CN110959383B - Double-vibration picking vehicle for forest fruits - Google Patents
Double-vibration picking vehicle for forest fruits Download PDFInfo
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- CN110959383B CN110959383B CN202010057482.XA CN202010057482A CN110959383B CN 110959383 B CN110959383 B CN 110959383B CN 202010057482 A CN202010057482 A CN 202010057482A CN 110959383 B CN110959383 B CN 110959383B
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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Abstract
Double-vibration fruit picking vehicle, walk the mechanism including crawler-type, carry the trunk with the vibration mechanism that the fruit shakes and be used for catching the mechanism that connects of the fruit that shakes and fall, connect and carry the mechanism dress and walk the mechanism front end and can carry out umbelliform opening or drawing in the trunk periphery, vibration mechanism is including hanging in midair and connecing the vice vibrating part directly over the mechanism and adorning the main vibrating part on connecing the mechanism, main vibrating part is located vice vibrating part below, main vibrating part and vice vibrating part centre gripping trunk and transmission vibration respectively, and main vibrating part and vice vibrating part are all adjustable to the clamping position of trunk. According to the fruit picking machine, the clamping positions of the main vibrating part and the auxiliary vibrating part can be adjusted according to the position, the thickness and the fruit distribution of a tree trunk so as to adapt to the picking requirements of different fruit trees, the picking rate is improved, the integrated automatic operation from picking to collecting is realized, the picking and the collecting of fruits are more convenient, the working efficiency is greatly improved, and the vibration picking requirements and the vibration collecting requirements of the fruits in the uneven mountain and hilly areas are met.
Description
Technical Field
The invention relates to a double-vibration picking vehicle for forest fruits, and belongs to the technical field of mechanical picking of forest fruits.
Background
The orchard harvesting operation has the characteristics of high labor intensity and strong seasonality, and the current domestic harvesting technology still stays at the level of manual picking and picking operation. The defects of manual harvesting are obvious, the labor cost of fruit growers is high, the labor force is insufficient, the picking efficiency is low, the fruit is easy to damage, and the storage is not facilitated. Although some orchards adopt mechanical harvesting, the mechanical harvesting is influenced by factors such as terrain, fruit tree spacing and the like, so that the use and popularization of harvesting machinery are restricted to a certain extent, and the mechanical harvesting has a particularly prominent influence on fruit collection.
Through patent search, relevant patent documents are:
1. CN 109121722A, a vibrating type picking and collecting integrated mechanical arm, which discloses a vibrating type picking and collecting integrated mechanical arm, comprising an arm, wherein the arm is provided with a vibrator and two clamping claws, each clamping claw is respectively connected with a driving mechanism, and the driving mechanism is used for driving the clamping claws to be opened or closed; the supporting mechanisms which can be unfolded and retracted are respectively arranged on the clamping claws, umbrella cloth is arranged on each supporting mechanism, the umbrella cloth is unfolded after the supporting mechanisms are unfolded, and the umbrella cloth is retracted after the supporting mechanisms are retracted.
2. CN 208708181U, a prepositioning is from centre gripping formula picking mechanism independently, includes the multisection can the flexible sleeve of axial, and innermost side sleeve is connected with first telescopic machanism, sets up the picking manipulator in the innermost side sleeve, and the picking manipulator includes second telescopic machanism, and the second telescopic machanism passes through the hinge to be connected with the gripper to the flexible clamp of driving the gripper through second telescopic machanism gets or loosens, and the sleeve sets up shaking off of vibration mechanism in order to drive the fruit in the outermost side.
