瑞士专利CH712440A1 Harvest robot for harvesting tree fruits.

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专利摘要:
The harvest robot is used for picking tree fruits, especially olives. It has at least two mutually parallel, protruding and vertically offset rows (1, 2) of picking rods (3, 4). These are held in their rear area in a holder (5) and collectively hineinschiebbar with this with their free front ends (6) in a tree. With their front ends (6) they are against each other and swung open. In each pivoting state, they can be pulled out of the tree collectively with their support (5), taking off fruit between the picking rods (3, 4) of the two rows (1, 2) of picking rods (3, 4). The individual picking rods (3, 4) of each row (1, 2) are mounted in the rear area translationally displaceable against a spring force in the holder (5). When collectively retracting the picking rods (3, 4) into a tree and striking a single picking rod (3, 4) with its front end (6) on a branch, it is stopped or he can relative to the holder through this translationally therethrough be moved against a restoring spring force. After the collective extraction of all picking rods (3, 4) with the harvested fruits in between, all picking rods (3, 4) are pushed forward again by the force of the acting spring forces their holder and thus brought into their original position.
公开号:CH712440A1
申请号:CH00599/16
申请日:2016-05-06
公开日:2017-11-15
发明作者:Pippi Pierluigi
申请人:Pippi Pierluigi；
IPC主号:

专利说明:

