CN109548487A - Nut picking machine and nuts picking method - Google Patents
Nut picking machine and nuts picking method Download PDFInfo
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- CN109548487A CN109548487A CN201910044624.6A CN201910044624A CN109548487A CN 109548487 A CN109548487 A CN 109548487A CN 201910044624 A CN201910044624 A CN 201910044624A CN 109548487 A CN109548487 A CN 109548487A
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- clamping
- mobile jib
- limb
- rack
- disk
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Nut picking machine and nuts picking method, including bottom with wheel and with the rack of elevating function, limb clamping device above rack and for clamping fruit tree second level limb, oscillation drive and brake cable component for driving limb clamping device vertically to vibrate, oscillation drive fills on the rack, limb clamping device includes the mobile jib for connecting with oscillation drive and being vertically arranged, at the top of mobile jib and present the clamping cone disk of small lower big cone-shaped and the clamping claw assembly for being matched for clamping tightly limb with clamping cone disk, claw assembly is clamped on mobile jib, brake cable component is mounted in rack and clamps between claw assembly, it is controlled by brake cable component and clamps claw assembly folding, clamping claw assembly is set to separate or be pressed into contact with clamping cone disk.Power less energy-consuming of the present invention will not generate extra vibration to fruit tree, and the influence to fruit tree is small, and easy to operate, pluck adopt it is high-efficient, it is convenient and practical.
Description
Technical field
The present invention relates to a kind of nut picking machines and nuts picking method, for realizing the automatic picking to nut.
Background technique
The local special fruit trees such as walnut, Chinese chestnut, fibert and ginkgo in China, oneself forms some characteristic dry fruit industrialization production bases
Ground, economic benefits.Picking harvest accounts for about the 33%~50% of entire workload.Due to picking the complexity of operation, adopt
It is still very low to pluck the degree of automation, country's fruit picking operation is essentially all artificial progress at present.Picking fruit operation season
Property strong, large labor intensity, it is costly, thus guarantee fruit in due course, quickly harvesting and reduce harvest operation expense be that orchard worker increases income
Urgent problem.
Nuts picking actuator is constantly subjected to as nut picking machine and the last execution unit that external environment interacts
The concern of researcher.Especially in agricultural robot research field, due to the particularity of robot manipulation's object, picking is executed
The research of device becomes one of key technology of fruit picking robot.
The states such as current American, France generally are determined stroke and push away to shake machine development using the structure of shaking picking mechanical by single
It is mechanical to a plurality of types of orchard pickings such as inertia-type shaking machine, strength shaking machines.But its shake mode is single, to make fruit from
It is shaken off on tree branch, needs to generate enough vibration forces, often consumed energy larger, inefficient, clip position is at trunk bottom
Portion easily causes to damage since the power of vibration is larger close to fruit tree root to the root of fruit tree.
The existing patent document that the related nut retrieved plucks fruit has:
1, CN 206461993U discloses a kind of jujube recovering device, is related to agricultural product harvesting technique field, comprising: shakes
Device and collection device, shaking device includes power part, transmission parts and the clamping component for clamping limb, is collected
Device, which is removably connected to, shakes device two sides, and collection device is the company for being provided with hole and outlet for accommodating jujube tree trunk
Continuous curved surface, collection device are provided with the seam that collection device edge is extended to from hole.
2, CN106664970A, branch oscillatory type walnut picker mainly include branch pincers, branch support frame, branch pincers
Bracket passes vibration control lever, adjustable exciter, vibrator assembly, speed regulating motor, rotational speed governor, rechargeable battery and mobile trolley used.
Branch pincers can clamp branch with the cooperation of branch support frame, and the clamp handle of branch pincers clamps bracket by branch and is fixed on outer push-pull rod
End, the engaging lug of interior push-pull rod upper end and branch support frame lower end is hinged, and manipulation, which passes vibration control lever, can control branch support frame quasi-
Really support branch, branch clamp are tight and decontrol, and preferably transmitting vibration, pass vibration control lever lower end and install vibrator assembly,
The eccentric massblock that different number, quality are assembled on adjustable exciter, can be obtained different vibration forces, passes through rotational speed governor tune
Whole speed regulating motor revolving speed can make vibrator assembly obtain different vibration frequencies.
