Abstract
A harvester for removing cannabis flower from stalks includes a blade follower iris that adjusts the size of the flower-stripping opening to correspond to the diameter of the stalk. The size of the opening may be controlled by centrifugal and spring forces that cause the iris to open and close. In addition, an improved stalk-pulling belt drive conveyor system utilizes two relatively floating, releasably coupled belt systems to pinch and pull the stalk through the blade follower iris.
Claims
1. Apparatus for stripping cannabis flower from a stem, branch, or stalk of a cannabis plant, comprising: a cutting assembly that includes at least two movable plates that cooperate to form an opening through which the stem, branch, or stalk is pulled, wherein edges of the opening engage the stem, branch, or stalk to cut the cannabis flower from the stem, branch or stalk, wherein movement of the plates in response to a first force in first diametrically opposed direction increases a size of the opening, and wherein movement of the two movable plates in second diametrically opposed directions opposite the first diametrically opposed directions in response to a second force overcomes the first force to decrease the size of the opening until edges of the opening engage the stem, branch or stalk as it is pulled through the opening; a stalk pulling assembly that includes at least two stalk pulling conveyor belt systems including conveyor belts configured to pinch the stalk, stem, or branch, wherein a first of the two conveyor belt systems floats relative to a second of the two conveyor belt systems to enable a spacing between the belts at a pinch point to vary with a diameter of the stalk, stem, or branch.
2. Apparatus as claimed in claim 1, wherein the first force is a spring force and the second force is a centrifugal force caused by weights fixed to the plates and rotation of a hub to which the two movable plates are pivotally mounted, movement of the plates in response to the spring and centrifugal forces being limited by movement of posts in respective guide slots.
3. Apparatus as claimed in claim 2, wherein the opening through which the stalk, stem, or branch is pulled is formed by the intersection of overlapping circular holes in the two plates to form an elliptical opening that increases in eccentricity as the plates are moved in said second diametrically opposed directions.
4. Apparatus as claimed in claim 3, wherein edges of said holes include undercuts to increase a sharpness of the edges that engage the stalk, stem, or branch to strip the cannabis flower.
5. Apparatus as claimed in claim 2, wherein the two movable plates are coupled to the rotating hub by bearings that serve to transmit the rotational motion of the hub to the plates, and that enable the plates to pivot about the bearings by an amount determined by the difference between opposing centrifugal and spring forces as the speed of rotation is varied.
6. Apparatus as claimed in claim 1, wherein the floating first conveyor belt system includes bearing posts that slide within U-shaped grooves extending transversely to the first conveyor belt, and wherein a steady pinching force is applied by at least one tension spring that couples the two conveyor belt systems.
7. Apparatus as claimed in claim 6, wherein the springs are releasably connected to one of the two conveyor belt systems by toggle clamps that enable the two conveyor belt systems to be separated from each other for cleaning.
8. Apparatus as claimed in claim 1, further comprising wipers that slidably engage the conveyor belts to remove debris from the belts.
9. Apparatus as claimed in claim 1, wherein the two conveyor belt systems include adjustable belt tensioning pulleys to compensate for stretching of the belts with age.
10. Apparatus as claimed in claim 1, further comprising two motors for driving the two conveyor belt systems.
11. Apparatus as claimed in claim 1, further comprising a motor for driving a pulley coupled to the hub to rotate the cutting assembly including the two cutting plates.
12. Apparatus as claimed in claim 11, wherein the motor drives the hub-rotating pulley through a belt.
13. Apparatus as claimed in claim 1, wherein rotation of the cutting assembly is initiated by a mechanical or optical sensor that senses entry of a stalk, stem, or branch into the opening, or by an operator-controlled switch.
14. Apparatus as claimed in claim 1, wherein the cutting assembly is mounted on a door that allows access to both the cutting assembly and the conveyor belts.
15. Apparatus as claimed in claim 1, wherein a friction between the cutting edges on the plates and the stalk, stem, or branch is determined by a rotation speed of the cutting assembly and a pulling speed of the two conveyor belt systems.
16. Apparatus for stripping cannabis flower from a stem, branch, or stalk of a cannabis plant, comprising: a cutting assembly that includes an iris for adjusting a size of an opening through which the stem, branch, or stalk is pulled to strip the cannabis flower; a stalk pulling assembly that includes at least two stalk pulling conveyor belt systems including conveyor belts configured to pinch the stalk, stem, or branch and pull it through the cutting assembly, wherein a first of the two conveyor belt systems floats relative to a second of the two conveyor belt systems to enable a spacing between the belts at a pinch point to vary with a diameter of the stalk, stem, or branch.
