CN114051829B - Orderly fruit guiding and picking device and method for porous single forest fruits - Google Patents

Abstract

A device and method for orderly guided fruit picking by a porous unit of forest fruit, the device includes: a frame; The separated forest fruits fall; the porous fruit guide mechanism is set corresponding to the fruit handle separation mechanism, and is used to guide the forest fruits on the tree into the fruit handle separation mechanism in an orderly manner, so as to realize the porous monomer of the forest fruit and the orderly guidance. fruit; conveying and sorting mechanism, installed on the frame and connected with the handle separating mechanism, used for conveying and sorting the forest fruits separated by the handle separating mechanism, and completing fruit unloading; and controlling The mechanism is installed on the frame, and is respectively connected with the fruit handle separation mechanism and the conveying and sorting mechanism, and is used for real-time adjustment of the speed of fruit picking and sorting. The invention also provides a method for orderly guided fruit picking of the porous monomer of forest fruit. The invention has high efficiency and low loss, high quality and low impurity, and effectively improves the fruit picking performance and automation degree.

Description

A device and method for orderly guided fruit picking of porous single forest fruit

technical field

The invention relates to a forest fruit harvesting machine, in particular to a device and method for orderly guided fruit picking by a porous monomer of forest fruit.

Background technique

At present, my country is a big producer of forest and fruit, ranking first in the world both in terms of planting area and total output. There are many types of forest fruits (dried fruits, berries, and fresh fruits). Its industry is an important part of modern forestry and has become the third largest industry in the planting industry after grain and vegetables. It plays an important role in my country's crop planting , its crop production is a sunrise industry with great potential and has a very broad development scene.

The most labor-intensive and time-consuming link in the entire fruit planting cycle is the fruit harvesting operation. At present, fruit farmers in my country still mainly pick fruit by hand. Bamboo poles are often used to knock the fruit to the ground, and then pick up the fruit, which is inefficient. , The amount of labor is large, and the labor force used in picking operations accounts for 33% to 50% of the labor force used in the entire production process. If the mature fruit cannot be harvested in time, the quality of the fruit will not be guaranteed, resulting in unnecessary economic losses. Mechanical harvesting has gradually become the most effective way to harvest forest fruits. Therefore, realizing mechanized fruit picking is an inevitable trend in the development of the fruit industry, and it is of great significance to the development of the fruit industry in my country.

At present, the commonly used forest fruit harvesting equipment mostly adopts the vibration method to make the fruit fall. According to the different structural forms of the vibration device, the picking machinery can be divided into pneumatic type, impact type, vibration type, comb type and other types. Among them, air force type: Generally, a tractor is used to drive a high-power fan, and the direction of the airflow is changed by controlling the guiding device of the airflow. The fruit is shaken by the force generated by the strong airflow, so as to realize the process of fruit shedding. This method can avoid direct contact with fruit trees and reduce the fruit damage rate to the greatest extent. However, due to its own limitations, the negative pressure of the existing fan is insufficient, resulting in a small effective operating range, low work efficiency, and high impurity content; impact type: impact The device directly acts on the fruit tree, causing the branches to produce instantaneous accelerated motion to shed the fruit. This method has a higher harvesting rate, but it will cause more damage to the individual fruit trees, which will directly affect the fruiting rate of the next year's fruit trees; shaking type: when the tree is applied, vibration will be generated to make the fruit fall off. The technical research of this method is relatively mature, and it is more suitable for forest orchards of different scales, but it is easy to cause damage to the fruit trees; combing type: the combing device directly acts on the canopy of the fruit tree, and the fruit can be dropped by the rotation of the combing device . This method is suitable for harvesting low bush fruits, but it is easy to cause damage.

The above-mentioned picking methods in the prior art are basically applicable to dried fruits and berries, and the picking of fresh fruits is generally realized by manipulators. Therefore, there is no relatively mature, perfect and advanced forest fruit picking machinery. The existing machinery can no longer meet the needs of forest fruit production and picking, and cannot meet the development requirements of forest fruit industrialization and large-scale development, and has become a constraint for forest fruit crops. The bottleneck of industrialization development. Therefore, improving the efficiency of fruit picking, reducing the impurity rate, damage rate and improving the quality of fruit picking are problems to be solved in the field of automatic fruit picking.

Contents of the invention

The technical problem to be solved by the present invention is to provide an orderly guided fruit picking device and method for porous single forest fruit in view of the above problems in the prior art.

