CN104885705A - Epitrochoid trajectory based fruit vibration harvesting device - Google Patents
Epitrochoid trajectory based fruit vibration harvesting device Download PDFInfo
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- CN104885705A CN104885705A CN201510252917.5A CN201510252917A CN104885705A CN 104885705 A CN104885705 A CN 104885705A CN 201510252917 A CN201510252917 A CN 201510252917A CN 104885705 A CN104885705 A CN 104885705A
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Abstract
The invention relates to an epitrochoid trajectory based fruit vibration harvesting device. The device has the advantages of being good in safety, high in production efficiency, simple in structure and convenient to use. According to the technical scheme, the device is characterized by comprising a case, a hand clamping unit, a shaking unit, a transmission unit and a power unit. The shaking unit is connected with the hand clamping unit to drive the hand clamping unit to perform epitrochoid trajectory motion, and the power unit is connected with the shaking unit through the transmission unit to drive the shaking unit to work.
Description
Technical field
The present invention relates to woods fruit to gather field of mechanical technique, specifically a kind of fruit vibrating picker based on epitrochoidal path.
Background technology
Orchard harvest operation is most important link in orchard production overall process, and be the stronger and labor-intensive work of seasonality, labour used accounts for the 35%-45% of whole production process labour used.Along with scale and the industrialized development in economic orchard, rely on the mode of manually gathering can not satisfy the demand, dull, heavy, dangerous picking fruit operation is badly in need of picked technology that is efficient, general, low cost.Orchard harvest machinery can directly meet current need of production, significantly improves production efficiency, reduces production cost, and technically easily realizes.The jolting formula fruit tree harvesting apparatus of current practical application or outfit all and have manually been gathered larger gap in the indexs such as Fruit yield, percent of loss.The development trend of jolting formula orchard reaping machine will improve harvest efficiency exactly, save energy and reduce the cost, except shortening the jolting time, improving the operating efficiency of complete machine equipment, improve dynamical system, improving except reliability, core work parts in the urgent need to address---the key technology of vibrator.
Find through retrieval, application number is 201310139351.6, the patent of invention that name is called " a kind of nearly fruit oscillatory type lichee harvester ", a kind of nearly fruit oscillatory type lichee harvester of disclosure of the invention, involving vibrations picking mechanism, supporting mechanism, transmission mechanism and controlling organization, vibration picking mechanism is located at the end of supporting mechanism, and transmission mechanism to be located on supporting mechanism and to be connected with vibration picking mechanism, and controlling organization and transmission mechanism are electrically connected.This lichee harvester is only suitable for gathering the shorter granule fruit of fruit tree, and during results, picking mechanism directly contacts fruit, large to the damage of fruit, reduces fruit quality and economic worth.
Application number is 201410349518.6, name be called " swing type vibration picking head vibration and amplitude control method and vibration picking head " patent of invention, adopt crank guide rod mechanism to realize picking head vibration to pluck, at picking head support swing hinge place, left chuck and right chuck are installed, left chuck and right chuck all can swing around swing hinge, and under the effect of compression hydraulic cylinder, coordinate clamping trunk, vibration crank assembly is provided with in the outer end, side of left chuck, by the vibration of vibration crank assembly, trunk is shaken, carry out mechanical-vibration type woods fruit and gather.This scheme cannot be gathered tall and big or dense fruit tree, has higher requirements, be unfavorable for promoting the use of to use occasion.
Above-mentioned patent has all related to mechanical-vibration type woods fruit and has gathered, but what all adopt is that eccentric type or the vibration of crank block type woods fruit are gathered, and oscillation trajectory is simple, cannot improve fruit vibration harvest efficiency further.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, provide a kind of fruit to vibrate picker, this device should have the feature that safety is good, production efficiency is high, structure is simple and easy to use.
Present invention employs following technical scheme: based on the fruit vibrating picker of epitrochoidal path, it is characterized in that: comprise casing, tong unit, jolting unit, gear unit and power unit, jolting unit is connected with tong unit, tong unit is driven to do epitrochoidal path motion, power unit is connected with jolting unit by gear unit, drives jolting cell operation.