3, CN105123120 A, it is mechanical to disclose a kind of nuts picking, further includes a slipping mechanism except rack in addition to and adopt
Pluck executing agency, picking executing agency is to refer to disk equipped with carrying in live spindle, and load refers to and refers on disk equipped with freeing picking, is slid
Slipping block in mechanism under the rotation and branch reciprocation of picking executing agency, works as picking when picking executing agency's operation
When executing agency encounters strong resistance, slipping block drives entire picking executing agency to move backward along sliding rail, can avoid adopting when operation
Executing agency is plucked to block；Slipping mechanism controls entire executive device and the inclined angle of slipping mechanism by control hydraulic cylinder
Degree, arbitrarily regulates and controls between 20 degree and 50 degree.
Mechanical seed harvester in the prior art, is mainly picked by way of vibration, makes fruit abscission, but ask
Topic is in vibration processes that not only fruit tree root is easy by vibration pine, but also the second level limb directly connecting with fruit is easy to shaking
Will be disconnected by vibration during dynamic, cause the damage to fruit tree.
Summary of the invention
Nut picking machine and nuts picking method provided by the invention, by clamping the second level limb of fruit tree and driving its vibration
It is dynamic, separate fruit with limb, power less energy-consuming will not generate extra vibration to fruit tree, and the influence to fruit tree is small, Er Qiecao
Make it is simple, pluck adopt it is high-efficient, it is convenient and practical.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
Nut picking machine has wheel including bottom and has the rack of elevating function, above rack and for clamping fruit
Set limb clamping device, the oscillation drive and brake cable for driving limb clamping device vertically to vibrate of second level limb
Component, oscillation drive fill on the rack, it is characterised in that the limb clamping device includes connecting with oscillation drive
Connect and be vertically arranged mobile jib, at the top of the mobile jib and present the clamping cone disk of small lower big cone-shaped and be used for and clamping cone disk
It is matched for clamping tightly the clamping claw assembly of limb, clamps claw assembly on mobile jib, brake cable component is mounted in rack and clamps claw assembly
Between, it is controlled by brake cable component and clamps claw assembly folding, clamping claw assembly is made to separate or be pressed into contact with clamping cone disk.
Preferably, the clamping cone disk rotatably covers on the top of mobile jib, the lower end surface and mobile jib of clamping cone disk
The top cover that is bolted at the top of the upper surface of, clamping cone disk and mobile jib of radially projecting positioning shaft shoulder against.
Preferably, the clamping claw assembly includes sliding bush combination of mobilizable set on mobile jib, is hinged on mobile jib
Clamp jaw and the pressure spring that is sleeved on mobile jib and is located at below sliding bush combination, the clamp jaw be circumferentially uniformly distributed along mobile jib
Multiple, the upper end of pressure spring is against on sliding bush combination, and clamp jaw is hinged with sliding bush combination, and brake cable component is connect with sliding bush combination,
It pulls sliding bush combination to move downward, drives clamp jaw to accommodate downwards and separated with clamping cone disk, and compression press spring.
Preferably, the slide bushing assembly includes that sliding sleeve and lower end of mobilizable set on mobile jib are hinged on outside sliding sleeve
The pull rod in week, pull rod upper end and clamp jaw are hinged, and the brake cable component includes the brake cable connecting with sliding sleeve and for controlling
The control handle that brake cable processed pulls sliding sleeve to move downward, control handle dress is on the rack.
Preferably, the clamp jaw hinged circle hinged, described by the hinged disk and mobile jib that are fixed on mobile jib
Disk is located above sliding sleeve, and spring is cased on the mobile jib between the hinged disk of sliding sleeve and sliding sleeve, the spring upper end and hinged
Disk connection, lower end is connect with sliding sleeve.
Preferably, the clamp jaw includes lower fulcrum bar and the upper rack posts that are connected at the top of lower fulcrum bar, in the middle part of lower fulcrum bar with
Sliding bush combination is hinged, and the angle for being greater than degree, the lateral wall cooperation of upper rack posts and clamping cone disk are formed between upper rack posts and lower fulcrum bar
Compress limb.