Description: This invention relates to a harvesting robot for efficiently and gently picking tree fruits, especially olives or nuts. The harvesting of olive trees as an example, but also of nut trees, is still done by hand in most cases. Especially on old olive tree stands in hilly terrain harvesting is mechanically possible only limited or at best with semiautomatic aids for dog harvesting. It is a very time-consuming and strenuous work, which requires high personnel costs. In order to ensure a high quality of the olives, the effective fruits should be harvested in the ripe and not over ripe condition. When harvesting with common mechanical aids, the bark is often damaged, which in the following years in the form of reduced crop yields can affect.
There are certain harvesters, for example, the olive harvester OXBO 6420 Olive Harvester the company OXBO from Lynden, WA 98 264 (www.oxbocorp.com). This machine is designed to run lengthways over a row of olive trees. She strips the olives with relatively invasive interventions from both sides of the tree with harvesting rods rotating about vertical axes and projecting radially from this axis, which are swung through the branches of the tree. The machine is efficient, but can only be used on a more or less level basis for the harvesting of precisely arranged olive trees or olive trees in a row. This machine can not be used in cropped terrain on irregularly standing and especially old and thus relatively large olive trees, which are planted in an irregular pattern.
Further, in the prior art EP 2 566 317 B1 a device for moving two rows of tines against each other is known. This movement is based on a rotational movement, which is transformed into a swinging movement. The device is mounted on a support device and then driven into the tree. AU 2010 257 276 A1 shows another device for harvesting olives. A cubic frame is slipped over a tree and rotated around the tree around the axis of the tree trunk. Fingers or tines at different heights horizontally protrude into the interior of the tree and they can swing back and forth. WO 2003 069 975 A1 shows a further automatic harvesting machine. Two semicircular frames are driven around a tree on both sides and swung together. Fingers protrude from the semicircular frame into the tree and can be swung up and down and moved back and forth. In principle, such devices work with fingers or prongs, which swing against each other and thereby slowly pulled out of the tree.
However, none of the previously known devices is suitable for the careful and efficient harvesting of olive trees or nut trees even in hilly terrain, especially if the trees are old, the trees have grown accordingly large, and if the trees are planted in irregular patterns and its contour is not particularly symmetrical. In Europe, for example, the olive trees are planted in large majority old olive groves, often in cropped terrain, and the trees are usually very old, sometimes several hundred years old. The olive groves are also protected in many places. So far, such olive trees can only be harvested by hand, but offer olives of autochthonous, high quality.
The object of the present invention, it is in the context of this situation and this state of the art, to provide a harvesting robot for picking tree fruits, which allows the rapid, efficient, inexpensive and gentle picking of tree fruits, and especially in hilly terrain can be used. The harvest robot is said to be particularly suitable for harvesting olives from the olive trees, even if they are irregular, even large and old trees on sloping terrain. The harvesting robot should be attachable in one embodiment to a tractor or to a hangar carrier vehicle and be realized in a further embodiment with its own all-terrain chassis, and be used both self-controlled and remote-controlled.
This object is achieved by a harvesting robot for picking tree fruits, with at least two mutually parallel, horizontally projecting and offset rows of picking rods held in their rear area in a holder and with this collectively with their free front ends are hineinschiebbar in a tree and with their front ends against each pivoting and reopenable, and as a whole in each pivot state collectively are pulled out of the tree, subtracting fruits between the picking rods of the two rows of picking rods, and which is characterized in that the individual picking rods of each row are translationally mounted in the rear bracket translationally against a spring force in the holder, so that each picking rod within a row when retracting the picking rods in a tree when it stops with its front end on a branch through the same, currency All the picking bars which do not hit an obstacle can be further pushed into the tree, after which the picking rods of the two rows are pivotable up and down in their translatory position, and at the same time or subsequently can be withdrawn from the tree by pivoting backwards out of the tree, all of them Picking rods can be pushed forwards by the force of the acting springs and thus be brought into their initial position.
A possible embodiment of this harvesting robot is shown in the drawings and with reference to these drawings, the harvesting robot will be described below and its function will be explained.
It shows:
Fig. 1 seen the crop robot obliquely from the front, in the state for the first time entering a tree with the picking rods in their uppermost position;
Fig. 2 A view of the harvesting robot seen from the front;
Fig. 3 seen the harvesting robot obliquely from the front, in the state for the first time entering a tree and grown on a Hanggeräte-carrier vehicle;
Fig. 4 is a view of the harvesting robot seen obliquely from the front, with the harvesting robot collapsed downwards, for driving on a road;
Fig. 5 seen a view of the harvesting robot obliquely above and behind;
Fig. 6 A view of the harvesting robot seen from above;
Fig. 7 is a view of the harvesting robot seen obliquely from the front and top, with missing left side wall and mounted on a hangar carrier vehicle, as well as with underneath, circular section A shown enlarged;
FIG. 8 shows the harvesting robot as shown in FIG. 3, but with picking rods pushed back against spring forces; FIG.
9 shows the harvesting head of the harvesting robot from FIG. 8 in an enlarged illustration, with the picking rods pushed back towards the rear;
FIG. 10 shows the harvesting head of the harvesting robot from FIG. 9 in a further enlarged representation, seen obliquely from behind and upwards, with the picking rods pushed backwards; FIG.
Fig. 11 The harvesting robot built on its own chassis, with head extended to its uppermost position, seen on the left side;
Fig. 12 The harvesting robot built on its own chassis, with the harvesting head retracted to its lowest position, seen on the left side;
Fig. 13 The harvesting robot behind an indicated olive tree when driving in the same against the viewer, and right next to the circular section A shown enlarged;
Fig. 14 Two stacked Pfückstäbe seen from the side, depending with its tip on a branch abutting;
Fig. 15 A view from the front seen against the front ends of two rows of picking rods, with their effect on the fruits to be harvested;
Fig. 16 The harvest head with only one picking rod of the upper and one of the lower row, to illustrate their suspension and their drive, in front spread position of the two picking rods;
17 shows the harvesting head with only one picking rod each of the upper row and one of the lower row, to illustrate its suspension and its drive, in the front swiveled position of the two picking rods, when hitting a vertical obstacle;
Fig. 18 shows the harvesting head with the plurality of longitudinally displaceable picking bars and their associated pneumatic tubes in a view obliquely from above and behind;
Fig. 19 shows the harvesting head with the plurality of longitudinally displaceable picking bars and their associated pneumatic tubes in a view from above;
Fig. 20 The harvesting head with the plurality of longitudinally displaceable picking rods and their associated pneumatic hoses in a sectional view AA of FIG. 19 seen from the side, and including three circular sections A, B and C in an enlarged view as Details A, B and C;
Fig. 21 The crop head with the plurality of longitudinally displaceable picking rods and their resilient suspensions seen in a view from the front, and including a circular section D with the detail D in an enlarged view;
Fig. 22 The left side wall of the harvesting robot in the upward extended state with a view of its inside;
Fig. 23 An enlarged section of the left side wall of the harvesting robot with its scissors construction seen on the inside;
