CN103947378A - Variable-frequency variable-amplitude vibrating type fruit picking machine - Google Patents
Variable-frequency variable-amplitude vibrating type fruit picking machine Download PDFInfo
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- CN103947378A CN103947378A CN201410137456.2A CN201410137456A CN103947378A CN 103947378 A CN103947378 A CN 103947378A CN 201410137456 A CN201410137456 A CN 201410137456A CN 103947378 A CN103947378 A CN 103947378A
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Abstract
The invention relates to a variable-frequency variable-amplitude vibrating type fruit picking machine, which aims to realize the characteristics of high picking efficiency, low labor intensity, simple structure, low cost, easy control, reliable performance and convenience in carrying. The technical scheme is that the variable-frequency variable-amplitude vibrating type fruit picking machine is characterized by comprising a front-end executing mechanism, a box body and a shaking mechanism, wherein the shaking mechanism is arranged in the box body and comprises a crank rocker slider mechanism driven by a No.1 driving mechanism and an amplitude modulation mechanism driven by a No.2 driving mechanism, and the front-end executing mechanism is connected with the shaking mechanism through a steel wire rope and an actuating arm.
Description
Technical field
The present invention relates to the woods field of mechanical technique of really gathering, be specifically related to a kind of Converting frequency & amplitude oscillatory type fruit picking machine.
Background technology
It is most important link in orchard production overall process that fruit is plucked, and is a labor-intensive job.The method that fruit is gathered mainly contains and manual gathers, semi-mechanization is gathered, mechanization is gathered and four kinds of picking robots.Mechanization is gathered and is equipped with knocking machine for picking fruits and oscillatory type picking machine.Although knocking machine for picking fruits is simple in structure, operation is convenient, when beat position very Gao Shihui labour intensity is increased.
The most effective mode is that oscillatory type is plucked at present, its operation principle is the vibrating mechanism by certain forms, mechanical oscillation is passed to branch or the trunk of fruit tree, and fruit tree is after having accepted additional forced vibration, also with certain frequency and amplitude vibration, thereby fruit is dropped.Diversity and complexity due to fruit tree object vibration mechanics characteristic, existing small-sized fruit picking machine cannot carry out according to jolting plant characteristic the adjusting of vibration frequency and Oscillation Amplitude, although and large-scale general oscillatory type reaping machine can be realized the harvesting of each planting fruit-trees, be difficult in the operation of the mountain region of physical features complexity.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, a kind of Converting frequency & amplitude oscillatory type fruit picking machine is provided, this picking machine has the advantages that picking efficiency is high, labour intensity is low, and simple in structure, with low cost, be easy to control, dependable performance and easy to carry.
The technical solution adopted in the present invention is: Converting frequency & amplitude oscillatory type fruit picking machine, is characterized in that: described picking machine comprises front end executing agency, casing and is arranged on the jolting mechanism in casing; Jolting mechanism comprises the crank rocker slide block mechanism that driven by driving mechanism, the amplitude modulation mechanism being driven by No. two driving mechanisms, and front end executing agency is connected with described jolting mechanism by steel wire rope and actuating arm.
Described crank rocker slide block mechanism comprises crank and rocker mechanism and slide block; A crank of crank and rocker mechanism is driven by a described driving mechanism, and described slide block is enclosed within on the rocking bar of crank and rocker mechanism slidably, and this slide block is hinged by the tail end of connecting rod and described actuating arm.
Described amplitude modulation mechanism comprises No. two cranks and the push rod being hinged; No. two crank is driven by described No. two driving mechanisms, and push rod and described slide block are hinged.
Described front end executing agency is comprised of portion of the handle, telescopic section and hook; Portion of the handle comprises interconnective hand holding handle and spring outer tube; Telescopic section comprises one group of expansion link connecting successively; The expansion link of caudal end is passed aforementioned hand holding handle and is extend in spring outer tube by least two linear bearings, between the front end of the tail end of this expansion link by described steel wire rope and actuating arm, be connected, and between the tail end of this expansion link and the tail end of spring outer tube, a spring be installed; Described hook is fixed on the front end of expansion link foremost.