Preferably, the lateral wall of the clamping cone disk has waveform lines from top to bottom, upper rack posts and clamping cone disk
There is the waveform lines matched with clamping cone disk lateral wall on the face of cooperation, upper rack posts is made to be pressed on the outside of clamping cone disk
Multiple small annular space A are formed when on wall between upper rack posts and clamping cone disk.
Preferably, the oscillation drive includes the motor filled on the rack and connect with the rotary output axis of motor
Crank assemblies, the mobile jib connect with crank assemblies, drives mobile jib vertically to vibrate by crank assemblies.
Preferably, the crank assemblies include the crankwheel of the rotary output axis connection of center and motor, are hinged on song
The connecting rod of the non-center location of handle wheel, the connecting rod lower end is hinged with crankwheel, and upper end is hinged with mobile jib, fills in the rack
Have a support guide component for matching with mobile jib and being oriented to the vertical vibration of mobile jib, support guide component include guide cylinder and
To the support rod that guide cylinder is supported, support rod lower end is connect with rack, and upper end is connect with guide cylinder, between guide cylinder and mobile jib
Gap engagement sleeves are on mobile jib.
Nuts picking method, using above-described nut picking machine, it is characterised in that by nut picking machine be moved to
It picks under fruit tree, height adjustment is carried out to rack, make clamping cone disk and clamp height where claw assembly arrival fruit tree second level limb,
Then with brake cable component control clamp claw assembly play conjunctions, by fruit tree second level limb be clamped in clamping cone disk and clamping claw assembly it
Between, start oscillation drive later and limb clamping device is driven vertically to vibrate, under the fruit on fruit tree second level limb is shaken,
Realize the picking of fruit.
The beneficial effects of the present invention are:
The present invention separates fruit with limb, power less energy-consuming will not by clamping the second level limb of fruit tree and driving its vibration
Extra vibration is generated to fruit tree, the influence to fruit tree is small, and easy to operate, pluck adopt it is high-efficient, it is convenient and practical.
Dry with the second level skill of limb gripping means grips fruit tree, i.e., the limb being directly connected to fruit is filled with vibratory drive
Set drive limb clamping device vertical vibration, by second level limb fruit vibration fall, during vibration to second level limb into
Row clamps, and protects second level limb not separate with fruit and be synchronized to pull apart, and the position of limb gripping means grips is fruit tree
At second level limb, the vibration of fruit tree root will not be caused, realize and effective protection is carried out to fruit tree in picking process.
Clamping cone disk forms up big and down small cone-shaped, and second level limb is formed similar from the dry upper fork of major branch on adaptation fruit tree
With the distribution of taper, it is easy to once clamp more second level limbs, improves picking efficiency.
Clamping cone disk and clamping claw assembly are matched for clamping tightly the second level limb of fruit, clamp and pass through brake cable component in claw assembly
Pulling and open and separated with clamping cone disk, be closed by the recovery elastic force of pressure spring and be matched for clamping tightly second level branch with clamping cone disk
Dry, clamping cone disk and the clamping force clamped between claw assembly are provided by the recovery spring return power of pressure spring, and clamping force is moderate
Limb is clamped, folder branch will not be crushed, effectively limb can be driven to vibrate, and can effectively protect limb and be not pinched.
Detailed description of the invention
Fig. 1 is the host figure of nut picking machine of the invention.
Fig. 2 is the side view of nut picking machine of the invention.
Fig. 3 is the partial enlarged view of Fig. 1.
Fig. 4 is the partial enlarged view in Fig. 3 at B.
Fig. 5 is status diagram when clamp jaw is opened.
Specific embodiment
It elaborates below with reference to Fig. 1 to Fig. 5 to the embodiment of the present invention.
