CN105766218A - Fruit harvesting device adopting three-dimensional excitation - Google Patents
Fruit harvesting device adopting three-dimensional excitation Download PDFInfo
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- CN105766218A CN105766218A CN201610168573.4A CN201610168573A CN105766218A CN 105766218 A CN105766218 A CN 105766218A CN 201610168573 A CN201610168573 A CN 201610168573A CN 105766218 A CN105766218 A CN 105766218A
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- unit
- jolting
- power
- clip
- parallel
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
Abstract
The invention relates to a fruit harvesting device adopting three-dimensional excitation and aims to provide a device having the characteristics of good safety, high production efficiency, simple structure and convenience in use. According to the technical scheme, the fruit harvesting device adopting three-dimensional excitation is characterized by comprising a box body, a clamping unit positioned on the box body, a shaking unit driving the clamping unit and a transmitting unit for transmitting power of a power unit to the shaking unit, wherein the clamping unit performs three-dimensional space curve track motion under driving of the shaking unit.
Description
Technical field
The present invention relates to woods fruit to gather field of mechanical technique, specifically a kind of three-dimensional exciting fruit recovering device.
Background technology
Along with labor cost goes up gradually, required human cost of therefore manually gathering is huge and efficiency is too low.For improving fruit harvest efficiency, simultaneously taking account of saving manpower and equipment cost, using mechanization to gather can make substantial amounts of fruit depart from fruit tree at short notice in the way of relatively inexpensive.Therefore gathered in large-area orchard, the higher economic benefit of gathering of mechanization.
Gathering due to vibration type and can separate mature fruit quickly and efficiently, therefore existing fruit picking machine structure is maximum with the vibration type mechanism that gathers.The principle of mechanical-vibration type fruit harvesting machine is the fruit utilizing vibrating mechanism to be applied on branch by mechanical vibration, makes fruit also vibrate with certain forms, and utilizes the inertia force that fruit is subject to make fruit abscission.
The mechanical-vibration type woods fruit related at present is gathered, and employing is that the vibration of two-dimensional space is gathered, and oscillation trajectory is simple, it is impossible to improve fruit vibration harvest efficiency further.
Summary of the invention
It is an object of the invention to overcome the deficiency in above-mentioned background technology, it is provided that a kind of three-dimensional exciting fruit recovering device.This device should have that safety is good, production efficiency is high, simple in construction and feature easy to use.
Present invention employs techniques below scheme: three-dimensional exciting fruit recovering device, it is characterised in that this device includes casing and the grip unit being positioned on casing, drives the jolting unit of grip unit and the power of power unit passes to the gear unit of jolting unit；Described grip unit makes three-dimensional space curve track orbiting motion under jolting unit drives；
Described grip unit include two be parallel to each other and keep at a certain distance away arrange shaker arms, be positioned at one by one two caliper brake clip devices at two shaker arm tops is connected with shaker arm the vertical rod and brace that form triangle fixed mount and be parallel to each other and end, two ends connect three end points of triangle fixed mount across between bar and two parallel bars, said two caliper brake clip device also by a sliding hanger rod connection；
The first power transmission shaft and second driving shaft that described gear unit includes being arranged in parallel with motor output shaft, motor power is passed to the pulley assemblies of the first power transmission shaft and second driving shaft simultaneously and the first power transmission shaft power is passed to the bevel gear set of jolting unit；
Described jolting unit includes the first jolting assembly for producing two mutually perpendicular direction motions and the second jolting assembly；
In first jolting assembly, rocking bar, mobile jib and the first crank forming endplay device, bevel gear set is transmitted linear bearing fixing on the first crank required drive, said two parallel bar and mobile jib by the 3rd power transmission shaft and is slidably matched one by one；In second jolting assembly, second driving shaft driving one as the first ball sub-joint of crank, the second ball sub-joint is arranged on a parallel bar, and drive link transmits power between the first ball sub-joint and the second ball sub-joint.
Described caliper brake clip device includes the clip quarter butt that two recesses are relatively hinged on the active card angle on shaker arm top, each active card angle outer rim is fixed, connecting rod hinged with the other end of clip quarter butt and clip slide block respectively；This clip slide block is hinged to be set on shaker arm slidably, and the two ends of described sliding hanger rod are connected with two clip slide blocks respectively.