17. Apparatus as claimed in claim 16, wherein the floating first conveyor belt system includes bearing posts that slide within U-shaped grooves extending transversely to the first conveyor belt, and wherein a steady pinching force is applied by at least one tension spring that couples the two conveyor belt systems.
18. Apparatus as claimed in claim 17, wherein the springs are releasably connected to one of the two conveyor belt systems by toggle clamps that enable the two conveyor belt systems to be separated from each other for cleaning.
19. Apparatus for stripping cannabis flower from a stem, branch, or stalk of a cannabis plant, comprising: a cutting assembly that includes at least two movable plates that cooperate to form an opening through which the stem, branch, or stalk is pulled, wherein edges of the opening engage the stem, branch, or stalk to cut the cannabis flower from the stem, branch or stalk, wherein movement of the plates in response to a first force in first diametrically opposed direction increases a size of the opening, and wherein movement of the two movable plates in second diametrically opposed directions opposite the first diametrically opposed directions in response to a second force overcomes the first force to decrease the size of the opening until edges of the opening engage the stem, branch or stalk as it is pulled through the opening.
20. Apparatus as claimed in claim 19, wherein the first force is a spring force and the second force is a centrifugal force caused by weights fixed to the plates and rotation of a hub to which the two movable plates are pivotally mounted, movement of the plates in response to the spring and centrifugal forces being limited by movement of posts in respective guide slots.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0022] FIG. 1 is an isometric front view of cutting blade assembly according to a first exemplary embodiment of the invention.
[0023] FIG. 2 is an isometric rear view of the cutting blade assembly of FIG. 1 as a stalk is being pulled through the cutting assembly.
[0024] FIG. 3 Is n isometric front view of the cutting blade assembly of FIGS. 1 and 2 as the stalk is pulled through the cutting assembly.
[0025] FIG. 4 Is a cut-way side view of flowers and stem 40 being inserted the cutting assembly of FIGS. 1-3.
[0026] FIG. 5 Is an isometric front view of a cutter and bearing housing that contains the cutting assembly of the first exemplary embodiment.
[0027] FIG. 6 is an isometric front view of the housing of FIG. 5 shown with the stationary guard and funnel illustrated in FIG. 5 removed.
[0028] FIG. 7 is a second cut-way side view of the cutting blade assembly of the first exemplary embodiment.
[0029] FIG. 8 Is a cut away top view of a cutter assembly and drive belt system according to the first exemplary embodiment.
[0030] FIG. 9 is a front view showing a funnel and closing top and blades 1,2 according to the first exemplary embodiment.
[0031] FIG. 10 is a front view corresponding to the front view of FIG. 9 in which the blades 1,2 have been moved to an open position.
[0032] FIG. 11 is an isometric view of a rotating cutting flower harvester that includes the cutting assembly and housing of the first exemplary embodiment of the invention.
[0033] FIG. 12 is an isometric view of the flower cutter of FIG. 12 with the door 87 open.
[0034] FIG. 13 is a cut away top view of an adjustable drive belt assembly with belt discharge wipers according to the first exemplary embodiment of the invention.
[0035] FIG. 14 is a top view of a stem 113 and cut flower 114 being moved by the drive belt assembly of FIG. 13.
[0036] FIG. 15 is a cut away top view of the rotating cutting flower harvester of the exemplary embodiment.
[0037] FIG. 16 is an isometric view of the rotating flower cutter and motors without the stationary guard and funnel of the first exemplary embodiment.
[0038] FIG. 17 is an isometric rear view of the flower harvester of the first exemplary embodiment.
[0039] FIG. 18 is another isometric side view of the flower harvester of the first exemplary embodiment.
[0040] FIG. 19 is an isometric front view of top and bottom stalk pulling assemblies according to the first exemplary embodiment.
[0041] FIG. 20 is an isometric front view further illustrating the stalk pulling assemblies of FIG. 19.
[0042] FIG. 21 is an isometric side view of the stalk pulling assemblies of FIGS. 19 and 20.
[0043] FIG. 22 is an isometric side view of an opposite side of the stalk pulling assemblies shown in FIG. 21.
[0044] FIG. 23 is a front view of the stalk pulling assemblies of FIGS. 19-22 after removal for cleaning.
[0045] FIG. 24 is an isometric view of the removed stalk pulling assemblies of FIG. 23.