3. CN 108496561A, a multifunctional jujube harvesting device and a harvesting method, the multifunctional jujube harvesting device comprises a lower layer bottom plate and an upper layer bottom plate, casters are arranged at the bottom of the lower layer bottom plate, a lead screw nut, a track plate and a guide rail are arranged at the top of the lower layer bottom plate, a jujube branch clamping opening is formed in the end portion of the lower layer bottom plate, a jujube tree chuck is correspondingly arranged at the jujube branch clamping opening, one end of the lead screw nut is connected to the jujube tree chuck, the other end of the lead screw nut is connected with a variable proportion scissors linkage, the bottom of the variable proportion scissors linkage is embedded on the track plate through a bull's eye wheel, high-toughness umbrella cloth is connected to the top of the variable proportion scissors linkage, the high-toughness umbrella cloth depends on the outer layer of the variable proportion scissors linkage to form a funnel-shaped jujube collecting umbrella surface, a sliding block is correspondingly arranged on the guide rail, a first guide rod is arranged on the sliding block, the upper layer bottom plate is arranged at the top of the first guide rod, and a jujube tree fixing and clamping mechanism is arranged on the upper layer bottom plate.
The sizes of the forest fruits are different, most of forest fruit orchards such as oil tea fruit orchards are mountains and hills, and the orchard is uneven in terrain pits, so that the forest fruit orchards can adapt to terrain changes, and fruit harvesting integration is realized.
Disclosure of Invention
According to the double-vibration fruit picking vehicle, the clamping positions of the main vibration part and the auxiliary vibration part can be adjusted according to the position, the thickness and the fruit distribution of a tree trunk so as to meet the picking requirements of different fruit trees, the picking rate is improved, the integrated automatic operation from picking to collecting is realized, the picking and the collecting of fruits are more convenient, the working efficiency is greatly improved, and the vibration picking requirements and the vibration falling collecting requirements of the fruits in the mountainous and hilly areas with uneven pits are met.
In order to achieve the purpose, the invention adopts the technical scheme that:
double-vibration fruit picking vehicle, its characterized in that is including the walking mechanism of crawler-type, clip the trunk with the vibration mechanism that the fruit shakes and be used for catching the fruit that shakes and falls connect and carry the mechanism, connect and carry the mechanism dress and walk the mechanism front end and can carry out umbelliform opening or drawing in the trunk periphery, vibration mechanism is including hanging in midair and connecing the vice vibrating part directly over carrying the mechanism and adorning the main vibrating part on connecing carrying the mechanism, main vibrating part is located vice vibrating part below, main vibrating part and vice vibrating part centre gripping trunk and transmission vibration respectively, and main vibrating part and vice vibrating part are all adjustable to the clamping position of trunk.
Preferably, the receiving and carrying mechanism comprises a U-shaped positioning chassis matched with the trunk in a positioning manner, a collection umbrella assembly which is arranged on the U-shaped positioning chassis and can be opened or closed in an umbrella shape, and a centering assembly which drives the U-shaped positioning chassis to move so that the trunk extends into a U-shaped opening of the U-shaped positioning chassis, the U-shaped positioning chassis is arranged at the front end of the walking mechanism through the centering assembly, the main vibration piece is arranged on the U-shaped positioning chassis, and the clamping opening is aligned with the U-shaped opening of the U-shaped positioning chassis up and down.
Preferably, the secondary vibration part comprises a suspension adjusting component fixed on the walking mechanism in the vertical direction, a vibration clamping component for clamping the trunk to transmit vibration and a steel wire rope for hanging the vibration clamping component on the suspension adjusting component, one end of the steel wire rope is connected with the suspension adjusting component, the other end of the steel wire rope is connected with the vibration clamping component, and the steel wire rope is driven by the suspension adjusting component to move so as to drive and adjust the vibration clamping component to lift;
the suspension adjusting assembly comprises a supporting rod which is vertically fixed on the walking mechanism, a suspension adjusting oil cylinder which is fixed on the supporting rod in parallel and a horizontal rod which is horizontally arranged and fixed at the top of the supporting rod, one end of a steel wire rope is fixed on the supporting rod, the other end of the steel wire rope bypasses a rotating wheel at the telescopic end of the suspension adjusting oil cylinder, the steel wire rope bypasses a supporting tension wheel on the horizontal rod and then is connected with the vibration clamping assembly, and the steel wire rope is pulled to move by the extension of the suspension adjusting oil cylinder so as to drive the vibration clamping assembly to lift.