Fig. 24 A section of the left side wall of the harvesting robot seen from behind, with the side wall extended upward;
Fig. 25 The left side wall of the harvesting robot seen from behind in collapsed state down.
The harvesting process is as follows: The harvesting robot is driven into a quarter sector of the tree to be harvested. It is driven with two offset in the side and height rows of rods at his harvest head in the tree. The harvest head is first retracted on the overall height of the tree in the treetop. He moves during his harvest process from top to bottom. Rods colliding with large branches are ejected towards the rear relative to the harvesting head against the entry direction of the harvesting robot. This prevents damage to the bars or branches. Those bars that do not collide reach into the treetop with their total length. Driven by an actuator, the rods are placed in a vertical up and down oscillation. In addition, the rods, driven by rotation of an eccentric mass on the rod tip, can oscillate about its axis of symmetry. By superimposing the two oscillations, the rod tips, depending on the stiffness of the rods and the rotational speed of the eccentric masses, pass through all the spatial points in a forwardly opening cone around the rod tips at the respective height of their plane. By retracting the rods backwards out of the treetop, the rod tips finally pass through all the space points which are located within the two rows of staffs. Thus, all tree fruits, which are located between the rows of bars and collide with the bars, separated from the tree, respectively harvested. Those rods which oscillate and strike vertically on a branch are deflected by the existing resistance and by a mechanical device. This can prevent damaging the rod and branch. Tree fruits, which fall to the right, to the left or to the back, are guided by guides on the harvesting robot into a collecting funnel. This can be guaranteed that no tree crops are lost. The tree fruits eventually collect in a collecting funnel, from where they can be filled in crates.
Once all the rods have been extended from the treetop, the entire harvesting head moves to three quarters of the distance between the two rows of bars down. Thereafter, the rods are driven back into the treetop and the cycle begins again. The cycle is repeated until the head of harvesting leaves the tree trunk at the bottom of the tree. A quarter or about a 90 ° sector of the tree is thus harvested. Now the harvest robot can approach the next quarter or 90 ° sector of the same tree or another tree. This depends mainly on the plantation structure and how the trees are planted. If the tree is on slippery terrain, the harvesting robot can automatically align the harvesting head with the pliers using hydraulic actuators relative to the tree.
After the work, the harvesting robot can be compactly collapsed. This simplifies driving through the plantation or on a street. In this configuration, the harvest robot can also be parked to save space.
In the following, an embodiment of such a harvesting robot, that is, a realistic construction, presented by means of drawings in detail and its operation will be explained. Fig. 1 shows the harvesting robot seen obliquely from the front, in the state for the first time entering a tree with the picking rods 3, 4 in their uppermost position. The harvesting robot has at least two mutually parallel, projecting and offset rows 1, 2 of picking rods 3, 4, which are held in their rear area in a holder 5 in a harvesting head 15. These picking rods 3, 4 can now be pushed collectively with their free front ends 6 into a tree by the entire harvesting robot moves with respect to the tree against the tree trunk. For this purpose, it can be mounted on a chassis or attached to a tractor or to a hangar carrier vehicle. Before the harvesting robot is driven into a tree with its picking rods 3, 4, it is fixed in place by means of hydraulic drives. For this purpose, the harvesting robot is constructed on a chassis, which can be mounted pivotably about two intersecting axes on a carrier vehicle. Erecting is important because in many cases the terrain on which the trees to be harvested is inclined. Accordingly, it must first be ensured for each entry into a tree that the harvesting robot is perpendicular. This Lotrechtstellen done automatically by sensors detect the inclination of the harvesting robot and raise it automatically by means of the designated hydraulic drives automatically into the Lot. However, the raising can also be controlled by hand by means of the hydraulic drives. The then horizontally projecting picking rods 3, 4 are pivotable with their front ends 6 against each other and afterwards pivoted away from each other again. They can be pulled out of the tree as a whole in each pivot state by means of a displaceable in the harvesting head 15 rod extractor 49. In this retraction, when the two rows 1, 2 of picking rods 3, 4 are pivoted together or oscillate and at the same time pulled out of the tree collectively, the fruits or olives or nuts are deducted from their stems and are thereafter between the upper row. 1 and lower row 2 of the picking bars 3, 4 are caught or they are shaken off the stems by the swinging picking bars 3, 4. By opening and oscillating the picking rods 3, 4, the harvested fruits fall down into the collecting funnel 16. The visible here side walls 8 together with a rear attached panel 48 ensure that laterally or backward wegpickende or eliminated fruits or olives are not lost , They bounce off the insides of these walls 8 and on the bladder 48 and fall afterwards also into the collecting funnel 16. The individual picking rods 3, 4 of each row 1,2 are translationally displaceable in their rear area against a spring force in a folder 5 on the harvesting head 15 stored. Each picking rod 3, 4 can therefore be individually pushed against this spring force to the rear, so that it is pushed into the frame 17 into it. Each picking rod 3, 4 within a row of 1.2 can therefore when entering the picking bars 3, 4 in a tree when it strikes with its front end 6 on a branch and stopped by the further entry of the harvesting robot in the Dodge the tree into the back. He is pushed in his holder 5 relative to the harvesting head 15 to the rear, against a spring force. All picking bars 3, 4 that do not hit an obstacle are pushed further into the tree. The harvesting robot is driven into a tree until the front ends 6 of the picking rods 3, 4 end near the tree trunk. Afterwards, the picking rods 3, 4 are actively swung up and down by a drive. The spaced rows 1, 2 of picking rods 3, 4 are thus displaceably or pivotably mounted transversely to the lattice plane formed by them. In the example shown, this transverse direction extends in the vertical direction. Simultaneously or subsequently to a pivoting together the picking rods 3, 4 collectively pulled backwards out of the tree, all picking rods 3.4 are pulled out by means of a rod extractor 49 against the force of the acting spring forces from the tree. After changing the altitude of the picking rod rows 1,2, the picking rods 3, 4 pushed back against the harvesting head 15 in the holder 5 due to the spring forces acting and finally take back their starting position, as shown in Fig. 1 , The picking bars 3, 4 on the harvesting robot are resiliently mounted in a range between about one-fifth and one-third of their length, which measures between 1.50 m and 2.50 m, from their rear end 7 transversely to their running direction, and their rear ends 7 are motorized in the direction of the spring travel up and down, so that the front ends 6 are pivotable about a greater displacement, and so that they are resiliently supported when hitting an obstacle by the spring-mounted storage in the direction of the pivot plane, as still with reference to FIG 16 and 17 becomes clear.
