CN107295856A - A kind of novel clamping vibrating picker for woods fruit - Google Patents
A kind of novel clamping vibrating picker for woods fruit Download PDFInfo
- Publication number
- CN107295856A CN107295856A CN201710568166.7A CN201710568166A CN107295856A CN 107295856 A CN107295856 A CN 107295856A CN 201710568166 A CN201710568166 A CN 201710568166A CN 107295856 A CN107295856 A CN 107295856A
- Authority
- CN
- China
- Prior art keywords
- vibrating
- tree body
- panel
- clamping
- woods fruit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
Abstract
The present invention relates to mechanization of agriculture vibration production recovery arrangement field.Purpose is to provide a kind of novel clamping vibrating picker for woods fruit, and the recovering device can realize effectively clamping quick to the progress of woods fruit tree body and adaptively adjustment running parameter progress vibration harvesting, improve production efficiency, reduce production cost.Technical scheme is：A kind of novel clamping vibrating picker for woods fruit, it is characterised in that：The novel clamping vibrating picker includes the power supply, the controller of control driver, the acceleration transducer of collection tree body vibration signal and the Signal-regulated kinase to being conveyed to controller after the output signal processing of acceleration transducer in tree body for applying the vibrating device of vibration force to tree body, electric energy being provided vibrating device by driver.
Description
Technical field
The present invention relates to mechanization of agriculture vibration production recovery arrangement field, especially it is that by carrying out quickly woods fruit tree body
Effectively clamp and adaptively adjust the novel clamping vibrating picker of running parameter.
Background technology
Fruit industry is the third-largest industry in China's agricultural planting industry, is also to have relative advantage and the world competing in agricultural
Strive one of industry of power.The greatest problem that Fruit industry faces in recent years is that the industry size constantly expanded and the industry fallen behind give birth to
Contradiction between production technology.In the production link of whole fruit, seasonal strong, labor-intensive fruit recovery operations restriction
The healthy and rapid development of Fruit industry, the labour needed for it accounts for the 35%-45% of whole Fruits production process.Current fruit
Recovery operations are completed using artificial harvesting or by simple instrument mostly, and harvesting is costly and inefficient down；In this background
Under, mechanical device starts the harvesting applied to various fruits, and vibration picking methods determine the structure of vibrating picker, simultaneously
Also the harvest efficiency and net picking rate of fruit are influenceed to a certain extent.Using shaking that trunk shakes more than traditional vibration picking methods
Dynamic picking methods, it there are problems that poorly efficient, high, therefore be difficult to promote in actual production.Due to the difference of fruit tree individual
Different, different fruit trees realize that running parameter when optimal vibration is harvested may also be different, to realize higher fruit net picking rate, vibrate
Recovering device must be able to be adaptively adjusted running parameter when harvesting towards fruit tree individual.In summary, exploitation one kind is based on
Efficiently, the vibration picking methods of low damage, can realize the fruit vibrating picker of adaptive adjustment running parameter will be lifted
The integral level of China's fruit harvesting equipment.
Therefore, proceed from reality, developing reliable and stable, simple in construction, cheap is used for woods fruit
Novel clamping vibrating picker is artificial to replace, and has been the task of top priority.Additionally it is possible to improve the production environment of agricultural, promote
Enter China's advance in agricultural science and technology, accelerate Derived from Agricultural Modernization.
The content of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned background technology presence, there is provided a kind of novel clamping for woods fruit
Vibrating picker, the recovering device, which can be realized, carries out quick effectively clamping and adaptively adjustment work ginseng to woods fruit tree body
Number carries out vibration harvesting, improves production efficiency, reduces production cost.
The technical solution adopted by the present invention is：A kind of novel clamping vibrating picker for woods fruit, it is characterised in that：
The novel clamping vibrating picker includes applying tree body the vibrating device of vibration force, vibrating device is provided by driver
The power supply of electric energy, the controller for controlling driver, the acceleration transducer for gathering in tree body tree body vibration signal and
Signal-regulated kinase to being conveyed to controller after the output signal processing of acceleration transducer；
The vibrating device includes clamping device and the vibrating mechanism being fixedly connected with clamping device；
The clamping device includes rotationally being articulated as one clamps panels and right for two of obvolvent tree body
Two clamp panel and apply coupling mechanism force so that two clamp the tightening component that panel holds tree body tightly；
The vibrating mechanism include be rotatably positioned the offset assembly in package shelf and be fixed in package shelf and
The motor of offset assembly is driven by gear train.
