[go: up one dir, main page]

WO2023007039A1 - Équipement de récolte en continu de fruits d'arbres - Google Patents

Équipement de récolte en continu de fruits d'arbres Download PDF

Info

Publication number
WO2023007039A1
WO2023007039A1 PCT/ES2022/000024 ES2022000024W WO2023007039A1 WO 2023007039 A1 WO2023007039 A1 WO 2023007039A1 ES 2022000024 W ES2022000024 W ES 2022000024W WO 2023007039 A1 WO2023007039 A1 WO 2023007039A1
Authority
WO
WIPO (PCT)
Prior art keywords
vibration
chains
tree
equipment
continuous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/ES2022/000024
Other languages
English (en)
Spanish (es)
Inventor
Jesús Ángel LÓPEZ-BRAVO ÁLVAREZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2023007039A1 publication Critical patent/WO2023007039A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
    • A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith

Definitions

  • the field of application of this equipment and its vibrating system falls within the manufacture of fruit harvesting equipment.
  • the object of the invention is to describe a new harvesting equipment with a vibrating and continuous fruit collection system, in such a way that it can perform its function without the need to stop at each tree and, in turn, carry out this collection at large speeds achieving performance never seen before.
  • the harvesting equipment has been designed to work continuously and is made up of a double tunnel-shaped chassis that encompasses and houses the entire tree inside, that is, this equipment can "go over" the trees. It is a self-propelled machine, composed of two separate porticos and joined together by structural elements, forming a tunnel that circulates housing the trees inside.It has a sensor to detect the presence of the tree to be vibrated and by means of an innovative vibrating system continuously, knocks down the fruit from the tree.Once the fruit is knocked down, it is driven by a system of slopes to a conveyor belt, which leads the fruit to an accumulator deposit.Due to the small size of the vibrating system, in In relation to the total volume of the collection equipment, the installation in it of the previously mentioned elements can be allowed, such as the slope system, conveyor belts and storage tank.
  • each of the corners of the collector equipment there is a driving wheel, adjustable in height and with orientation capacity.
  • the driver's cabin allows displacement to the right and left to achieve smaller measures in the movements of the machine.
  • the deposits that house the fruit can be folded towards the inside of the harvesting machine, just like and for the same reason as the cabin, that is, to try to contain the width of the machine when moving.
  • the newly developed vibrating system is made up of two chains, one on each side of the machine, which in turn mount rubber pads, in order to hold firmly to the tree to be vibrated without damaging it.
  • the aforementioned chain is made up of cylindrical rollers that rotate around some guides and some "links" that in turn house the rubber blocks. Both chains move along the guides synchronized with the movement of the harvesting equipment. When a tree approaches , this is detected, and the two chains "embrace" the tree, at which time the vibration begins and the fruit is detached. Thanks to the synchronism between the movement of the vibrating chain and the harvesting equipment, the tree is seized and vibrated without stopping the equipment.
  • the new collecting equipment is made on the basis of two tunnel-shaped porticos with the necessary dimensions to completely house the tree to be collected inside.
  • Each of the two bases or pillars of the two portals constitutes one of the "four corners" of the machine. Due to their high rigidity, these pillars serve as support and guide for the drive system of the harvesting equipment.
  • This drive system is made up of a drive wheel driven by a hydraulic motor-reducer. It has the ability to slide through the pillar in order to regulate the height of the harvesting equipment and adapt to the plantations, a movement that is carried out with the help of hydraulic cylinders.
  • the four drive wheels are also steerable in order to minimize the turning radius of the machine.
  • the two porticos are joined together by tubular elements, forming a highly rigid superstructure.
  • the combustion engine, gasoii and oil tanks and all the hydraulic and electrical system of the collection equipment are located. Covering the combustion engine and the hydraulic system, the slope system of the machine is located. These slopes have the mission of driving the felled fruit to the two conveyor belts, one on each side, located inside the machine. Therefore, the conveyor belts are located inside the lower part of the the superstructure.
  • the conveyor belts drive the fruit towards the rear of the machine, where the deposits that house the fruit are located.
  • the deposits are collapsible, in working conditions they "come out” from the sides of the superstructure and when the machine moves they are "collected” inside the superstructure.
  • the fruits are raised from the conveyor belt to the deposit with the help of from another conveyor belt.
  • the driver's cab allows movement to the right and left, so that during work the cab is outside the tunnel formed by the superstructure, leaving free space for the team to pass through. above the trees.
  • the cabin is collected inwards, thus reducing the final width of the equipment.
  • the vibrating system is also made up of a portal that houses the tree to be vibrated, although this time it does not have the shape of a tunnel but rather a " ⁇ " shape.
  • the upper part of the portal that makes up the vibrating system is attached to the chassis or superstructure of the collecting equipment, in such a way that it is hung only from the center by means of elastic elements, in order that the vibration that is transmitted to the tree is not transmitted in turn to the collecting equipment.
  • being only hung from the center it allows the entire “ ⁇ ”-shaped portico to oscillate to one side or the other and can freely adapt to the tree trunk to vibrate without damaging it. This degree of freedom that it has when being able to oscillate or pendulum has been designed so that the entire vibration system can move transversely and be able to tie down trees that are not completely vertical without damaging them.
  • the vibration chains are located at the bottom of the " ⁇ "-shaped portal that makes up the vibration system. These chains are made up of cylindrical rollers that move through guides and “links” that incorporate rubber pads on the outside.
  • the vibration chains are housed in supports that house the chain guides, the sprocket that moves each of the chains, the hydraulic motor that moves the chain sprocket, the chain tensioning element and the hydraulic motor with its eccentric masses causing vibration.
  • the aforementioned supports are attached by means of screws to the lower part of the arms of the portal in " ⁇ " of the vibration system.
  • the movement of the chains is always synchronized with the movement of the equipment.
  • a mechanical-hydraulic system capable of measuring the movement and displacement speed of the equipment and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains at the same speed.
  • electronic speed measurement devices radar, laser, etc. can be used and a control loop can be created that supplies the necessary hydraulic flow by means of a variable displacement pump.
  • the harvesting equipment also has a sensor, in this case a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains embrace the tree.
  • the force with which the tree is hugged can be regulated by adjusting the maximum clamping pressure of the hydraulic cylinders that close the portal.
  • the system begins to vibrate.
  • the vibration time is set by the user, although it is limited by the speed of movement and the length of the vibration chains.
  • the chains continue to move at the same speed as the harvesting equipment, a synchronism that enables the firm mooring between the chains and the tree to remain stationary.
  • the chains separate and continue to move, synchronized with the movement of the harvesting equipment, until the arrival of the next tree and the beginning of the next cycle.
  • this tightening occurs in the initial part of the chains and when the vibration ends and the cycle is finished, the trunk of the tree will be located in the final part of the chains. In this way, the longest possible vibration time will be optimized.
  • the guides on which the chain circulates, in its inner part, which is where it can be tied to the tree are completely straight, which prevents fluctuations in the tying pressure that could cause damage to the bark of the trees.
