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CN-122004044-A - Rotary stripping type capsicum harvesting vehicle

CN122004044ACN 122004044 ACN122004044 ACN 122004044ACN-122004044-A

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a rotary comb-type chilli harvesting vehicle which comprises a comb-type threshing device, a clamping device, a collecting device, a seedling dividing guide device, a power steering device, a frame and a battery, wherein the devices are longitudinally and sequentially arranged along the frame to form a single row of harvesting units, and a plurality of groups of units are combined according to a delta-shaped structure. The seedling dividing guide device guides plants through a floating seedling divider and an auxiliary wheel, the clamping device adopts a cylinder driving synchronous belt and a spring buffer structure to adapt to stalks with different thickness, the combing device drives the rolling frame to rotate through a sectional engineering gear, combines combing teeth distributed circumferentially to alternately draw fruits, and combines the scraper hoist to convey the fruits to the collecting bin, and the power steering device adopts a transmission shaft nesting structure and a hydraulic shock absorber to adapt to complex terrains. The full-process automatic operation from seedling dividing, clamping and combing to collecting of the peppers is realized, the picking efficiency is high, the breakage rate is low, unmanned operation can be realized, and the automatic pepper picking machine is suitable for large-scale planting and multi-variety pepper picking.

Inventors

  • Ma Qingteng
  • YUAN HAO
  • ZHANG CHANGYUAN
  • WANG MINGXI
  • CHEN YUTIAN
  • LU PENGJU
  • LI YINFANG

Assignees

  • 江苏大学

Dates

Publication Date
20260512
Application Date
20260119

Claims (8)

