CN108617262A - Adaptive shaking fruit picking - Google Patents
Adaptive shaking fruit picking Download PDFInfo
- Publication number
- CN108617262A CN108617262A CN201810340534.7A CN201810340534A CN108617262A CN 108617262 A CN108617262 A CN 108617262A CN 201810340534 A CN201810340534 A CN 201810340534A CN 108617262 A CN108617262 A CN 108617262A
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- China
- Prior art keywords
- shaking
- turntable
- collet
- trunk
- branch
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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 kind of adaptive shaking fruit pickings, since its interior collet is slidably installed in path section, in this way, under the action of the spring, the branch or trunk of various outer diameter size can be clamped, limit the position of interior collet after clamping using interior collet position restriction mechanism；Particularly, by the way that control system is arranged, the outer diameter data of the branch or trunk that are detected first according to displacement sensor, and combine the type of fruit tree, the power for the amplitude to match with fruit tree type, branch or trunk outer diameter and shaking actuating unit that controller transfers storage recalls, and makes branch or trunk according to the preset amplitude vibration；Required power when detecting branch or trunk shaking by using force snesor, branch or trunk required power output under the conditions of predeterminated frequency are calculated further according to required power, and then it controls shaking actuating unit and is exported according to the power parameter after calculating, in this way, branch or trunk can be made to be shaken according to preset amplitude and frequency.
Description
Technical field
The invention belongs to shaking tree or the engineering device technique fields of shrub, are specifically related to the adaptive shaking fruit of one kind and adopt
Off-hook.
Background technology
The Chinese patent of Publication No. CN206948933U discloses a kind of fruit picker, it includes main telescopic rod,
The end of the main telescopic rod is equipped with scissors operating mechanism, and the scissors operating mechanism is connected simultaneously by bracing wire with shear mechanism
Its shear action, the shear mechanism is driven to be mounted on the top of main telescopic rod；The side of the main telescopic rod is equipped with netted
Falling apparatus and connect fruit device；The shear mechanism includes fixed seat, and the fixed seat is fixedly mounted on the top of main telescopic rod,
The side of the fixed seat is equipped with fixed blade body, and shears cutter hub, institute are hinged with by axis pin on the fixed blade body
The overhanging end bottom end face for stating shears cutter hub is provided with connecting pole, and the connecting pole is hinged by the top of pull rod and T-type plate
It is connected, the bottom of the T-type plate is hinged on by shaft on fixed blade body, and another end of the T-type plate is connected with bracing wire,
Spring is installed between the free end lower face and fixed blade body of the T-type plate.The fruit picker is driven by bracing wire
Scissors operating mechanism makees shear action, but can only cut a small amount of fruit every time, less efficient, and audient's range is small, is limited only to
The peasant in small yield mu field, and the fruit that its netted collection device can accommodate is few, needs often to unload the full fruit of product, and
When fruit weight build-up is to constant weight, fatigue damage easily is caused to the wrist of support.This is also one of monodactyle picking lever
Apparent disadvantage.
The Chinese patent application of Publication No. CN 106576596A discloses a kind of band clamping function vibration comb lichee and adopts
Device and picking, including clamping device, vibration Zhi Pai mechanisms, clamping operating mechanism, transmission mechanism, operating lever, rotation speed control mechanism and
Power source；The top of pedestal is provided with clamping device, and the lower part of pedestal is provided with rod set and is connect with operating lever；It is arranged in operating lever
Have a control handle, control handle includes manipulation and control handle and rotating speed control handle, manipulation and control handle by steel wire, be sleeved on steel
Casing outside silk is connected with clamping device, and rotating speed control handle and power knob are connected by control connecting line with power source
Connect, power source is connected by flexible axle with the end of the drive link inside operating lever, the head end of drive link and base interior it is inclined
Heart wheel is connected.Although band clamping function vibration comb lichee picker disposably can efficiently pick liana fruit,
It is that the formula that curries needs to directly contact pericarp surface and generates impact to it, compared to other picking principles, the damage to fruit
Bigger is suitable only for the hard fruit of pericarp.
