CN105766218B - Three-dimensional exciting fruit recovering device - Google Patents
Three-dimensional exciting fruit recovering device Download PDFInfo
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- CN105766218B CN105766218B CN201610168573.4A CN201610168573A CN105766218B CN 105766218 B CN105766218 B CN 105766218B CN 201610168573 A CN201610168573 A CN 201610168573A CN 105766218 B CN105766218 B CN 105766218B
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- unit
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Classifications
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to three-dimensional exciting fruit recovering device.The device that purpose is to provide should have security is good, production efficiency is high, it is simple in construction and easy to use the characteristics of.Technical scheme is：Three-dimensional exciting fruit recovering device, it is characterised in that the device includes casing and the grip unit being positioned on casing, the shaking unit for driving grip unit and the gear unit that the power of power unit is passed to shaking unit；The grip unit makees the motion of three-dimensional space curve track track under shaking unit driving.
Description
Technical field
The present invention relates to woods fruit harvesting field of mechanical technique, specifically a kind of three-dimensional exciting fruit recovering device.
Background technology
As labor cost gradually goes up, therefore the required human cost of artificial harvesting is huge and efficiency is too low.To carry
High fruit harvest efficiency, while in view of saving manpower and equipment cost, can be in a short time with more using mechanization harvesting
Economic mode makes substantial amounts of fruit depart from fruit tree.Therefore harvested for the orchard of large area, the harvesting of mechanization has higher
Economic benefit.
Because oscillatory type harvesting can quickly and efficiently separate ripening fruits, therefore existing fruit picking machine structure is to shake
Dynamic formula harvesting mechanism is most.The principle of mechanical-vibration type fruit harvesting machine is that mechanical oscillation are applied into tree using vibrating mechanism
Fruit on branch, makes fruit also be vibrated with certain forms, and the inertia force being subject to using fruit makes fruit abscission.
The mechanical-vibration type woods fruit being related at present harvests, and uses the vibration harvesting of two-dimensional space, and oscillation trajectory is simple,
Fruit vibration harvest efficiency can not further be improved.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of that there is provided a kind of three-dimensional exciting fruit recovering device in above-mentioned background technology.
The device should have security is good, production efficiency is high, it is simple in construction and easy to use the characteristics of.
Present invention employs following technical scheme：Three-dimensional exciting fruit recovering device, it is characterised in that the device includes case
Body and the grip unit being positioned on casing, the shaking unit for driving grip unit and the power of power unit is passed to
Shake the gear unit of unit；The grip unit makees the motion of three-dimensional space curve track track under shaking unit driving；
The grip unit is parallel to each other including two and the shaker arm of arrangement spaced apart, is positioned at two one by one
Two caliper brake clip devices at the top of shaker arm, be connected with shaker arm the vertical rod and brace to form triangle fixed mount and
Be parallel to each other and two ends end connection triangle three end points of fixed mount across bar and two parallel bars, described two caliper brakes
Also connected between clip device by a sliding hanger rod；
The first power transmission shaft and second driving shaft that the gear unit includes being arranged in parallel with motor output shaft, while by electricity
Mechanomotive force passes to the pulley assemblies of the first power transmission shaft and second driving shaft and the first power transmission shaft power is passed into shaking list
The bevel gear set of member；
The shaking unit includes the first shaking component and the second shaking for being used to produce that two mutually perpendicular directions are moved
Component；
In first shaking component, rocker device is constituted by rocking bar, mobile jib and the first crank, bevel gear set is passed by the 3rd
Moving axis transmits power needed for the first crank, and described two parallel bars are slidably matched one by one with linear bearing fixed on mobile jib；The
In two shaking components, by first ball sub-joint of the second driving shaft driving one as crank, the second ball sub-joint is arranged on one
On parallel bar, drive link transmits power between the first ball sub-joint and the second ball sub-joint.
The caliper brake clip device includes two recesses and is relatively hinged on the active card angle on shaker arm top, each activity
The clip quarter butt of card angle outer rim fixation, the connecting rod being hinged respectively with the other end and clip sliding block of clip quarter butt；The clip is slided
Block, which is hinged, to be slideably set on shaker arm, and the two ends of the sliding hanger rod are connected with two clip sliding blocks respectively.
The power unit includes motor and battery.
The casing includes bottom plate and cover plate, two pieces of side plates, foreboard, back plates, and wherein main motor is fixed on side by bearing
On plate, the loose slot beneficial to two parallel bar motions is offered on two blocks of side plates.
The beneficial effects of the invention are as follows：
The beneficial effects of the invention are as follows：Instant invention overcomes existing two-dimensional excitation orchard cropper harvest efficiency it is low, vibration
The defects such as big, vibration mode is single, adaption object is limited are damaged, power is provided for shaking unit by motor, passes through grip unit
Connection with shaking unit, makes nip part nips tree branch and does the shaking of three-dimensional space curve track, shake to cause drop fruit,
Harvest efficiency can be greatly improved, security is good, significantly reduces the labor intensity of orchard worker.
Brief description of the drawings
Fig. 1-1 is the dimensional structure diagram of the present invention.