The harvesting head 15 is mounted altogether height adjustable on the harvesting robot. Scissor constructions 11 are used on both sides of the harvesting robot. These scissors constructions 11 can serve solely for guidance by the crop head 15 being steplessly adjustable in height by means of its own drive, or else the scissors constructions 11 themselves constitute the drive for the height adjustment of the harvesting head 15 by the ends of the front and rear joints of the scissors are interspersed in one or more locations with horizontally extending hydraulic cylinders whose pistons are hydraulically extendable, so that the scissor structures 11 act as lifting shears and are movable up and down. The scissor structures 11 carry on each side of the harvesting robot each one of a plurality of horizontal, spaced apart and front free slats 9 formed side wall 8. These slats 9 extend from its rear end 10 to the front. They are each attached to a rear and front joint of a scissors construction 11. At the front, they remain free to float, to their front end. They thus form, so to speak, fingers which, thanks to their front free end, can be moved into the branches and branches of a tree, very much like the picking rods 3, 4. When the scissors constructions 11 are extended to the very top, as shown in FIG. arise in order to fill these columns 12 as possible, bars 14 are arranged metal or a suitable plastic between these columns 12 parallel to the slats 9 extending. In addition, the edges of the slats 9 may be provided with brushes, so that their bristles project at right angles to the slats 9 of these up and down. The rods 14 are held in their rear region on hinge bands, so that when moving the scissor structures 11, the mutually parallel rods 14 in cross section through all these packages of rods therethrough are pivoted together to form an arcuate structure, that is, the holder designed as a hinge can be pivoting together, and by such a pivoting of their limbs, it deviates into the interior of the side wall, as can be seen from FIGS. 24 and 25. Both the slats 9 as well as the rods 14 are displaced towards the rear spring loaded, as well as the picking rods 3, 4, for example by means of elastic bands that are stretched when moving backwards, and after elimination of a pushing back force the slats 9 and Push rods 14 forward again. Below the two side walls 8 can be seen the collecting funnel 16, in which the harvested fruits fall from the picking rods 3, 4 from so that they can be caught by a hole 18 in a box or bag. The recess 19 in the framework of the collecting funnel 16 is provided with brushes and intended to receive the tree trunk of a tree when the harvesting robot is driven into a tree and is driven close to the trunk. This whole collecting funnel 16 can be made adjustable in height via a hydraulic cylinder combined with a chain hoist. At different inclinations of the terrain on which the trees to be harvested, the collecting hopper 16 can thus be placed at the correct height under a tree and does not collide with the terrain. Otherwise, this would be the case above all else if a tree is approached from below on the fall line of the terrain.
Fig. 2 shows this harvesting robot seen in a view from the front. It can be seen here, the two Seitenwän-de 8, extending from the lateral edges of the catcher 16 upwards, and in the upper part of the harvesting head 15 with the two rows 1,2 of picking rods 3, 4. In this view you can see the round rods 14 between the slats 9, which approximately fill the gaps or gaps 12 between the slats 9. These round bars 14 are held at the rear end in two hinged bands at the front and rear ends of a scissors construction 11, which is curved to a slight arc. The more the scissors construction 11 is moved downwards, the narrower the gaps 12 between the horizontally extending slats 9 and the stronger the
Articulated belts or their members pivoted together so that the arc formed by them 40 assume an ever smaller radius. Accordingly, the visible in the drawing bows are formed, wherein the round rods 14 corresponding to perpendicular to the sheet plane and each form a free finger at the front end. Overall, with these side walls 8 can be moved into different heights in a tree. The front free laths 9 and the interposed, front free rods 14 can be like fingers moved into branch and branch of the tree and, if necessary, due to their stiffness and flexibility of the branches and branches to move sideways to a certain range, including at the free end are rounded. The longitudinal edges 13 of the slats 9 may also be equipped with extending transversely to the slats 9 brushes of elastically yielding rods, for largely closing the walls 8 in the upward extended state of the scissor structures 11. When the slats 9 or rods 14 on a hard obstacle, For example, when they hit a strong branch that they can not move sideways, they are pushed back in the same way as the picking bars 3, 4 when they hit the obstacle and when the harvesting robot is moved into the tree. The rods 14 and the slats 9 are translationally displaceable in this way against the spring force of rubber bands. During the subsequent retraction of the harvesting robot from the tree, the round rods 14 and the slats 9 are pushed back by virtue of these rubber bands back to their original positions. By this spring-loaded freedom from displacement damage to the slats 9 and the rods 14 is prevented.
Fig. 3 shows this harvesting robot seen obliquely from the front. As shown here, it is mounted on the front of a slope device carrier vehicle 20 which serves at its rear a compressor 21 for supplying the actuators in the harvesting head 15 with compressed air. This whole unit at the rear weighs about 250kg and also serves as a counterbalance to the front mounted crop robot. The compressor 21 is driven by the rear power take-off of the hangar carrier vehicle 20. The front power take-off, however, is used for the hydraulic pump of the hydraulic drives for the lifting shears, for erecting the entire harvesting robot in the Lot and for the height adjustment of the collecting funnel 16. The compressed air from the compressor serves on the one hand to drive the pneumatic cylinder, which sets a transverse profile 37 on the harvesting head 15 up and down in order to bring the picking rods 3, 4 to oscillate. On the other hand, the compressed air is used to operate a pneumatic cable motor 25 and the eccentric masses at the front free ends 6 of the picking rods 3, 4. Towards the rear one recognizes the frame 17, which is like a drawer in the harvesting head 15 is slidable. Within the frame 17 can be seen a variety of pneumatic tubes 55 which are wound like a spring and thus extendable in different lengths. They can be connected at the rear end to the frame 17 via a connection with a pneumatic hose for the compressed air from the compressor 21. At their front ends they are connected to the rear ends of the picking bars 3, 4, for injecting air into the interior of the picking bars 3, 4, which are formed as tubes. The compressed air arriving at the front end of the picking bars 3, 4 causes the eccentrics rotatably mounted there to rotate, so that the picking rods 3, 4 not only oscillate up and down, but depending on the compressed air pressure and thus variable rotational speed of the eccentric rotate within a cone as an envelope swinging , In addition, the hangar carrier vehicle 20 with its front PTO can be used as the power source for driving an additional hydraulic pump, which feeds the various hydraulic cylinders of the harvesting robot. Among other things, the hydraulic cylinders are used for upward extension of the scissor structures 11 and the lifting shears and thus of the harvesting head 15 and the side walls 8. In the perspective shown can be seen also the horizontal slats 9 of the side walls 8 and the likewise horizontally extending round rods 14. So Harvested olives can not fall back against the tractor, a roller 47 is installed with a Blache 48. When driving upwards of the harvesting head 15, the bladder 48 is unrolled from the spring-loaded roller 47, so that it rolls up the bladder 48 by the spring when moving together the scissors constructions 11. The Blache 48 forms a wall in the unrolled state, which prevents the olives can fall backwards. As an alternative to Blache 48 and windable slats would be possible.
In Fig. 4 is a view of the harvesting robot seen obliquely from the front, with down-driven harvesting robot. From the position of the harvesting robot, as shown in FIG. 3, that is, with the crop head 15 fully extended upwards, the two rows 1, 2 of picking bars 3, 4 are driven into a tree and moved out of the tree under oscillatory pivoting, for which special bar pullers 49 (FIG. 5) not visible here are used. The picking rods streak and vibrate the fruit from the tree and they fall into the collecting funnel 16. The reversing is continued until the picking rods 3, 4 have completely moved out of the tree, then the harvesting head 15 is about% of the distance between the two rows 1, 2 of the picking bars 3, 4 driven down and they are again moved into the tree and moved out of it under oscillation, etc., until the whole harvest robot presented as shown in Fig. 4. The scissors constructions 11 are now moved completely down and the slats 9 are almost or completely on each other. The two rows 1, 2 of picking rods 3, 4 are in their lowermost position for extension from a tree. In this collapsed position of the harvesting robot, with drawer-like forwardly inserted into the harvesting head frame 17 can be driven with the Hanggeräte-carrier vehicle 20 also on a public road, because the harvesting robot can be designed for example to a width of 2.50 m be so that no extra width is needed. For the harvesting of larger trees, however, it can of course be broader, which then makes the traffic on public roads an exemption permit necessary.