A described driving mechanism comprises motor and power transmission shaft, between power transmission shaft and the output shaft of a motor, by a pair of roller gear, carries out transmission, between a crank axle of power transmission shaft and a crank, by bevel-gear sett, carries out transmission.
Described No. two driving mechanisms comprise motor No. two, between No. two crank axles of the output shaft of No. two motors and No. two cranks, by another, roller gear are carried out to transmission.
The outer wall of described casing is fixed with actuating arm supporting sleeve, and aforementioned actuating arm is slidably mounted in actuating arm supporting sleeve by least one linear bearing.
Operation principle of the present invention is: during use, front end executing agency is assembled, first hook is caught on to branch, then switch on power and start a motor; By column gear transmission and Bevel Gear Transmission, drive a crank to rotate, the rocking bar band movable slider being connected with crank, connecting rod, actuating arm move back and forth, actuating arm pulls the expansion link double vibrations being connected with steel wire rope, thereby drive hook to seesaw, fruit is shaken and fallen from branch; By regulating the rotating speed of a motor to carry out the reciprocation period of adjustable telescopic rod, thereby obtain different vibration frequencies; On the other hand, can by No. two motors, carry out the motion of regulating pushing rod as required, thereby control slide block, slide into positions different on rocking bar, change the reciprocating motion stroke of expansion link, thereby obtain different amplitudes.
The invention has the beneficial effects as follows: adopt the present invention's fruit of gathering, can increase substantially harvesting operating efficiency, significantly reduce the person's of gathering labour intensity; And the adjusting of vibration frequency and amplitude very simple and convenient (can regulate a crank rolling velocity by motor, regulate continuously the vibration frequency of actuating arm, regulate continuously the amplitude of actuating arm by No. two motors), thereby adapt to the harvesting needs of different fruit trees; In addition, of the present invention simple in structure, manufacturing cost is cheaper, common operating personnel can be controlled, and complete machine device can disassemble expansion links at different levels no time, and can increase expansion link when tree is higher, use more for convenience, can use by spread.
Accompanying drawing explanation
Fig. 1, Fig. 2 are perspective view of the present invention.
Fig. 3 is plan structure schematic diagram of the present invention.
The enlarged drawing of Tu4Shi Tu3Zhong jolting mechanism.
Fig. 5 be in Fig. 4 A-A to cutaway view.
Fig. 6 be in Fig. 4 B-B to cutaway view.
Fig. 7 is the stereogram of jolting mechanism in the present invention.
Fig. 8 is the stereogram of a driving mechanism in Fig. 7.
Fig. 9 is the stereogram of No. two driving mechanisms in Fig. 7
Figure 10 is the schematic diagram of crank connecting rod sliding block mechanism in the present invention.
Figure 11 is the principle schematic of Figure 10.
Figure 12 is the enlarged diagram of front end executing agency in the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1, Converting frequency & amplitude oscillatory type fruit picking machine of the present invention comprises front end executing agency (as shown in figure 12), casing 4, jolting mechanism (as shown in Figure 7); Jolting mechanism comprises the crank rocker slide block mechanism that driven by driving mechanism, the amplitude modulation mechanism being driven by No. two driving mechanisms, and described front end executing agency is connected (as shown in Figure 3) by steel wire rope 90 and actuating arm 14 with described jolting mechanism.
As shown in Figure 4 and Figure 6, described crank rocker slide block mechanism comprises crank and rocker mechanism and slide block 9.A crank 29 of described crank and rocker mechanism is fixed on the upper end of a crank axle 60, and the rocking bar 8 of described crank and rocker mechanism is hinged on the upper end of rocking bar frame 71, between crank and rocking bar by connecting rod 7 be connected (junction is hinged).One end of described slide block 9 is enclosed within on rocking bar 8 slidably, the other end be connected with the tail end of described actuating arm by connecting rod 10 (junction is hinged).The effect of this crank rocker slide block mechanism is to drive crank to do periodic reciprocating motion, thereby drives actuating arm to move reciprocatingly.