Fig. 1-2 is the main structure diagram of the present invention.
Fig. 2-1 is one of annexation schematic perspective view of gear unit and shaking unit in the present invention.
Fig. 2-2 is the two of the annexation schematic perspective view of gear unit and shaking unit in the present invention.
Fig. 3 is the annexation schematic perspective view of gear unit, shaking unit and grip unit in the present invention.
Fig. 4 is the dimensional structure diagram of casing in the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
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
On, the recovering device includes casing, is fixed on power unit (including motor 1 and battery) on casing, grip unit, shaking
Unit and gear unit.Motor (is omitted) power supply by battery or directly powered by transmission line of electricity in figure, pass through gear unit
Driving shaking cell operation；Shaking unit drives grip unit to make the motion of three-dimensional space curve track.
The casing include bottom plate 1-4, cover plate 1-1, two pieces of side plates (front side board 1-5, back side panel 1-2), foreboard 1-3, after
Plate 1-7.Loose slot 1-6 is symmetrically offered on two side plates.Motor 1 is fixed on side plate by bearing 2 and (front side is shown in figure
Plate 1-5) on, motor provides electric power by battery；Motor drives the belt wheel 4 on output shaft to rotate, and band is driven simultaneously by belt 3
Wheel 5, belt wheel 6 are moved, and the first power transmission shaft 6-1 of fixed pulley 6, the second driving shaft 5-1 of fixed pulley 5 respectively can by bearing
Rotationally it is positioned on casing.
As shown in Fig. 2-1, Fig. 2-2 and Fig. 3, the power of power unit is introduced shaking unit by gear unit；The transmission
Unit is included with the first power transmission shaft 6-1 and second driving shaft 5-1 of motor output shaft parallel arrangement, while motor power is transmitted
The bevel gear of shaking unit is passed to the pulley assemblies of the first power transmission shaft and second driving shaft and by the first power transmission shaft power
Group (bevel gear 7, bevel gear 8).It is visible in figure：Belt wheel 6 is that bevel gear 7 transmits power, bevel gear 7 by the first power transmission shaft 6-1
The first power transmission shaft 6-1 lower end is fixed on, the first power transmission shaft is rotationally determined by the bearing being fixed on inner cover plate 1-9
Position；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 by being fixed on back side panel
Bearing on 1-2 is rotationally positioned；The other end of 3rd power transmission shaft 16 is solid through interior plate 1-8 and the first crank 17
It is fixed, power is introduced into shaking mechanism.
As shown in Fig. 2-1, Fig. 2-2 and Fig. 3, the shaking unit includes the first shaking component and the second shaking component, the
The direction for two motions that one shaking component and the second shaking component are produced is mutually perpendicular to；
In first shaking component, rocker device is constituted by rocking bar 15, the crank 17 of mobile jib 14 and first, the bottom of rocking bar is also
It is hinged with the rocker base 18 on box bottom, pin joint axis is overlapped with the axis of oscillation of rocking bar.Bevel gear set passes through the 3rd
Power transmission shaft transmits fixed two linear bearings 12,13, two parallel bars and linear bearing on power needed for the first crank, mobile jib
It is slidably matched one by one.Obviously, when the first crank is rotated, two parallel bars are to drive grip unit to swing together.
In second shaking component, by first ball sub-joint 3 of the second driving shaft 5-1 drivings one as crank, the second ball
On 11 installed therein parallel bars (visible in figure to be mounted on parallel bar 9) of sub-joint, drive link 2 connects in the first ball pair
Power is transmitted between head and the second ball sub-joint.Obviously, when the second crank is rotated, two parallel bars are made vertical by linear axis
Directly in the slip of mobile jib length direction, grip unit is also inconjunction with and moved together.
As shown in figure 3, the grip unit is parallel to each other including two and spaced apart (distance can be as needed
It is determined that；It is preferred that 5-20cm) arrangement shaker arm 22, be positioned at one by one at the top of two shaker arms two caliper brake clip devices, with
Shaker arm, which is connected, to be formed the vertical rod 20 and brace 21 of triangle fixed mount (each shaker arm is by with vertical rod and a brace
Triangle fixed mount is cooperatively formed, to strengthen kinetic stability) and be parallel to each other and two ends end connection triangle fixed mount
Three end points across bar 28 and two parallel bars, (the first parallel bar 9 of connection shaker arm bottom, bracing diagonal second is parallel
Bar 19), also connected by a sliding hanger rod 29 between described two caliper brake clip devices with increase intensity (it is in figure visible, slide
The two ends of suspension rod are connected with two clip sliding blocks respectively).
The caliper brake clip device includes recess and is relatively hinged on two active card angles 26 on shaker arm top, each lives
Dynamic Ka Jiao outer rim fixes a clip quarter butt 25, the connecting rod being hinged respectively with the other end and clip sliding block 23 of clip quarter butt
24；The clip sliding block, which is hinged, to be slideably set on shaker arm,.Obviously, when clip sliding block is slided on shaker arm, two work
The amplitude that dynamic Ka Jiao opens changes, to adapt to the branch needs for shaking different thicknesses；Clip sliding block is also equipped with top pressure and shaken
The fixing screws (being omitted in figure) of swing arm, for clip sliding block and shaker arm to be fixed, so that the angle that two active card angles are opened
Degree positioning.