The Chinese patent of Publication No. CN107548707A discloses a kind of novel vertical vibration fruit picking vehicle, by adopting
It plucks and collects integration to improve picking mechanical degree.The mechanism can be used for the arbors class picking fruit such as apple, citrus, pears,
Composition include General Purpose Rubber wheel, collecting fruit slot, cushioning fender, be tensioned cylinder, collecting fruit baffle, clamper geometrical clamp, connecting rod,
Body, eccentric orfice, bent axle.The mechanism makes above-mentioned crank rotation by power input, to drive above-mentioned connecting rod to move reciprocatingly,
Since clamper fixed frame is allowed to the fixation of target limb to do identical movement with connecting rod together, to reach vibration limb picking
The purpose of fruit.The fruit shaken off falls into above-mentioned collecting fruit slot because by the blocking of above-mentioned cushioning fender, in collecting fruit
There is cell therefor in the exit of slot, completes last storage work.Novel vertical vibration fruit picking vehicle contains power
Device and collection device, the bulky structure of power plant is not compact, and collection device compares limitation, can only collect falling for small area
Fruit, and vibration mode is single, cannot change amplitude, is not suitable for the picking of various fruits and fruit different times.
Invention content
In view of this, the purpose of the present invention is to provide a kind of adaptive shaking fruit picking, can not only realize to fruit
Real shaking picking, and the fruit of different categories can be applicable to according to picking environment automatic adjustment shaking frequency and amplitude
Real picking requirement.
In order to achieve the above objectives, the present invention provides the following technical solutions：
A kind of adaptive shaking fruit picking, including shaking mechanism and chuck mechanism；
The shaking mechanism includes shell, and the turntable for rotating cooperation is equipped in the shell and is slided with its single-degree-of-freedom
The shaking arm of dynamic cooperation, the shaking arm is equipped with the guide groove with its setting in a certain angle, and the turntable is equipped with and institute
The sliding block of guide groove cooperation is stated, the sliding block is in eccentric setting relative to the rotation axis of the turntable, and is also set in the shell
It is useful for adjusting the sliding block relative to the amplitude adjusting mechanism of the eccentricity of the turntable rotation axis and described for driving
The shaking actuating unit of turntable rotation；
The chuck mechanism includes core bar, and the core bar includes the path section that major diameter section and outer diameter are less than the major diameter section,
The major diameter section is fixedly connected with the shaking arm；The end of the path section, which is fixedly mounted, is equipped with outer collet, the path section
Upper set is installed with the interior collet being slidably matched with its single-degree-of-freedom, and the interior collet is oppositely arranged with outer collet, and the inner clip
The fixture for clamping branch or trunk is formed between head and outer collet；Set is installed with for driving in described in the path section
The spring that collet is moved towards the outer collet, and the collet and mechanism further include for clamping branch or tree in the fixture
The interior collet position restriction mechanism of the interior clip position is locked after dry；
Further include shaking control system, the shaking control system include controller, for detect the interior collet with outside
The displacement sensor of spacing between collet and for detecting the interior collet or outer collet during branch or trunk shake
The force snesor of suffered power；The amplitude tune for controlling the amplitude adjusting mechanism action is connected on the controller
Save driving circuit and the shaking power drive circuitry for controlling the shaking actuating unit；The controller is received from described
The data of reaction branch or trunk outer diameter that displacement sensor detects adjust driving circuit to the amplitude and shaking power drive
Dynamic circuit sends out control instruction, controls the shaking actuating unit and exports preset power and make the shaking mechanism according to default
Amplitude vibration；The controller receives the data detected from the force snesor, to the shaking power drive circuitry
Control instruction is sent out, the output power of the shaking actuating unit is adjusted and the shaking mechanism is made to shake according to preset frequency
It is dynamic.
Further, the shaking actuating unit includes the main motor being mounted in the shell, the output of the main motor
The transmission mechanism for driving the turntable rotation is equipped between axis and the turntable.