Described power unit includes motor and accumulator.
Described casing includes base plate and cover plate, two pieces of side plates, header board, back plate, and wherein mair motor is fixed on side plate by bearing, and two blocks of side plates offer the loose slot being beneficial to two parallel bar motions.
The invention has the beneficial effects as follows:
The invention has the beneficial effects as follows: instant invention overcomes the defects such as existing two-dimensional excitation orchard cropper harvest efficiency is low, vibration damage is big, vibration mode is single, adaption object is limited, power is provided for jolting unit by motor, connection by grip unit Yu jolting unit, make nip part nips tree branch and do three-dimensional space curve track jolting, fruit is made to shake to cause drop, harvest efficiency can be greatly improved, and safety is good, significantly reduces the labor intensity of orchard worker.
Accompanying drawing explanation
Fig. 1-1 is the perspective view of the present invention.
Fig. 1-2 is the main TV structure schematic diagram of the present invention.
Fig. 2-1 is one of annexation schematic perspective view of gear unit and jolting unit in the present invention.
Fig. 2-2 is the two of the annexation schematic perspective view of gear unit and jolting unit in the present invention.
Fig. 3 is the annexation schematic perspective view of gear unit in the present invention, jolting unit and grip unit.
Fig. 4 is the perspective view of casing in the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following example.
As shown in Fig. 1-1, Fig. 1-2, three-dimensional exciting fruit recovering device of the present invention is typically mounted on vehicular platform, this recovering device includes casing, is fixed on the power unit on casing (including motor 1 and accumulator), grip unit, jolting unit and gear unit.Motor is by accumulator (omitting in figure) power supply or is directly powered by transmission line of electricity, drives jolting cell operation by gear unit；Jolting unit drives grip unit to make three-dimensional space curve orbiting motion.
Described casing includes base plate 1-4, cover plate 1-1, two pieces of side plates (front side board 1-5, back side panel 1-2), header board 1-3, back plate 1-7.On two side plates, equal symmetry offers loose slot 1-6.Motor 1 is fixed on side plate (being shown in front side board 1-5 in figure) by bearing 2, and motor is provided electric power by accumulator；Belt wheel 4 on driven by motor output shaft rotates, and is moved by belt 3 band movable belt pulley 5 simultaneously, belt wheel 6, the first power transmission shaft 6-1 of fixed pulley 6, fixed pulley 5 second driving shaft 5-1 be rotatably positioned on casing respectively through bearing.
As shown in Fig. 2-1, Fig. 2-2 and Fig. 3, the power of power unit is introduced jolting unit by gear unit；The first power transmission shaft 6-1 and second driving shaft 5-1 that described gear unit includes being arranged in parallel with motor output shaft, motor power is passed to the pulley assemblies of the first power transmission shaft and second driving shaft simultaneously and the first power transmission shaft power is passed to the bevel gear set (bevel gear 7, bevel gear 8) of jolting unit.In figure visible: belt wheel 6 is that bevel gear 7 transmits power by the first power transmission shaft 6-1, and bevel gear 7 is fixed on the lower end of the first power transmission shaft 6-1, and the first power transmission shaft is positioned rotationally by the bearing that is fixed on inner cover plate 1-9；The bevel gear 8 engaged with bevel gear 7 is fixed on one end of the 3rd power transmission shaft 16, and the 3rd power transmission shaft is positioned rotationally by the bearing being fixed on back side panel 1-2；The other end of the 3rd power transmission shaft 16 is fixed through interior plate 1-8 and the first crank 17, and power introduces jolting mechanism.
As shown in Fig. 2-1, Fig. 2-2 and Fig. 3, described jolting unit includes the direction of two motions that the first jolting assembly and the second jolting assembly, the first jolting assembly and the second jolting assembly produce and is mutually perpendicular to；
In first jolting assembly, rocking bar 15, mobile jib 14 and the first crank 17 forming endplay device, the bottom of rocking bar is also hinged with the rocker base 18 on box bottom, and pin joint axis overlaps with the axis of oscillation of rocking bar.Bevel gear set transmits the first crank required drive by the 3rd power transmission shaft, and mobile jib is fixed two linear bearings 12,13, and two parallel bars are slidably matched one by one with linear bearing.Obviously, when the first crank rotates, namely two parallel bars drive grip unit to swing together.