In order to achieve the above object, the present invention provides an orderly guided fruit picking device for porous single forest fruit, which includes:

frame;

Fruit stalk separation mechanism, installed on the frame, is used to separate the fruit from the branches and make the separated fruit fall when picking the fruit;

The porous fruit guiding mechanism is set corresponding to the stalk separation mechanism, and is used to guide the forest fruits on the tree into the stalk separation mechanism in an orderly manner, so as to realize the porous monomer of the forest fruit and the orderly fruit guidance;

Conveying and sorting mechanism, installed on the frame and connected with the stem separation mechanism, used to convey and sort the forest fruits separated by the stem separation mechanism, and complete fruit unloading; and

The control mechanism is installed on the frame, and is respectively connected with the fruit handle separation mechanism and the conveying and sorting mechanism, and is used to adjust the speed of fruit picking and sorting in real time.

The above-mentioned forest fruit porous monomer ordered fruit picking device, wherein, the fruit handle separation mechanism includes:

Fruit stalk separation cylinder, used to provide space for the separation of fruit stalks, said fruit stalk separation cylinder includes a cylinder body and an upper cylinder opening, a lower cylinder opening, an outer separation opening and an inner separation opening arranged on the cylinder body, and the upper cylinder opening connected with the porous fruit guiding mechanism;

an inner separation mechanism, connected to the inner separation port, for providing an inner separation airflow; and

The outer separation mechanism is connected with the outer separation port and is used for providing the outer separation airflow.

In the above-mentioned device for picking fruit with an orderly guided fruit porous unit, the outer separation port and the inner separation port are obliquely and symmetrically arranged at the upper part of the cylinder body at the same height.

The above-mentioned orderly guided fruit picking device for porous forest fruit, wherein, the axes of the outer separation port and the inner separation port are parallel to each other and perpendicular to the axis of the cylinder body, and the axes of the outer separation port and the inner separation port are The distance to the edge of the upper barrel mouth is L.

The above-mentioned forest fruit porous monomer orderly guided fruit picking device, wherein, the distance L from the axis of the outer separation port and the inner separation port to the edge of the upper cylinder mouth is determined by the length of the fruit handle of the picked forest fruit and the length of the porous guide fruit. The height of the institution is determined.

The above-mentioned orderly guided fruit picking device for porous trees, wherein the internal separation mechanism includes an internal air distribution cover, an internal separation pipe, an internal air flow main pipe and an internal fan, and the internal fan is installed on the frame. Both ends of the internal airflow manifold are respectively connected to the internal airflow distribution cover and the internal fan for delivering the airflow provided by the internal fan to the internal airflow distribution cover; the internal separation pipe is used for delivering airflow And change the air flow direction, one end of the inner separation pipe is connected with the air distribution cover respectively, and the other end of the inner separation pipe is respectively connected with the fruit handle separation cylinder one by one, so that the inner air distribution cover The airflow in the fruit stalk is evenly distributed to each of the fruit stalk separation cylinders.

The above-mentioned fruit porous monomer orderly guided fruit picking device, wherein, the outer separation mechanism includes an outer separation pipe, an outer air distribution cover, an outer air flow main pipe and an outer fan, and the outer fan and the outer air distribution cover are respectively installed on the On the frame, the two ends of the external airflow main pipe are respectively connected to the external airflow distribution cover and the external fan, for delivering the airflow provided by the external fan to the external airflow distribution cover; The separation pipe is used to convey the air flow and change the direction of the air flow. One end of the outer separation pipe is respectively connected with the outer air flow distribution cover, and the other end of the outer separation pipe is respectively connected with the fruit stem separation cylinder in a one-to-one correspondence. The airflow in the outer airflow distribution cover is evenly distributed to each of the stem separation cylinders.

The above-mentioned ordered fruit picking device for the porous monomer of forest fruit, wherein, the conveying and sorting mechanism includes:

The air distribution cover is connected with the fruit stalk separation cylinder and is used to receive the picked forest fruit;

a delivery pipe connected to the air distribution cover for delivering air to the air distribution cover;

The negative pressure air suction chamber provides space for fruit transportation, sorting and collection. The negative pressure air suction chamber includes a separation chamber, a settling chamber and a fruit blocking board; the separation chamber is connected with the conveying pipeline for separating Fruits and impurities; the fruit baffle is used to prevent fruits from entering the settling chamber; the settling chamber is used to store impurities;

The sorting mechanism is installed on the negative pressure air suction chamber and is used for sorting fruits and impurities. The sorting mechanism includes a power shaft and a sorting brush, and the power shaft is mounted on the frame and is connected with The motor is connected; the sorting brushes are arranged in a linear symmetrical array at intervals on the power shaft, and are in one-to-one correspondence with the fruit retaining board;

Air locker, connected with the bottom surface of the negative pressure air suction chamber, used to discharge forest fruit; and

The sorting blower is installed on the frame and connected with the negative pressure air suction chamber, and is used to provide air flow for fruit guiding, conveying and sorting.