Further, the output shaft of the main motor is vertical with the shaft of the turntable, and the transmission mechanism includes and institute
The parallel transmission shaft of the shaft of turntable is stated, bevel gear is equipped between one end of the transmission shaft and the output shaft of the main motor and is passed
The other end of motivation structure, the transmission shaft is equipped with driving gear, and the periphery wall of the turntable is equipped with to be nibbled with the driving gear
The driving cog of conjunction.
Further, the amplitude adjusting mechanism includes the adjusting slider being sleeved on the disk shaft that is slidably matched, institute
State turntable and be equipped with radial groove, the sliding block is slidably installed in the radial groove, the adjusting slider with it is described
It is connected using double hinge bars between sliding block, and is additionally provided on the turntable for driving the adjusting slider to turn along the turntable
The adjusting driving mechanism of axis sliding.
Further, the adjusting driving mechanism includes the regulation motor being fixedly mounted on the turntable and is fixedly mounted on
Limiter on the disk shaft is equipped with tape handler, position between the output shaft of the regulation motor and the limiter
The conveyer belt of the tape handler between the output shaft and the limiter of the regulation motor turns with the turntable
Axis is parallel, and the adjusting slider is fixedly connected with the conveyer belt.
Further, set is installed with bearing on the sliding block, and the bearing is rolled with the guide groove to be coordinated.
Further, the length direction of the guide groove is vertical with the shaking shaking direction of arm.
Further, the interior collet position restriction mechanism includes being sleeved in the path section and being located at the spring and institute
The sliding sleeve between interior collet is stated, the sliding sleeve is slidably matched with the path section single-degree-of-freedom, is set with outside the major diameter section
Equipped with the spacing collar for rotating cooperation, its axially spaced-apart of the periphery wall upper edge of the sliding sleeve is equipped with limit external tooth, adjacent
Limit tooth socket is formed between two limit external tooths, the inner wall of the spacing collar is equipped with and the limit tooth socket fit
Limit internal tooth；The periphery wall of the sliding sleeve is equipped with axial recessing groove, and the slot bottom of the axial direction recessing groove is apart from the core bar
The distance of axis is more than distance of the crest top land of the limit internal tooth apart from the core bar axis, and the week of the axial recessing groove
It is more than or equal to the circumferential width of the limit internal tooth to width.
Further, the periphery wall of the major diameter section is equipped with annular groove, and the spacing collar, which is equipped with, radially-inwardly to be prolonged
The annular convex ring stretched and coordinated with the annular groove is equipped at intervals with two embedded positioning on the internal perisporium of the annular convex ring
The slot bottom in hole, the annular groove is equipped with positioning endoporus, the equal position of axis of the positioning endoporus and all insertion location holes
It can be embedded in the embedded location hole and limit in being equipped on the same radial section of the major diameter section, in the positioning endoporus
The retaining spring pearl of the abutment sleeve.Further, the path section is equipped with axial slide, on the interior collet and sliding sleeve
It is slidably matched with the axial slide.
The beneficial effects of the present invention are：
The adaptive shaking fruit picking of the present invention, by being slidably installed interior collet in path section, in this way,
Under the action of the spring, the branch or trunk of various outer diameter size can be clamped, limited using interior collet position restriction mechanism after clamping
The position of collet, makes fixture be converted to rigid structure by the flexible structure of spring in fixed；The rotation of turntable, driving is then utilized to shake
Rocking arm is of reciprocating vibration, realizes the technical purpose of shaking branch or trunk；
Particularly, by the way that control system, the outer diameter of the branch or trunk that are detected first according to displacement sensor is arranged
Data, and combine fruit tree type, controller transfer storage the amplitude to match with fruit tree type, branch or trunk outer diameter and
The power of shaking actuating unit recalls, and makes branch or trunk according to the preset amplitude vibration；Although the outer diameter of branch or trunk
In same range intervals, but each fruit tree required power in shaking is different, this results in preset value may
The shaking requirement of the branch or trunk under specifically used environment cannot be met, i.e., under default amplitude and power condition, branch or
The shaking frequency of trunk may there are larger deviations between preset value；At this time branch or tree are detected by using force snesor
Required power, branch or trunk required work(under the conditions of predeterminated frequency are calculated further according to required power when dry shaking
Rate export, and then control shaking actuating unit according to after calculating power parameter export, in this way, can make branch or trunk according to
The preferably amplitude and frequency to match is shaken, can be according to picking environment automatic adjustment shaking frequency and amplitude, can
The picking requirement of fruit suitable for different categories, improves the picking efficiency of fruit.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is the structural schematic diagram of the adaptive shaking fruit picking embodiment of the present invention；
Fig. 2 is the structural schematic diagram for shaking mechanism；
Fig. 3 is the structural schematic diagram of amplitude adjusting mechanism；
Fig. 4 is enclosure structural schematic diagram；
Fig. 5 is the structural schematic diagram of chuck mechanism；
Fig. 6 is the sectional view of chuck mechanism；
Fig. 7 is the structural schematic diagram of core bar；
Fig. 8 is the upward view of Fig. 7；
The functional block diagram of Fig. 9 systems in order to control.