As shown in Figure 4 and Figure 5, described amplitude modulation mechanism comprises No. two cranks 32 and push rod 31.Described No. two cranks 32 are fixed on crank axle 47 upper ends No. two, described No. two cranks 32 are connected (conventional structure) with described push rod 31 by composite bearing 39 and push rod bearing pin 36, centre has push rod housing 40 to separate (conventional structure), and described push rod 31 is hinged with aforementioned slide block 9.The effect of this amplitude modulation mechanism is to rely on push rod to promote the amplitude that slide block is adjusted actuating arm, during use, first start motor No. one, actuating arm is moved back and forth by certain frequency, then start No. two motors and come the position of adjusting slider on rocking bar according to actual conditions, thus adjusting amplitude.
As shown in figure 12, described front end executing agency is comprised of portion of the handle, telescopic section and hook 88.Described portion of the handle comprises that hand holding handle 80 and spring outer tube 74 form, described hand holding handle 80 all has external screw thread with the two ends of described spring outer tube 74, between one end of one end of hand holding handle 80 and spring outer tube 74, by hand holding handle joint 78(, be shaped with internal thread) be threaded, the other end of hand holding handle 80 connects hand holding handle front end end cap 82, the other end linking springs sleeve 73 of spring outer tube 74.Described telescopic section is comprised of one group of expansion link connecting successively 77, wherein the expansion link 77 of caudal end extend in spring outer tube 74 through aforementioned hand holding handle 80 by two linear bearings 79,81, described linear bearing 79,81 uses interference to be fastened on the inwall at the two ends of hand holding handle 80, expansion link 77 ends of described caudal end are provided with a spring joint 76, have a spring 75 between described spring joint 76 and aforementioned spring spool 73; The inside of expansion link 77 other ends and the two ends of other expansion link inside of described caudal end are all fixed with female adapter 83, between expansion link and expansion link, by screw thread coupling 84, are threaded.Described hook 88 is welded on the front end of expansion link 87 foremost.When practical operation, successively each expansion link is connected, hook is caught on to branch, and then start a motor.
As shown in Figures 2 and 3, described front end executing agency is connected by steel wire rope 90, steel cable termina 18, actuating arm supporting sleeve 17, actuating arm 14, actuating arm joint 12 successively with described jolting mechanism.Between described steel cable termina 18 and described actuating arm supporting sleeve 17 for being threaded, described actuating arm supporting sleeve 17 is bolted and is fixed on casing 4 outsides, described actuating arm 14 in the interior slip of actuating arm supporting sleeve 17, seals the linear bearing 66 in actuating arm supporting sleeve 17 in casing 4 inner sides by casing bearing cap 15 by linear bearing 66; Described actuating arm 14 is bolted and is fixed in actuating arm joint 12, and described actuating arm joint 12 is connected by aforementioned connecting rod 10 with aforementioned slide block 9; Described wire rope casing 89 is connected described steel cable termina 18 with aforementioned spring spool 73, in wire rope casing 89, have steel wire rope 90 that actuating arm 14 is connected with aforementioned spring joint 76, steel wire rope 90 is successively through steel cable termina 18, wire rope casing 89, spring spool 73, spring outer tube 74, spring 75.During use, steel wire rope is held spring joint expansion link is moved backward, and now spring is in compressive state, and when actuating arm back moves, spring rebounds expansion link, with this, realizes the reciprocating motion of expansion link.