In order to better achieve the above object, the present invention also provides a method for orderly guided fruit picking of forest fruit porous monomer, which includes the following steps:

S100. Determine the number of individual holes in the multi-hole fruit guide mechanism according to the density of fruit picking results, and adjust the diameter of the single hole according to the size of the fruit; set a round hole in the middle of the multi-hole fruit guide mechanism so that branches and fruit leaves can fall from it. ;

S200. Adjust the handle separation mechanism and the conveying and sorting mechanism to preset values through the control mechanism, and wait for the movement of each moving part to be stable;

S300. The rotation of the sorting fan makes the negative pressure air suction chamber form sufficient negative pressure. Under the action of air suction, the fruit is introduced from the single hole of the porous fruit guiding mechanism and enters the separation cylinder of the fruit stalk, so that the fruit Porous monomer and orderly guiding fruit; fallen branches and fruit leaves fall out from the circular hole of the porous fruit guiding mechanism to realize preliminary screening and separation, wherein the force F<Fz generated by the airflow on the forest fruit, Fz is The maximum bending force that the branches and trunks of forest fruits bear when they undergo elastic deformation;

I_p为果柄连接处截面对果实中心的极惯性矩；林果受到的扭矩为T＝2F_qr，F_q为内风机和外风机产生的气流作用力，r为林果果实的横径；林果果柄分离的条件为τ＞F_b，F_b为果柄临界分离力；以及S400, the inner separation mechanism and the outer separation mechanism separate the stems of the forest fruits in the stem separation cylinder, and the shear stress received when the stems are separated is:

I _p is the polar moment of inertia of the section at the connection of the fruit stalk to the center of the fruit; the torque received by the fruit is T=2F _q r, F _q is the airflow force generated by the internal fan and the external fan, and r is the transverse diameter of the fruit ; The condition for separation of the fruit stalk is τ>F _b , where F _b is the critical separation force of the fruit stalk; and

S500. The picked forest fruit enters the airflow distribution cover along the stem separation cylinder and merges, and is sucked into the negative pressure air suction chamber from the conveying pipeline, and the fruit and fruit separation is completed in the negative pressure air suction chamber. The secondary screening and separation of impurities; the fruit falls into the harvest box through the air locker by its own gravity to overcome the negative pressure, and the fruit picking is completed.

The above-mentioned method for picking fruit in an orderly guided manner by porous monomers of forest fruits, wherein the surface of the porous fruit guiding mechanism is a concave arc surface, brushes are arranged around the surface of the single hole, and the inclination angle of the concave arc surface is Satisfy: f ₁ <tanα<f ₂ , wherein, α is the inclination angle of the concave arc surface of the porous fruit guiding mechanism; f ₁ is the friction coefficient between branches and fruit leaves and the surface of the porous fruit guiding mechanism; f ₂ is the The coefficient of friction between the fruit and the surface of the porous fruit guide mechanism.

Technical effect of the present invention is:

The invention realizes the fruit porous monomer and the orderly fruit guiding process, and can complete the separation, transportation and sorting of the forest and fruit, greatly improves the picking efficiency of the forest and fruit, effectively reduces the damage rate and impurity rate, and can ensure The quality of fruit harvesting fundamentally solves the problems of low fruit picking efficiency, high damage rate, high impurity content, high labor intensity, and high operating cost in the existing technology, and effectively improves the fruit picking performance and automation level, reaching High-efficiency, low-loss, high-quality and low-impurity work effects.

Among them, according to the fruit picking density, the number of individual holes in the porous fruit guiding mechanism is appropriately increased or deleted to ensure that the fruits are introduced in an orderly manner, which can improve the fruit picking efficiency; The single hole diameter size in the porous fruit guide mechanism can realize different forest fruit picking; under the action of the common airflow generated by the inner separation mechanism and the outer separation mechanism on the forest fruit in the fruit handle separation cylinder, the repeated rotation process of the forest fruit can be realized, Complete the fruit stalk separation process, effectively reducing the picking damage rate; under the joint action of the brush around the single hole, the sorting mechanism and the airflow, complete the secondary sorting work, effectively reducing the fruit impurity rate.

