CN107864747B - Parameter-adjustable wolfberry picking test device - Google Patents
Parameter-adjustable wolfberry picking test device Download PDFInfo
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- CN107864747B CN107864747B CN201710984687.0A CN201710984687A CN107864747B CN 107864747 B CN107864747 B CN 107864747B CN 201710984687 A CN201710984687 A CN 201710984687A CN 107864747 B CN107864747 B CN 107864747B
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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 discloses a parameter-adjustable wolfberry picking test device which comprises a picking execution system, a picking power system and a fixing device, wherein the picking power system comprises a connecting frame, a vibration motor and a vibration plate, the vibration plate is installed in the connecting frame through a linear guide rail in the vertical direction, the vibration motor is installed on the back of the vibration plate, the picking execution system comprises end effectors and effector fixing blocks, each end effector is fixedly installed on the front end face of the vibration plate through the effector fixing block, the fixing device comprises a fixing base and a circular outer frame arranged on the fixing base, a circular inner frame capable of rotating relative to the circular outer frame is arranged in the circular outer frame, and the connecting frame is fixedly installed in the circular inner frame. The invention can not only adjust the vibration frequency of the medlar picking process, but also adjust the vibration angle of the picking execution system by adjusting the rotation angle of the rotating inner frame, thereby adapting to different varieties of medlar and improving the picking efficiency.
Description
Technical Field
The invention belongs to the field of fruit picking test tools, relates to a fruit picking device, and particularly relates to a parameter-adjustable wolfberry picking test device.
Background
At present, a great deal of energy is put into research on medlar picking modes by numerous scientific research teams and enterprises, and several types of medlar picking modes are summarized, including combing, shaking, air blowing and the like, but according to a great amount of field tests and theoretical analysis, picking by using the shaking mode is relatively good. However, with further research, new problems emerge, namely how much shaking frequency is best, what shaking angle is optimal, what shaking execution system structure better meets picking requirements, and the like, and currently, aiming at the problems, a scheme is developed according to experience, then a field test is carried out, when the deviation between a test result and an ideal result is large, the structure is changed, then the test is carried out, but because the medlar only results between July and 10 months every year, and equipment is changed, a lot of time is consumed, so the research progress is slow.
Disclosure of Invention
The purpose of the invention is: the utility model provides a parameter adjustable matrimony vine picks test device, can be according to site conditions quick adjustment vibration frequency and vibration direction to find out suitable frequency and direction combination in the shortest time.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a parameter adjustable matrimony vine picks test device which characterized in that: including picking actuating system, picking driving system and fixing device, it includes connection frame, vibrating motor and vibration board to pick driving system, the vibration board is installed in the connection frame through the linear guide of vertical direction, and is equipped with buffer spring between both ends and the connection frame about the vibration board, and vibrating motor installs at the vibration board back, it includes end effector and executor fixed block to pick actuating system, end effector has a plurality ofly, and every end effector all is through executor fixed block fixed mounting at the preceding terminal surface of vibration board, fixing device includes the fixed baseplate and locates the circular frame on the fixed baseplate, the connection frame is installed in circular frame.
As an improvement, a circular inner frame which can rotate relative to the circular outer frame is arranged in the circular outer frame, and the connecting frame is fixedly arranged in the circular inner frame.
As an improvement, the connection mode that the circular outer frame and the circular inner frame can rotate relatively specifically is as follows:
the circular outer frame is circumferentially provided with a plurality of uniformly distributed adjusting holes, the circular inner frame is provided with corresponding fixing holes, and the relative rotation angle between the vibrating plate and the circular outer frame is adjusted by selecting the adjusting holes and the fixing holes and fixing the adjusting holes and the fixing holes through bolts, so that the vibration angle of the picking execution system is adjusted.
As an improvement, the outer edge of the circular inner frame is provided with a raised ring, the inner edge of the circular outer frame is provided with a groove, and the raised ring at the outer edge of the circular inner frame and the groove at the inner edge of the circular outer frame are matched and nested to form an annular sliding guide rail.
As an improvement, the end effector and the effector fixing block are fixed together by welding.
As a modification, the end effector has a plurality of rows and a plurality of columns and is uniformly distributed on the vibration plate.