Fig. 5 shows a view of the harvesting robot obliquely above and behind seen. As can be seen in this view, two scissors constructions 11 each are constructed on each side of the harvesting robot as lifting shears on the support frame 21 of the harvesting robot, between which the rear ends of the side walls 8 extend. The rearwardly projecting frame 17 is similar to a drawer manually displaced forward. The frame 17 forms the receptacle for the guide 50, which leads the rod extractor 49 when pulling the rows 1, 2 of the picking rods 3, 4 to the rear. The rod extractor 49 is actuated by means of a cable 22 which runs at the rear end of the frame 17 via two pulleys 23, 24 and is driven by a pneumatic drive motor 25 with Pulley. This frame 17 takes the driving in of the two rows 1,2 of picking rods in a tree from this pushed back picking rods 3, 4. These are then pushed back against a spring force in the frame 17. For harvesting the fruit caught between the picking rods 3, 4 or struck or stripped off and fallen down the picking rods 3, 4 are superimposed by means of this rod extractor 49 drawn to their Ozillations- and rotational movement in the frame 17, against acting spring forces, until they are completely withdrawn and are therefore in frame 17. Then the harvesting head 15 is moved a piece-wide in height and the rod extractor 49 moves forward again, whereby the picking rods 3, 4 pushed by effective springs pushed forward into the tree, after which the oscillation and rotation of the picking rods 3, 4 is initiated again.
Fig. 6 shows a view of the harvesting robot seen from above, in plan view. On the left side of the drawing can be seen the picking rods 3 of the upper row 1 of picking rods 3, with the laterally delimiting side walls 8 on the collecting funnel 16 and the outer scissor constructions arranged 11. In the middle is the harvesting head 15, in which the Picking rods 3, 4 are held. On the right, the frame 17 is shown, over which the pneumatic tubes 55 extend, for supplying the picking rods 3, 4 with compressed air.
Fig. 7 provides another view of the harvesting robot seen obliquely from the front and top, with missing left side wall and with the picking rods to two, namely the picking rod 3 of the upper row 1 and the Pfück-bar 4 of the lower Row 2 hidden. Whenever a single picking bar 3, 4 encounters a strong resistance, such as when it meets with its front end on a thick branch, so it is pushed in its holder in the harvesting head 15 against the force of a spring to the rear and thus in the frame 17 as far as necessary depending on the situation. It may therefore be that after driving the harvesting robot into a tree, a few picking rods 3, 4 are more or less pushed back into the frame 17. The side walls 8, that is, their slats 9 and rods 14 are rounded front and flexible in each direction, but still relatively stiff. They differ when hitting an obstacle, either because they bend sideways because of their flexibility, or because of their stability they first push something out of the way in the form of a branch or branch and then slide off that branch or branch. The slats 9 and rods 14 of the side wall 8 can be pushed by an obstacle like a branch but analogous to the picking rods 3, 4 to the rear. The slats 9 and rods 14 of the side walls 8 are sprung by means of rubber bands and return to their original position as soon as they can spring back by the lack of resistance. Below the drawing, the circular section A is shown enlarged and you can see the drive 26 for the scissor construction 11 to be grown, as it is also grown on the other side of the harvesting robot. In a horizontal square tube 28, a further, smaller square tube 29 is slidably mounted. At its upstanding tabs 29, the lowermost scissor struts are pivotally mounted, and opposite, at the other end of the stationary square tube 27, the associated scissor strut is then also pivotally mounted, which crosses the above-mentioned about a common axis. By extending and retracting the smaller square tube 29 in the large square tube 28, for example by means of a threaded rod, hydraulic or pneumatic, the scissors design 11 can be extended upwards and retracted again. On the rear side of the harvesting head 15 can be seen in Fig. 7, the frame 17, within which the extendable in the manner of a tension pneumatic hoses 55 are housed, supplied by the compressor 21 with compressed air for driving the eccentric on the tips of the picking rods 3, 4 become.
In Fig. 8, the harvesting robot as shown in Fig. 3, but with hach rear pulled picking rods 3, 4 shown. The entire space between the two side walls 8 therefore remains free and gives the view of the unrollable Blache 48, which closes the space between the side walls 8 towards the rear.
In Fig. 9, the harvesting head of the harvesting robot, as well as from Fig. 8 can be seen, shown in an enlarged view, with the pulled-back picking rods 3, 4. By means of the pneumatic drive 25 with pulley and the rope to be wound on it 22nd the rod extractor 49 can be moved forward again and thus pushes the picking rods 3, 4 in their use position.
This whole harvesting head is shown in Fig. 10 in still enlarged view of obliquely behind and seen above. It can be seen the pulled-back picking rods 3, 4 with their rod extractor 49, which is movable with the cable 22 forward, taking along the picking rods 3, 4, and the frame 17, in which the rod extractor 49 and the picking rods 3, 4 out are.
As an alternative to growing on a tractor or a hangar carrier vehicle 20, this harvesting robot can also be equipped with its own chassis. As such chassis is one with drive crawlers for a reason-friendly and all-terrain drive, or four-wheel drive with four or more wheels. A universally swiveling support on the chassis allows the harvesting robot to always be positioned on the chassis in an upright position and to be firmly held in this position. In Fig. 11, the harvesting robot, constructed on a separate chassis 54, is shown in a side view, looking at its left side. His harvest head has extended to its highest position here, as the scissor constructions lifted it up. The chassis 54 is equipped with four wheels, for example, all are drivable. For this purpose, one electric drive can be provided for each individual wheel. The front and rear wheels can be steered for maximum maneuverability of the harvesting robot between the trees of an olive grove. Such a harvesting robot is operated by means of a wireless remote control. The operator stands or sits next to and can control and monitor all operations via a portable control panel or joystick. A self-directed and controlled harvest robot version can be positioned in the terrain relative to the trees by differential GPS and by reference sensors attached to the trees. In a harvesting robot network, the robots communicate the distribution of swarming work. For example, up to four harvest robots can harvest their 90 ° sector on one tree at the same time.
Fig. 12 shows this harvesting robot with its own chassis 54, in which case the harvesting head 15 is retracted to its lowest position. In this position, the harvest robot is transportable, for example, by being driven onto a trailer with a low cargo bed or heaved onto the bed of a delivery or truck.
Fig. 13 shows the harvesting robot behind an indicated olive tree when driving in the same against the viewer. If the harvesting robot is moved in this way completely to the tree or in its branches and branches, surrounds the recess at its collecting funnel 16, the tree trunk. It can be seen here the collecting funnel 16 and the two wheels 30 of the tractor or the Hanggeräte-carrier vehicle. The two rows 1,2 of the picking rods 3, 4 have been extended here in their uppermost position upwards. The two side walls 8 are driven with their slats and rods between the slats in the tree. Now a first harvesting may begin by swinging the picking rods 3,4 up and down and in circles and at the same time pulling them out of the tree by collectively retracting the rod puller 49. To the right of the drawing is an enlarged detail A shown in the drawing, in which one looks at the harvesting head 15. One recognizes the front ends of the upper row 1 of picking rods 3, and those of the lower row 2 of picking rods 4.
