CN103947378B - Converting frequency & amplitude oscillatory type fruit picking machine - Google Patents
Converting frequency & amplitude oscillatory type fruit picking machine Download PDFInfo
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- CN103947378B CN103947378B CN201410137456.2A CN201410137456A CN103947378B CN 103947378 B CN103947378 B CN 103947378B CN 201410137456 A CN201410137456 A CN 201410137456A CN 103947378 B CN103947378 B CN 103947378B
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- crank
- actuating arm
- picking machine
- slide block
- expansion link
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Abstract
The present invention relates to Converting frequency & amplitude oscillatory type fruit picking machine.The picking machine that object is to provide has the advantages that picking efficiency is high, labour intensity is low, and structure simple, with low cost, be easy to control, dependable performance and easy to carry.Technical scheme 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 driven by a driving mechanism, the amplitude modulation mechanism driven by No. two driving mechanisms, and front end executing agency is connected with described jolting mechanism with actuating arm by steel wire rope.
Description
Technical field
The present invention relates to woods fruit to gather field of mechanical technique, 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 contain manual to gather, semi-mechanization is gathered, mechanization is gathered and picking robot four kinds.Mechanization is gathered and is equipped with knocking machine for picking fruits and oscillatory type picking machine.Although knocking machine for picking fruits structure is simple, 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, and mechanical oscillation are passed to branch or the trunk of fruit tree, fruit tree is after receiving additional forced vibration, also with certain frequency and amplitude vibration, thus fruit is dropped.Due to diversity and the complexity of fruit tree vibrating objects mechanical characteristic, existing small-sized fruit picking machine cannot carry out the adjustment of vibration frequency and Oscillation Amplitude according to jolting plant characteristic, and although large-scale general oscillatory type reaping machine can realize the harvesting of each planting fruit-trees, be difficult to the mountain region operation in 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 structure simple, 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 driven by a driving mechanism, the amplitude modulation mechanism driven by No. two driving mechanisms, and front end executing agency is connected with described jolting mechanism with actuating arm by steel wire rope.
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 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 push rod that are hinged; No. two cranks are driven by described No. two driving mechanisms, push rod and described slide block hinged.
Described front end executing agency is made up 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 connected successively; The expansion link of caudal end passes prior hand held handle by least two linear bearings and extend in spring outer tube, the tail end of this expansion link by being connected between described steel wire rope and the front end of actuating arm, and is provided with a spring between the tail end of the tail end of this expansion link and spring outer tube; Described hook is fixed on the front end of expansion link foremost.
A described driving mechanism comprises a motor and power transmission shaft, carries out transmission between the output shaft of power transmission shaft and a motor by a pair roller gear, carries out transmission between power transmission shaft and a crank axle of a crank by bevel-gear sett.
Described No. two driving mechanisms comprise No. two motors, carry out transmission between the output shaft of No. two motors and No. two crank axles of No. two cranks by another to roller gear.
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 branch, and then switch on power startup motor; By column gear transmission and Bevel Gear Transmission, drive a crank, the rocking bar band movable slider be connected with a crank, connecting rod, actuating arm move back and forth, actuating arm pulls the expansion link double vibrations be connected with steel wire rope, thus driving hook to seesaw, being shaken from branch by fruit falls; By the reciprocation period regulating the rotating speed of a motor to carry out adjustable telescopic rod, thus obtain different vibration frequencies; On the other hand, as required, the motion of regulating pushing rod can be carried out by No. two motors, thus control positions different on skid to rocking bar, change the reciprocating stroke of expansion link, thus obtain different amplitudes.
The invention has the beneficial effects as follows: adopt the present invention to gather fruit, harvesting operating efficiency can be increased substantially, significantly reduce the labour intensity of the person of gathering; And the adjustment of vibration frequency and amplitude very simple and convenient (crank rolling velocity can be regulated by a motor, regulate the vibration frequency of actuating arm continuously, regulated the amplitude of actuating arm by No. two motors continuously), thus adapt to the harvesting needs of different fruit tree; In addition, structure of the present invention is simple, and manufacturing cost is cheaper, common operating personnel can control, and expansion link at different levels can disassemble by complete machine device no time, and can increase expansion link when setting 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 driven by a driving mechanism, the amplitude modulation mechanism driven by No. two driving mechanisms, and described front end executing agency is connected (as shown in Figure 3) with described jolting mechanism with actuating arm 14 by steel wire rope 90.
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, and No. one is connected (junction is hinged) by connecting rod 7 between crank and rocking bar.One end of described slide block 9 is enclosed within rocking bar 8 slidably, and the other end is connected (junction is hinged) by connecting rod 10 with the tail end of described actuating arm.The effect of this crank rocker slide block mechanism drives crank to do periodic reciprocating motion, thus drive 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 No. two crank axle 47 upper ends, described No. two cranks 32 are connected (conventional structure) by composite bearing 39 and push rod bearing pin 36 with described push rod 31, centre has push rod housing 40 to separate (conventional structure), and described push rod 31 is hinged with slide block 9.The effect of this amplitude modulation mechanism relies on push rod to promote slide block to adjust the amplitude of actuating arm, during use, first start a motor, 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 made up of portion of the handle, telescopic section and hook 88.Described portion of the handle comprises hand holding handle 80 and spring outer tube 74 forms, described hand holding handle 80 all has external screw thread with the two ends of described spring outer tube 74, internal thread is shaped with by hand holding handle joint 78(between one end of hand holding handle 80 and one end of spring outer tube 74) 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 made up of one group of expansion link connected successively 77, wherein the expansion link 77 of caudal end extend in spring outer tube 74 by two linear bearings 79,81 through prior hand held handle 80, 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 end of described caudal end is provided with a spring joint 76, has a spring 75 between described spring joint 76 and aforementioned spring spool 73; The inside of expansion link 77 other end and the two ends of other expansion link inside of described caudal end are all fixed with female adapter 83, are threaded between expansion link with expansion link by screw thread coupling 84.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 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.For being threaded between described steel cable termina 18 with described actuating arm supporting sleeve 17, described actuating arm supporting sleeve 17 is bolted and is fixed on outside casing 4, described actuating arm 14 is slided in actuating arm supporting sleeve 17 by linear bearing 66, is sealed the linear bearing 66 in actuating arm supporting sleeve 17 inside casing 4 by casing bearing cap 15; 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 slide block 9; Described steel cable termina 18 is connected with aforementioned spring spool 73 by described wire rope casing 89, have steel wire rope 90 to be connected with aforementioned spring joint 76 by actuating arm 14 in wire rope casing 89, 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 and is moved by expansion link backward, and now spring is in compressive state, and when actuating arm back moves, expansion link rebounds by spring, realizes the reciprocating motion of expansion link with this.