In second jolting assembly, one is driven as the first ball sub-joint 3 of crank by second driving shaft 5-1, on second ball sub-joint 11 parallel bar (being mounted in as seen on parallel bar 9 in figure) installed therein, drive link 2 transmits power between the first ball sub-joint and the second ball sub-joint.Obviously, when the second crank rotates, two parallel bars make the slip being perpendicular to mobile jib length direction each through linear axis, and grip unit is also inconjunction with and moves together.
As it is shown on figure 3, described grip unit includes two is parallel to each other and keeps at a certain distance away that (this distance can be determined as required；Preferred 5-20cm) shaker arm 22 arranged, it is positioned at two caliper brake clip devices at two shaker arm tops one by one, it is connected with shaker arm and forms the vertical rod 20 of triangle fixed mount and brace 21 (each shaker arm cooperatively forms triangle fixed mount by with vertical rod and a brace, to strengthen kinetic stability) and be parallel to each other and end, two ends connect triangle fixed mount three end points (connect the first parallel bars 9 of shaker arm bottom across bar 28 and two parallel bars, bracing diagonal the second parallel bar 19), connect to increase intensity also by a sliding hanger rod 29 between said two caliper brake clip device (in figure visible, the two ends of sliding hanger rod are connected with two clip slide blocks respectively).
Described caliper brake clip device includes that recess is relatively hinged on two active card angles 26 on shaker arm top, the outer rim at each active card angle fixes a clip quarter butt 25, connecting rod 24 hinged with the other end of clip quarter butt and clip slide block 23 respectively；This clip slide block is hinged to be set on shaker arm slidably,.Obviously, when clip slide block slides on shaker arm, namely the amplitude that two active card angles are opened changes, to adapt to the branch needs of jolting different thicknesses；Clip slide block is also equipped with the fixing screw (omitting in figure) of top pressure shaker arm, for clip slide block and shaker arm are fixed, so that the angle location that two active card angles are opened.
During power unit work, by the transmission of belt wheel, bevel gear set a part of power is introduced directly into the first jolting assembly of jolting unit, making it do the motion of in-plane, another part power passes to the second jolting assembly of jolting unit by ball sub-joint so that it is complete the motion of rectilinear direction；After the motion synthesis of two mutually perpendicular directions, namely become the vibration that jolting unit drives the three dimensions track of clamping device.
The work process of the present invention is: first move under goal tree by vehicular platform, regulates device height, makes grip unit alignment branch, and controls grip unit clamping branch；Use controller to open mair motor, make grip unit produce vibration and fruit is shaken and fallen from tree.
Finally it should be noted that listed above is only specific embodiments of the invention.It is clear that the invention is not restricted to above example, it is also possible to there is many variations.All deformation that those of ordinary skill in the art can directly derive from present disclosure or associate, are all considered as protection scope of the present invention.
Claims (4)
1. three-dimensional exciting fruit recovering device, it is characterised in that this device includes casing and the grip unit being positioned on casing, drives the jolting unit of grip unit and the power of power unit passes to the gear unit of jolting unit；Described grip unit makes three-dimensional space curve track orbiting motion under jolting unit drives；
Described grip unit include two be parallel to each other and keep at a certain distance away arrange shaker arms (22), be positioned at one by one two caliper brake clip devices at two shaker arm tops is connected with shaker arm the vertical rod (20) and brace (21) that form triangle fixed mount and be parallel to each other and end, two ends connection three end points of triangle fixed mount across bar (28) and two parallel bars (9,19), connect also by a sliding hanger rod (29) between said two caliper brake clip device；
The first power transmission shaft (6-1) and second driving shaft (5-1) that described gear unit includes being arranged in parallel with motor output shaft, motor power is passed to the pulley assemblies of the first power transmission shaft and second driving shaft simultaneously and the first power transmission shaft power is passed to the bevel gear set of jolting unit；
Described jolting unit includes the first jolting assembly for producing two mutually perpendicular direction motions and the second jolting assembly；
In first jolting assembly, endplay device is formed by rocking bar (15), mobile jib (14) and the first crank (17), bevel gear set transmits the first crank required drive by the 3rd power transmission shaft (16), linear bearing (13,12) fixing on said two parallel bar and mobile jib is slidably matched one by one；In second jolting assembly, second driving shaft driving one as the first ball sub-joint (3) of crank, the second ball sub-joint (11) is arranged on a parallel bar, and drive link transmits power between the first ball sub-joint and the second ball sub-joint.