  1. 1. The rotary comb-type chilli harvesting vehicle is characterized in that the harvesting vehicle adopts a herringbone multi-unit combined structure, each unit comprises a comb-type threshing device (1), a clamping device (2), a collecting device (3), a seedling dividing guide device (4), a power steering device (5), a frame (6) and a battery (7), the front side of the frame (6) is connected with the seedling dividing guide device (4), the comb-type threshing device (1) is symmetrically arranged in the middle, the lower part of the frame is connected with the clamping device (2), the collecting device (3) is arranged at the tail part of the frame, the power steering device (5) is arranged at the four corners of the frame, the battery (7) is arranged at the top of the frame, the comb-type threshing device (1), the clamping device (2) and the collecting device (3) are sequentially arranged longitudinally along the frame (6) to form a single-row picking unit, and a plurality of groups of single-row picking units are combined according to the herringbone structure.
  2. 2. The rotary comb-type pepper harvesting vehicle as claimed in claim 1, wherein the seedling separating guide device (4) comprises an auxiliary wheel (401), a guide mounting frame (402), a seedling separating device (403) and a guide plate (404), the auxiliary wheel (401) is mounted in front of the guide mounting frame (402), the seedling separating device (403) is mounted in front of the auxiliary wheel (401) in a floating mode and covers the auxiliary wheel (401), and the guide plate (404) is mounted on the left and right directions of the guide mounting frame (402).
  3. 3. The rotary stripping type chilli harvesting vehicle according to claim 1, wherein the stripping device (1) comprises a bearing frame (101), a sectional engineering gear (102), a rolling frame (103), stripping teeth (104), bearing rollers (105), a circular guide rail (107) and a scraper hoist (108), the rolling frame (103) is circumferentially provided with the bearing rollers (105), the side surfaces of the rolling frame are connected with the sectional engineering gear (102) and the edges of the rolling frame are connected with the stripping teeth (104), the circular guide rail (107) is arranged on the front side and the rear side of the bearing frame (101), the scraper hoist (108) is internally arranged, and the rolling frame (103) is in contact with the circular guide rail (107) through the bearing rollers (105) and can rotate.
  4. 4. A rotary stripping type chilli harvesting vehicle according to claim 3, wherein the stripping teeth (104) are made of engineering plastic, the tooth ends are bent, the tooth spacing is adjustable, the teeth are uniformly distributed along the edge of the rolling frame (103), and the stripping teeth (104) of the symmetrical stripping device (1) are overlapped in a crossing manner when rotating.
  5. 5. The rotary stripping type chilli harvesting vehicle according to claim 1, wherein the clamping device (2) comprises an air cylinder (201), a clamping mounting plate (202), a displacement plate (203), a synchronous pulley (204), a synchronous belt (205), a spring (206), a bearing (207), a tensioning wheel (208), a sliding block (209), a guide rail (210), a tensioning wheel guide rod (211), an air cylinder connecting block (212), a synchronous belt mounting shaft (213) and a tensioning wheel mounting shaft (214), wherein a bearing (207) is arranged at an opening of the displacement plate (203), the tensioning wheel guide rod (211) is arranged at the middle position and connected with the spring (206), the lower part is connected with the sliding block (209), the synchronous pulley mounting shaft (213) is matched with the bearing (207) and is locked with the synchronous pulley (204), the synchronous belt (205) is tensioned on the two synchronous pulleys (204) and the tensioning wheel (208), the upper outer edge of the clamping mounting plate (202) is provided with the air cylinder (201), the middle position is provided with the guide rail (210), the lower part is connected with the frame (6), the air cylinder connecting block (212) is arranged at the front end of the air cylinder (201), the push rod (202) is connected with the opening of the synchronous pulley (203), the tensioning wheel (208) is connected with the spring (206) through a tensioning wheel guide rod (211), the tensioning wheel guide rod (211) is sleeved with the spring (206) to realize self-adaptive adjustment of synchronous belt tensioning, and the air cylinder (201) pushes the clamping mounting plate (202) to enable the device to synchronously displace inwards to clamp plants and move forwards synchronously with the picking vehicle.
  6. 6. The rotary comb-type chilli harvesting vehicle according to claim 1, wherein the collecting device (3) comprises a scraper elevator (301) and a collecting bin (302), the scraper elevator (301) is mounted on a bearing frame (101) of the comb-type chilli harvesting vehicle (1) and moves along with the comb-type chilli harvesting vehicle, a buffer salient point is arranged on the surface of a conveying belt, and the tail part is aligned to a notch of the collecting bin (302) in a moving range.
  7. 7. The rotary comb-type pepper harvesting vehicle as claimed in claim 1, wherein the power steering device (5) comprises a telescopic transmission shaft assembly, a hydraulic damper (501), wheels (502), a power connection plate (503) and a small divider (506), wherein the telescopic transmission shaft assembly is formed by coaxially nesting a transmission shaft I (504) with a transmission shaft II (505) and is used for transmitting power and adjusting the length, a hydraulic damper (501) cylinder is hinged with a frame (6) or the power connection plate (503), a piston rod end is hinged with a shell or a wheel mounting seat of the telescopic transmission shaft assembly, the wheels (502) are connected to an output end of the telescopic transmission shaft assembly, the power connection plate (503) is fixed with the frame (6) and is connected with an input end of the telescopic transmission shaft assembly, the nesting length of the transmission shaft I (504) and the transmission shaft II (505) is adjusted to change the ground clearance of a chassis, the hydraulic damper (501) provides damping and cooperates with the telescopic transmission shaft assembly to jointly realize buffering and posture stabilization when the harvesting vehicle travels in a rough furrow, and the small divider (502) is mounted in front of the wheels (502) and is not blocked.
  8. 8. A rotary stripping type capsicum harvesting vehicle according to claim 3, wherein the stripping device (1) further comprises an L-shaped connecting plate (111), a shelf fixing plate (109) and a connecting plate (110), wherein the L-shaped connecting plate (111) is arranged at the inner side edge of the bearing frame (101), one end of the connecting plate (110) is connected with the L-shaped connecting plate (111), the other end of the connecting plate is connected with the shelf fixing plate (109), and the shelf fixing plate (109) is fixed with the frame (6) through the stripping device connecting frame (106).

