and the inner sides of the V-shaped openings are provided with cutting edges;

the storage bin is arranged on the vehicle body; the conveying belt is annularly and obliquely arranged on the vehicle body and is driven to rotate by a second speed reducer, the lower end of the conveying belt extends into the collecting bin, the upper end of the conveying belt extends into the storage bin, and a conveying shifting piece is arranged on the conveying belt;

the cam is located at the position below the middle part of the harvesting knife and is rotatably arranged on the collecting bin through a cam shaft, and the cam shaft is driven to rotate through a third speed reducer.

Preferably, the pineapple harvester is characterized in that the surface of the spiral conducting piece is subjected to rubberizing treatment.

Preferably, the pineapple harvester further comprises a camera, an image processing device and a controller, wherein the camera is arranged at the front end of the vehicle body and used for collecting images of pineapples, the collected images are transmitted to the image processing device, the image processing device is used for carrying out image processing, the heights of pineapple fruits are identified, the height values are transmitted to the controller, the controller controls the third speed reducer to rotate according to the heights of the pineapples, the height position of the harvesting knife is adjusted, and the most appropriate harvesting height is searched.

The invention has the beneficial effects that:

the adopted harvesting device can harvest in multiple rows, the picking efficiency is maximized in the harvesting of concentrated planting, unnecessary labor force and low-efficiency factors caused by manpower are reduced, and the harvesting device realizes multiple rows of harvesting compared with the existing harvesting mechanical device;

the height of each pineapple is intelligently calculated according to data analysis of the collected images in the picking process, so that effective picking is carried out;

the damage to the artificial and mechanical damage rate of the pineapples in the picking process is reduced, the finally obtained achievement rate is maximized, and in addition, the damage to the pineapples in the transportation process after picking is also reduced to the minimum.

Drawings

FIG. 1 is a three-dimensional view of one embodiment of the present invention;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a schematic view of a dragon transport roller in accordance with an embodiment of the present invention;

FIG. 4 is a schematic view of a harvesting unit lift mechanism according to one embodiment of the present invention;

FIG. 5 is a flow chart of pineapple picking operation according to the present invention;

FIG. 6 is a schematic structural diagram of a conveyor belt according to an embodiment of the invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings in the embodiment of the invention.

As shown in fig. 1 and 2, the pineapple harvester comprises a vehicle body, a collection bin 1, a conveying belt 2, a harvesting knife 3, a conveying belt 4, a storage bin 5 and a cam 6. The vehicle body is provided with a wheel travelling mechanism which is driven by a power device to travel. As shown in fig. 2 and 3, the collecting bin 1 is located at the front end of the vehicle body, the upper part and the front end of the collecting bin are open and used for collecting the pineapple which is cut off, the conveying belt 2 is arranged at the right side of the inside of the collecting bin 2, the conveying belt 2 is driven to rotate by the first speed reducer, the collecting knife 3 is arranged at the upper position of the collecting bin 1, the rear end of the collecting knife is rotatably connected with the collecting bin 1, the front end of the collecting bin is provided with a plurality of V-shaped openings, and the inner sides of the V-shaped openings are provided with;

the storage bin 5 is arranged on the vehicle body, the conveying belt 4 is annularly and obliquely arranged on the vehicle body and is driven to rotate by the second speed reducer, the lower end of the conveying belt extends into the collecting bin 1, the upper end of the conveying belt extends into the storage bin 5, and the conveying shifting piece 41 is arranged on the conveying belt 4.

The conveyor belt 4 has an inclined section and a horizontal section, wherein the horizontal section is located at the inner left end position of the collecting bin 1. The pineapple conveyed falls onto the horizontal section first, and then is conveyed into the storage bin through the inclined section. The transmission mode is smoother, pineapples are not easy to accumulate and omit, and the problems that pineapples are stuck and leaked in two conveying belt connection links in a transmission link are avoided.

The cam 6 is positioned below the middle part of the harvesting knife 3 and is rotatably arranged on the collecting bin 1 through a cam shaft 61, and the cam shaft 61 is driven to rotate through a third speed reducer.

The whole vehicle body runs, and the first speed reducer, the second speed reducer and the third speed reducer are powered by storage batteries.

The pineapple harvester further comprises a camera, an image processing device and a controller, wherein the camera is arranged at the front end of the vehicle body and used for collecting images of pineapples, the collected images are transmitted to the image processing device, the image processing device is used for carrying out image processing, the height of pineapple fruits is identified, the height value is transmitted to the controller, the controller controls the third speed reducer to rotate according to the height of the fruits, the height position of the harvesting knife 3 is adjusted, and the most appropriate harvesting height is searched.

The operator controls the third speed reducer to rotate by observing the height position of the pineapple, and the picking machine advances after adjusting the cutting knife 3 to a proper height position. Then the pineapple is cut off by controlling the lifting action of the harvesting knife 3 and falls into the collecting bin 1. The pineapples are finally transferred to a storage bin 5 through a conveyor belt 2 and a conveyor belt 4, and a cycle is completed.

The height position can be automatically adjusted by the arrangement of the sensing device. The whole harvesting process is that after the machine is started, the pineapple sensing device is firstly used for judging whether the machine carries out the next step or not so as to carry out image data operation, the image is collected by a camera on the sensing device, the collected and processed image is fed back to a receiving end to identify whether fruits to be harvested are in a visual field range or not, and the machine continues to advance until the vehicle stops advancing in the visual field range when the fruits are not in the visual field range. Then, height comparison is carried out according to the collected row of pineapples to be picked, height adjustment is carried out according to the lowest pineapple plant of the fruits to be picked, a cam structure is adopted for adjustment, as shown in fig. 4, the harvesting device is driven by the cam structure to rotate up and down, so that the lowest point is set to be fifteen to twenty centimeters below the average value to meet the lowest pineapple plant encountered in picking as much as possible, and picking is completed. The adjusting process is that the V-shaped harvesting knife is automatically adjusted to the position below the fruits to be harvested from the controller, and after the instruction is finished, the cam mechanism is disconnected from the power supply to prevent the cam mechanism from continuing to rotate, so that the harvesting device does unnecessary descending or ascending. When the power supply is switched off, the vehicle can continue to move forwards until the V-shaped harvesting opening of the V-shaped device completely extends into the middle between the pineapple fruit and the rod diameter, and the length size of the V-shaped harvesting opening is fixed, so that the distance for continuously moving forwards after the height is adjusted each time can be set as a fixed value; and then the separation process of the fruits and the rod diameter is completed, after the height is adjusted, the sensing device can transmit an end instruction to the control platform, so that the lifting can be performed manually or the reverse rotation of the cam can be performed automatically in an automatic mode of the machine, the cutting knife is enabled to rotate upwards, and the pineapple is separated from the rod diameter and falls into the collecting bin. The picked fruit is transported by the conveyor 2 to the conveyor of the machine as shown in fig. 1 and 3 and finally fed into the storage bin under the transport of the conveyor.

It will be appreciated that although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.