  • a mechanical probe has been used as a sensor, although other types of sensors can also be used, such as optics,...
  • the sensor is capable of distinguishing the presence of a tree or a metal pole used in super-intensive plantations , in order not to start the vibration cycle when a metallic post is detected.
  • the length of the vibration chains may depend on the planting system. A super-intensive planting system should have shorter chains and an intensive planting system with wider frames may have longer chains. The longer the chain, the higher the maximum speed at which the harvesting equipment can move, since it will be possible to ensure a greater contact of these with the tree and therefore a longer vibration time.
  • Figure 1 schematically represents the collector equipment in work configuration seen from the front
  • Figure 2 schematically represents the collector equipment in work configuration seen from its side
  • Figure 3 schematically represents the collector equipment in transport configuration seen from the front.
  • Figure 4 schematically represents the continuous vibrating system seen from its frontal part and its lateral part.
  • Figure 5 schematically represents the core of the continuous vibrating system seen from the top, made up of the support where the chains are located, the hydraulic motors for vibration and movement of the chains, the guides, the chains themselves, the tensioner and the drive pinion.
  • Figure 8 schematically represents the core of the continuous vibrating system seen from its side and front.
  • Figure 7 schematically represents the drive sprocket of the vibration chain and one of the links.
  • the equipment consists of a chassis or superstructure basically formed by two porticos (1, 2) in the form of a tunnel, one in the front and one at the rear. These two porticoes are joined together at each of their four corners by four tubular elements (3).
  • Two frames (4) are installed in the lower and interior part of these porticos, parallel to the ground, which are the ones that support and they locate the facilities and services of the collection equipment (combustion engine, hydraulic, electrical installation, ).
  • a central tube (5) is also installed in order to join them.
  • This tubular element supports in its central part the novel shaft vibrating system (8).
  • each of the four pillars which make up the corners of the structure, the four motor systems (7) of the collection equipment are located. These four systems are similar, regardless of whether they are located on the front or rear of the computer. All are provided with wheels of the same dimension and are equipped with a hydraulic motor-reducer to drive them. Similarly, all four wheels can rotate in both ways. These driving systems, as previously indicated, have the ability to slide through the pillar in order to regulate the height of the harvesting equipment.
  • the collecting equipment should go as far away from the ground as possible, in order to avoid potholes and irregularities in the terrain; however, during work, it should go as close to the ground as possible, so that the vibration chains (8) can be attached to the tree in its lower part and prevent both the vibration system and the harvesting equipment from damaging the branches of the tree.
  • the adjustment of the height of the superstructure of the equipment is carried out with the help of hydraulic cylinders (9).
  • the four driving wheels can move in both directions, but always parallel two by two, that is, the two in front are always parallel and the two located in the back are equally. Orienting the front and rear wheels in opposite directions will result in a very small turning radius.
  • the combustion engine uses diesel fuel as fuel and drives all the hydraulic system pumps.
  • This hydraulic system acts on the following main elements:
  • the slope formation system (17) is located on each side of the collector and has the mission of directing the felled fruit towards the conveyor belts ⁇ 11). They cover both the combustion engine and the hydraulic system and are attached to the lower frame (4) of the equipment.
  • conveyor belts (11) On each of the sides of the collecting equipment, in its lower central part, there are two conveyor belts (11). These conveyor belts collect the fruit sent by the slope system (17) and lead it to other conveyor belts (11) located at the rear of the equipment. All these conveyor belts are installed on the lower frames (4) of the superstructure. The conveyor belts (11) located at the rear of the equipment collect the fruit and elevate it to the deposits (10).
  • the deposits (10) of the fruit have the peculiarity that they are collapsible, in working conditions they "come out” from the sides of the superstructure and when the machine moves they "collect” inside the superstructure. This movement is carried out through a hydraulic cylinder. On the other hand, the final part of the tapes that are unloaded in the deposits are lowered with them. Inside the deposits, located in their upper part, there are screws in charge of distributing the fruit evenly in the deposit.
  • the operator's cabin (24) allows lateral displacement, so that during work the cabin is outside the superstructure and the equipment can pass over the trees.
  • the heart of the harvesting equipment resides in the continuous vibrating system ( ⁇ ). This is suspended by various elastic elements to the central tube of the superstructure, in such a way that the vibrations generated by the eccentric masses are not transmitted by the equipment.
  • the vibrating system is made up of a portal (15) in the form of " ⁇ ", which can oscillate to one side or the other and thus adapt to the trunk of the tree to be vibrated without damaging it.
  • a portal in the form of " ⁇ "
  • the closing or pinching force can be controlled by limiting the hydraulic pressure in the cylinders, in order to prevent damage to the tree.
  • the vibration chains (8) are made up of cylindrical rollers (21) that move through some guides (19) around the entire aforementioned support and by some "links" (22) that incorporate some plugs on their outside. (23)
  • the rubber pads (23) of the links (22) allow firm coupling to the shaft and in turn prevent it from being damaged by vibration.
  • the movement of the chains (8) is always synchronized with the movement of the equipment.
  • a mechanical-hydraulic system capable of measuring the movement speed of the equipment using a non-driving fifth wheel and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains (8).
  • the vibration chains will always have the same speed as the movement of the collecting equipment.
  • the wheel detects the translation movement of the machine and its rotation acts proportionally on a hydraulic system that controls the flow of oil, in such a way that the faster the equipment moves, the more oil will flow to the hydraulic motor that moves the chains. of vibration (8) and vice versa, always compensated to achieve synchronism.
  • the harvesting equipment has a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains (8) embrace the tree.
  • This mechanical feeler incorporates a sensor in order to distinguish whether the object to be detected is a tree or a metal guide post for super-intensive plantations.
  • the system begins to vibrate, while both the harvesting equipment and the vibration chains (8) continue to move synchronously. In this way, the trees are vibrated continuously, without stopping the harvesting equipment at any time.
  • the synchronization of movements causes the mooring point between the vibration chains and the tree to remain static, always embracing with the same force and firmness and preventing any damage to the tree bark.
  • the chains separate from the tree and also continue to move synchronously with the movement of the harvesting equipment.
  • a user adjustable factor is the vibration time.
  • the maximum vibration time is calculated by the automaton of the harvesting equipment, considering in this calculation the displacement speed during the work and the useful length (straight part) of the guides (19) of the vibration chains (8 ). This calculation is made to prevent the shaft from reaching the end of its useful part while the chains move through their grooves and the vibration has not stopped.
  • the length of the chains is limited by the plantation frame, in such a way that in super-intensive frames shorter chains should be available, in order to prevent embracing two trees at the same time, since in case of If they do not have the same diameter, the clamping force on the smallest one would be less or even zero and the vibration could damage it.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Root Crops (AREA)
  • Separation By Low-Temperature Treatments (AREA)
  • Medicines Containing Plant Substances (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