When power unit works, a part of power is introduced directly into by the transmission of belt wheel, bevel gear set and shakes unit
First shaking component, the motion for making it do in-plane, another part power passes to the of shaking unit by ball sub-joint
Two shaking components, the motion for making it complete rectilinear direction；After the motion synthesis of two mutually perpendicular directions, shaking unit is become
Drive the vibration of the three dimensions track of clamping device.
The present invention the course of work be：Vehicular platform is moved under goal tree first, adjusting means height makes clamping list
Member alignment branch, and control grip unit to clamp branch；Main motor is opened using controller, grip unit is produced and vibrates and incite somebody to action
Fruit shakes from tree to fall.
Finally it should be noted that listed above is only specific embodiment of the invention.It is clear that the invention is not restricted to
Above example, can also there is many variations.One of ordinary skill in the art can directly lead from present disclosure
All deformations for going out or associating, are considered as protection scope of the present invention.
Claims (4)
1. three-dimensional exciting fruit recovering device, it is characterised in that the device includes casing and the clamping list being positioned on casing
Member, the shaking unit of driving grip unit and the gear unit that the power of power unit is passed to shaking unit；The folder
Hold unit and make the motion of three-dimensional space curve track track under shaking unit driving；
The grip unit is parallel to each other including two and the shaker arm (22) of arrangement spaced apart, is positioned at two one by one
Two caliper brake clip devices at the top of shaker arm, the vertical rod (20) and brace to form triangle fixed mount are connected with shaker arm
(21) and be parallel to each other and two ends end connection triangle three end points of fixed mount across bar (28) and two parallel bars (9,
19), also connected between described two caliper brake clip devices by a sliding hanger rod (29)；
The gear unit include with motor output shaft be arranged in parallel the first power transmission shaft (6-1) and second driving shaft (5-1), together
When motor power is passed into the pulley assemblies of the first power transmission shaft and second driving shaft and the first power transmission shaft power is passed to
Shake the bevel gear set of unit；
The shaking unit includes the first shaking component and the second shaking component for being used to produce two mutually perpendicular direction motions；
In first shaking component, rocker device is constituted by rocking bar (15), mobile jib (14) and the first crank (17), bevel gear set is led to
Cross the 3rd power transmission shaft (16) transmit linear bearing fixed on power needed for the first crank, described two parallel bars and mobile jib (13,
12) it is slidably matched one by one；In second shaking component, by first ball sub-joint (3) of the second driving shaft driving one as crank,
Second ball sub-joint (11) is arranged on a parallel bar, and drive link transmits dynamic between the first ball sub-joint and the second ball sub-joint
Power.
2. three-dimensional exciting fruit recovering device according to claim 1, it is characterised in that：The caliper brake clip device includes
The clip quarter butt that two recesses are relatively hinged on the active card angle (26) on shaker arm top, each active card angle outer rim is fixed
(25), the connecting rod (24) being hinged respectively with the other end and clip sliding block of clip quarter butt；The clip sliding block is hinged slideably
It is set on shaker arm, the two ends of the sliding hanger rod are connected with two clip sliding blocks respectively.
3. three-dimensional exciting fruit recovering device according to claim 2, it is characterised in that：The power unit includes motor
And battery (1).
4. the three-dimensional exciting fruit recovering device according to claim 1 or 2 or 3, it is characterised in that：The casing includes bottom
Plate (1-4), cover plate (1-1), two pieces of side plates (1-2,1-5), foreboard (1-3), back plates (1-7), wherein main motor pass through bearing (2)
It is fixed on side plate, the loose slot (1-6) beneficial to two parallel bar motions is offered on two blocks of side plates.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105766218A CN105766218A (en) | 2016-07-20 |
| CN105766218B true CN105766218B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610168573.4A Active CN105766218B (en) | 2016-03-23 | 2016-03-23 | Three-dimensional exciting fruit recovering device |
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| CN (1) | CN105766218B (en) |
Families Citing this family (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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102668815B (en) * | 2012-05-03 | 2014-03-12 | 浙江理工大学 | Vibration picking manipulator for fruit trees |
| CN102763523B (en) * | 2012-07-27 | 2013-06-19 | 石河子大学 | Vibratory separating device of grape harvesting machine |
| CN104221606B (en) * | 2014-07-22 | 2016-05-25 | 中南林业科技大学 | A kind of self-propelled vibration woods fruit harvester and collecting method thereof |
| CN104885705B (en) * | 2015-05-15 | 2017-01-04 | 浙江理工大学 | Fruit vibrating picker based on epitrochoidal path |
| CN205694359U (en) * | 2016-03-23 | 2016-11-23 | 浙江理工大学 | Three-dimensional exciting fruit recovering device |
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2016
- 2016-03-23 CN CN201610168573.4A patent/CN105766218B/en active Active
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| CN105766218A (en) | 2016-07-20 |
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