[0046] FIG. 25 is an isometric view of cutting assembly according to a second exemplary embodiment of the invention.
[0047] FIG. 26 is a front view of a harvester that includes the cutting assembly of FIG. 25.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0048] FIGS. 1-7 show the cutting assembly of a harvester for removing cannabis flowers and leaves from a stalk, stem, or branch in accordance with the principles of a first exemplary embodiment of the invention. The cutting assembly includes two centrifugal cutting plates or blades 1,2, each including a respective weight 3,4 and circular cutting hole 19,20. As shown in FIG. 1, the cutting holes are aligned to form a circular opening for receiving a stalk 21, while FIG. 2 shows that the cutting blades 1,2 have moved apart as a result of centrifugal force, applied in the manner described below, so that the circular holes 19,20 in the respective cutting blades 1,2 are offset and their intersection forms a reduced-size elliptical opening or aperture whose minor axis corresponds to a diameter of the stalk 21.
[0049] Each cutting blade 1,2 includes bearings 16,18 for receiving bearing posts 15,17 fixed to a rotatable hub 52 such that rotational motion of the hub is transmitted to through the bearing posts 15,17 to the cutting blades 1,2 to enable the entire cutting assembly to rotate about a central axis of the cutting assembly. As illustrated in FIG. 4, the rotating hub 52 is fixed to and rotated by a pulley 44 having a belt groove 54. The centrifugal rotating cutting blades 1,2 are spring loaded by springs 13,14 attached at one end to the respective cutting blades 1,2 and at the other end to posts 11,12 that are fixed to the rotating hub assembly. Cutting blades 1,2 further include slots 7,8 through which posts 5,6 connected to the hub 52 extend to respectively guide pivoting of the cutting blades 1,2 relative to the hub in directions 5,6 as the entire cutting assembly is rotated. As explained below, pivoting of the cutting blades 1,2 relative to the rotating hub is the result of a spring force that causes the cutting blades 1,2 to pivot about the bearing posts 15,17 in a direction that increases the size of the stalk stripping opening or iris formed by the intersection of cutting holes 19,20, and a centrifugal force the causes the cutting blades 1,2 to move in a direction that decreases the size of the stalk stripping opening.
[0050] As illustrated in FIGS. 1-3, the stem 21 of flowers (and/or leaves) 22 being cut is inserted into an opening that is formed by overlapping holes 19,20 when cutting blade 1 is pivoted in a counterclockwise direction, as viewed in FIG. 1 from the front of the cutting assembly, and cutting blade 2 is pivoted in a clockwise direction as viewed in FIG. 1. It will be appreciated that a corresponding iris effect could also be achieved by just pivoting one of the cutting blades 1, 2, while the other of the cutting blades 1,2 is fixed relative to the rotating hub. Pivoting to the open position results from the action of springs 13,14, which overcome the reduced or zero centrifugal force at lower rotating speeds or when the motor that applies the centrifugal force is stopped. When the rotating speeds are increased, the centrifugal forces on weights 3,4 overcome the spring tension provided by springs 13,14, causing the blades 1,2 to move in an opposite direction to reduce the size of the opening around the stem, so that the opening is closed on the stem 21 as shown in FIG. 2 and the flowers or leaves 37 are cut off a section 37a of the stem 21, as shown in FIG. 3, by the edges of respective holes 19,20 as the stem 21 is pushed into the opening by an operator (not shown). The edges of one or both of the respective holes 19,20 may optionally be countersunk to produce a sharper cutting edge. Irrespective of whether a sharper edge is provided, the cutting blades use a chisel effect to strip the flowers 22 from the stalk 21.
[0051] FIGS. 4-7 illustrate a housing for the blade assembly including the overlapping cutting blades 1,2 shown in FIGS. 1-3. The stalk 21 with flowers is inserted into a stationary funnel 46 mounted on a stationary plate 41, and into the stalk-stripping opening or iris formed by overlapping holes 19,20 in the cutting blades 1,2. After being stripped by the stalk stripping opening or iris, the stripped stalk 21 passes through an opening in rotating mounting plate 52a, which is fixed to and rotatable with the hub 52, and then passes into the hollow interior of hub 52, into which a stalk-pulling dual belt system extends, as illustrated in FIGS. 8, 13, and 14. Bearing posts 15,17 extend from and rotate with the rotating mounting plate 52a. The hub 52 is rotatably mounted to a fixed housing 43 of the cutting assembly by bearings 45. The entire assembly, including the rotating hub 52 is rotated by the drive pulley 44, which includes a Vee cut slot 54 for a drive built 75, illustrated in FIG. 8. The pulley 44 has a pass-through hole 53 for the dual drive stalk-pulling belting, described below.