Nut picking machine, rack 1 including bottom with wheel and with elevating function above rack 1 and are used for
Clamp limb clamping device 2, the oscillation drive for driving limb clamping device 2 vertically to vibrate of fruit tree second level limb
3 and brake cable component 7, oscillation drive 3 is in rack 1, it is characterised in that the limb clamping device 2 includes and vibration
The dynamic connection of driving device 2 and the mobile jib 4 being vertically arranged mounted in 4 top of mobile jib and present the clamping cone disk 5 of small lower big cone-shaped
With the clamping claw assembly 6 for being matched for clamping tightly limb with clamping cone disk 5, claw assembly 6 is clamped on mobile jib 4, brake cable component 7
Mounted in rack 1 and clamp claw assembly 6 between, by brake cable component 7 control clamp claw assembly 6 open and close, make clamp claw assembly 6 with
Clamping cone disk 5 is separated or is pressed into contact with.
Nut picking machine as shown in the figure makes fruit and limb by clamping the second level limb of fruit tree and driving its vibration
Separation, power less energy-consuming will not generate extra vibration to fruit tree, and the influence to fruit tree is small, and easy to operate, plucks and adopts efficiency
Height, it is convenient and practical.The second level skill for clamping fruit tree with limb clamping device 2 is dry, i.e., the limb being directly connected to fruit is driven with vibration
Dynamic device 3 drives 2 vertical vibration of limb clamping device, the fruit vibration on second level limb is fallen, to second level during vibration
Limb is clamped, and second level limb is protected not separate with fruit and be synchronized to pull apart, and the position that limb clamping device 2 clamps
It is that will not cause the vibration of fruit tree root at fruit tree second level limb, realizes and effective protection is carried out to fruit tree in picking process.Folder
Tight cone disk 5 forms up big and down small cone-shaped, adapt to second level limb on fruit tree formed from the dry upper fork of major branch it is similar with taper
Distribution is easy to once clamp more second level limbs, improves picking efficiency.
Wherein, the clamping cone disk 5 is rotatably covered in the top of mobile jib 4, the lower end surface of clamping cone disk 5 and mobile jib 4
On the top cover that is bolted at the top of the upper surface of, clamping cone disk 5 and mobile jib 4 of radially projecting positioning shaft shoulder 41
42 against.Clamping cone disk 5 carries out vertical positioning by positioning shaft shoulder 41 and top cover 42, and clamping cone disk 5 can be 4 turns along mobile jib
It is dynamic, guarantee that clamping cone disk 5 can be rotated moderately in vibration processes, will not drag by the head and ears limb, raising can to the protection of limb
By property.
Wherein, the clamping claw assembly 6 includes sliding bush combination 61 of mobilizable set on mobile jib 4, is hinged on mobile jib 4
On clamp jaw 62 and be sleeved on mobile jib 4 and be located at the pressure spring 63 of 61 lower section of sliding bush combination, the clamp jaw 62 is along mobile jib 4
Circumferentially it is uniformly distributed multiple, the upper end of pressure spring 63 is against on sliding bush combination 61, and clamp jaw 62 and sliding bush combination 61 are hinged, brake cable
Component 7 is connect with sliding bush combination 6, and sliding bush combination 6 is pulled to move downward, and is driven clamp jaw 62 to accommodate downwards and is divided with clamping cone disk 5
It opens, and compression press spring 63.Brake cable component 4 pull slide bushing assembly 6 glide, further compression press spring 63, and by clamp jaw 62 to
Drop-down, makes the downward swing open of clamping plate 62, extensive in the elasticity of pressure spring 63 when brake cable component 4, which is cancelled, pulls slide bushing assembly 6
It is sliding on multiple power effect low sleeve component 6, drive clamp jaw 62 to be swung up closure, it is dry to be matched for clamping tightly skill with clamping cone disk 5.
Wherein, the slide bushing assembly 61 includes that sliding sleeve 61.1 and lower end of mobilizable set on mobile jib 4 are hinged on
The pull rod 61.2 of 61.1 periphery of sliding sleeve, 61.2 upper end of pull rod and clamp jaw 62 are hinged, and the brake cable component 7 includes and sliding sleeve
The brake cable 71 of 61.1 connections and the control handle 72 for pulling sliding sleeve 61.1 to move downward for controlling brake cable 71, control handle
72 in rack 1.Brake cable 71 is directly connect with sliding sleeve 61.1, and sliding sleeve 61.1 is pulled to glide, thus further compression press spring,
And drive clamp jaw 62 to lower swing by pull rod 61.2.