Description

Rotary stripping type capsicum harvesting vehicle Technical Field The invention relates to the technical field of agricultural automatic picking equipment, in particular to a rotary comb-type capsicum harvesting vehicle suitable for dry capsicum. Background The yield of the capsicum serving as the second big vegetable crop in China reaches 3900 ten thousand tons in 2024, wherein the yield of northwest production areas such as Xinjiang, gansu and the like is more than 45 percent. However, the industry faces three major bottlenecks for a long time, namely low manual picking efficiency, 1.2 ten thousand times of temporary workers are needed for 2000 hectares of peppers in a certain group field of Xinjiang weapon, picking cost is high, the work price of picking in North Xinjiang in 2024 is increased to 1.5 yuan/kg, the total cost is 42%, the phenomenon of unmanned picking of cooked peppers occurs in part of the production area, and the existing picking machine is high in breakage rate and impurity rate and cannot meet the processing requirement of dry peppers. Currently, pepper picking is still mainly performed manually and semi-mechanically. However, with the rapid development of the pepper processing industry and the increasing maturity of automatic and intelligent technologies, the traditional picking mode cannot meet the requirement of large-scale planting, and the trend of pushing pepper harvesting to intelligent mechanical transformation is great. Mechanical picking is adopted in part of areas, but the picked pepper fruits and branches are mixed with each other and cannot be directly processed, and manual selection is still needed. The mechanical harvesting of the peppers is not realized only by mechanical harvesting, but also the impurity content and the harvesting loss rate of the peppers are effectively controlled so as to ensure ideal harvesting quality. The dry pepper harvesting is characterized in that after the dry pepper branches are dried, the dry pepper branches are soft and have larger connection force with the peppers, the weight of the peppers is similar to that of the branches, the vibration transmission cannot generate inertia force larger than the fruit connection force on the peppers, and the vibration harvesting is difficult to be applied to pepper harvesting. The fruit can be obtained from the root until the top end of the branch, and after the fruit enters the mature period, the branch is greatly tilted under the action of the gravity of the fruit, so that the branch is dispersed, the fruit stripping is facilitated by using the stripping type pepper, the negative pressure which is larger than the stripping force is difficult or the cost is too high, the stripping type pepper is picked, and only the feeding of the stripping part from the root of the pepper fruit is ensured, so that the possibility of picking the stripping type pepper in a stripping type is provided. According to patent retrieval, the prior art has the key defects that the picking equipment of the invention patent with the application publication number of CN202510302374.7, namely a pepper picking roller and a pepper picking method, the invention patent with the application publication number of CN202411055338.7, namely a spring tooth type pepper picking device with the regular change of spring tooth distance, and the invention patent with the application publication number of CN202411511099.1, namely a flexible angle-changing spring tooth type pepper picking device, adopts a comb tooth structure, but the comb tooth structure is immobilized, and the comb tooth direction is fed along the vertical direction of plant growth during picking, so that the picking is easy to break and a lot of impurities cannot be separated and can not be matched with different pepper varieties, and the invention patent with the application publication number of CN202510574339.0, namely a full-automatic pepper harvester is used for picking a hockey. The problems of damage and impurities caused by picking along the vertical direction of plant growth are solved to a certain extent, but the method can not adapt to the growth characteristics of the dry peppers, and is good only for specific peppers. In addition, there are many combing machines which are directed at crops with upright stalks such as grains and tobacco leaves and different fruit connecting forces, and the rigid structure and the vertical feeding mode of the combing machines are directly used for drying the peppers, so that the problems of high breakage rate, high impurity content, incapability of processing tilting branches and the like are caused. Disclosure of Invention The invention provides a rotary comb-type pepper harvesting vehicle, which aims to solve the technical problems of the existing pepper harvesting equipment that the existing equipment also commonly adopts a comb-tooth structure, but the comb-tooth structure is immobilized, and the comb-tooth feeding direction is vert