Fig. 14 under this enlarged circular section A shows two picking rods 3, 4 seen from the side. The upper picking rod 3 is struck on a branch fork, while the lower picking rod 4 already earlier found a stop and was thus shifted backwards relative to the upper picking rod 3 on further driving into the tree.
Fig. 15 shows a view from the front of the ends of the picking rods. One recognizes the upper row 1 and the lower row 2 and a little enlarged shown the fruits or olives between the two rows 1, 2 and to the right of how they are torn under the vibrations of the picking rods 3, 4 from their stems and fall down.
16, the support and storage of the picking rods 3, 4 is disclosed in more detail on the harvesting head 15. At the rear end stick the picking rods 3, 4 in a socket 35, 36. These sockets 35, 36 are held on vertical rods which are movable up and down. For this purpose, the profile 37 is movable up and down by means of a pneumatic actuator. The pivotal struts 38 on the harvesting head 15 transmit the up and down movement to the lower profile 51. The ends of the picking rods 3 and 4 are thus moved synchronously opposite to each other up and down. The more forwardly arranged brackets with their sockets 33, 34 are designed to be vertically yielding, that is, they are attached to struts 31,32, so so that the sockets 33, 34 can yield resiliently up and down. Now, if the rear sockets 35, 36 are pneumatically moved up and down, so do the front sections of the picking rods 3, 4 from their spring-mounted sockets 33, 34. But should the front portion of a picking stick when panning on a hard obstacle butt, so offers this resilient storage in the sockets 33, 34 a dodge, so that the picking rods 3, 4 take no damage.
Fig. 17 shows the situation when the two ends of the picking rods 3, 4 were shown completely driven against each other and hit an obstacle. The actuation profile 37 has accordingly reached its uppermost position. Thus, the picking rods 3, 4 does not bend the socket 33, 34 deflected vertically against a spring force. Accordingly, the front portions of the picking rods 3, 4, ie those in front of the sockets 33, 34, are pivoted together, so that the front ends of the staggered picking rods 3, 4 are pressed together on the obstacle. The effect of the picking bars 3, 4 on the obstacle resembles the effect of a grabbing scissors. This whole movement and deflection applies to all picking bars 3, 4 of the upper and lower rows 1, 2.
Fig. 18 shows the harvesting head 15 with the plurality of longitudinally displaceable picking rods 3, 4 in a view obliquely from above and behind with the frame 17 and the cable 22 for pulling the rod extractor 49 by means of the drive 25. In Fig 19 you can still see the harvesting head 15 from above.
And in Fig. 20 can be seen the section AA of FIG. 19 with the harvesting head 15 and the forward projecting picking rods 3, 4 and the rearwardly projecting frame 17 with its cable 22 and drive 25 in a view from the side seen here. The scissors construction 11 is here completely collapsed, so that the picking rods 3, 4 are in the lowest position. The detail A at the front tip of the picking rod 4 below is interesting. The tip of the picking rod 4 carries an eccentric imbalance 39, which is rotatable about the rod axis. For this purpose, this picking rod is a tube 41. Through its interior, compressed air can be conveyed to its tip, which can then rotate the eccentric unbalance 39 mounted rotatably on the rod tip. If it rotates, this leads to an all-round swinging the picking rod 4. Depending on the air pressure and the vibration behavior of the picking 4, a soft, wide swinging can be generated up to an almost local fine vibration at high speed of the imbalance 39. By the superposition of Both oscillations, the rotation and the up and down movement, the staff tip should be able to go through all spatial points in the area around the rod tip and thus achieve a higher harvest success. Detail A shows detail B, which is again derived from section A-A from FIG. 19. It can be seen here in detail the suspension of the picking rods 3, 4 by means of a rubber band 52 which is attached to the harvesting head 15 and is connected via pulleys 53 with the end of the picking rods 3, 4. The detail C in Fig. 20 is also taken from the section AA of FIG. 19 and shows the rear lower corner of the frame 17 with the deflection roller 24 arranged there for the cable 22. Des Furthermore, the two pneumatic hoses 42 and the pneumatic connections 43 for supplying the pneumatically operated unbalance mechanism at the picking staff end 6 can be seen.
Fig. 21 shows the harvesting head 15 with the plurality of longitudinally displaceable picking rods 3, 4 and their suspensions seen in a view from the front, and including a circular section with the detail D in an enlarged view. It can be seen the struts 31 for the upper row of picking rods 3, and the lower struts 32 for the lower row of picking rods 4, and on both sides of the each arranged parallel two scissors constructions 11.
Fig. 22 shows the left side wall 8 of the harvesting robot in the upwardly extended state with a view of its inside. It consists of a number of all around free slats 9 and between the slats of a number of round rods 14 for driving into the branch and branch of a tree. These slats 9 and rods 14 can dodge elastically flexible on all sides. The side walls 8 prevent the fruits or olives or nuts, which at most are laterally flying away due to the vibrations of the picking rods 3, 4, from falling to the ground and being lost. Rather, they are very likely intercepted by the slats 9 or rods 14 and fall afterwards into the collecting funnel 16. At the rear end of the side wall 8, the scissor constructions 11 act, for each side wall 8 two in number. The slats 9 and the round rods 14 extend over this scissors construction 11 away to the rear and, like the picking rods 3, 4 can be pushed translationally to the rear against a spring force.
FIG. 23 shows a view of the round bars 14 in the region of the scissor construction 11. These round bars 14 can run between two scissors constructions 11, so that only the outer scissors construction 11 behind the round bars 14 is recognized here. The round rods 14 are connected by means of transversely extending hinge plates. As the two outer ends of the hinge tabs move toward each other, they continue to round off the round bars 14 towards the interior of the side wall 8 so that the radius of the arc formed is reduced.
Based on Fig. 24, the arrangement of the round rods 14 in these hinge bands or joint plates 45 can be better understood. Shown is a section of a section through a side wall 8. The hinge bands or joint plates 45 here consist of four hingedly interconnected links 46, wherein the round rods 14 are perpendicular to the hinge bands 45 attached to the hinge points extending. It will now be understood that, as shown in Fig. 25, when the scissor structures 11 have collapsed all the way down and the distances between the slats 9 have become minimal, then the wrist straps 45 with their four links 46 are all pivoted together, as shown. The round bars 14 then form an arc against the inside and an impenetrable grid of horizontally spaced bars 14 for the fruits.
Number list Figure 1 Upper row of picking bars 3 2 Lower picking bars 4 3 Upper picking bars 4 Lower picking bars 5 holder 6 free front ends of the picking bars 7 rear end of the picking bars 8 bounding lateral walls 9 front free battens 10 rear end of the battens 9 11 Scissor construction 12 Space between the slats 13 Longitudinal edges of the slats 14 Rods between the slats 9 15 Harvesting head 16 Collecting funnel 17 Frame for receiving the rear ends of the picking rods 3, 4 18 holes in the catching funnel 19 Recess in the collecting funnel 20 Hangar carrier vehicle 20 21 Counterbalance to the harvesting Robot 22 Bowden cable for frame 17 23 Deflection pulley Rope pull 22 24 Deflection pulley Rope pull 25 Drive for rope pull 22 26 Drive for scissor construction 11 27 Square profile 28 Smaller square profile, slidable in 27 29 Lugs 30 Wheels of the hangar carrier vehicle 31 Strut for picking bar 3 32 Strut for picking stick 4 33 version to Fed erbein 31 for picking rod 3 34 socket on strut 32 for picking rod 4 35 socket on back of picking rod 3 36 socket on back of picking rod 4 37 actuation profile for picking rod oscillation 3 38 pivoting struts for actuation profile 39 eccentric imbalance 40 bend of articulated stabilizer 41 pipe as picking rod 42 Pneumatic hose for imbalance mass 43 Pneumatic connection to the valve box 44 Rear profile of the frame 17 45 Articulated belt / hinge strap 46 Links of the hinge 47 Roller for the bladder 48 Blade for the rear of the harvesting robot 49 Bar extractor