Preferably, the main vibrating part comprises a motor vibrating box arranged on the U-shaped positioning chassis and a clamping head arranged on the motor vibrating box, and a clamping opening of the clamping head is vertically aligned with a U-shaped opening of the U-shaped positioning chassis;
the bottom of the motor vibration box is provided with a sliding block, a U-shaped positioning chassis is provided with a guide sliding rail which is in guide fit with the sliding block, the sliding block is sleeved on the guide sliding rail and reciprocates on the guide sliding rail along with the vibration of the motor vibration box, and the end part of the guide sliding rail is provided with a rubber stop block which can be in soft contact with the sliding block;
the clamping head comprises two clamping jaws which are in mirror symmetry and a clamping oil cylinder connected with the clamping jaws through connecting rods, and the two clamping jaws are close to or separated from each other along with the expansion and contraction of the clamping oil cylinder.
Preferably, the centering assembly comprises a telescopic group, a lifting group and a swinging group, the telescopic group can drive the U-shaped positioning chassis to stretch back and forth, the lifting group can drive the U-shaped positioning chassis to lift up and down, the swinging group can drive the U-shaped positioning chassis to swing horizontally, the lifting group and the swinging group are both arranged on the walking mechanism, the telescopic group is connected with the lifting group, and the U-shaped positioning chassis is connected with the telescopic group.
Preferably, the telescopic unit comprises a telescopic frame, a telescopic guide rail and a telescopic oil cylinder, wherein the telescopic frame is connected with the U-shaped positioning chassis at the front end, the telescopic guide rail is horizontally arranged along the front and back direction and fixedly connected with the lifting unit, the telescopic oil cylinder is coaxially arranged with the telescopic guide rail, one end of the telescopic frame is inserted into the telescopic guide rail in a guiding and matching mode, the telescopic oil cylinder is inserted into one end of the telescopic frame in a guiding and matching mode with the telescopic guide rail, one end of the telescopic oil cylinder is fixed with the telescopic frame, the other end of the telescopic oil cylinder is fixed with the lifting unit, and the telescopic frame is driven to move along the guiding and guiding of the telescopic guide rail through the expansion and contraction of the telescopic oil cylinder.
Preferably, the lift group include with the lifting cover body of flexible group rigid coupling, be used for driving the lift cylinder that the lifting cover body goes up and down, lift cylinder one end is connected the other end with walking the mechanism and is connected with the lifting cover body, the swing group is including fixing the rotatory support of walking on the mechanism, rotatable suit is at the rotatory core on rotatory support and drive rotatory core at rotatory support upper level pivoted rotatory cylinder, rotatory core is along vertical setting, the lifting cover body cover on rotatory core and with rotatory core along vertical direction cooperation, rotate along with the rotation of rotatory core.
Preferably, the rotary core body is provided with a guide straight groove vertically arranged, the bottom of the lifting sleeve body is provided with a guide cross beam radially arranged and matched with the guide straight groove, the guide cross beam is inserted into the guide straight groove and moves in the guide straight groove along with the expansion of the lifting oil cylinder, the bottom of the rotary core body is provided with two radially symmetrical rotary connecting lugs, and one end of the rotary oil cylinder is connected with the rotary connecting lugs while the other end is connected with the walking mechanism.
Preferably, the collection umbrella assembly comprises two half umbrella canvas assemblies and an opening and closing power assembly connected with the half umbrella canvas assemblies and used for controlling the half umbrella canvas assemblies to be opened or closed, the half umbrella canvas assemblies and the opening and closing power assembly are respectively arranged on the U-shaped positioning chassis, and the two half umbrella canvas assemblies are driven by the opening and closing power assembly to be opened and closed synchronously to form the collection umbrella around the periphery of the trunk or driven by the opening and closing power assembly to be closed synchronously.