Reference sign：
1- shells；2- turntables；2a- shafts；3- shakes arm；4- guide grooves；5- sliding blocks；6- core bars；6a- major diameter sections；6b- paths
Section；The outer collets of 7-；Collet in 8-；9- springs；10- main motors；11- transmission shafts；12- driving gears；13- adjusting sliders；14- diameters
To sliding slot；The bis- hinge bars of 15-；16- regulation motors；17- limiters；18- conveyer belts；19- sliding sleeves；20- spacing collars；21-
Limit external tooth；22- limits internal tooth；23- axial direction recessing grooves；24- annular grooves；25- annular convex rings；26- annular positioning grooves；27-
Location hole；28- positioning balls；29- axial slides；30- guide posts；31- annular grooves；32- main motor mounting brackets；33- is installed
Seat；34- bearings；35- displacement sensors；36- force snesors.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It is better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, for the structural schematic diagram of the adaptive shaking fruit picking embodiment of the present invention.The present embodiment from
Adapt to shaking fruit picking, including shaking mechanism and chuck mechanism.
The shaking mechanism of the present embodiment includes shell 1, be equipped in shell 1 turntable 2 for rotating cooperation and with its it is single from
The shaking arm 3 being slidably matched by degree, shaking arm 3 are equipped with guide groove 4 with its setting in a certain angle, and turntable 2 be equipped with
The sliding block 5 that guide groove 4 coordinates, sliding block 5 is in eccentric setting relative to the rotation axis of turntable 2, and is additionally provided in shell 1 for adjusting
Amplitude adjusting mechanism of the sliding block 5 relative to the eccentricity of 2 rotation axis of turntable and the shaking engine for the rotation of driving disc 2
Structure.Set is installed with bearing 34 on the sliding block 5 of the present embodiment, and bearing is rolled with guide groove 4 to be coordinated.The length of the guide groove 4 of the present embodiment
Direction is vertical with the shaking shaking direction of arm 3.Specifically, being equipped with two groups of guide posts 30 in shell 1, each group of guide post 30 includes
Two guide posts for being located at 3 both sides of shaking arm, the middle part of two guide posts 30 are equipped with the annular groove coordinated with shaking arm 3
31, shaking arm 3 is slidably matched with annular groove 31.
Specifically, shaking actuating unit includes the main motor 10 being mounted in shell 1, it is equipped in shell 1 for installing master
The main motor mounting bracket 32 of motor 10.The biography rotated for driving disc 2 is equipped between the output shaft and turntable 2 of main motor 10
Motivation structure.The output shaft of the main motor 10 of the present embodiment is vertical with the shaft of turntable 2, and transmission mechanism includes turn with turntable 2
Axis parallel transmission shaft 11 is equipped with bevel gear transmission, transmission between one end and the output shaft of main motor 10 of transmission shaft 11
The other end of axis 11 is equipped with driving gear 12, and the periphery wall of turntable 2 is equipped with the driving cog engaged with driving gear 12.Driving tooth
Gear drive is formed between the driving cog being arranged on wheel 12 and 2 periphery wall of turntable, in this way, can be driven the rotation of turntable 2.