Wherein, the clamp jaw 62 hinge hinged, described by the hinged disk 42 and mobile jib 4 that are fixed on mobile jib 4
It connects disk 42 and is located at 61.1 top of sliding sleeve, and be cased with spring 64, institute on the mobile jib 4 between the hinged disk 42 of sliding sleeve and sliding sleeve 61.1
64 upper end of spring stated is connect with hinged disk 42, and lower end is connect with sliding sleeve 61.1.The original state of spring 64 is free state,
When sliding sleeve 61.1 glides, spring 64 is stretched, and when brake cable 71 unclamps the drop-down to sliding sleeve 61.1, the elasticity of spring 64 is extensive
Multiple power and the elastic restoring force one of pressure spring 63 work, and sliding sleeve 61.1 is above pushed away, the reliable of the reciprocating motion of sliding sleeve 61.1 is improved
Property, to improve the operational reliability of picking machine.
Wherein, the clamp jaw 62 includes lower fulcrum bar 62.1 and the upper rack posts 62.2 being connected at the top of lower fulcrum bar 62.1,
62.1 middle part of lower fulcrum bar and sliding bush combination 61 are hinged, and the angle greater than 90 degree is formed between upper rack posts 62.2 and lower fulcrum bar 62.1,
The cooperation of the lateral wall of upper rack posts 62.2 and clamping cone disk 5 compresses limb.It is formed by lower fulcrum bar 62.1 and upper rack posts 62.2
Clamp jaw with certain angle makes upper bracket 62.2 effectively and clamping cone to adapt to the up-small and down-big cone-shaped of clamping cone disk 5
Disk 5 cooperates.
Wherein, the lateral wall of the clamping cone disk 5 has waveform lines from top to bottom, upper rack posts 62.1 and clamping cone
There is the waveform lines matched with 5 lateral wall of clamping cone disk on the face that disk 5 cooperates, upper rack posts 62.2 is made to be pressed on clamping cone
Multiple small annular space A are formed when on the lateral wall of disk 5 between upper rack posts 62.2 and clamping cone disk 5.It is mentioned by waveform lines
To the frictional force of limb when height clamps, and small annular space A can carry out effective position to limb in vibration processes, prevent branch
It does and deviates between clamping cone disk 5 and upper rack posts 62.2 in vibration processes, avoid limb when being clamped relative to upper rack posts 62.2
Relative Vibration is generated with clamping cone disk 5 and is worn or pulls, and guarantees that limb is injury-free in vibration processes.
Wherein, the oscillation drive 3 includes the motor 31 in rack 1 and connects with the rotary output axis of motor
The crank assemblies 32 connect, the mobile jib 4 are connect with crank assemblies 32, drive mobile jib 4 vertically to vibrate by crank assemblies 32.Institute
The crank assemblies 32 stated include the crankwheel 32.1 that center is connect with the rotary output axis of motor 31, and it is non-to be hinged on crankwheel 32.1
The connecting rod 32.2 of center location, 32.2 lower end of connecting rod and crankwheel 32.1 are hinged, and upper end and mobile jib 4 are hinged, described
It is equipped in rack 1 and matches the support guide component 8 being oriented to the vertical vibration of mobile jib 4, support guide component with mobile jib 4
8 include guide cylinder 82 and the support rod 81 that is supported to guide cylinder 82, and 81 lower end of support rod is connect with rack 1, upper end with lead
It is connected to cylinder 82, guide cylinder 82 and 4 clearance fit of mobile jib cover on mobile jib 4.As shown, motor 31 drives 32.1 turns of crankwheel
Dynamic, crankwheel 32.1 drives connecting rod 32.2 to move, and connecting rod 32.2 drives mobile jib 4 to vibrate under the guiding of guide cylinder 82, thus real
The vibration of existing fruit, the output power by adjusting motor facilitate to adjust the revolving speed of crankwheel 32.1 according to the thick of limb
Vibration picking is carefully carried out with the size of fruit, improves the dependable with function of picking machine.