L'invention a pour objet de décrire un nouvel équipement de récolte autopropulsé avec un système de vibration et de récolte de fruit en continu, de telle sorte qu'il peut remplir sa fonction sans avoir à s'arrêter à chaque arbre et à la fois, effectuer cette récolte à grande vitesse. L'équipement récolteur est constitué d'un double châssis en forme de tunnel qui entoure et loge la totalité de l'arbre à l'intérieur, c'est-à-dire que cet équipement peut "passer au dessus" des arbres. Le système de vibration possède deux chaînes, une de chaque côté de la machine, constituées de rouleaux cylindriques qui tournent autour d'un support avec des guides, ainsi que de "maillons" qui à leur tour logent des blocs en caoutchouc. Les deux chaînes se déplacent de manière synchronisée avec le déplacement de l'équipement récolteur. Lorsqu'un arbre s'approche, il est détecté, et les deux chaînes "embrassent" l'arbre, moment auquel commence la vibration et le fruit est détaché et conduit vers un réservoir.
PCT/ES2022/000024 2021-07-28 2022-06-01 Équipement de récolte en continu de fruits d'arbres Ceased WO2023007039A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES202100077A ES2911112B2 (es) 2021-07-28 2021-07-28 Equipo de recolección en continúo de árboles
ESP202100077 2021-07-28