The amplitude adjusting mechanism of the present embodiment includes the adjusting slider 13 being sleeved on 2 shaft 2a of turntable that is slidably matched, outside
The mounting base 33 with 2 shaft 2a rotatable engagements of turntable is equipped in shell 1.Turntable 2 is equipped with radial groove 14, and sliding block 5 is slidably matched
In radial groove 14, it is connected using double hinge bars 15 between adjusting slider 13 and sliding block 5, and use is additionally provided on turntable 2
In driving adjusting slider 13 along the adjusting driving mechanism of 2 shaft 2a slidings of turntable.Adjusting slider 13 is slided along disk shaft 2a
It is dynamic, you can driving sliding block 5 is slided along radial groove 14, realizes skill of the adjusting slider 5 relative to the eccentricity of disk shaft 2a
Art purpose.The adjusting driving mechanism of the present embodiment include the regulation motor 16 being fixedly mounted on turntable 2 and be fixedly mounted on turn
Limiter 17 in 2 shaft of disk, limiter 17 can limit the moving range of adjusting slider 13.The output shaft and limit of regulation motor 16
It is equipped with tape handler between the device 17 of position, is located at the biography of the tape handler between the output shaft and limiter 17 of regulation motor 16
Send band 18 parallel with the shaft 2a of turntable 2, and adjusting slider is fixedly connected with conveyer belt 18, in this way, being driven using tape handler
Dynamic conveyer belt 18 moves, you can driving adjusting slider 13 is slided up and down along disk shaft 2a.
The chuck mechanism of the present embodiment includes core bar 6, and core bar 6 includes the path that major diameter section 6a and outer diameter are less than major diameter section 6a
Section 6b, major diameter section 6a are fixedly connected with shaking arm 3；The end of path section 6b, which is fixedly mounted, is equipped with outer collet 7, is covered on path section 6b
It is installed with the interior collet 8 being slidably matched with its single-degree-of-freedom, interior collet 8 is oppositely arranged with outer collet 7, and interior collet 8 and outer clip
The fixture for clamping branch or trunk is formed between first 7；Set is installed with for driving interior collet 8 towards outer clip on path section 6b
The spring 9 of first 7 movement, and collet and mechanism further include for 8 position of collet in being locked after fixture clamps branch or trunk
Interior collet position restriction mechanism.
The interior collet position restriction mechanism of the present embodiment includes being sleeved on path section 6b and positioned at spring 9 and interior collet 8
Between sliding sleeve 19, sliding sleeve 19 is slidably matched with path section 6b single-degree-of-freedoms, and major diameter section 6a housings, which are installed with, to be rotated
The spacing collar 20 of cooperation, its axially spaced-apart of the periphery wall upper edge of sliding sleeve 19 are equipped with limit external tooth 21, and adjacent two limits are outer
Limit tooth socket is formed between tooth 21, the inner wall of spacing collar 20 is equipped with the limit internal tooth 22 with limit tooth socket fit；Sliding sleeve
19 periphery wall is equipped with axial recessing groove 23, and the distance of the slot bottom of axial recessing groove 23 apart from 6 axis of core bar is more than in limit
Distance of the crest top land of tooth 22 apart from 6 axis of core bar, and the circumferential width of axial recessing groove 23 is more than or equal to limit internal tooth 22
Circumferential width.The periphery wall of the major diameter section 6a of the present embodiment is equipped with annular groove 24, and spacing collar 20 is equipped with radially-inwardly
The annular convex ring 25 for extending and coordinating with annular groove 24 is equipped at intervals with two embedded location holes on the internal perisporium of annular convex ring 25
26, the slot bottom of annular groove 24 is equipped with positioning endoporus 27, positions the equal position of axis of endoporus 27 and all insertion location holes 26
In on the same radial section of major diameter section 6a, equipped with that can be embedded in, the embedded location hole 26 is interior and limit is fixed in positioning endoporus 27
The retaining spring pearl 28 of position sleeve 20.Matching relationship between retaining spring pearl 28 and embedded location hole 26 can limit spacing collar
20 slewing area limits internal tooth 22 and limit at this time even when retaining spring pearl 28 is embedded an embedded location hole 26
The position limit cooperation of external tooth 21, sliding sleeve 19 can not be slided along path section 6b, then when retaining spring pearl 28 is embedded in another insertion
When location hole 26, limit at this time at the position where internal tooth 22 is located at axial recessing groove 23, sliding sleeve 19 can be along path section
6b is slided.In this way, operating personnel can be easily according to the cooperation between two embedded location holes 26 respectively of retaining spring pearl 28
Position judges to limit position of the internal tooth 22 relative to axial recessing groove 23, easy to operation.