As shown in Figure 4, a described driving mechanism comprises motor 5, cylindrical gear drive and a bevel gear transmission being arranged in casing 4.The output shaft of a described motor 5 stretches out casing 4; Described cylindrical gear drive comprises a pair intermeshing roller gear, the output shaft that gear 3 less in roller gear is arranged on a described motor is driven by a motor 5, and gear 20 larger in roller gear is arranged on outside casing 4 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 drive axle 19, this power transmission shaft 19 is rotated in bearing outside 24 by the bearing 23 be fixed in bearing outside 24, described bearing outside 24 is fixed on casing 4 sidewall, and another bevel gear is arranged on the crank axle 60 of a crank; Described crank axle 60 upper end is fixed on bearing horizontal stand 28 by bearing 69, described bearing horizontal stand 28 is fixed on bearing vertical rack 27, be fixed on bottom described bearing vertical rack 27 on casing 4, described crank axle 60 lower end is fixed on casing 4 by bearing block 68.The effect of this mechanism is the vibration frequency regulating fruit vibration picker, during use, by the reciprocation period regulating the rotating speed of a motor to change actuating arm.
As shown in Figure 5, described No. two driving mechanisms comprise No. two motors 11 and cylindrical gear drive; Described No. two motors 11 are arranged on No. two horizontal clamping plate 30 of motor, and the described No. two horizontal clamping plate of motor 30 are bolted and are arranged on two pieces No. two motor vertical clamping plate 33 upper ends, and the vertical clamping plate 33 of described No. two motors are fixed on bottom casing 4; The driving gear 53 of cylindrical gear drive is fixed on the output shaft of No. two motors, the driven gear 51 of cylindrical gear drive is fixed on No. two crank axle 47 lower ends, these No. two crank axles 47 are rotated in jack shaft bearing overcoat 52 by the bearing 46 be fixed in 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 change the movement travel of actuating arm by regulating No. two motors, thus 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, is not described in detail at this.
Claims (4)
1. Converting frequency & amplitude oscillatory type fruit picking machine, is characterized in that: the jolting mechanism that described picking machine comprises front end executing agency, casing (4) and is arranged in casing; Jolting mechanism comprises the crank rocker slide block mechanism driven by a driving mechanism, the amplitude modulation mechanism driven by No. two driving mechanisms, and front end executing agency is connected with described jolting mechanism with actuating arm (14) by steel wire rope (90);
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, described slide block is enclosed within 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 (10);
Described amplitude modulation mechanism comprises No. two cranks (32) and push rod (31) that are hinged; No. two cranks are driven by described No. two driving mechanisms, push rod and described slide block hinged;
Described front end executing agency is made up 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 connected successively (77,87); The expansion link (77) of caudal end extend in spring outer tube by least two linear bearings (79,81) through prior hand held handle, the tail end of this expansion link by being connected between described steel wire rope and the front end of actuating arm, and is provided with a spring (75) between the tail end of the tail end of this expansion link and spring outer tube; Described hook is fixed on the front end of expansion link (87) foremost.
2. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 1, it is characterized in that: a described driving mechanism comprises a motor (5) and power transmission shaft (19), carry out transmission by a pair roller gear (3,20) between the output shaft of power transmission shaft and a motor, between power transmission shaft and a crank axle (60) of a crank, carry out transmission by bevel-gear sett (26).
3. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 2, 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, transmission is carried out to roller gear (51,53).
4. Converting frequency & amplitude oscillatory type fruit picking machine according to claim 3, 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).
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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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| 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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| CN103947378A CN103947378A (en) | 2014-07-30 |
| CN103947378B true CN103947378B (en) | 2016-04-13 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108738710B (en) * | 2018-07-02 | 2023-04-07 | 江汉大学 | Picking machine |
| CN111108914B (en) * | 2020-01-18 | 2022-06-14 | 济南大学 | Drupe harvesting 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 |
| CN102656999A (en) * | 2012-05-28 | 2012-09-12 | 新疆农业科学院农业机械化研究所 | Vibrating fruit tree harvester |
| CN202435847U (en) * | 2011-11-24 | 2012-09-19 | 新疆农垦科学院 | Vibration-type small-fruit fruit harvesting machine with adjustable amplitude |
| 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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2014
- 2014-04-08 CN CN201410137456.2A patent/CN103947378B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202435847U (en) * | 2011-11-24 | 2012-09-19 | 新疆农垦科学院 | Vibration-type small-fruit fruit harvesting machine with adjustable amplitude |
| CN102656999A (en) * | 2012-05-28 | 2012-09-12 | 新疆农业科学院农业机械化研究所 | Vibrating fruit tree harvester |
| 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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| CN103947378A (en) | 2014-07-30 |
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