The package shelf include by the assembled fixation transverse slat for forming rectangular box, left and right package board, post package plate and
Bearing plate；The gear train and offset assembly are installed in rectangular box, and the motor is installed on the outside of rectangular box, motor
Shaft extension enters to be driven in rectangular box.
Preferably, described two corresponding positions of inner surface for clamping panel respectively have one to be matched with clamped tree body
Concave curved surface；
Preferably, in described two clamping panels, one of panel that clamps is fixed as one with fixed transverse slat, separately
One clamps panel and can deploy 0-60 ° of angle around jointed shaft.
Preferably, the tightening component includes being hinged on the tightening screw rod clamped on panel, a fixation by rotating shaft
On another clamping panel and formed and match the counterpart of chute with tightening screw rod and be engaged and push up with tightening screw rod
It is pressed in the set lever on the counterpart；Rotating shaft is placed in the jointed shaft and clamps the both sides of panel.
The offset assembly includes boss axle and the eccentric block being fixed on by keyway on boss axle.
Preferably, described boss axle lower end is provided with the keyway for configuring different eccentric blocks, eccentric block connects solid by key
It is scheduled between sleeve and lower bearing bearing.
The tree body includes trunk and major branch.
The technique effect and advantage of the present invention：The present invention is simple in construction, stably, reliably, practical；The present invention is worked
Cheng Zhong, quickly can effectively realize and woods fruit tree body be clamped and adaptively adjustment running parameter progress vibration harvesting, be protected
Hinder the scale and market operation of production and fruit farming secondary industry, greatly reduce when woods fruit harvests to artificial dependence, reduction
Labor intensity, so as to improve production efficiency, reduces cost.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is one of dimensional structure diagram of vibrating device in the present invention.
Fig. 3 is two (laying down right package board and left package board) of the dimensional structure diagram of vibrating device in the present invention.
Fig. 4 is the overlooking the structure diagram of vibrating device in the present invention.
Fig. 5 is A in Fig. 4 to structural representation.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In novel clamping vibrating picker as depicted for woods fruit, vibrating device applies vibration force to tree body,
Power supply provides vibrating device electric energy by driver, and controller control driver, the acceleration of collection tree body vibration signal is passed
Sensor is arranged in tree body, Signal-regulated kinase (also known as isolating transmitter module) to the output signal of acceleration transducer at
Controller is conveyed to after reason.
Vibrating device includes clamping device 1 and the vibrating mechanism 3 being fixedly connected with clamping device.
The clamping device includes rotationally being articulated as one for the two of obvolvent tree body (including trunk, major branch)
It is individual to clamp panel and clamp panel application coupling mechanism force to two so that two clamp the tightening component that panels hold tree body tightly.
It is left clamping panel 1-1-1 and right clamping panel 1-1-2 that two, which clamp panel, is rotationally connected by jointed shaft 2
It is integrated；One of clamping panel is connected to one with fixed transverse slat 3-1 (to be fixedly connected with intensity for raising, clamps
Left right angle supporting plate 2-1 and right right angle supporting plate 2-2 are also additionally arranged between panel and fixed transverse slat), another clamps panel can
Deploy certain angle (i.e. 0-60 ° of angle) around jointed shaft.
Preferably, in the tightening component, tightening screw rod 1-6 is hinged on one by rotating shaft 1-3 and clamped on panel；Match somebody with somebody
Component 1-2 is fixed on another and clamps on panel and offer the chute 1-5 that is matched with tightening screw rod (as seen from the figure, this is matched somebody with somebody
Component is parallel to each other by two and lath spaced apart is constituted, and the certain distance being spaced forms chute) clamp screw
When bar rotates around the axis, chute can be embedded in or removed；Then top pressure coordinates the set lever 1-7 being engaged with tightening screw rod described
On part, so that two clamping panels are mutually clamped in the tree body harvested；It is visible in figure：Rotating shaft is placed in the jointed shaft
Clamp the both sides of panel.
Further, the both sides of the chute, which make, recessed step 1-9, and the bottom of set lever is just while top pressure
On the step of chute both sides, it is ensured that tightening screw rod is difficult to slip from chute when using.