权利要求:
Claims (15)
[1]
1. Harvest robot for picking tree fruits, with at least two mutually parallel, projecting and offset rows (1,2) of picking rods (3, 4), held in its rear area in a holder (5) and collectively with this with their free front ends (6) are hineinschiebbar in a tree and with their front ends (6) against each other and pivotally open, and as a whole in each pivoting state collectively be pulled out of the tree, with subtracting fruits between the picking bars ( 3, 4) of the two rows (1, 2) of picking rods (3, 4), characterized in that the individual picking rods (3, 4) of each row (1, 2) in its rear region translationally displaceable against a spring force in the Support (5) are mounted so that each picking rod (3, 4) within a row (1,2) when retracting the picking bars (3, 4) in a tree when it stops with its front end (6) stop on a branch through the same bar, while all non-hitting an obstacle picking rods (3, 4) are pushed further into the tree, after which the picking rods (3, 4) of the two rows (1,2) are oscillatable in their translational position, and simultaneously or subsequently can be withdrawn from the tree at a pivoting back by means of a rod extractor (49), wherein all picking rods (3, 4) by the force of the acting spring forces pushed forward and thus can be brought into their initial position.
[2]
2. harvest robot for picking tree fruits according to claim 1, characterized in that at the front tip of the picking rods (3, 4) each one about the longitudinal axis of the picking rod (3, 4) rotatable eccentric imbalance (39) is mounted, which by the picking rod (3, 4) formed as a tube (41) is rotatable by means of compressed air, so that the tips of the picking rods (3, 4) are displaceable in an oscillation superimposed for up and down swing and with the tips of an area around the tips are paintable at rest or they are displaceable depending on the rotational speed of the imbalance in a superimposed vibration.
[3]
3. Harvest robot for picking tree fruits according to one of the preceding claims, characterized in that the picking rods (3, 4) on the harvesting robot in a range between one fifth and one third of their length of between 1.50 m and 2.50 m from their rear end (7) are spring-mounted transversely to their course direction, and their rear ends (7) are motor-displaced in the direction of the spring travel back and forth, so that the front ends (6) are oscillatable by a greater displacement than the rear ends, and are resiliently supported in the direction of the plane of oscillation when hitting an obstacle by the spring-mounted bearing.
[4]
4. Harvest robot for picking tree fruits one of the preceding claims, characterized in that the spaced rows (1, 2) of picking rods (3, 4) on the harvesting robot transversely to the lattice bars (3, 4) formed by the lattice plane displaceable are stored by the harvest head (15) of the harvesting robot, in which the picking rods (3, 4) are mounted, by means of hydraulically actuated scissor structures (11) are height adjustable.
[5]
5. Harvest robot for picking tree fruits according to one of the preceding claims, characterized in that on the back of the harvesting head (15) a frame (17) is drawer-like retractable rearwardly mounted to receive picked up by obstacles picking rods (3.4 in driving it into a tree, and that pneumatic connections are provided at the rear end of the frame (17) for connection to the rear ends of resilient pneumatic hoses (55), which with their front end to the rear ends of the picking bars (3 , 4) are connected to supply the rotatable eccentric (39) at their front ends with compressed air for their drive.
[6]
6. Harvest robot for picking tree fruits according to one of the preceding claims, characterized in that the rows (1, 2) of picking rods (3, 4) on the harvesting robot between two of these rows (1, 2) at their two-sided ends delimiting walls (8) of a plurality of in the same direction as the picking bars (3, 4) extending, spaced apart and front free slats (9) are arranged, which at its rear end (10) on an extendable scissors construction (11) are, these slats (9) each form a slatted frame as a wall (8), and within these two walls (8) the picking rod rows (1, 2) transversely to the lattice plane of the rows (1,2) are motor-driven, wherein the slats (9) transversely to its direction of a scissors construction (11) contracted state with minimum lateral spacing of the slats (9) are extended with uniform widening their distances, each forming a Lattenros tes as a side wall (8), at which the slats (9) each have a gap (12) free.
[7]
7. harvest robot for picking tree fruits according to claim 6, characterized in that the longitudinal edges (13) of adjacent slats (9) are connected in their rear region with at least one articulated bracket, in which parallel to the slats (9) extending a plurality of bars (14) is held so that the distances of the bars (14) by extension and retraction of the slats (9) is variable, and the bars (14) and slats (9) with their free ends in each extended position the slats (9) are moved into a tree, and with sufficient resistance, both the slats (9) and the rods (14) are displaced in their holders against the force of springs to the rear.
[8]
8. harvesting robot for picking tree fruits according to one of claims 6 to 7, characterized in that the longitudinal edges (13) of the slats (9) are equipped with transversely to the slats (9) extending brushes of elastically yielding rods, for the most part Close the walls (8) in the extended state.
[9]
9. Harvest robot for picking tree fruits according to one of the preceding claims, characterized in that the spaced-apart rows (1, 2) of picking rods (3, 4) extend horizontally and bounded on both sides by slatted-like vertically extending walls (8) are within which they are slidably mounted upwards and downwards.
[10]
10. harvest robot for picking tree fruits according to one of claims 1 to 8, characterized in that the spaced-apart rows (1,2) of picking rods (3, 4) are perpendicular and on both sides of slatted-like horizontal walls (8) are limited, within which they are mounted laterally displaceable back and forth.
[11]
11. Harvest robot for picking tree fruits according to one of the preceding claims, characterized in that it is connectable to a Hanggeräte-carrier vehicle (15) with PTO, by means of which the harvesting robot is transportable and operable and by means of which PTOs on the one hand the associated Compressor (21) is driven, and on the other hand, the associated hydraulic pump for the hydraulic drives on the harvesting robot, wherein the harvesting robot by forward or reverse drive of the hangar carrier vehicle (15) into a tree and slidable back out of it ,
[12]
12. Harvest robot for picking tree fruits according to one of claims 1 to 10, characterized in that it is constructed on a separate chassis (55) with drive wheels or wheels with four-wheel drive so that it is self-propelled, wherein it has a universally pivotal support on which it is always on the chassis (55) can be brought into an upright position and durable, the harvest robot remotely controllable via radio by means of a controller or is self-operated or can be integrated into a harvesting robot network for the division of Swarm work, wherein the positioning of the harvest robot relative to the tree by means of a GPS device with differential GPS and with the help of a position sensor on the tree is feasible.
[13]
13. harvest robot for picking tree fruits according to one of claims 1 to 12, characterized in that it is equipped with inclination sensors, for determining its inclination or deviation from the solder, and that it has a control unit, by means of which he by processing the Signals of inclination sensors by means of hydraulic drive means is automatically preserved in the Lot.
[14]
14 harvesting robot for picking tree fruits according to one of the preceding claims, characterized in that its collecting container (16) is arranged vertically adjustable in height at him.
[15]
15. harvest robot for picking tree fruits according to one of the preceding claims, characterized in that the distances between the two rows (1,2) of picking rods (3, 4), the height of the collecting container (16) and the distances of the slats ( 9) of the side walls can be changed and adjusted by means of separate hydraulic drives.