Publications (1)

Publication Number Publication Date
WO2023007039A1 true WO2023007039A1 (fr) 2023-02-02

Family

ID=81584911

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2022/000024 Ceased WO2023007039A1 (fr) 2021-07-28 2022-06-01 Équipement de récolte en continu de fruits d'arbres

Country Status (2)

Country Link
ES (1) ES2911112B2 (fr)
WO (1) WO2023007039A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES3034924A1 (es) * 2024-02-20 2025-08-26 Lopez Bravo Alvarez Jesus Angel Equipo recolector de árboles

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660021A (en) * 1952-04-29 1953-11-24 Mcdowell Fred Berrypicking machine
ES281385U (es) * 1983-09-09 1985-09-01 Ligones Hubert Maquina vibradora para cosechar todo tipo de bayas
US5259177A (en) * 1991-07-30 1993-11-09 Donald Windemuller Blueberry picking machine
ES2567528A1 (es) * 2015-08-05 2016-04-22 Universidad de Córdoba Cosechadora integral cabalgante y autopropulsada basada en vibración de tronco y sacudida de copa simultánea y procedimiento de recolección de frutos
CN110447390A (zh) * 2019-08-28 2019-11-15 东北大学 一种内梳式变位姿振动枸杞采摘装置
ES1265465U (es) * 2021-01-21 2021-04-16 Ianus Ingenieria S L U Máquina polivalente para el cultivo de árboles.