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a device according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of a porous fruit guiding mechanism according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a fruit stem separation mechanism according to an embodiment of the present invention;

Fig. 4 is a schematic structural view of a fruit stem separation cylinder according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of an outer separation mechanism according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of an internal separation mechanism according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a conveying and sorting mechanism according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a negative pressure air suction chamber according to an embodiment of the present invention;

Fig. 9 is a schematic structural diagram of a sorting mechanism according to an embodiment of the present invention.

Among them, reference signs

1 rack

2 control mechanism

3 Conveying and sorting mechanism

31 Air distribution cover

32 delivery pipeline

33 Negative pressure suction chamber

331 Settling chamber

332 fruit blocking board

333 Separation chamber

34 air locker

35 Sorting agencies

351 sorting brush

352 power shaft

36 sorting fan

4 porous fruit guiding mechanism

41 single hole

42 round holes

5 stem separation mechanism

51 External separation mechanism

511 Outer Split Pipe

512 External air distribution cover

513 Outer Airflow Manifold

514 External fan

52 stem separation cylinder

521 Outer Separation Port

522 Upper port

523 Bottom port

524 internal separation port

53 Inner Separation Mechanism

531 internal separation pipe

532 Inner air distribution cover

533 Inner air manifold

534 Internal fan

Detailed ways

Below in conjunction with accompanying drawing, structural principle and working principle of the present invention are specifically described:

Referring to Fig. 1 and Fig. 2, Fig. 1 is a schematic diagram of the overall structure of the device according to an embodiment of the present invention, and Fig. 2 is a schematic diagram of the structure of the porous fruit guiding mechanism 4 according to an embodiment of the present invention. The orderly guided fruit picking device of the porous tree fruit unit of the present invention comprises: a frame 1; The separated forest fruits fall to realize the fruit picking work; the porous fruit guide mechanism 4 is set corresponding to the fruit stem separation mechanism 5, and is used to guide the forest fruits on the tree into the fruit stem separation mechanism 5 in an orderly manner, so as to realize Forest fruit porous monomer and ordered fruit guide, the porous fruit guide mechanism 4 can be set as a disc structure with a concave arc surface on the top surface, a circular hole 42 is arranged in the center, and monomer holes 41 are uniformly distributed around the monomer. Brushes can be set around the surface of the hole 41; the conveying and sorting mechanism 3 is installed on the frame 1 and connected with the fruit stem separation mechanism 5, and is used for conveying and sorting after being separated by the fruit stem separation mechanism 5 fruit, and can complete the fruit unloading work; and the control mechanism 2 is installed on the frame 1, and is respectively connected with the handle separating mechanism 5 and the conveying and sorting mechanism 3 for real-time adjustment of fruit picking and sorting speed. This embodiment can also include a collection box, which can be arranged below the conveying and sorting mechanism 3 for collecting the picked and sorted forest fruits.

Referring to Fig. 3 and Fig. 4, Fig. 3 is a schematic structural diagram of a stem separation mechanism 5 according to an embodiment of the present invention, and Fig. 4 is a schematic structural diagram of a stem separation cylinder 52 according to an embodiment of the present invention. The stem separation mechanism 5 of the present embodiment includes: a stem separation cylinder 52, which is used to provide space for the separation of the stem. The cylinder mouth 523, the outer separation opening 521 and the inner separation opening 524, the upper cylinder opening 522 is connected with the porous fruit guide mechanism 4; the inner separation mechanism 53 is connected with the inner separation opening 524, and is used to provide inner separation air flow, and the lower The barrel opening 523 is connected to the air distribution cover 31 ; and the outer separation mechanism 51 is connected to the outer separation opening 521 for providing the outer separation air flow. Wherein, preferably, the outer separation port 521 and the inner separation port 524 are obliquely symmetrically arranged at the same height on the upper part of the cylinder body. The axes of the outer separation port 521 and the inner separation port 524 are parallel to each other and perpendicular to the axis of the barrel, and the distance from the axes of the outer separation port 521 and the inner separation port 524 to the edge of the upper barrel port 522 is L . The distance L from the axis of the outer separation opening 521 and the inner separation opening 524 to the edge of the upper cylinder opening 522 is determined by the length of the handle of the picked forest fruit and the height of the porous fruit guiding mechanism 4 .