In this way, when fixture is not held in place, limit internal tooth 22 is located at 23 position of axial recessing groove, in outer force effect
Under, it drives interior collet 8 and sliding sleeve 19 to overcome 9 elastic force of spring, interior collet 8 is made to be slided backwards to outer collet 7, i.e., fixture opens clamping
Branch or trunk；When fixture is held in place, rotary stopper sleeve 20 makes limit internal tooth 22 be located in limit tooth socket, in this way, sharp
With limit internal tooth 22 and the position limiting structure between external tooth 21 is limited, the position of interior collet 8, the i.e. open width of fixture can be limited not
It will increase, and due to branch or the position-limiting action of trunk, the open width of fixture will not reduce；During shaking, limit is kept
Position internal tooth 22 is located in limit tooth socket, and fixture will not impact and interfere to shaking movement；After the completion of shaking, rotary spacing set
Cylinder 20 makes limit internal tooth 22 be located at 23 position of axial recessing groove, and interior collet 8 can be slided along path section 6b again at this time,
Easily fixture can be removed from corresponding branch or trunk.
Specifically, the path section 6b of the present embodiment is equipped with axial slide 29, on interior collet 8 and sliding sleeve 19 with axial direction
Sliding slot 29 is slidably matched.
The adaptive shaking fruit picking of the present embodiment further includes shaking control system, and shaking control system includes control
Device, the displacement sensor for detecting the spacing between interior collet 8 and outer collet 7 and exist for detecting interior collet 8 or outer collet 7
The force snesor of suffered power during branch or trunk shaking；It is connected on controller for controlling amplitude adjusting mechanism
The amplitude of action adjusts driving circuit and the shaking power drive circuitry for controlling shaking actuating unit；Controller reception comes from
The data of reaction branch or trunk outer diameter that displacement sensor detects adjust driving circuit and shaking power drive electricity to amplitude
Road sends out control instruction, and control shaking actuating unit exports preset power and makes shaking mechanism according to preset amplitude vibration；
Controller, which receives, carrys out the data that force sensor detects, sends out control instruction to shaking power drive circuitry, it is dynamic to adjust shaking
The output power of force mechanisms simultaneously makes shaking mechanism be vibrated according to preset frequency.
The principle of the control system of the present embodiment is as follows：The branch that is detected first according to displacement sensor or trunk
Outer diameter data, and the type of fruit tree is combined, controller transfers shaking with what fruit tree type, branch or trunk outer diameter matched for storage
The power of width and shaking actuating unit recalls, and makes branch or trunk according to the preset amplitude vibration, i.e., has in control system
Select the input module of fruit tree type and the memory for storing related data；Storage with fruit tree type, branch or trunk
The primary data of the parameters such as the power of amplitude, frequency and shaking actuating unit that outer diameter matches can be pre- by empirical value
And if gradually being adjusted during follow-up use；Certainly, control system can also use self learning system, can pass through self-study
The related data in optimization memory is practised, principle is identical as existing self learning system, no longer tires out one by one and states.