[0052] The speed of the rotating cutting blades can be controlled with an electrical input to control predetermined or variable speed controls by adjusting the belt or roller pull speeds relative to the rotating speeds of the cutter to optimized the cut of the flower without snatching the flower from the stem. The electrical input to control cutting blade rotation can be provided by a foot switch, optical sensor or mechanical sensor (not shown) that communicates with the motor controller. The motor 78 that drives the cutter can be a belt driven motor, as shown in FIG. 17, or optionally a hub-less motor with a hollow shaft. The conveyor pull belts are extended through the bearing assembly or hub-less motor to minimize the length of the stem needed to engage with the stem to pull it through the cutters. In addition, the rotation of the cutting plates or blades 1,2 can be controlled by a loadcell on the bearing assembly, or an on/off timer that spins the cutting blades 1,2 at a predetermined amount of time after the presence of a stalk 21 is sensed, before the cutting blades 1,2 open again by stopping rotation or slowing the cutting mechanism rotation speed.
[0053] It will be appreciated by those skilled in the art that when the stalk 21 is pulled to a position 65a at which an apex flower 65 is attached to the stalk, as shown in FIGS. 5 and 6, the iris or opening formed by holes 19,20 in cutting blades 1,2 must pinch the stalk in such a way that the flowers will be cut at the apex where the flower stem meets the stalk. In addition, the edges of the iris or opening must be sufficiently sharp to cut through branches 66 at the point 66a wherein the branches 66 meet the stalk without cutting into the stalk itself. Appropriate pinching and cutting forces can be controlled by controlling the rotating speed of the cutting assembly and the speed at which the stalk 21 is pulled through the cutting assembly.
[0054] As shown in FIG. 8, a stalk-pulling conveyer belt system extends into the rotating hub 52 to pinch and pull the stalk through the iris opening in the cutting assembly. The stalk-pulling conveyor includes a conveyor drive belt assembly 73 inside of the rotating hub 74. A toggle spring tensioner (described below) applies tension to the conveyor belt assembly 73. FIG. 9 shows the funnel 69 with the top cutting blade 20 closing in the direction of 81a and the bottom cutting blade 19 closing in the direction of 81b to create the closing iris scrape blade. FIG. 10 shows the iris in an open position after the blades 1,2 have been moved in the direction of arrows 83a and 83b by the spring force applied 13,14 after the rotational speed of motor 78 has been reduced to reduce the centrifugal force on the cutting blades 1,2.
[0055] FIGS. 11 and 12 show a complete assembly of the harvester of the exemplary embodiment, which includes the cutting assembly of FIGS. 1-10. The harvester includes a mounting frame 88, discharge chute 89, motor controllers 90d, and a door 87 door with a hinge 78a. The cutting assembly is collectively denoted by reference numeral 86.
[0056] In the position shown in FIG. 12, the door 87 is open. The cutter assembly drive motor 78 drives belt 75 to rotate the cutting assembly, as described above. The harvester also includes a discharge stem cutter motor 91 and upper and lower drive belt assemblies 99,100 including stalk pulling drive belts 95,96 and stalk pulling drive belt motors 97,98. Each of the motors is controlled by a controller (not shown) in controller box 90. A biomass waste cutter 92 is provided to cut biomass that has been pulled through the cutting assembly into smaller particles with a rotating blade for discharge through the chute 89 for storage or reduced volume and improved trash removal.
[0057] FIG. 13 is a cut-way view of the elongated drive belt assembly 99,100 driven by belt drive motors 97,98 for pulling the stalk through the opening in the cutter assembly. The stalk pulling assembly further includes belt discharge wipers 105,106 for scraping sticky debris from respective belts 76,77, and belt tension adjustors 101,102 for compensating for changes in belt tension due to wear. Also shown in FIG. 13 are a stationary plate 46 which forms the stalk input funnel 69, the belt pinch position 109, and idle pullies 107,108.