Referring to FIG. 5 , FIG. 5 is a schematic diagram of an outer separation mechanism 51 according to an embodiment of the present invention. The outer separation mechanism 51 of the present embodiment is connected with the outer separation port 521 of the stem separation cylinder 52 to provide the outer separation air flow, including the outer separation duct 511, the outer air flow distribution cover 512, the outer air flow main pipe 513 and the outer fan 514. The external air blower 514 and the external air flow distribution cover 512 are installed on the frame 1 respectively, and the external air blower 514 provides air flow for external separation; 514 connection, used to deliver the airflow provided by the external fan 514 to the outer airflow distribution cover 512; the outer airflow main pipe 513 is connected to the lower surface of the airflow distribution cover 31 to deliver the external separated total airflow to the airflow distribution cover 31 The air flow distribution cover 31 is connected with the outer separation pipe 511, and each air flow is evenly distributed in each pipe; the outer separation pipe 511 is used for delivering air flow and changing the direction of the air flow, and one end of the outer separation pipe 511 is connected to the outer separation pipe 511 respectively. The outer air distribution cover 512 is connected, and the other end of the outer separation pipe 511 is connected with the fruit handle separation cylinder 52 in a one-to-one correspondence, so that the air flow in the outer air distribution cover 512 is evenly distributed to each of the fruit. Handle separation cylinder 52.

Referring to FIG. 6 , FIG. 6 is a schematic diagram of an inner separation mechanism 53 according to an embodiment of the present invention. In this embodiment, the internal separation mechanism 53 includes an internal air distribution cover 532, an internal separation duct 531, an internal air flow manifold 533, and an internal fan 534. The internal fan 534 is installed on the frame 1 to provide internal separation. Air flow; the two ends of the inner air flow main pipe 533 are connected with the inner air distribution cover 532 and the inner fan 534 respectively, for delivering the air flow provided by the inner fan 534 to the inner air distribution cover 532, and the inner air flow The main pipe 533 is connected with the lower surface of the air distribution cover 31, and the internally separated total air flow is delivered to the air distribution cover 31; the internal separation pipe 531 is used to transport the air flow and change the direction of the air flow, and one end of the internal separation pipe 531 is connected to the air flow distribution cover 31 respectively. The airflow distribution cover 31 is connected, and the airflow distribution cover 31 distributes each airflow evenly into each pipeline; the other end of the inner separation pipeline 531 is connected with the fruit stem separation cylinder 52 in a one-to-one correspondence, so that the inner The airflow in the airflow distribution cover 532 is evenly distributed to each of the stem separation cylinders 52 .

Referring to Fig. 7-Fig. 9, Fig. 7 is a schematic structural diagram of a conveying and sorting mechanism 3 according to an embodiment of the present invention, Fig. 8 is a schematic structural diagram of a negative pressure air suction chamber 33 according to an embodiment of the present invention, and Fig. 9 is a schematic structural diagram of an embodiment of the present invention Schematic diagram of the structure of the sorting mechanism 35. The conveying and sorting mechanism 3 includes: an airflow distribution cover 31, preferably in the form of a round table structure, the upper surface of which is connected to the stem separation cylinder 52 for receiving picked forest fruits; a conveying pipeline 32 for distributing with the airflow The lower surface of the cover 31 is connected to deliver the air flow to the air distribution cover 31; the negative pressure air suction chamber 33 provides space for fruit delivery, sorting and collection, and the negative pressure air suction chamber 33 includes a separation chamber 333 , a settling chamber 331 and a fruit blocking plate 332; the front surface of the separation chamber 333 is connected to the conveying pipeline 32 for separating forest fruits and impurities; the fruit blocking plate 332 is preferably in the shape of a grid for blocking the fruit Enter the settling chamber 331; the settling chamber 331 is used to store impurities; the sorting mechanism 35 is installed on the negative pressure air suction chamber 33 for sorting forest fruits and impurities, and the sorting mechanism 35 includes a power shaft 352 and sorting brushes 351, the power shaft 352 is installed on the frame 1 and connected with the motor, the motor provides power for sorting; the sorting brushes 351 are arranged on the power shaft 352 in a linear symmetrical array at intervals on, and corresponding to the fruit baffle plate 332 one by one; the damper 34, connected to the bottom surface of the negative pressure air suction chamber 33, for discharging fruit; and the sorting fan 36, installed on the frame 1, and connected with the back of the negative pressure air suction chamber 33, for providing air flow for guiding fruit, conveying and sorting.