Described gear unit comprises two travelling gears, two carrier gears, bridge shaft and two turning cylinders, two turning cylinders are arranged in the both sides of bridge shaft and are separately installed with a travelling gear, and two carrier gears are arranged on bridge shaft and also engage with a travelling gear respectively.
Described jolting unit comprises two planetary wheeling mechanisms and a parallel-crank mechanism, each planetary wheeling mechanism comprises sun gear, planetary gear and planet carrier respectively, the sun gear of two planetary wheeling mechanisms is fixed in casing respectively by sun gear hold-down support, and planet carrier is arranged on described two turning cylinders respectively; Parallel-crank mechanism comprises long connecting rod, support link and two side links, and the two ends of long connecting rod are hinged with the rotating shaft of two planetary gears respectively, and one end of two side links is separately fixed at the rotating shaft of planetary gear, and the end of the other end and support link is hinged.
Described tong unit comprises tong connecting rod, tong case and tong action component; The lower end of tong connecting rod is fixed in support link, and upper end is fixed wtih tong case after vertically stretching out the loose slot at casing top; Tong action component is arranged in tong case, comprises the tong motor of two tongs and driving two tong foldings.
Described power unit comprises mair motor and speed changer thereof, and the output shaft of speed changer is engaged with one of them travelling gear by output gear.
Described parallel-crank mechanism also comprises planet carrier balancing pole supporting seat, planet carrier balancing pole and balance side link, planet carrier balancing pole supporting seat is fixed in casing, one end and the planet carrier balancing pole supporting seat of planet carrier balancing pole are hinged, the other end by jointed shaft and long connecting rod hinged; Balance one end of side link and described jointed shaft hinged, the other end and support link hinged.
Described casing comprises base plate and cover plate, two pieces of side plates, header board, rear plate and portable plates, portable plate is fixed between header board and rear plate, described sun gear hold-down support and planet carrier balancing pole supporting seat are all fixed on portable plate, cover plate offer described loose slot.
Described tong comprises chuck, chuck connecting rod, chuck connecting rod and the tong gear fixing with chuck connecting rod; Wherein, chuck connecting rod and chuck connecting rod are parallel to each other, and both one end are all hinged on tong case, and the other end is all hinged with chuck thus form parallelogram motion mechanism; The tong gear of two tongs engages each other, and tong motor is by driving gear and one of them tong gears meshing.
Described support link is provided with triangular support bracket, and the top of triangular support bracket is connected and fixed by the lower end of screw thread and tong connecting rod.
Described bridge shaft and two turning cylinders are in same level.
The invention has the beneficial effects as follows:
The invention has the beneficial effects as follows: instant invention overcomes the defects such as existing jolting formula orchard reaping machine harvest efficiency is low, vibration damage is large, vibration mode is single, adaption object is limited, jolting unit is respectively and tong unit provides power by two motors, tong unit is made to clamp tree branch and do epitrochoidal path jolting, fruit is shaken to cause drop, significantly can improve harvest efficiency, significantly reduce the labour intensity of orchard worker.
Accompanying drawing explanation
Fig. 1-1,1-2 are structural representations of the present invention.
Fig. 2-1 to Fig. 2-3 is syndeton schematic diagrames of medium power unit of the present invention and gear unit.
Fig. 3 is the structural representation of jolting unit of the present invention.
Fig. 4-1 to Fig. 4-4 is syndeton schematic diagrames of jolting unit and tong unit in the present invention.
Fig. 5-1 to Fig. 5-3 is structural representations of tong unit of the present invention.
Fig. 6 is the structural representation of casing in the present invention.
Fig. 7-1,7-2 are perspective view of 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 Fig. 1-1, Fig. 1-2 and Fig. 7-1,7-2, fruit vibrating picker based on epitrochoidal path of the present invention is arranged on vehicular platform usually, jolting unit, gear unit, power unit that this recovering device comprises casing, tong unit and is arranged in casing.Power unit is connected with jolting unit by gear unit, drives jolting cell operation; Jolting unit is connected with tong unit, drives tong unit to do epitrochoidal path motion.