Nuts picking method, using above-described nut picking machine, it is characterised in that by nut picking machine be moved to
It picks under fruit tree, height adjustment is carried out to rack 1, it is high where so that clamping cone disk 5 and clamping claw assembly 6 is reached fruit tree second level limb
Then degree controls clamping claw assembly 6 with brake cable component 7 and plays conjunction, fruit tree second level limb is clamped in clamping cone disk 5 and clamp jaw
Between component 6, starts oscillation drive 3 later and limb clamping device 2 is driven vertically to vibrate, it will be on fruit tree second level limb
Under fruit vibration, the picking of fruit is realized.
Above nuts picking method stated, the second level skill for clamping fruit tree with limb clamping device 2 is dry, i.e., direct with fruit
The limb of connection drives limb clamping device vertical vibration with oscillation drive 3, and the fruit vibration on second level limb is fallen,
Second level limb is clamped during vibration, protects second level limb not separate with fruit and be synchronized to pull apart, and limb
The position of gripping means grips is will not to cause the vibration of fruit tree root at fruit tree second level limb, and it is right in picking process to realize
Fruit tree carries out effective protection.Clamping cone disk forms up big and down small cone-shaped, adapts to second level limb on fruit tree and above pitches from major branch is dry
Open form is easy to once clamp more second level limbs at the similar distribution with taper, improves picking efficiency.By clamping fruit tree
Second level limb and drive its vibration, separate fruit with limb, power less energy-consuming will not generate extra vibration to fruit tree,
Influence to fruit tree is small, and easy to operate, pluck adopt it is high-efficient, it is convenient and practical.
It is completely described in conjunction with technical solution of the attached drawing to the embodiment of the present invention above, it should be noted that described
Embodiment be only a part of the embodiments of the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Claims (10)
1. nut picking machine has wheel including bottom and has the rack (1) of elevating function, is located above rack (1) and use
It is driven in the limb clamping device (2) of clamping fruit tree second level limb, the vibration for driving limb clamping device (2) vertically to vibrate
Dynamic device (3) and brake cable component (7), oscillation drive (3) is on rack (1), it is characterised in that the limb folder
Tight device (2) include connect with oscillation drive (2) and be vertically arranged mobile jib (4), mounted in mobile jib (4) top and present
The clamping cone disk (5) of small lower big cone-shaped and the clamping claw assembly (6) for being used to be matched for clamping tightly limb with clamping cone disk (5) clamp
For claw assembly (6) on mobile jib (4), brake cable component (7) is mounted in rack (1) and clamps between claw assembly (6), passes through brake cable
Component (7) control clamps claw assembly (6) folding, and clamping claw assembly (6) is made to separate or be pressed into contact with clamping cone disk (5).
2. nut picking machine according to claim 1, it is characterised in that the clamping cone disk (5) is rotatably covered in master
The top of bar (4), the lower end surface of clamping cone disk (5) and the radially projecting positioning shaft shoulder (41) on mobile jib (4) are against clamping
Bore at the top of the upper surface and mobile jib (4) of disk (5) top cover (42) that is bolted against.
3. nut picking machine according to claim 1, it is characterised in that the clamping claw assembly (6) includes mobilizable
Cover on mobile jib (4) sliding bush combination (61), the clamp jaw (62) that is hinged on mobile jib (4) and be sleeved on mobile jib (4) and position
Pressure spring (63) below sliding bush combination (61), the clamp jaw (62) are circumferentially uniformly distributed multiple, pressure spring along mobile jib (4)
(63) upper end is against on sliding bush combination (61), clamp jaw (62) and sliding bush combination (61) hingedly, brake cable component (7) and sliding sleeve
(6) connection is combined, sliding bush combination (6) is pulled to move downward, drives clamp jaw (62) to accommodate downwards and is separated with clamping cone disk (5),
And compression press spring (63).
4. nut picking machine according to claim 3, it is characterised in that the slide bushing assembly (61) includes mobilizable
It covers sliding sleeve (61.1) and lower end on mobile jib (4) and is hinged on pull rod (61.2) in sliding sleeve (61.1) periphery, pull rod (61.2)
Hingedly, the brake cable component (7) includes the brake cable (71) connecting with sliding sleeve (61.1) and uses for upper end and clamp jaw (62)
In the control handle (72) that control brake cable (71) pulls sliding sleeve (61.1) to move downward, control handle (72) is mounted in rack (1)
On.