During work, each blower fan and the motor of the fruit porous monomer ordered fruit picking device can be adjusted to preset values through the control mechanism 2, and the movement of each moving part is stable. The sorting fan 36 rotates to make the air form a pressure difference in the flow field, so that the negative pressure air suction chamber 33 forms a sufficient negative pressure, and the forest fruits hanging on the branches are discharged from the single hole of the porous fruit guide mechanism 4 under the action of air suction. The body hole 41 is introduced into the fruit stalk separation cylinder 52 to realize the porous monomer of the forest fruit and the orderly fruit guiding process. In addition, the fallen branches and fruit leaves fall out from the middle circular hole 42 of the porous fruit guide mechanism 4 under the joint action of the brush and the inclination of the concave arc surface, so as to realize the preliminary screening work. At the same time, the rotation of the internal fan 534 and the external fan 514 generates a positive blowing air flow, and the air flow is generated from the inner separation mechanism 53 and the outer separation mechanism 51 on the fruit in the handle separation cylinder 52, which can realize the repeatability of the fruit. Rotate to complete the fruit stalk separation process. At this time, the picked forest fruit enters the airflow distribution cover 31 along the fruit handle separation cylinder 52, and then merges and is sucked into the negative pressure air suction chamber 33 from the conveying pipeline 32. In the negative pressure air suction chamber 33, the forest fruit and impurities Through the winding of the sorting mechanism 35 and the effect of negative pressure, the fruit leaves and branches are sorted, and they come out of the miscellaneous discharge port and fall on the ground, thereby completing the secondary separation work; In wind device 34, fall in the harvesting box with its rotation, finish the forest fruit picking work.

The orderly guide fruit picking method of forest fruit porous monomers of the present invention may comprise the following steps:

Step S100: Determine the number of individual holes 41 in the porous fruit guide mechanism 4 according to the density of fruit picking results. The individual holes 41 are distributed in a circular array, which is convenient for picking forest fruits faster; and adjust the individual holes 41 according to the size of the fruit The size of the diameter ensures that each hole can only import a single fruit, which can improve the separation efficiency of the fruit stalk, avoid clogging, and facilitate picking of different types of forest fruits; a circular hole 42 is set in the middle of the porous fruit guiding mechanism 4, so that branches and fruit leaves can pass through the hole. drop;

Step S200, through the control mechanism 2, adjust each fan and motor of the fruit handle separation mechanism 5 and the conveying and sorting mechanism 3 to the preset value, and wait for the movement of each moving part to be stable;

Step S300, the sorting fan 36 rotates so that the air forms a pressure difference in the flow field, so that the negative pressure air suction chamber 33 forms a sufficient negative pressure, and the forest fruit is sucked from the single hole of the porous fruit guide mechanism 4 under the action of air suction. The body hole 41 is introduced into the fruit stalk separation cylinder 52 to realize the porous monomer of the forest fruit and orderly guide fruit; in addition, the fallen branches and fruit leaves are separated from the The middle round hole 42 of the porous fruit guide mechanism 4 falls out to realize preliminary screening, wherein the force F<Fz generated by the air flow on the fruit, where Fz is the maximum bending force borne by the fruit branch and the trunk during the elastic deformation stage ;

I_p为果柄连接处截面对果实中心的极惯性矩；林果受到的扭矩为T＝2F_qr，F_q为内风机534和外风机514产生的气流作用力，r为林果果实的横径；林果果柄分离的条件为τ＞F_b，F_b为果柄临界分离力；以及In step S400, the rotation of the inner fan 534 and the outer fan 514 generates a positive blowing airflow, and the inner separation mechanism 53 and the outer separation mechanism 51 generate an airflow effect on the fruit in the handle separation cylinder 52, which can realize the repeated rotation process of the fruit, The resultant force generated is greater than the separation force of the fruit stalk, and the separation process of the fruit stalk is completed. The shear stress received when the fruit stalk is separated is

I _p is the polar moment of inertia of the cross-section at the joint of the fruit stalk to the center of the fruit; the torque received by the fruit is T=2F _q r, F _q is the airflow force generated by the internal fan 534 and the external fan 514, and r is the torque of the fruit. Transverse diameter; the condition for the separation of fruit stalks of forest fruits is τ>F _b , where F _b is the critical separation force of fruit stalks; and

Step S500, the picked forest fruit enters the airflow distribution cover 31 along the stem separation cylinder 52, then merges, and is sucked into the negative pressure air suction chamber 33 from the conveying pipeline 32. In the suction chamber 33, the fruits and impurities are sorted through the winding of the sorting mechanism 35 and the effect of negative pressure to sort the fruit leaves and branches, and fall on the ground from the miscellaneous discharge port, thereby completing the secondary separation of fruits and impurities; Under the effect of overcoming the negative pressure, it falls in the air locker 34 by its own gravity, and falls into the harvest box with its rotation to complete the fruit picking work.