2. three-dimensional exciting fruit recovering device according to claim 1, it is characterised in that: described caliper brake clip device includes the clip quarter butt (25) that two recesses are relatively hinged on the active card angle (26) on shaker arm top, each active card angle outer rim is fixed, connecting rod (24) hinged with the other end of clip quarter butt and clip slide block respectively；This clip slide block is hinged to be set on shaker arm slidably, and the two ends of described sliding hanger rod are connected with two clip slide blocks respectively.
3. three-dimensional exciting fruit recovering device according to claim 2, it is characterised in that: described power unit includes motor (1) and accumulator.
4. the three-dimensional exciting fruit recovering device according to claim 1 or 2 or 3, it is characterized in that: described casing includes base plate (1-4), cover plate (1-1), two pieces of side plate (1-2,1-5), header board (1-3), back plate (1-7), wherein mair motor is fixed on side plate by bearing (2), and two blocks of side plates offer the loose slot (1-6) being beneficial to two parallel bar motions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610168573.4A CN105766218B (en) | 2016-03-23 | 2016-03-23 | Three-dimensional exciting fruit recovering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610168573.4A CN105766218B (en) | 2016-03-23 | 2016-03-23 | Three-dimensional exciting fruit recovering device |
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| CN105766218A true CN105766218A (en) | 2016-07-20 |
| CN105766218B CN105766218B (en) | 2017-10-20 |
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| CN201610168573.4A Active CN105766218B (en) | 2016-03-23 | 2016-03-23 | Three-dimensional exciting fruit recovering device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283060A (en) * | 2018-01-22 | 2018-07-17 | 浙江理工大学 | A kind of shaking machine of multidimensional |
| CN110100576A (en) * | 2019-06-19 | 2019-08-09 | 湖南省林业科学院 | A kind of picking fruit device and fruit picking |
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| SU1347898A1 (en) * | 1984-12-06 | 1987-10-30 | Головное Специализированное Конструкторское Бюро По Комплексам Машин Для Механизации Работ В Садах,Виноградниках,Питомниках И Ягодниках Кишиневского Производственного Объединения "Плодсельхозмаш" | Shaker for fruit picker |
| CN102668815A (en) * | 2012-05-03 | 2012-09-19 | 浙江理工大学 | Vibration picking manipulator for fruit trees |
| CN102763523A (en) * | 2012-07-27 | 2012-11-07 | 石河子大学 | Vibratory separating device of grape harvesting machine |
| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
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2016
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| SU1347898A1 (en) * | 1984-12-06 | 1987-10-30 | Головное Специализированное Конструкторское Бюро По Комплексам Машин Для Механизации Работ В Садах,Виноградниках,Питомниках И Ягодниках Кишиневского Производственного Объединения "Плодсельхозмаш" | Shaker for fruit picker |
| CN102668815A (en) * | 2012-05-03 | 2012-09-19 | 浙江理工大学 | Vibration picking manipulator for fruit trees |
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| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
| CN104885705A (en) * | 2015-05-15 | 2015-09-09 | 浙江理工大学 | Epitrochoid trajectory based fruit vibration harvesting device |
| CN205694359U (en) * | 2016-03-23 | 2016-11-23 | 浙江理工大学 | Three-dimensional exciting fruit recovering device |
Non-Patent Citations (1)
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| 刘梦飞: "核桃采摘机的设计与试验", 《中国优秀硕士学位论文全文数据库农业科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283060A (en) * | 2018-01-22 | 2018-07-17 | 浙江理工大学 | A kind of shaking machine of multidimensional |
| CN110100576A (en) * | 2019-06-19 | 2019-08-09 | 湖南省林业科学院 | A kind of picking fruit device and fruit picking |
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| Publication number | Publication date |
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| CN105766218B (en) | 2017-10-20 |
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