5. nut picking machine according to claim 4, it is characterised in that the clamp jaw (62) is by being fixed on mobile jib
(4) hingedly, the hinged disk (42) is located above sliding sleeve (61.1), and sliding sleeve for hinged disk (42) and mobile jib (4) on
Be cased with spring (64) on mobile jib (4) between hinged disk (42) and sliding sleeve (61.1), the spring (64) upper end with hingedly
Disk (42) connection, lower end is connect with sliding sleeve (61.1).
6. according to nut picking machine as claimed in claim 3, it is characterised in that the clamp jaw (62) includes lower fulcrum bar (62.1)
With the upper rack posts (62.2) being connected at the top of lower fulcrum bar (62.1), in the middle part of lower fulcrum bar (62.1) hingedly with sliding bush combination (61), on
The angle greater than 90 degree is formed between strut (62.2) and lower fulcrum bar (62.1), upper rack posts (62.2) are outer with clamping cone disk (5)
Side wall cooperation compresses limb.
7. the nut picking machine stated according to claim 6, it is characterised in that the lateral wall of the clamping cone disk (5) has from top to bottom
Waveform lines, have on the face that upper rack posts (62.1) cooperate with clamping cone disk (5) and matched with clamping cone disk (5) lateral wall
Waveform lines, so that upper rack posts (62.2) is pressed on upper rack posts (62.2) and clamping cone when on the lateral wall of clamping cone disk (5)
Multiple small annular spaces (A) are formed between disk (5).
8. according to nut picking machine described in claim 1, it is characterised in that the oscillation drive (3) includes being mounted in rack
(1) motor (31) on and the crank assemblies (32) being connect with the rotary output axis of motor, the mobile jib (4) and crank assemblies
(32) it connects, drives mobile jib (4) vertically to vibrate by crank assemblies (32).
9. according to nut picking machine according to any one of claims 8, it is characterised in that the crank assemblies (32) include center and motor
(31) crankwheel (32.1) of rotary output axis connection, is hinged on the connecting rod (32.2) of crankwheel (32.1) non-center location,
Hingedly, hingedly, the rack is equipped on (1) for upper end and mobile jib (4) for connecting rod (32.2) lower end and crankwheel (32.1)
The support guide component (8) being oriented to the vertical vibration of mobile jib (4), support guide component (8) packet are matched with mobile jib (4)
The support rod (81) for including guide cylinder (82) and being supported to guide cylinder (82), support rod (81) lower end are connect with rack (1), on
End is connect with guide cylinder (82), and guide cylinder (82) and mobile jib (4) clearance fit cover on mobile jib (4).
10. nuts picking method, using the described in any item nut picking machines of claim 1 to 8, it is characterised in that adopt nut
Off-hook is moved to wait pick under fruit tree, carries out height adjustment to rack (1), is made clamping cone disk (5) and is clamped claw assembly (6) arrival
Then height where fruit tree second level limb clamps claw assembly (6) with brake cable component (7) control and plays conjunction, by fruit tree second level limb
It is clamped in clamping cone disk (5) and clamps between claw assembly (6), start oscillation drive (3) later and drive limb clamping device
(2) it vertically vibrates, by under the fruit vibration on fruit tree second level limb, realizes the picking of fruit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044624.6A CN109548487B (en) | 2019-01-17 | 2019-01-17 | Nut picking machine and nut picking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044624.6A CN109548487B (en) | 2019-01-17 | 2019-01-17 | Nut picking machine and nut picking method |
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| Publication Number | Publication Date |
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| CN109548487A true CN109548487A (en) | 2019-04-02 |
| CN109548487B CN109548487B (en) | 2021-08-10 |
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| CN201910044624.6A Expired - Fee Related CN109548487B (en) | 2019-01-17 | 2019-01-17 | Nut picking machine and nut picking method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216091A (en) * | 2019-05-07 | 2019-09-10 | 唐山港集团股份有限公司 | A kind of tool for cleaning high-order monitoring camera |
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