As an improvement, the vibration motor is a variable frequency vibration motor.
As the improvement, the linear guide who connects vibration board and connection frame has two, and two linear guide distribute in the both sides of connection frame, and this linear guide includes track and slider, the track is fixed on the connection frame, the slider is fixed with the vibration board and is linked to each other.
As a refinement, the end effector is of the polished rod type.
As an improvement, the end effector is a polished rod, and the polished rod is bent into an oval ring at the tail end.
The invention has the beneficial effects that:
(1) the picking actuating mechanism is simple in structure and short in manufacturing period, and the vibration frequency and amplitude of the picking actuating mechanism can be quickly adjusted by adjusting the frequency of the vibration motor;
(2) due to the characteristic that the circular inner frame and the circular outer frame can rotate relatively, the whole device can be adjusted according to a certain interval angle, and picking effect tests in different directions can be directly carried out after adjustment;
(3) the picking execution system is simple in structure and can be quickly disassembled and assembled, and therefore the scheme of a plurality of sets of tail end execution mechanisms can be tested.
(4) The main components of the invention are assembled in a modularized way, when a certain component is damaged, the component can be quickly replaced, the equipment stability is good, and the maintenance cost is low.
Drawings
Fig. 1 is an assembly diagram of the wolfberry picking test device.
Fig. 2 is an exploded view of the wolfberry picking test device system of the present invention.
Fig. 3 is a schematic view of an end effector of a picking implement system.
Fig. 4 is a schematic view of an end effector of another picking implement system.
Fig. 5 is an exploded schematic view of the picking power system.
Fig. 6 is a schematic view of a fixing device.
FIG. 7 is a cross-sectional view of the circular inner frame and the circular outer frame after installation.
1-picking execution system, 1.1-end effector I, 1.2-effector fixed block, 1.3-end effector II, 2-picking power system, 2.1-vibration motor, 2.2-connecting frame, 2.3-vibration plate, 2.4-spiral spring, 2.5-track, 2.6-slide block, 3-fixing device, 3.1-round inner frame, 3.2-fixing base and 3.3-round outer frame.
Detailed Description
The invention is illustrated by the following description in conjunction with the drawings
As shown in fig. 1 to 7, a parameter-adjustable wolfberry picking test device comprises a picking execution system 1, a picking power system 2 and a fixing device 3, wherein the picking power system 2 comprises a connecting frame 2.2, a vibrating motor 2.1 and a vibrating plate 2.3, the vibrating plate 2.3 is installed in the connecting frame 2.2 through a linear guide rail in the vertical direction, buffer springs are arranged between the upper end and the lower end of the vibrating plate 2.3 and the connecting frame 2.2, the vibrating motor 2.1 is fixedly installed on the back of the vibrating plate 2.3, the picking execution system 1 comprises end effectors and effector fixing blocks 1.2, the end effectors have multiple rows and multiple columns and are uniformly distributed on the vibrating plate 2.3, each end effector is fixedly installed on the front end face of the vibrating plate 2.3 through the effector fixing blocks 1.2, the fixing device 3 comprises a fixing base 3.2, a circular outer frame 3.3 arranged on the fixing base 3.2, and a circular inner frame 3.1 capable of rotating relative to the circular outer frame is arranged in the, the connecting frame 2.2 is fixedly arranged in the circular inner frame 3.1.
The connection mode that the circular outer frame 3.3 and the circular inner frame 3.1 can rotate relative to the circular outer frame is as follows:
the circular outer frame 3.3 is equipped with a plurality of evenly distributed's adjustment hole on the circumference, is equipped with corresponding fixed orifices on the circular inner frame 3.1, adjusts the rotation angle of vibration board 2.3 and circular outer frame 3.3 with the bolt fastening through selecting adjustment hole and fixed orifices to the adjustment is picked actuating system 1's vibration angle, and as an illustration, adjustment hole and fixed orifices are 12mm holes, and the adjustment hole has 36, and the fixed orifices has 4, and 4 fixed orifices also are symmetrical evenly distributed on circular inner frame 3.1, and circular inner frame 3.1 and circular outer frame 3.3 are fixed through the bolt and nut or the pin of diameter 12 mm.
