CN108243725B

CN108243725B - Ware is picked to on-vehicle jujube class fruit

Info

Publication number: CN108243725B
Application number: CN201711454243.2A
Authority: CN
Inventors: 姜胜强; 周彦君; 欧阳嘉; 朱睿童; 宋京蔚; 覃光龙; 姜博
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2020-12-29
Anticipated expiration: 2037-12-28
Also published as: CN108243725A

Abstract

The invention discloses a vehicle-mounted jujube fruit picker which specifically comprises a trolley, a speed regulating motor, a shaking device, an amplitude modulation device and a branch clamping device. The rotary motion of the speed regulating motor is changed into the reciprocating swing of the rocker by the shaking device, the purpose of shaking branches by the rocker is realized, the shaking force is changed by the amplitude regulating device, and the picking of jujube trees with different sizes is realized. The invention has simple structure and can effectively solve the problems of low working efficiency and high labor cost in picking.

Description

Ware is picked to on-vehicle jujube class fruit

Technical Field

The invention relates to the technical field of fruit picking, in particular to a branch vibration type fruit picker.

Background

At present, orchard harvest operation is an important link in an orchard production process, orchard harvest labor intensity is high, working time is long, and particularly picking difficulty of fruits growing on branches is high. One existing jujube picking mode is manual beating and picking, and the picking mode enables ripe fruits which are easy to fall off by beating the fruits through a long rod, however, the picking work efficiency is low, and the fruits are easy to damage in the operation process. In recent years, with the large-scale development of orchard planting, the traditional manual harvesting mode cannot continuously meet the requirement of industrial production of the jujubes.

If adopt the mode of shaking to pick jujube class fruit tree just improved efficiency greatly, saved the human cost. Most of the existing machines for picking jujube by shaking are large-scale pickers and small-scale hand-held pickers. Although the large-scale picking machine realizes full automation, the price is not good, and the maintenance cost is high; the small-sized handheld picking machine is convenient to use, but a person holds the heavy adjusting rod by hand, and the workload is large when the machine works for a long time.

Disclosure of Invention

In order to solve the technical problems, the invention provides a vehicle-mounted jujube picking device which has the characteristics of simplicity in operation, convenience in use, high picking rate, small jujube tree damage and the like, and can finish picking of one jujube tree in a short time.

The technical scheme adopted by the invention is as follows: the utility model provides a ware is picked to on-vehicle jujube class fruit which characterized in that: comprises a hand-push trolley, a speed regulating motor, a shaking device, an amplitude modulation device and a clamping device; the trolley comprises a push handle, a trolley bottom plate and self-locking wheels, wherein the push handle is fixedly connected with the trolley bottom plate, the number of the self-locking wheels is 4, and the self-locking wheels are fixedly arranged at the four end corners of the trolley bottom plate; the speed regulating motor is fixedly arranged on the vehicle bottom plate; the shaking device comprises a coupling, a crankshaft, a crank pin, a bearing seat, a connecting rod pin, a sliding block, a dovetail guide rail, a spherical bearing and a rocker, wherein the speed regulating motor is sequentially connected with the coupling and the crankshaft, the crankshaft is horizontally supported by the bearing seat and is connected with the connecting rod through the crank pin in a revolute pair manner, the connecting rod is connected with the sliding block in a revolute pair manner through the connecting rod pin, the dovetail guide rail is fixed on a vehicle bottom plate, the sliding block is matched with the dovetail guide rail in a revolute pair manner, the spherical bearing is fixed on the sliding block, and the rocker is connected with the spherical bearing in a spherical matching manner; the amplitude modulation device comprises a fisheye rod end joint bearing, a flange, a bolt, a nut and a support plate, the fisheye rod end joint bearing is in clearance fit with the rocker and is fixedly connected with the flange, the support plate is fixedly welded on the chassis base plate, 3 waist-shaped holes are formed in the support plate, and the flange is fastened at the positions of the waist-shaped holes through the bolt and the nut; the clamping device comprises a fixed hook, an extension spring, a fixed pin shaft, a movable hook and a pull rope, wherein the fixed hook and the movable hook are connected through the pin shaft to form a revolute pair, the torsion spring penetrates through the pin shaft to be installed between the fixed hook and the movable hook, and the pull rope is fixedly connected with the movable hook.

The vehicle-mounted jujube fruit picker is characterized in that the speed regulating motor drives the crankshaft to rotate, so that the connecting rod is pulled to do plane motion, the sliding block is led to do reciprocating motion on the dovetail guide rail, the rocker is driven to do reciprocating swing, and the purpose of shaking branches is achieved.

The vehicle-mounted jujube fruit picker is characterized in that: the flange in the amplitude modulation device can move up and down and be fixed along the waist-shaped hole through the bolt and the nut, so that the fulcrum of the fisheye rod end joint bearing and the rocker is changed, and amplitude modulation of shaking motion is realized; the fisheye rod end joint bearing can also move up and down along the rocker.

The vehicle-mounted shaking type fruit picker is characterized in that: before shaking, the movable hook is aimed at the target branch and is pressed down, makes the branch walk around the movable hook, slides into the movable hook with in the fastener that the fixed hook formed, realizes the locking of branch, after shaking, with stay cord tear the movable hook around the round pin axle rotates towards the fixed hook direction, then takes off clamping device from the branch.

The vehicle-mounted jujube fruit picker is characterized in that: the trolley wheels are self-locking wheels, and the wheels are fixed when the trolley wheels move to a fixed position, so that the trolley body of the machine is kept stable in the running process.

Drawings

Fig. 1 is a right side view of a three-dimensional structure of the fruit picker provided by the invention.

Fig. 2 is a left side view of the three-dimensional structure of the fruit picker provided by the invention.