As shown in Figure 4, a described driving mechanism comprises a motor 5, column gear transmission mechanism and the bevel gear transmission being arranged in casing 4.The output shaft of a described motor 5 stretches out casing 4; Described column gear transmission mechanism comprises a pair of intermeshing roller gear, in roller gear, less gear 3 is arranged on the output shaft of a described motor and by a motor 5 and drives, and gear 20 larger in roller gear is arranged on casing 4 outsides by power transmission shaft 19 and axle sleeve 21.Described bevel gear transmission comprises bevel-gear sett and support thereof, one of them bevel gear 26 is arranged on the other end of aforementioned power transmission shaft 19, this power transmission shaft 19 is by being fixed on bearing 23 in bearing outside 24 in the interior rotation of bearing outside 24, described bearing outside 24 is fixed on casing 4 sidewalls, and another bevel gear is arranged on the crank axle 60 of a crank; Described crank axle 60 upper ends are fixed on bearing horizontal stand 28 by bearing 69, described bearing horizontal stand 28 is fixed on bearing vertical rack 27, described bearing vertical rack 27 bottoms are fixed on casing 4, and described crank axle 60 lower ends are fixed on casing 4 by bearing block 68.The effect of this mechanism is the vibration frequency that regulates fruit vibration picker, during use, by regulating the rotating speed of a motor to change the reciprocation period of actuating arm.
As shown in Figure 5, described No. two driving mechanisms comprise motor 11He column gear transmission mechanism No. two; Described No. two motors 11 are arranged on No. two horizontal clamping plate 30 of motor, and the horizontal clamping plate 30 of described No. two motors are bolted and are arranged on the two vertical clamping plate of No. two motors 33 upper ends, and the vertical clamping plate 33 of described No. two motors are fixed on casing 4 bottoms; The driving gear 53 of column gear transmission mechanism is fixed on the output shaft of No. two motors, the driven gear 51 of column gear transmission mechanism is fixed on crank axle 47 lower ends No. two, these No. two crank axles 47 are by being fixed on bearing 46 in jack shaft bearing overcoat 52 in the interior rotation of jack shaft bearing overcoat 52, and described jack shaft bearing overcoat 52 is fixed on No. two horizontal clamping plate 30 of motor.The effect of these No. two driving mechanisms is for amplitude modulation mechanism provides power, and can be by regulating the movement travel that No. two motor changes actuating arm, thereby changes the amplitude of picker jolting branch.
Above-mentioned direct current generator, steel wire rope, bearing can obtain in outsourcing, and the adjustment of rotational speed of motor is routine techniques, at this, is not described in detail.
Claims (7)
1. Converting frequency & amplitude oscillatory type fruit picking machine, is characterized in that: described picking machine comprises front end executing agency, casing (4) and is arranged on the jolting mechanism in casing; Jolting mechanism comprises the crank rocker slide block mechanism that driven by driving mechanism, the amplitude modulation mechanism being driven by No. two driving mechanisms, and front end executing agency is connected with described jolting mechanism by steel wire rope (90) and actuating arm (14).
2. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 1, is characterized in that: described crank rocker slide block mechanism comprises crank and rocker mechanism and slide block (9); A crank (29) of crank and rocker mechanism is driven by a described driving mechanism, and described slide block is enclosed within on the rocking bar (8) of crank and rocker mechanism slidably, and this slide block is hinged with the tail end of described actuating arm by connecting rod (7).
3. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 2, is characterized in that: described amplitude modulation mechanism comprises No. two cranks (32) and the push rod (31) being hinged; No. two crank is driven by described No. two driving mechanisms, and push rod and described slide block are hinged.
4. according to the Converting frequency & amplitude oscillatory type fruit picking machine described in claim 1 or 2 or 3, it is characterized in that: described front end executing agency is comprised of portion of the handle, telescopic section and hook (88); Portion of the handle comprises interconnective hand holding handle (80) and spring outer tube (74); Telescopic section comprises one group of expansion link connecting successively (77,87); The expansion link of caudal end (77) is passed aforementioned hand holding handle and is extend in spring outer tube by least two linear bearings (79,81), between the front end of the tail end of this expansion link by described steel wire rope and actuating arm, be connected, and between the tail end of this expansion link and the tail end of spring outer tube, a spring (75) be installed; Described hook is fixed on the front end of expansion link (87) foremost.
5. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 4, it is characterized in that: a described driving mechanism comprises a motor (5) and power transmission shaft (19), between the output shaft of power transmission shaft and a motor, by a pair of roller gear (3,20), carry out transmission, between a crank axle (60) of power transmission shaft and a crank, by bevel-gear sett (26), carry out transmission.
6. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 5, it is characterized in that: described No. two driving mechanisms comprise No. two motors (11), between the output shaft of No. two motors and No. two crank axles of No. two cranks (47), by another, roller gear (51,53) is carried out to transmission.
7. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 6, it is characterized in that: the outer wall of described casing is fixed with actuating arm supporting sleeve (17), aforementioned actuating arm is slidably mounted in actuating arm supporting sleeve by least one linear bearing (66).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410137456.2A CN103947378B (en) | 2014-04-08 | 2014-04-08 | Converting frequency & amplitude oscillatory type fruit picking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410137456.2A CN103947378B (en) | 2014-04-08 | 2014-04-08 | Converting frequency & amplitude oscillatory type fruit picking machine |
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| Publication Number | Publication Date |
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| CN103947378A true CN103947378A (en) | 2014-07-30 |
| CN103947378B CN103947378B (en) | 2016-04-13 |
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| CN201410137456.2A Active CN103947378B (en) | 2014-04-08 | 2014-04-08 | Converting frequency & amplitude oscillatory type fruit picking machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107466601A (en) * | 2017-09-27 | 2017-12-15 | 长江大学 | One kind vibration fruit picking |
| CN108093865A (en) * | 2017-12-29 | 2018-06-01 | 常州有恒智能装备科技有限公司 | Variable-ratio intelligence picking machine |
| CN108738710A (en) * | 2018-07-02 | 2018-11-06 | 江汉大学 | A kind of picking machine |
| CN111108914A (en) * | 2020-01-18 | 2020-05-08 | 济南大学 | Drupe harvesting machine |
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| FR2324378A1 (en) * | 1975-09-19 | 1977-04-15 | Anvar | Variable:amplitude and frequency vibrator - has one eccentric weight adjustable for angle in relation to second with both rotated by concentric shafts |
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| CN203136569U (en) * | 2013-03-20 | 2013-08-21 | 浙江理工大学 | Vibrating picking device for pecans |
| CN203505089U (en) * | 2013-09-06 | 2014-04-02 | 西北农林科技大学 | Vibration type fruit picking device |
| CN203814217U (en) * | 2014-04-08 | 2014-09-10 | 浙江理工大学 | Variable-frequency variable-amplitude vibrating-type fruit picking machine |
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| US3696597A (en) * | 1971-04-16 | 1972-10-10 | Spencer B Sitter | Resilient linkage for limb shaker |
| FR2324378A1 (en) * | 1975-09-19 | 1977-04-15 | Anvar | Variable:amplitude and frequency vibrator - has one eccentric weight adjustable for angle in relation to second with both rotated by concentric shafts |
| EP0557236A1 (en) * | 1992-02-17 | 1993-08-25 | Victor Fieros | Vibration type olive harvester with controllable amplitude frequency and power of the jolts on branches of trees |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107466601A (en) * | 2017-09-27 | 2017-12-15 | 长江大学 | One kind vibration fruit picking |
| CN107466601B (en) * | 2017-09-27 | 2023-02-28 | 长江大学 | Vibrating fruit picking machine |
| CN108093865A (en) * | 2017-12-29 | 2018-06-01 | 常州有恒智能装备科技有限公司 | Variable-ratio intelligence picking machine |
| CN108738710A (en) * | 2018-07-02 | 2018-11-06 | 江汉大学 | A kind of picking machine |
| CN108738710B (en) * | 2018-07-02 | 2023-04-07 | 江汉大学 | Picking machine |
| CN111108914A (en) * | 2020-01-18 | 2020-05-08 | 济南大学 | Drupe harvesting machine |
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| CN103947378B (en) | 2016-04-13 |
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