Preferably, two semi-umbrella canvas components are symmetrically installed on a U-shaped positioning chassis, each semi-umbrella canvas component comprises a rotating support plate, a rotating support rod, a fixed support plate and canvas, the rotating support plates, the rotating support rods and the fixed support plates are all obliquely arranged and are sequentially arranged in an umbrella framework manner, the bottoms of the rotating support plates and the bottoms of the rotating support rods are respectively and rotatably installed on the U-shaped positioning chassis, the bottoms of the fixed support plates are fixed on the U-shaped positioning chassis, the canvas is connected between the rotating support plates and the rotating support rods in a triangular shape, the adjacent rotating support rods and the fixed support plates are connected, an opening and closing power component comprises a crank connecting rod piece and a chain wheel chain piece which are driven by an oil cylinder, the crank connecting rod piece is connected with the bottoms of the rotating support plates, the rotating support plates are pushed to rotate around the bottoms of the rotating support plates, the chain wheel chain piece is connected with the bottoms of the rotating support plates and the rotating support rods, the rotating support rod and the rotating support plate are driven to synchronously rotate, so that the canvas is folded or furled.
The invention has the beneficial effects that:
1. the double-vibration forest fruit picking vehicle comprises a walking mechanism, a vibration mechanism, a receiving mechanism, a carrying mechanism, a main vibration part and a secondary vibration part, wherein the walking mechanism is used for walking and moving the whole mechanism, the vibration mechanism is used for transmitting vibration to a trunk to vibrate fruits, the receiving mechanism is used for receiving the vibrated fruits, the vibration mechanism comprises the secondary vibration part and the main vibration part, the main vibration part is positioned below the secondary vibration part, the clamping positions of the main vibration part and the secondary vibration part on the trunk can be adjusted, the main vibration part clamps the main trunk of a fruit tree to transmit vibration, the secondary vibration part clamps a branch trunk with a larger diameter and a larger number of fruits to transmit vibration, and the clamping positions of the main vibration part and the secondary vibration part can be adjusted according to the position, the thickness and the distribution of the fruits so as to meet the picking requirements of different fruit trees, the picking rate is improved, the integrated automatic operation from picking to the collecting is realized, the picking and the collecting of the fruits are more convenient, and the working efficiency is greatly improved.
2. The U-shaped positioning chassis is matched with the trunk in a positioning mode in the receiving mechanism, and the position of the receiving mechanism on the trunk is determined even if the trunk enters the U-shaped positioning chassis before fruits shake off, so that the positioning reliability of the receiving mechanism on the trunk is guaranteed; u type location chassis passes through the drive of centering subassembly and moves, can stretch out and draw back from beginning to end, oscilaltion and horizontal hunting, walk when the unable trunk that is close to of mechanism, the motion through the centering subassembly makes to connect the effectual location of carrying the mechanism on the trunk, the extension connects the motion range who carries the mechanism, the walking demand of walking the mechanism to the topography is walked in the reduction, the assurance is connect to carry the mechanism can be according to the trunk position, thickness, highly select the most suitable position effective location on the trunk, satisfy the shakedown collection demand of the mountain hills inter forest fruit of pothole unevenness.
3. The main vibrating piece is arranged on the U-shaped positioning chassis, the clamping opening is vertically aligned with the U-shaped opening of the U-shaped positioning chassis, the U-shaped positioning chassis drives the main vibrating piece to move together, namely, the receiving and carrying mechanism and the main vibrating piece are synchronously centered with the trunk, the main vibrating piece reaches the most appropriate clamping position and the receiving and carrying mechanism reaches the most appropriate fruit receiving position according to the position, thickness and height of the trunk so as to ensure that the fruit is effectively vibrated down and received when vibrated down and picked, and the motor vibration box in the main vibration part is matched with the guide slide rail on the U-shaped positioning chassis through the slide block at the bottom of the motor vibration box, the slide block reciprocates on the guide slide rail in the vibration process, thereby reducing the influence of vibration on the U-shaped positioning chassis, ensuring that the U-shaped positioning chassis does not move along with the vibration of the main vibrating piece, when the vibration is transmitted to shake the fruits, the position stability of the umbrella collecting machine assembly and the U-shaped positioning chassis is improved.