Fig. 3 is a side view of the three-dimensional structure of the fruit picker provided by the invention.

Fig. 4 is an open partial cross-sectional view of a fruit picker gripping device provided by the present invention.

In the figure: 11-pushing hands, 12-vehicle bottom plates, 13-self-locking wheels, 21-speed regulating motors, 31-couplings, 32-crankshafts, 33-crank pins, 34-bearing seats, 35-connecting rods, 36-connecting rod pins, 37-sliding blocks, 38-dovetail guide rails, 39-spherical bearings, 310-rockers, 40-supporting plates, 41-bolts, 42-flanges, 43-fisheye rod end joint bearings, 44-nuts, 51-fixed hooks, 52-torsion springs, 53-pin shafts, 54-movable hooks and 55-pull ropes.

Detailed Description

Fig. 1-3 show a vehicle-mounted jujube fruit picker provided by the invention, the principle of which is as shown in the figure: the push handle 11 is fixedly connected with the vehicle bottom plate 12, and the four self-locking wheels 13 are fixedly arranged at the four end corners of the vehicle bottom plate 12; the speed regulating motor 21 is fixedly arranged on the vehicle bottom plate 12; the speed regulating motor 21 is connected with a crankshaft 32 by a coupling 31, the crankshaft 32 is horizontally supported by a bearing seat 34 and is connected with a connecting rod 35 revolute pair through a crank pin 33, the other end of the connecting rod 35 is connected with a sliding block 37 revolute pair through a connecting rod pin 36, a dovetail guide rail 38 is fixed on a vehicle bottom plate 12, the sliding block 37 is matched with the dovetail guide rail 38 revolute pair, a spherical bearing 39 is fixed on the sliding block 37, and a rocker 310 is matched and connected with the spherical bearing 39 in a spherical way, so that the rocker 310 can be regulated at any angle; one end of a fisheye rod end joint bearing 43 is connected with the rocker 310, the other end of the fisheye rod end joint bearing is fixedly connected with a flange 42, the support plate 40 is fixedly welded on the vehicle bottom plate 12, a waist-shaped hole is formed in the support plate 40, and the flange 42 is fixed on the support plate 40 through a bolt 41 and is fastened through a nut 44.

As shown in fig. 4, a torsion spring 52 is installed between the fixed hook 51 and the movable hook 54, and forms a rotation pair by a fixed pin 53, and a pull rope 55 is fixedly connected to the movable hook 54. When the tree branch locking device is used, the movable hook 54 is pressed down aiming at a target tree branch, so that the tree branch bypasses the movable hook 54 and slides into a clip formed by the movable hook 54 and the fixed hook 51 to realize the locking of the tree branch; after the shaking is finished, the pulling rope 55 is used for pulling the movable hook 54 to rotate around the pin shaft 53 towards the fixed hook 51, and then the clamping device is separated from the tree branches.

Claims

1. The utility model provides a ware is picked to on-vehicle jujube class fruit which characterized in that: comprises a hand-push trolley, a speed regulating motor, a shaking device, an amplitude modulation device and a clamping device; the trolley comprises a push handle, a trolley bottom plate and self-locking wheels, wherein the push handle is fixedly connected with the trolley bottom plate, the number of the self-locking wheels is 4, and the self-locking wheels are fixedly arranged at the four end corners of the trolley bottom plate; the speed regulating motor is fixedly arranged on the vehicle bottom plate; the shaking device comprises a coupling, a crankshaft, a crank pin, a bearing seat, a connecting rod pin, a sliding block, a dovetail guide rail, a spherical bearing and a rocker, wherein the speed regulating motor is sequentially connected with the coupling and the crankshaft, the crankshaft is horizontally supported by the bearing seat and is connected with the connecting rod through the crank pin in a revolute pair manner, the connecting rod is connected with the sliding block in a revolute pair manner through the connecting rod pin, the dovetail guide rail is fixed on a vehicle bottom plate, the sliding block is matched with the dovetail guide rail in a revolute pair manner, the spherical bearing is fixed on the sliding block, and the rocker is connected with the spherical bearing in a spherical matching manner; the amplitude modulation device comprises a fisheye rod end joint bearing, a flange, a bolt, a nut and a support plate, the fisheye rod end joint bearing is in clearance fit with the rocker and is fixedly connected with the flange, the support plate is fixedly welded on the chassis base plate, 3 waist-shaped holes are formed in the support plate, and the flange is fastened at the positions of the waist-shaped holes through the bolt and the nut; the clamping device comprises a fixed hook, a torsional spring, a pin shaft, a movable hook and a pull rope, wherein the fixed hook and the movable hook are connected through the pin shaft to form a revolute pair, the torsional spring penetrates through the pin shaft to be installed between the fixed hook and the movable hook, and the pull rope is fixedly connected with the movable hook; the speed regulating motor drives the crankshaft to rotate, so that the connecting rod is pulled to do plane motion, the sliding block is caused to do reciprocating motion on the dovetail guide rail, and the rocker is driven to do reciprocating swing, so that the aim of shaking branches is fulfilled; the flange in the amplitude modulation device can move up and down and be fixed along the waist-shaped hole through the bolt and the nut, so that the fulcrum of the fisheye rod end joint bearing and the rocker is changed, and amplitude modulation of shaking motion is realized; the fisheye rod end joint bearing can also move up and down along the rocker.

2. The vehicle-mounted jujube fruit picker according to claim 1, wherein: before shaking, the movable hook is pressed down aiming at a target branch, so that the branch bypasses the movable hook and slides into a clip formed by the movable hook and the fixed hook to realize the locking of the branch; after shaking, the pull rope is used for pulling the movable hook to rotate around the pin shaft towards the fixed hook direction, and then the clamping device is separated from the branches.