Although the outer diameter of branch or trunk, in same range intervals, each fruit tree power required in shaking is
Different, this results in the shaking requirement for the branch or trunk that preset value may not be able to meet under specifically used environment, that is, exists
Under default amplitude and power condition, branch or trunk shaking frequency may there are larger deviations between preset value；At this time
Required power, branch or tree are calculated further according to required power when detecting branch or trunk shaking by using force snesor
The required power output under default amplitude and frequency condition is done, and then controls shaking actuating unit according to the power after calculating
Parameter exports, in this way, branch or trunk can be made to be shaken according to the preferably amplitude and frequency to match, it can be according to picking
Environment automatic adjustment shaking frequency and amplitude, are applicable to the picking requirement of the fruit of different categories, improve the picking effect of fruit
Rate.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of adaptive shaking fruit picking, it is characterised in that：Including shaking mechanism and chuck mechanism；
The shaking mechanism includes shell (1), single certainly equipped with the turntable (2) for rotating cooperation and with it in the shell (1)
The shaking arm (3) being slidably matched by degree, the shaking arm (3) are equipped with the guide groove (4) with its setting in a certain angle, and described
Turntable (2) is equipped with the sliding block (5) coordinated with the guide groove (4), rotary shaft of the sliding block (5) relative to the turntable (2)
Line is in eccentric setting, and is additionally provided in the shell (1) for adjusting the sliding block (5) relative to the turntable (2) rotary shaft
The amplitude adjusting mechanism of the eccentricity of line and for drive the turntable (2) rotate shaking actuating unit；
The chuck mechanism includes core bar (6), and the core bar (6) includes that major diameter section (6a) and outer diameter are less than the major diameter section (6a)
Path section (6b), the major diameter section (6a) is fixedly connected with the shaking arm (3)；Peace is fixed in the end of the path section (6b)
It is installed with outer collet (7), set is installed with the interior collet (8) being slidably matched with its single-degree-of-freedom on the path section (6b), described
Interior collet (8) is oppositely arranged with outer collet (7), and between the interior collet (8) and outer collet (7) formed for clamp branch or
The fixture of trunk；Set is installed with for driving the interior collet (8) mobile towards the outer collet (7) on the path section (6b)
Spring (9), and the collet and mechanism further include for locking the interior collet after the fixture clamps branch or trunk
(8) the interior collet position restriction mechanism of position；
Further include shaking control system, the shaking control system includes controller, for detecting the interior collet (8) and outer clip
Head (7) between spacing displacement sensor (35) and for detecting the interior collet (8) or outer collet (7) in branch or trunk
The force snesor (36) of suffered power during shaking；It is connected on the controller and adjusts machine for controlling the amplitude
The amplitude of structure action adjusts driving circuit and the shaking power drive circuitry for controlling the shaking actuating unit；The control
Device receives the data of the reaction branch or trunk outer diameter that are detected from institute's displacement sensors (35), adjusts and drives to the amplitude
Dynamic circuit and shaking power drive circuitry send out control instruction, control the shaking actuating unit and export preset power and make institute
Shaking mechanism is stated according to preset amplitude vibration；The controller receives the data detected from the force snesor (36),
Control instruction is sent out to the shaking power drive circuitry, adjust the output power of the shaking actuating unit and makes the shaking
Mechanism is vibrated according to preset frequency.
2. adaptive shaking fruit picking according to claim 1, it is characterised in that：The shaking actuating unit includes
Main motor (10) in the shell (1) is equipped between the output shaft and the turntable (2) of the main motor (10) and uses
In the transmission mechanism for driving turntable (2) rotation.
3. adaptive shaking fruit picking according to claim 2, it is characterised in that：The output of the main motor (10)
Axis is vertical with the shaft of the turntable (2), and the transmission mechanism includes the transmission shaft parallel with the shaft of the turntable (2)
(11), bevel gear transmission is equipped between one end and the output shaft of the main motor (10) of the transmission shaft (11), it is described
The other end of transmission shaft (11) is equipped with driving gear (12), and the periphery wall of the turntable (2) is equipped with and the driving gear
(12) driving cog engaged.
4. adaptive shaking fruit picking according to claim 1, it is characterised in that：The amplitude adjusting mechanism includes
Be slidably matched the adjusting slider (13) being sleeved in the turntable (2) shaft (2a), and the turntable (2) is equipped with radial groove
(14), the sliding block (5) is slidably installed in the radial groove (14), the adjusting slider (13) and the sliding block
(5) be connected using double hinge bars (15) between, and be additionally provided on the turntable (2) for drive the adjusting slider (13) along
The adjusting driving mechanism of turntable (2) shaft (2a) sliding.