As shown in Fig. 1-1, Fig. 1-2, Fig. 6, casing comprises base plate 1-7 and cover plate 1-1, two pieces of side plate 1-4, header board 1-2, rear plate 1-3 and portable plate 1-6.Portable plate is fixed between header board and rear plate by arm-tie 40 and reinforcement 41, cover plate offers loose slot 1-5.
As shown in Fig. 2-1 to Fig. 2-3, the speed changer 4 that power unit comprises mair motor 3 and is connected with motor output shaft.Mair motor and speed changer are arranged on the base plate of casing, and mair motor provides electric power by accumulator; The output shaft 6 of speed changer is provided with output gear 5.Speed changer is generally buncher, jolting unit can be made to have different vibration frequencies by regulating the rotating speed of speed changer.
As shown in Fig. 2-1 to Fig. 2-3, gear unit is used for the power of power unit to introduce jolting unit, comprise two travelling gears 7,10, two carrier gears 8,9, bridge shaft 12 and two turning cylinders 11, the shape of two travelling gears is identical, and the shape of two carrier gears is identical, and bridge shaft and two turning cylinders are in same level.Bridge shaft and turning cylinder are arranged between portable plate and rear plate respectively by bearing block 13, and turning cylinder also overhangs forward through portable plate.Two turning cylinders are arranged in the both sides of bridge shaft and are provided with a travelling gear (being located between portable plate and rear plate) respectively by bond structure, two carrier gears are arranged on bridge shaft and also engage with a travelling gear respectively, and the output gear of speed changer engages with one of them travelling gear.When mair motor rotates, the synchronized in the same way rotation of turning cylinder of two travelling gears.
As shown in Fig. 3 to Fig. 4-4, described jolting unit comprises two planetary wheeling mechanisms and a parallel-crank mechanism, and planetary wheeling mechanism, parallel-crank mechanism are all positioned at the front side of portable plate.Each planetary wheeling mechanism comprises sun gear 18, planetary gear 17 and planet carrier 16 respectively, the sun gear of two planetary wheeling mechanisms is fixed on portable plate respectively by sun gear hold-down support, two turning cylinders are each passed through the center of sun gear hold-down support 22 and sun gear, two planet carriers are fixed on the front end of described two turning cylinders respectively by bond structure, planetary gear to be arranged on planet carrier and to engage with sun gear.Parallel-crank mechanism comprises long connecting rod 27, support link 25 and two side links 20, the two ends of long connecting rod are hinged with the rotating shaft of two planetary gears respectively, one end of two side links is fixed in the rotating shaft 19 of planetary gear respectively by bond structure, the other end of two side links is hinged respectively by the both ends of jointed shaft 21,26 and support link, and obvious long connecting rod and support link are parallel to each other.
In order to ensure that parallel-crank mechanism is positive parallel-crank mechanism, make two planet carrier synchronous axial system, described parallel-crank mechanism is also provided with planet carrier balancing pole supporting seat 30, planet carrier balancing pole 24 and balance side link 28, planet carrier balancing pole supporting seat is fixed on portable plate, one end and the planet carrier balancing pole supporting seat of planet carrier balancing pole are hinged, and the other end is hinged by jointed shaft 15 and long connecting rod; One end and the jointed shaft 15 of balance side link are hinged, and the other end is hinged by jointed shaft 23 and support link.
As shown in Fig. 4-1 to 4-4, the jolting that tong unit does epitrochoidal path motion makes fruit shake, and described tong unit comprises tong connecting rod 32, tong case 2 and tong action component.Described support link is provided with triangular support bracket 29, the top of triangular support bracket is connected and fixed by the lower end of screw thread 31 with tong connecting rod, is welded and fixed tong case after loose slot is vertically stretched out in the upper end of tong connecting rod; Tong action component is arranged in tong case, comprises the tong motor 33 of two tongs (clamping branch part is wider, better can firmly grasp branch) and driving two tong foldings.
As shown in Fig. 5-1 to 5-3, described tong comprises chuck 38, chuck connecting rod 37, chuck connecting rod 36 and the tong gear 35 fixing with chuck connecting rod; Wherein, chuck connecting rod 37 and chuck connecting rod 36 are parallel to each other, and both one end are all hinged on the installing plate 39 in tong case, and the other end is all hinged with chuck thus form parallelogram motion mechanism; The tong gear 35 of two tongs engages each other, and tong motor is engaged with one of them tong gear 35 by driving gear 34.