Yet further, inner surface corresponding with right clamping panel 1-1-2 middle part the left clamping panel 1-1-1 is each
There is the arcwall face of one section of indent；In use, the arcwall face just clamps tree body, to ensure the reliable and stable of clamping.
The vibrating mechanism include be rotatably positioned the offset assembly in package shelf and be fixed in package shelf and
The motor 3-2 of offset assembly is driven by gear train (driving gear 3-3, driven gear 3-4).
The package shelf is included by the assembled fixation transverse slat 3-1, left package board 3-11, right package board for forming rectangular box
3-13, post package plate 3-12 and bearing plate 3-10；The gear train and offset assembly are installed in rectangular box, the electricity
Machine (preferably servomotor) is installed on the outside of rectangular box, and motor shaft, which is stretched into, is driven that (driving gear is fixed in rectangular box
On motor shaft).The offset assembly includes the boss axle 3-6 and eccentric block 3-8 being fixed on by keyway on boss axle；
Described boss axle is parallel to motor shaft, the fixed driven gear in boss axle upper end, and lower end configures eccentric block.
Further, described boss axle lower end can configure the eccentric block of different sizes and shapes, and eccentric block is connected by key
Connect and be positioned between sleeve 3-7 and lower bearing bearing 3-9；It can be selected sizeable according to the thickness and the difference of material of branch
Eccentric block.
In addition, acceleration transducer is arranged in the tree body being applied, the vibration signal for gathering tree body (gathers tree
Acceleration under body effect of vibration), the signal of acceleration transducer collection is transmitted further to controller by Signal-regulated kinase, controls
It is used for the rotating speed and duration of controlled motor after device processing processed again.
The tree body includes the trunk major branch different with diameter.
Specifically signal transacting mechanism is：The result of oscillation that controller is gathered to acceleration transducer carries out frequency sweep analysis,
The tree body motor speed corresponding in peak acceleration is found, this analysis result is then fed back into motor again (exports
Vibration parameters), controlled motor vibrates certain time length under this rotating speed, advantage of this is that package unit can be adaptively
Adjustment vibration harvesting running parameter, realizes higher fruit harvest efficiency.
The present invention operation principle be：Before work, power supply (civil power or from charged pool), servomotor, driver, control
Device, acceleration transducer, Signal-regulated kinase connection are good.During work, unscrew set lever 1-7, make tightening screw rod along
The outside Slideslip of chute 1-5 straight lines；Then adjusting apparatus, allows tree body to be encircled between two clamping panel arcwall faces (in such as Fig. 4
Major branch 5)；Then promote tightening screw rod to move inward along chute, make tightening screw rod and chute in vertical state；Finally revolve
Tight set lever 1-7, until two clamping panels firmly " embrace " tree body.Now, controller is adjusted, makes package unit default
Range of speeds internal vibration for a period of time, fruit tree adds after forced vibration also with certain frequency and amplitude vibration outside, hangs over tree
Rigidly connected acceleration transducer is kept as tree body is together vibrated on body and with tree body, and the acceleration that tree body is obtained is believed
Number value feeds back to controller after Signal-regulated kinase；Controller is scanned automatically according to the acceleration magnitude that each moment feeds back
Whole section of accelerating curve, and judge the corresponding motor speed value of acceleration maximum phase on accelerating curve, it is then fast herein
Make package unit vibration a period of time under degree；Fruit tree is shaken under maximally effective additional forced vibration with certain frequency and amplitude
It is dynamic, so that fruit and coupled carpopodium produce relative motion (drawing, curved, torsion), relative motion in the state of most effective
When the inertia force of generation is more than the adhesion of fruit and fruit branch, fruit will come off.
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 (8)
1. a kind of novel clamping vibrating picker for woods fruit, it is characterised in that：The novel clamping vibrating picker bag
Include and apply the vibrating device of vibration force to tree body, provide vibrating device the power supply of electric energy by driver, control driver
Controller is arranged on the acceleration transducer and the output signal to acceleration transducer of collection tree body vibration signal in tree body
Controller signals conditioning module is conveyed to after processing；
The vibrating device includes clamping device (1) and the vibrating mechanism (3) being fixedly connected with clamping device；
The clamping device includes two clamping panel (1-1-1,1-1- being rotationally articulated as one for obvolvent tree body
2) and to two clamp panel and apply coupling mechanism force so that two clamp the tightening component that panel holds tree body tightly；
The vibrating mechanism includes being rotatably positioned the offset assembly in package shelf and being fixed in package shelf and pass through
Gear train drives the motor (3-2) of offset assembly.