5. adaptive shaking fruit picking according to claim 4, it is characterised in that：The adjusting driving mechanism includes
The regulation motor (16) being fixedly mounted on the turntable (2) and the limiter being fixedly mounted in the turntable (2) shaft
(17), it is equipped with tape handler between the output shaft and the limiter (17) of the regulation motor (16), is located at the adjusting
The conveyer belt (18) of the tape handler between the output shaft and the limiter (17) of motor (16) and the turntable (2)
Shaft (2a) it is parallel, and the adjusting slider is fixedly connected with the conveyer belt (18).
6. adaptive shaking fruit picking according to claim 1, it is characterised in that：Installing is covered on the sliding block (5)
There is bearing, the bearing is rolled with the guide groove (4) to be coordinated.
7. adaptive shaking fruit picking according to claim 1, it is characterised in that：The length side of the guide groove (4)
To with it is described shaking arm (3) shaking direction it is vertical.
8. adaptively shaking fruit picking according to claim 1-7 any one of them, it is characterised in that：The interior collet position
It includes the cunning being sleeved in the path section (6b) and between the spring (9) and the interior collet (8) to set and limit mechanism
Dynamic set (19), the sliding sleeve (19) are slidably matched with the path section (6b) single-degree-of-freedom, and the major diameter section (6a) is set with outside
Equipped with the spacing collar (20) for rotating cooperation, it is outer that its axially spaced-apart of the periphery wall upper edge of the sliding sleeve (19) is equipped with limit
Tooth (21), forms limit tooth socket between adjacent two limit external tooths (21), and the inner wall of the spacing collar (20) is equipped with
With the limit internal tooth (22) of the limit tooth socket fit；The periphery wall of the sliding sleeve (19) is equipped with axial recessing groove (23),
Distance of the slot bottom of the axial direction recessing groove (23) apart from the core bar (6) axis is more than the crest top land of the limit internal tooth (22)
Distance apart from the core bar (6) axis, and the circumferential width of the axial recessing groove (23) is more than or equal to the limit internal tooth
(22) circumferential width.
9. adaptive shaking fruit picking according to claim 8, it is characterised in that：The periphery of the major diameter section (6a)
Wall is equipped with annular groove (24), and the spacing collar (20) is equipped with and extends radially inwardly and match with the annular groove (24)
The annular convex ring (25) of conjunction is equipped at intervals with two embedded location holes (26), the ring on the internal perisporium of the annular convex ring (25)
The slot bottom of connected in star (24) is equipped with positioning endoporus (27), the axis of positioning endoporus (27) and all insertion location holes (26)
Line is respectively positioned on the same radial section of the major diameter section (6a), and the insertion can be embedded in by being equipped in the positioning endoporus (27)
Location hole (26) is interior and limits the retaining spring pearl (28) of the abutment sleeve (20).
10. adaptive shaking fruit picking according to claim 8, it is characterised in that：It is set on the path section (6b)
There is axial slide (29), is slidably matched with the axial slide (29) on the interior collet (8) and sliding sleeve (19).
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| CN201810340534.7A CN108617262B (en) | 2018-04-17 | 2018-04-17 | Adaptive shaking fruit picking |
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| CN201810340534.7A CN108617262B (en) | 2018-04-17 | 2018-04-17 | Adaptive shaking fruit picking |
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| CN108617262A true CN108617262A (en) | 2018-10-09 |
| CN108617262B CN108617262B (en) | 2019-10-29 |
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| CN201810340534.7A Expired - Fee Related CN108617262B (en) | 2018-04-17 | 2018-04-17 | Adaptive shaking fruit picking |
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| CN116171731A (en) * | 2023-04-23 | 2023-05-30 | 安徽农业大学 | Portable telescopic push-pull shake type oil tea fruit picking and beating machine |
| CN116420508A (en) * | 2023-04-12 | 2023-07-14 | 国家林业和草原局哈尔滨林业机械研究所 | Vibration type forest fruit harvesting system and method |
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|---|---|
| CN108617262B (en) | 2019-10-29 |
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