Above-mentioned travelling gear, idler gear, the long connecting rod position on each axle is limited by sleeve 14.
During jolting cell operation, the gear unit that rotates through of mair motor is delivered to two turning cylinders, when two turning cylinders rotate, rotates the planet carrier that axle key connects can rotate with identical angular speed with two; When planet carrier rotates moving axis rotation, the planetary gear connected by the rotating shaft of planetary gear and planet carrier and side link can together with rotate, planetary gear rotates around sun gear, and the rotation of side link can drive the support link be connected with side link to detour the pivot of star-wheel; The rotating shaft of planetary gear the detour motion of rotating shaft of star-wheel of the rotation of moving axis and support link that rotates synthesizes epitrochoidal path at chuck connecting rod place, and then have impact on the vibration that tong unit does epitrochoidal path.
The course of work of the present invention is: under first vehicular platform being moved to goal tree, adjusting device height, makes tong unit aim at branch, and controls tong unit clamping branch; Use controller to open mair motor, make tong unit produce vibration and fruit is shaken from tree to fall; Meanwhile, the present invention can by adjustment speed changer and vehicular platform height to adapt to different situations.
Finally, it should be noted that above what enumerate is only specific embodiments of the invention.Obviously, the invention is not restricted to above embodiment, a lot of distortion can also be had.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention, all should think protection scope of the present invention.
Claims (10)
1. based on the fruit vibrating picker of epitrochoidal path, it is characterized in that: comprise casing, tong unit, jolting unit, gear unit and power unit, jolting unit is connected with tong unit, tong unit is driven to do epitrochoidal path motion, power unit is connected with jolting unit by gear unit, drives jolting cell operation.
2. the fruit vibrating picker based on epitrochoidal path according to claim 1, it is characterized in that: described gear unit comprises two travelling gears (7,10), two carrier gears (8,9), bridge shaft (12) and two turning cylinders (11), two turning cylinders are arranged in the both sides of bridge shaft and are separately installed with a travelling gear, and two carrier gears are arranged on bridge shaft and also engage with a travelling gear respectively.
3. the fruit vibrating picker based on epitrochoidal path according to claim 2, it is characterized in that: described jolting unit comprises two planetary wheeling mechanisms and a parallel-crank mechanism, each planetary wheeling mechanism comprises sun gear (18), planetary gear (17) and planet carrier (16) respectively, the sun gear of two planetary wheeling mechanisms is fixed in casing respectively by sun gear hold-down support (22), and planet carrier is arranged on described two turning cylinders respectively; Parallel-crank mechanism comprises long connecting rod (27), support link (25) and two side links (20), the two ends of long connecting rod are hinged with the rotating shaft of two planetary gears respectively, one end of two side links is separately fixed at the rotating shaft of planetary gear, and the end of the other end and support link is hinged.
4. the fruit vibrating picker based on epitrochoidal path according to claim 3, is characterized in that: described tong unit comprises tong connecting rod (32), tong case (2) and tong action component; The lower end of tong connecting rod is fixed in support link, and the loose slot (1-5) that casing top is vertically stretched out in upper end determines tong case; Tong action component is arranged in tong case, comprises the tong motor (33) of two tongs (38) and driving two tong foldings.
5. the fruit vibrating picker based on epitrochoidal path according to Claims 2 or 3 or 4, it is characterized in that: described power unit comprises mair motor (3) and speed changer (4) thereof, the output shaft (6) of speed changer is engaged with one of them travelling gear by output gear (5).
6. the fruit vibrating picker based on epitrochoidal path according to claim 5, it is characterized in that: described parallel-crank mechanism also comprises planet carrier balancing pole supporting seat (30), planet carrier balancing pole (24) and balance side link (28), planet carrier balancing pole supporting seat is fixed in casing, one end and the planet carrier balancing pole supporting seat of planet carrier balancing pole are hinged, and the other end is hinged by jointed shaft (15) and long connecting rod; Balance one end of side link and described jointed shaft hinged, the other end and support link hinged.