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660021A (en) * 1952-04-29 1953-11-24 Mcdowell Fred Berrypicking machine
ES281385U (es) * 1983-09-09 1985-09-01 Ligones Hubert Maquina vibradora para cosechar todo tipo de bayas
US5259177A (en) * 1991-07-30 1993-11-09 Donald Windemuller Blueberry picking machine
ES2567528A1 (es) * 2015-08-05 2016-04-22 Universidad de Córdoba Cosechadora integral cabalgante y autopropulsada basada en vibración de tronco y sacudida de copa simultánea y procedimiento de recolección de frutos
CN110447390A (zh) * 2019-08-28 2019-11-15 东北大学 一种内梳式变位姿振动枸杞采摘装置
ES1265465U (es) * 2021-01-21 2021-04-16 Ianus Ingenieria S L U Máquina polivalente para el cultivo de árboles.

Also Published As

Publication number Publication date
ES2911112A1 (es) 2022-05-17
ES2911112B2 (es) 2022-11-10

Similar Documents

Publication Publication Date Title
ES2246717B2 (es) Vivero sumergible perfeccionado.
ES2911112B2 (es) Equipo de recolección en continúo de árboles
ES2976133T3 (es) Máquina polivalente para el cultivo de árboles
ES2536658T3 (es) Dispositivo de fijación para alambres móviles en una hilera de plantas
ES2863566T3 (es) Bastidor de vehículo agrícola de anchura ajustable y vehículo agrícola
WO2023079189A1 (fr) Dispositif de vibration en continu et procédé pour la cueillette des fruits d'arbres et d'arbustes
WO2018178872A1 (fr) Dispositif robotique submersible pour la capture d'image
ES2881503T3 (es) Dispositivo de recolección de verduras
ES2511023T3 (es) Instalación de transporte para transportar mercancías a granel
ES2575661B1 (es) Máquina para recolección y gestión integral de frutos arbóreos y procedimiento de recolección
ES2209353T3 (es) Procedimiento y dispositivo para el terraplenado de una zanja.
ES2237263A1 (es) Equipo versatil integrado para la recoleccion y tratamiento de frutos en arboles.
ES2567528B2 (es) Cosechadora integral cabalgante y autopropulsada basada en vibración de tronco y sacudida de copa simultánea y procedimiento de recolección de frutos
ES2329268T3 (es) Estacion de soporte de una banda transportadora y transportador que la comprende.
ES2222315T3 (es) Colgador o percha para aparato de pulverizacion agricola.
CN204317180U (zh) 一种园林用树木支撑结构
KR102322107B1 (ko) 절화류의 천장형 습식 수확 장치
ES2418354T3 (es) Dispositivo para la distribución de semillas y/o fertilizantes
ES2579910B2 (es) Dispositivo de tensionado e inmovilización de redes antigranizo, anti-insectos o climáticas
WO2017147723A1 (fr) Système de collecte et de transport de fruits ou analogues depuis des versants de collines ou analogues
ES2692468A1 (es) Dispositivo y procedimiento para la anulación de nidos de vespa velutina
PL243024B1 (pl) Urządzenie jezdne przeznaczone do pielenia oraz zbioru owoców i warzyw
ES2562529B1 (es) Mecanismo para recolección de frutos mediante brazos articulados desplegables
ES2262384B1 (es) Maquina para la recoleccion de fruta.
ES2293777B1 (es) Maquina cosechadora integral para recoleccion de aceitunas, almendras, y cualquier fruto susceptible de ser derribado por vibracion del tronco.

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22848736

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22848736

Country of ref document: EP

Kind code of ref document: A1