[0058] FIGS. 14 and 15 show a stem 21 and cut flower 37, at a point where the stem 21 is being pinched between and pulled by the two independent belt assemblies 99,100 through the cutter opening formed by the overlapping blades 1,2. As shown in FIGS. 19-24, one of the belt pulling assemblies 100 is mounted on bearings 131 that slide in U-slots 130 fixed to the other belt pulling assembly 99, as shown FIGS. 19,20. The bearings 131 are held in U-shots 130 by springs 137 and toggle clamps 139, shown in FIG. 21, so that the belt pulling assembly 100 floats with respect to the belt-pulling assembly 99 and allows the pinch point between the respective belts to change shape in response to varying thickness of the stalk as it is pulled through the opening in the cutter assembly by the stalk pulling belt drive motors 97,98.
[0059] FIG. 18 shows a door 126, frame 127 and cover mount 127a. Toggle clamp 139 hooks onto spring 13, as shown in FIG. 21, to releasably couple one side of the two stalk-pulling belt assemblies 99,100. Release of the toggle clamp 139 allows the springs 137 to be unhooked from the toggle clamp to uncouple the stem pulling belt assemblies and allow bearings 131 to be disengaged from U-shaped slots 129,130 and allow the stalk-pulling belt drive assemblies to be separated for cleaning, as shown in FIGS. 23 and 24. Also shown in FIGS. 21 and 22 are a belt slack adjustment idlers 140,141, which can be used to compensate for stretching of the belts with age, and drive belt assembly 142,143 that extend into the rotating hub 52 to pinch and pull a stalk that has just been stripped.
[0060] FIG. 22 shows a toggle clamp 145 for releasably coupling the opposite side of the stalk pulling belt assemblies via a tension spring 144 mounted to a post 144a. Additional male and female wipers 148,149 and 146,147 prevent debris from getting between the two drive assembles. In addition, a top and bottom belt puller with male protrusion 152 and mating female groove 150 is provided, as shown in FIG. 23, to prevent debris from getting between the two top and bottom belt stem pullers during harvesting operation.
[0061] FIG. 25 shows a second exemplary embodiment of the invention, in which the harvester includes a predetermined stacked weighted cutter with spring loaded return arms 157,159 with wheels 158 to reduce friction. The stacked weights 168 produce enough centrifugal forces to compress a return spring (not shown) when the cutting housing not shown is spinning.
[0062] FIG. 26 is a front view of the harvester of the second exemplary embodiment, including a bearing housing 165 and hub 164, with the two cutting blades 1,2 162,164 in FIG. 25. The mechanical stops 160,161 stop against the inner hub 164 that is rotating within the bearing housing 165 that is stationary. The funnel 166 rotates with the blades 1,2.
[0063] In both the first and second exemplary embodiments, the precise cutting ability can be adjusted mechanically from the offset of the blade to the edge of the blade follower that is touching the stalk. In each of the exemplary embodiments, the operator of the centrifugal flower cutter may trigger a sensor such as a foot pedal switch or optical switch to send a signal to the motor controller to slow down the blade assembly rotation speed or RPM to a preprogrammed rotation speed or stop. Once the two blade followers have assumed the shape of a hole, the operator or robot arm inserts the stalk into the follower hole. Once the tip of the most significant dimeter end of the branch is inserted, the operator or robot releases the foot pedal or the optical switch changes state to cause the motor controller to increase the rotation speed and capture the stalk between the two or more follower plates or cutting blades, which form the elliptical opening to pinch the stalk. The blade assembly increases the rotation speed that close the pinch follower and align the cutting blade within 0.01 to 0.250 inches from the stalk by the mounting hole spacing between the blade holder and the stalk.
[0064] Although a number of embodiments of the invention have been described in detail in connection with the accompanying drawings, it will be appreciated that modifications of the illustrated embodiments may be made without departing from the scope of the invention. For example, the stalk-stripping iris assembly may include an iris follower that includes a fixed plate with a hole and countersink rotating plate rather that the illustrated pivotal top and bottom plates with cutting blades 1,2, each having a circular hole and a bearing surface against which a force is applied to pivot the plates. In addition, the use of centrifugal force may be replaced by a system that using electromagnetic forces to pivot the cutting blades and change the size of the stalk-stripping opening. If the cutting assembly is electromagnetically actuated, the cutter assembly follower's electromagnetic coils can be placed around the spinning non-magnetic housing to activate a steel holder using magnetic forces at the while the cutter assemble is spinning to open or close the follower while the cutter assemblies are spinning. Still further, the belt drive for rotating the cutting assembly may be replaced by a hub-less motor with a hollow shaft.
[0065] These and other variations or modifications are intended to be included within the scope of the invention and, as a result, the invention is not to be limited by the above description or the accompanying drawings, but rather is to be defined solely in accordance with the appended claims.