4. The vibration clamping component is suspended above the receiving and carrying mechanism in a wire rope suspension mode in the secondary vibration component, the vibration clamping component is driven by the movement of the wire rope to lift, the height of the vibration clamping component is adjusted, the vibration clamping component reaches the height of the most suitable clamping position, the movement of the vibration clamping component is not limited by machinery, the vibration clamping component can be pushed to the trunk to be clamped tightly by a hand, the vibration clamping component can automatically move to reach the required clamping position relative to the walking mechanism, the flexibility of butt joint of the secondary vibration component and the trunk is improved, and the vibration picking requirement of the forest fruits in the hills with uneven mountains is met.
5. Collect the umbrella subassembly dress on U type location chassis, after U type location chassis and trunk realization location, collect the umbrella subassembly and realize promptly realizing the location to the trunk, form the collection umbrella that can open and close in the trunk periphery, collect the umbrella subassembly and surround by two half umbrella canvas subassemblies and form, through the regulation to rotation support board, rotation support pole, fixed bolster inclination, can adjust the parachute opening diameter and the degree of depth of collecting the umbrella subassembly to the fruit collection demand of adaptation different fruit trees.
Drawings
Fig. 1 is a schematic structural diagram of a double-vibration fruit picking vehicle in a specific embodiment.
Fig. 2 is a schematic structural view of the secondary vibrating member.
Fig. 3 is a schematic structural diagram of the main vibrating piece arranged on the U-shaped positioning chassis.
Fig. 4 is an enlarged schematic view of fig. 3.
FIG. 5 is an enlarged schematic view of the centering assembly.
FIG. 6 is a top view of the centering assembly.
FIG. 7 is a schematic structural view of the centering assembly when the lift cylinder is fully extended.
FIG. 8 is a schematic view of the centering assembly with the lift cylinder fully retracted.
Fig. 9 is a side view of the double-vibration fruit picking vehicle in the state that the carrying mechanism is opened.
Fig. 10 is a top view of the double-vibration fruit picking vehicle in the state that the carrying mechanism is opened.
Fig. 11 is a schematic structural view of the opening and closing power assembly mounted on the U-shaped positioning chassis.
Detailed Description
The following describes an embodiment of the present invention in detail with reference to fig. 1 to 11.
Double-vibration fruit picking vehicle, its characterized in that includes crawler-type walking mechanism 1, clip the trunk with the vibration mechanism 2 that the fruit shakes and be used for catching the fruit that shakes and fall connect and carry mechanism 3, connect and carry mechanism 3 dress at walking mechanism 1 front end and can carry out umbelliform opening or drawing in the trunk periphery, vibration mechanism 2 is including hanging in midair receiving auxiliary vibration piece 4 directly over carrying mechanism 3 and the main vibration piece 5 of dress on connecing carrying mechanism 3, main vibration piece 5 is located auxiliary vibration piece 4 below, main vibration piece 5 and auxiliary vibration piece 4 centre gripping trunk and transmission vibration respectively, and main vibration piece 5 and auxiliary vibration piece 4 are all adjustable to the clamping position of trunk.