7. the fruit vibrating picker based on epitrochoidal path according to claim 6, it is characterized in that: described casing comprises base plate (1-7) and cover plate (1-1), two pieces of side plates (1-4), header board (1-2), rear plate (1-3) and portable plates (1-6), portable plate is fixed between header board and rear plate, described sun gear hold-down support and planet carrier balancing pole supporting seat are all fixed on portable plate, cover plate offer described loose slot (1-5).
8. the fruit vibrating picker based on epitrochoidal path according to claim 7, is characterized in that: described tong comprises chuck (38), chuck connecting rod (37), chuck connecting rod (36) and the tong gear (35) fixing with chuck connecting rod; Wherein, chuck connecting rod (37) and chuck connecting rod (36) are parallel to each other, and both one end are all hinged on tong case, and the other end is all hinged with chuck thus form parallelogram motion mechanism; The tong gear (35) of two tongs engages each other, and tong motor is engaged with one of them tong gear (35) by driving gear.
9. the fruit vibrating picker based on epitrochoidal path according to claim 8, it is characterized in that: described support link (25) is provided with triangular support bracket (29), the top of triangular support bracket is connected and fixed by the lower end of screw thread (31) with tong connecting rod.
10. the fruit vibrating picker based on epitrochoidal path according to claim 9, is characterized in that: described bridge shaft and two turning cylinders are in same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510252917.5A CN104885705B (en) | 2015-05-15 | 2015-05-15 | Fruit vibrating picker based on epitrochoidal path |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510252917.5A CN104885705B (en) | 2015-05-15 | 2015-05-15 | Fruit vibrating picker based on epitrochoidal path |
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| CN104885705A true CN104885705A (en) | 2015-09-09 |
| CN104885705B CN104885705B (en) | 2017-01-04 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105766218A (en) * | 2016-03-23 | 2016-07-20 | 浙江理工大学 | Fruit harvesting device adopting three-dimensional excitation |
| CN106664970A (en) * | 2016-12-29 | 2017-05-17 | 东北农业大学 | Branch-vibration-type walnut picking machine |
| CN107436284A (en) * | 2017-09-08 | 2017-12-05 | 南京林业大学 | A kind of vibration parameters test device of the fruit vibrating response mode based on vibration harvesting |
| 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 |
| CN108738709A (en) * | 2018-06-29 | 2018-11-06 | 浙江理工大学 | Double-planet train formula Chinese date vibrates harvester and collecting method |
| CN109220220A (en) * | 2018-08-16 | 2019-01-18 | 昆明理工大学 | One kind shaking formula nut cropper and its a working method |
| CN112273047A (en) * | 2020-09-20 | 2021-01-29 | 昆明理工大学 | Coffee fruit picking machine |
| EP4005365A2 (en) | 2020-11-26 | 2022-06-01 | Agreencrop S.r.l.s | Shaker |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105766218A (en) * | 2016-03-23 | 2016-07-20 | 浙江理工大学 | Fruit harvesting device adopting three-dimensional excitation |
| CN106664970A (en) * | 2016-12-29 | 2017-05-17 | 东北农业大学 | Branch-vibration-type walnut picking machine |
| CN107436284A (en) * | 2017-09-08 | 2017-12-05 | 南京林业大学 | A kind of vibration parameters test device of the fruit vibrating response mode based on vibration harvesting |
| 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 |
| CN108738709A (en) * | 2018-06-29 | 2018-11-06 | 浙江理工大学 | Double-planet train formula Chinese date vibrates harvester and collecting method |
| CN109220220A (en) * | 2018-08-16 | 2019-01-18 | 昆明理工大学 | One kind shaking formula nut cropper and its a working method |
| CN112273047A (en) * | 2020-09-20 | 2021-01-29 | 昆明理工大学 | Coffee fruit picking machine |
| EP4005365A2 (en) | 2020-11-26 | 2022-06-01 | Agreencrop S.r.l.s | Shaker |
| EP4218396A1 (en) | 2020-11-26 | 2023-08-02 | Agreencrop S.r.l. | Shaker |
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