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同族专利:

公开号 | 公开日

AU2017260390A1|2018-11-15|

EP3451816A1|2019-03-13|

US20190208705A1|2019-07-11|

CH712440B1|2020-03-13|

ES2777828T3|2020-08-06|

EP3451816B1|2020-03-04|

WO2017191316A1|2017-11-09|

引用文献:

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EP2566317A1|2010-05-04|2013-03-13|Minelli Elettromeccanica|Apparatus for picking olives and the like|

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US5421146A|1993-03-31|1995-06-06|Visser; Thomas R.|Restricted-dimension apparatus and method for mechanically harvesting fruit|

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法律状态:
2021-12-30| PL| Patent ceased|

优先权:

申请号 | 申请日 | 专利标题

CH00599/16A|CH712440B1|2016-05-06|2016-05-06|Harvesting robots for harvesting tree crops.|CH00599/16A| CH712440B1|2016-05-06|2016-05-06|Harvesting robots for harvesting tree crops.|

EP17722421.9A| EP3451816B1|2016-05-06|2017-05-05|Harvesting robot for harvesting tree fruits|

ES17722421T| ES2777828T3|2016-05-06|2017-05-05|Harvester robot for harvesting tree fruits|

AU2017260390A| AU2017260390A1|2016-05-06|2017-05-05|Harvesting robot for harvesting tree fruits|

US16/099,168| US20190208705A1|2016-05-06|2017-05-05|Harvesting robot for harvesting tree fruits|

PCT/EP2017/060827| WO2017191316A1|2016-05-06|2017-05-05|Harvesting robot for harvesting tree fruits|

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