But through circular frame 3.3 and circular inside casing 3.1 relative rotation, can select to pick the different vibration direction of actuating system 1 to diversified vibration improves matrimony vine and picks efficiency, prevents that single vibration direction from leading to picking inefficiency, still can select best vibration direction according to the experiment simultaneously.
As shown in fig. 7, the outer edge of the circular inner frame 3.1 is provided with a raised ring, the inner edge of the circular outer frame 3.3 is provided with a groove, and the raised ring at the outer edge of the circular inner frame 3.1 and the groove at the inner edge of the circular outer frame 3.3 are matched and nested to form an annular sliding guide rail.
The end effector and the effector fixing block 1.2 can be fixed together through welding, so that the connection strength is improved, and vibration is better transmitted.
The vibrating motor 2.1 is a variable-frequency vibrating motor, can adjust the vibrating frequency as required, and can quickly adjust the vibrating frequency and the vibrating direction according to the field condition, so that a suitable frequency and direction combination can be found out in the shortest time, and the picking efficiency of the medlar is improved.
As shown in fig. 5, there are two linear guide rails connecting the vibrating plate 2.3 and the connecting frame 2.2, the two linear guide rails are distributed on two sides of the connecting frame 2.2, the linear guide rails include a rail 2.5 and a slider 2.6, the rail 2.5 is fixed on the connecting frame 2.2, and the slider 2.6 is fixedly connected with the vibrating plate 2.3.
The end effector can be modularly replaced, various types can be selected, and the end effector can be conveniently replaced in a field test so as to determine which type has a better picking effect; specifically, the first end effector 1.1 shown in fig. 3 may be a polished rod type, or the second end effector 1.3 shown in fig. 4 may be a polished rod, the polished rod is bent into an elliptical ring at the tail end, the elliptical ring may effectively increase the contact amount between the end effector and the wolfberry fruit, so that the sparse end effector may achieve better picking efficiency, and the shape of the tail end of the end effector is not limited to the examples of the present invention, and may be any shape that may increase the contact area with the wolfberry fruit, such as a circle, a hook, a sphere, a polygon, and the like.
As an example, the connecting frame 2.2 is welded to the circular inner frame 3.1.
As an example, a plurality of buffer springs are arranged between the upper end of the vibrating plate 2.3 and the connecting frame 2.2, and a plurality of buffer springs are arranged between the lower end of the vibrating plate 2.3 and the connecting frame 2.2, and are uniformly and symmetrically distributed.
The using method comprises the following steps: before the field test, the wolfberry picking test device is placed in front of a wolfberry tree, then the vibration motor 2.1 is turned on to carry out a picking test, stepless speed regulation can be carried out on the vibration frequency within the rated frequency at any time in the test process, the test effect is observed, then the picking execution system 1 rotates 10 degrees relative to the picking power system 2 to carry out measurement again, the measurement result is recorded, the cycle is carried out as above until the part of the picking execution system 1 relative to the picking power system 2 rotates 90 degrees, namely the vertical vibration is changed into the horizontal vibration, and the test is finished.
The method can be used for standardization test of picking technical parameter indexes of the berries including the medlar, but not only the medlar, but also the red dates, the raspberries, the blueberries and the like, and the test efficiency is improved.
The test device can be used for data acquisition during initial research and development of the forest and fruit picking devices in different types and different geographical positions, greatly saves the investment of test equipment, and reduces the time spent on equipment transformation.
Claims (8)
1. The utility model provides a parameter adjustable matrimony vine picks test device which characterized in that: the picking power system comprises a connecting frame, a vibration motor and a vibration plate, the vibration plate is arranged in the connecting frame through linear guide rails in the vertical direction, buffer springs are arranged between the upper end and the lower end of the vibration plate and the connecting frame, the vibration motor is arranged on the back of the vibration plate, the picking power system comprises a plurality of end effectors and effector fixing blocks, each end effector is arranged on the front end face of the vibration plate through the effector fixing block, the fixing device comprises a fixing base and a circular outer frame arranged on the fixing base, a circular inner frame capable of rotating relative to the circular outer frame is arranged in the circular outer frame, and the connecting frame is fixedly arranged in the circular inner frame;
the connection mode that circular frame and circular inside casing can rotate relatively specifically is:
the circular outer frame is circumferentially provided with a plurality of uniformly distributed adjusting holes, the circular inner frame is provided with corresponding fixing holes, and the relative rotation angle between the vibrating plate and the circular outer frame is adjusted by selecting the adjusting holes and the fixing holes and fixing the adjusting holes and the fixing holes through bolts, so that the vibration angle of the picking execution system is adjusted.
2. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the outer edge of the circular inner frame is provided with a raised ring, the inner edge of the circular outer frame is provided with a groove, and the raised ring at the outer edge of the circular inner frame and the groove at the inner edge of the circular outer frame are matched and nested to form an annular sliding guide rail.
3. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the end effector and the effector fixing block are fixed together by welding.
4. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the end effector has a plurality of rows and a plurality of columns and is evenly distributed on the vibrating plate.
5. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the vibration motor is a variable frequency vibration motor.
6. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the linear guide who connects vibration board and connection frame has two, and two linear guide distribute in the both sides of connection frame, and this linear guide includes track and slider, the track is fixed on the connection frame, the slider is fixed with the vibration board and is linked to each other.
7. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the end effector is of a polished rod type.
8. The parameter-adjustable wolfberry picking test device according to claim 1, characterized in that: the end effector is a polish rod, and the tail end of the polish rod is bent into an oval ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984687.0A CN107864747B (en) | 2017-10-20 | 2017-10-20 | Parameter-adjustable wolfberry picking test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984687.0A CN107864747B (en) | 2017-10-20 | 2017-10-20 | Parameter-adjustable wolfberry picking test device |
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| Publication Number | Publication Date |
|---|---|
| CN107864747A CN107864747A (en) | 2018-04-03 |
| CN107864747B true CN107864747B (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710984687.0A Expired - Fee Related CN107864747B (en) | 2017-10-20 | 2017-10-20 | Parameter-adjustable wolfberry picking test device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108684322B (en) * | 2018-07-24 | 2023-08-18 | 南京林业大学 | Anti-winding and decoupling vibration picking device for harvesting fruits |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT1236105B (en) * | 1989-11-08 | 1992-12-22 | Sigma 4 Srl | PERFECTED CONFERENCE TO CAUSE THE FALL OF OLIVES AND TO RELEASE THE TREES OF THE TREES FROM THE SNOW |
| CN201177682Y (en) * | 2008-03-18 | 2009-01-07 | 江苏大学 | Lens bearing and adjusting construction of fruit stem laser cutting means of picking robot |
| CN204180571U (en) * | 2014-09-12 | 2015-03-04 | 农业部南京农业机械化研究所 | A kind of machine for collecting medlar |
| CN104221607B (en) * | 2014-09-12 | 2016-02-24 | 农业部南京农业机械化研究所 | A kind of matrimony vine collecting mechanism |
| CN204377446U (en) * | 2014-12-22 | 2015-06-10 | 中船重工中南装备有限责任公司 | A kind of vibration component of medlar-picking machine |
| CN104541782B (en) * | 2014-12-22 | 2016-08-17 | 中船重工中南装备有限责任公司 | A kind of medlar-picking machine |
| CN105850372B (en) * | 2016-04-07 | 2017-08-29 | 国家林业局北京林业机械研究所 | A kind of woods fruit seed harvester of amplitude and tiltable |
| CN105684651B (en) * | 2016-04-07 | 2018-02-16 | 国家林业局北京林业机械研究所 | A kind of picking fruit method and seed harvester |
| CN206302760U (en) * | 2016-11-04 | 2017-07-07 | 中船重工中南装备有限责任公司 | Cam slide formula medlar-picking machine shakes system |
| CN106688444B (en) * | 2016-12-21 | 2019-07-23 | 石河子大学 | Recovering device |
| CN206389786U (en) * | 2017-01-08 | 2017-08-11 | 西北农林科技大学 | A kind of contact vibration formula collecting medlar device |
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Granted publication date: 20200310 Termination date: 20211020 |