The walking mechanism 1 in the double-vibration fruit picking vehicle is used for walking and moving the whole mechanism, the vibration mechanism 2 is used for transmitting vibration to a trunk to vibrate fruits, the receiving and carrying mechanism 3 is used for receiving the vibrated fruits, the vibration mechanism 2 comprises an auxiliary vibration part 4 and a main vibration part 5, the main vibration part is positioned below the auxiliary vibration part, the main vibration part and the auxiliary vibration part can adjust the clamping position of the trunk, the main trunk of a fruit tree is clamped by the main vibration part to transmit vibration, the auxiliary vibration part clamps a branch trunk with larger diameter and more fruits to transmit vibration, the clamping positions of the main vibration part 5 and the auxiliary vibration part 4 can be adjusted according to the trunk position, the thickness and the fruit distribution, the fruit picking machine is suitable for picking requirements of different fruit trees, improves picking rate, realizes automatic operation from picking to collecting, enables picking and collecting of fruits to be more convenient, and greatly improves working efficiency.
The bearing mechanism 3 comprises a U-shaped positioning chassis 31 matched with the trunk in a positioning manner, a collection umbrella assembly 32 which is arranged on the U-shaped positioning chassis 31 and can be opened or closed in an umbrella shape, and a centering assembly 33 which drives the U-shaped positioning chassis 31 to move so that the trunk extends into a U-shaped opening of the U-shaped positioning chassis 31, the U-shaped positioning chassis 31 is arranged at the front end of the walking mechanism 1 through the centering assembly 33, the main vibrating piece 5 is arranged on the U-shaped positioning chassis 31, and the clamping opening is aligned with the U-shaped opening of the U-shaped positioning chassis 31 up and down. Centering subassembly 33 drives U type location chassis 31 and removes, make U type location chassis 31 and trunk centering, even the trunk stretches into in the U type mouth to U type location chassis 31, contact mechanism 3 is effectively positioned on the trunk, U type location chassis 31 can be according to the trunk position, thickness and highly select the most suitable position and trunk to carry out the centering, even the most suitable position of trunk stretches into in the U type mouth of U type location chassis 31, in order to realize the location of U type location chassis and trunk, collect that umbrella subassembly 32 beats and close the back and enclose on the trunk just in time, can guarantee the reliability that the fruit received. U type location chassis 31 drives main vibration piece 5 and moves together, realizes promptly that to connect and carries mechanism 3 and main vibration piece 5 and trunk synchronous centering, according to the trunk position, thickness and height make main vibration piece 5 reach the most suitable clamping position and make to connect and carry mechanism 3 to reach the most suitable fruit receiving position to guarantee effectively shake the receiving with the fruit when shaking and falling and picking.
The secondary vibration part 4 comprises a suspension adjusting component 41 fixed on the walking mechanism 1 in the vertical direction, a vibration clamping component 42 for clamping the trunk to transmit vibration and a steel wire rope 43 for hanging the vibration clamping component 42 on the suspension adjusting component 41, one end of the steel wire rope 43 is connected with the suspension adjusting component 41, the other end of the steel wire rope 43 is connected with the vibration clamping component 42, and the steel wire rope 43 is driven to move through the suspension adjusting component 41 so as to drive the vibration clamping component 42 to lift;
the suspension adjusting assembly 41 comprises a supporting rod 41.1 fixed on the walking mechanism 1 in the vertical direction, a suspension adjusting oil cylinder 41.2 fixed on the supporting rod 41.1 in parallel and a horizontal rod 41.3 horizontally arranged and fixed at the top of the supporting rod 41.1, one end of a steel wire rope 41.1 is fixed on the supporting rod 21.1, the other end of the steel wire rope bypasses a rotating wheel at the telescopic end of the suspension adjusting oil cylinder 41.2 and then bypasses a supporting tension wheel on the horizontal rod 41.3 to be connected with the vibration clamping assembly 42, and the telescopic pulling steel wire rope 43 of the suspension adjusting oil cylinder 41.2 moves to drive the vibration clamping assembly 42 to ascend and descend.