2. the novel clamping vibrating picker according to claim 1 for woods fruit, it is characterised in that：The package shelf
Including passing through assembled fixation transverse slat (3-1), left and right package board (3-11,3-13), the post package plate (3-12) for forming rectangular box
And bearing plate (3-10)；The gear train and offset assembly are installed in rectangular box, and the motor is installed on rectangle frame
External side, motor shaft is stretched into be driven in rectangular box.
3. the novel clamping vibrating picker according to claim 2 for woods fruit, it is characterised in that：Described two folders
Respectively there is a concave curved surface matched with clamped tree body at the corresponding position of inner surface of tight panel.
4. the novel clamping vibrating picker according to claim 3 for woods fruit, it is characterised in that：Described two folders
In tight panel, one of panel that clamps is fixed as one with fixed transverse slat, and another, which clamps panel, to deploy around jointed shaft
0-60 ° of angle.
5. the novel clamping vibrating picker according to claim 4 for woods fruit, it is characterised in that：The tightening group
Part includes being hinged on a tightening screw rod (1-6) clamped on panel by rotating shaft (1-3), is fixed on another clamping panel
And formed and with tightening screw rod match chute (1-5) counterpart (1-2) and be engaged with tightening screw rod and top pressure is described
Set lever (1-7) on counterpart；Rotating shaft is placed in the jointed shaft and clamps the both sides of panel.
6. the novel clamping vibrating picker according to claim 5 for woods fruit, it is characterised in that：Described eccentric group
Part includes boss axle (3-6) and the eccentric block (3-8) being fixed on by keyway on boss axle.
7. the novel clamping vibrating picker according to claim 6 for woods fruit, it is characterised in that：Described boss
Axle lower end is fastened on sleeve (3-7) and lower bearing bearing (3- provided with the keyway for configuring different eccentric blocks, eccentric block by key
9) between.
8. the novel clamping vibrating picker according to claim 7 for woods fruit, it is characterised in that：The tree body bag
Include trunk and major branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568166.7A CN107295856A (en) | 2017-07-13 | 2017-07-13 | A kind of novel clamping vibrating picker for woods fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568166.7A CN107295856A (en) | 2017-07-13 | 2017-07-13 | A kind of novel clamping vibrating picker for woods fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107295856A true CN107295856A (en) | 2017-10-27 |
Family
ID=60132649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710568166.7A Pending CN107295856A (en) | 2017-07-13 | 2017-07-13 | A kind of novel clamping vibrating picker for woods fruit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107295856A (en) |
Cited By (3)
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| CN108702942A (en) * | 2018-07-26 | 2018-10-26 | 浙江理工大学 | A kind of adaptive eccentric vibration apparatus towards the harvesting of woods fruit |
| CN109522669A (en) * | 2018-09-16 | 2019-03-26 | 南京林业大学 | The method for tracking fruit spatial attitude and fruit spatial movement based on binocular vision |
| CN113324780A (en) * | 2021-06-07 | 2021-08-31 | 农业农村部南京农业机械化研究所 | Multi-parameter adjustable test bed for berry harvesting by reciprocating forced vibration of branches |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108702942A (en) * | 2018-07-26 | 2018-10-26 | 浙江理工大学 | A kind of adaptive eccentric vibration apparatus towards the harvesting of woods fruit |
| CN109522669A (en) * | 2018-09-16 | 2019-03-26 | 南京林业大学 | The method for tracking fruit spatial attitude and fruit spatial movement based on binocular vision |
| CN109522669B (en) * | 2018-09-16 | 2020-11-06 | 南京林业大学 | Method for tracking fruit space posture and fruit space motion based on binocular vision |
| CN113324780A (en) * | 2021-06-07 | 2021-08-31 | 农业农村部南京农业机械化研究所 | Multi-parameter adjustable test bed for berry harvesting by reciprocating forced vibration of branches |
| CN113324780B (en) * | 2021-06-07 | 2023-11-17 | 农业农村部南京农业机械化研究所 | Multi-parameter adjustable test bench for harvesting branches by reciprocating forced vibration berries |
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Application publication date: 20171027 |