Wherein, the surface of the porous fruit guiding mechanism 4 is preferably a concave arc surface, brushes can be arranged around the surface of the single hole 41, and the inclination angle of the concave arc surface satisfies: f ₁ <tanα<f ₂ , Wherein, α is the inclination angle of the concave arc surface of the porous fruit guiding mechanism 4; _f1 is the friction coefficient between branches and fruit leaves and the surface of the porous fruit guiding mechanism 4; _f2 is the forest fruit and the porous fruit guiding mechanism 4 The friction coefficient of the surface can preliminarily realize the screening of forest fruits and impurities.

The invention can realize the fruit porous monomer and the orderly fruit guiding process, and can complete the separation, transportation and sorting of the fruit, and fundamentally solve the problems of low fruit picking efficiency, high damage rate, and high impurity rate. Reduce labor intensity and operating costs, achieve high efficiency, low loss, high quality and low miscellaneous work effects, and effectively improve the performance and automation of fruit picking.

Certainly, the present invention also can have other multiple embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding Changes and deformations should belong to the scope of protection of the appended claims of the present invention.

Claims (7)

1. A fruit porous monomer orderly guided fruit picking device, characterized in that, comprising: frame; Fruit stalk separation mechanism, installed on the frame, is used to separate the fruit from the branches and make the separated fruit fall when picking the fruit; The porous fruit guiding mechanism is set corresponding to the stalk separation mechanism, and is used to guide the forest fruits on the tree into the stalk separation mechanism in an orderly manner, so as to realize the porous monomer of the forest fruit and the orderly fruit guidance; Conveying and sorting mechanism, installed on the frame and connected with the stem separation mechanism, used to convey and sort the forest fruits separated by the stem separation mechanism, and complete fruit unloading; and The control mechanism is installed on the frame, and is respectively connected with the handle separation mechanism and the conveying and sorting mechanism, and is used to adjust the speed of fruit picking and sorting in real time; Wherein, the fruit handle separation mechanism includes: Fruit stalk separation cylinder, used to provide space for the separation of fruit stalks, said fruit stalk separation cylinder includes a cylinder body and an upper cylinder opening, a lower cylinder opening, an outer separation opening and an inner separation opening arranged on the cylinder body, and the upper cylinder opening connected with the porous fruit guiding mechanism; The internal separation mechanism is connected with the internal separation port and is used to provide internal separation air flow. The internal separation mechanism includes an internal air distribution cover, an internal separation pipe, an internal air flow main pipe and an internal fan, and the internal fan is installed on the machine. On the frame, the two ends of the internal airflow main pipe are respectively connected with the internal airflow distribution cover and the internal fan for delivering the airflow provided by the internal fan to the internal airflow distribution cover; the internal separation pipe is used When transporting the air flow and changing the direction of the air flow, one end of the inner separation pipe is respectively connected with the air distribution cover, and the other end of the inner separation pipe is respectively connected with the stem separation cylinder one by one, so as to separate the inner The airflow in the airflow distribution cover is evenly distributed to each of the fruit stalk separation cylinders; and The outer separation mechanism is connected with the outer separation port and is used to provide the outer separation air flow. The outer separation mechanism includes an outer separation pipe, an outer air distribution cover, an outer air flow main pipe and an outer fan, and the outer fan and the outer air distribution cover respectively installed on the racks, and the two ends of the external airflow main pipe are respectively connected with the external airflow distribution cover and the external fan for delivering the airflow provided by the external fan to the external airflow distribution cover; The outer separation pipe is used to transport airflow and change the direction of airflow, one end of the outer separation pipe is respectively connected to the outer air distribution cover, and the other end of the outer separation pipe is in one-to-one correspondence with the fruit handle separation cylinder connected to evenly distribute the airflow in the outer airflow distribution cover to each of the stalk separation cylinders; Under the action of the common airflow generated by the inner separation mechanism and the outer separation mechanism on the forest fruits in the stem separation cylinder, the forest fruits are repeatedly rotated to complete the separation of the stems. 2 . The orderly guided fruit picking device of porous single tree and fruit according to claim 1 , wherein the outer separation opening and the inner separation opening are obliquely and symmetrically arranged at the upper part of the cylinder. 3 . 3. The orderly guide fruit picking device of forest fruit porous monomer as claimed in claim 2, characterized in that, the axes of the outer separation port and the inner separation port are parallel to each other and perpendicular to the axis of the cylinder, and the The distance from the axes of the outer separation opening and the inner separation opening to the edge of the upper barrel opening is L. 4. The orderly guide fruit picking device of forest fruit porous monomer as claimed in claim 3, characterized in that, the axis of the outer separation port and the inner separation port to the edge distance L of the upper cylinder mouth is determined by the time of picking forest fruit The length of the fruit stalk and the height of the porous fruit guiding mechanism are determined. 5. The fruit porous monomer orderly guiding fruit picking device as claimed in claim 1, wherein the conveying and sorting mechanism comprises: The air distribution cover is connected with the fruit stalk separation cylinder and is used to receive the picked forest fruit; a delivery pipe connected to the air distribution cover for delivering air to the air distribution cover; The negative pressure air suction chamber provides space for fruit transportation, sorting and collection. The negative pressure air suction chamber includes a separation chamber, a settling chamber and a fruit blocking board; the separation chamber is connected with the conveying pipeline for separating Fruits and impurities; the fruit baffle is used to prevent fruits from entering the settling chamber; the settling chamber is used to store impurities; The sorting mechanism is installed on the negative pressure air suction chamber and is used for sorting fruits and impurities. The sorting mechanism includes a power shaft and a sorting brush, and the power shaft is mounted on the frame and is connected with The motor is connected; the sorting brushes are arranged in a linear symmetrical array at intervals on the power shaft, and are in one-to-one correspondence with the fruit retaining board; Air locker, connected with the bottom surface of the negative pressure air suction chamber, used to discharge forest fruit; and The sorting blower is installed on the frame and connected with the negative pressure air suction chamber, and is used to provide air flow for fruit guiding, conveying and sorting. 6. A method for picking fruit porous monomer orderly guided fruit, characterized in that, adopting the orderly guided fruit picking device for forest fruit porous monomer described in any one of the above-mentioned claims 1-5 to carry out forest fruit picking, Include the following steps: S100. Determine the number of individual holes in the multi-hole fruit guide mechanism according to the density of fruit picking results, and adjust the diameter of the single hole according to the size of the fruit; set a round hole in the middle of the multi-hole fruit guide mechanism so that branches and fruit leaves can fall from it. ; S200. Adjust the handle separation mechanism and the conveying and sorting mechanism to preset values through the control mechanism, and wait for the movement of each moving part to be stable; S300. The rotation of the sorting fan makes the negative pressure air suction chamber form sufficient negative pressure. Under the action of air suction, the fruit is introduced from the single hole of the porous fruit guiding mechanism and enters the separation cylinder of the fruit stalk, so that the fruit Porous monomer and orderly guiding fruit; fallen branches and fruit leaves fall out from the circular hole of the porous fruit guiding mechanism to realize preliminary screening and separation, wherein the force F<Fz generated by the airflow on the forest fruit, Fz is The maximum bending force that the branches and trunks of forest fruits bear when they undergo elastic deformation; S400, the inner separation mechanism and the outer separation mechanism separate the stems of the forest fruits in the stem separation cylinder, and the shear stress received when the stems are separated is:

I _p is the polar moment of inertia of the section at the connection of the fruit stalk to the center of the fruit; the torque received by the fruit is T=2F _q r, F _q is the airflow force generated by the internal fan and the external fan, and r is the transverse diameter of the fruit ; The condition for separation of the fruit stalk is τ>F _b , where F _b is the critical separation force of the fruit stalk; and S500. The picked forest fruit enters the airflow distribution cover along the stem separation cylinder and merges, and is sucked into the negative pressure air suction chamber from the conveying pipeline, and the fruit and fruit separation is completed in the negative pressure air suction chamber. The secondary screening and separation of impurities; the fruit falls into the harvest box through the air locker by its own gravity to overcome the negative pressure, and the fruit picking is completed. 7. The method for picking fruit in an orderly manner by the porous monomer of forest fruit as claimed in claim 6, wherein the surface of the porous fruit guiding mechanism is a concave arc surface, and brushes are arranged around the surface of the single hole, The inclination angle of the concave arc surface satisfies: f ₁ <tanα<f ₂ , wherein, α is the inclination angle of the concave arc surface of the porous fruit guiding mechanism; f ₁ is the relationship between branches and fruit leaves and the porous fruit guiding mechanism The coefficient of friction of the surface; f ₂ is the coefficient of friction between the forest fruit and the surface of the porous fruit guiding mechanism.

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