It can be seen from the figure that the vibration clamping assembly 42 is suspended on the suspension adjusting assembly 41 through the wire rope 43, the movement of the wire rope 43 drives the vibration clamping assembly 42 to ascend and descend, the height of the vibration clamping assembly 42 is adjusted, the vibration clamping assembly 42 reaches the height of the most suitable clamping position, when the trunk needs to be clamped, an operator stands in the walking mechanism 1, the vibration clamping assembly 42 is in contact with the trunk and clamps the trunk in a hand-push mode, the vibration clamping assembly 42 can automatically move to the required clamping position relative to the walking mechanism 1, the flexibility of butt joint of the suspension vibration mechanism and the trunk is improved, the vibration picking requirement of the forest and fruit between uneven mountains and hills is met, the vibration clamping assembly 42 is only connected with the suspension adjusting assembly 41 in a wire rope suspension mode, and the vibration is not transmitted to the walking mechanism in the vibration transmission process, the walking mechanism 1 is not influenced, and the maneuverability and the practicability of the vibration picking are stronger.
The main vibrating piece 5 comprises a motor vibrating box 51 arranged on the U-shaped positioning chassis 31 and a clamping head 52 arranged on the motor vibrating box 51, and a clamping opening of the clamping head 52 is vertically aligned with a U-shaped opening of the U-shaped positioning chassis 31;
the bottom of the motor vibration box 51 is provided with a sliding block 53, the U-shaped positioning chassis 31 is provided with a guide sliding rail 54 which is in guide fit with the sliding block 53, the sliding block 53 is sleeved on the guide sliding rail 54 and reciprocates on the guide sliding rail 54 along with the vibration of the motor vibration box 51, and the end part of the guide sliding rail 54 is provided with a rubber stopper 55 which can be in soft contact with the sliding block 53;
the clamping head 52 comprises two clamping jaws 521 which are mirror-symmetrical and a clamping cylinder 522 which is connected with the clamping jaws 521 through connecting rods, and the two clamping jaws 521 approach or separate along with the expansion and contraction of the clamping cylinder 522. The two jaws 521 grip the trunk when they are close together and release their grip when they are apart.
The motor vibration box 51 in the main vibrating piece 5 is matched with a guide slide rail 54 on the U-shaped positioning chassis 31 through a sliding block 53 at the bottom of the motor vibration box, the sliding block 53 reciprocates on the guide slide rail 54 in the vibration process, so that the influence of vibration on the U-shaped positioning chassis is reduced, the U-shaped positioning chassis 31 is ensured not to move along with the vibration of the main vibrating piece 5, and the position stability of the collection umbrella machine assembly 32 and the U-shaped positioning chassis 31 is improved while the vibration is transmitted to shake down fruits. And set up rubber dog 55 at the tip of direction slider 54, strike the buffering through rubber dog 55 when slider 53 moves the overlimit, avoid the strong impact to direction slider 54, and slider 53 reciprocating motion can not contact with rubber dog 55 on the guide slide rail 54 under the normal condition, and U type location chassis 31 can not follow slider 53 and move together.
The centering assembly 33 comprises a telescopic group 34 capable of driving the U-shaped positioning chassis 31 to stretch back and forth, a lifting group 35 capable of driving the U-shaped positioning chassis 31 to lift up and down, and a swinging group 36 capable of driving the U-shaped positioning chassis 31 to swing horizontally, the lifting group 35 and the swinging group 36 are both mounted on the walking mechanism 1, the telescopic group 34 is connected with the lifting group 35, and the U-shaped positioning chassis 31 is connected with the telescopic group 34. Flexible group 34, go up and down group 35 and swing group 36 and drive the motion of U type location chassis 31, make U type location fixed disk 31 can be according to the trunk position, the thickness of trunk changes and the trunk position of the most suitable centering of total height selection, U type location chassis 31 is connected with flexible group 34, along with the flexible back-and-forth movement of flexible group 34, flexible group 34 is connected with lift group 35, move along with the motion of lift group 35, in order to drive U type location chassis 31 motion, and U type location fixed disk 31 drives main vibrating part 5 and moves together, according to the trunk position, thickness and height make main vibrating part 5 reach the most suitable clamping position.
The telescopic group 34 comprises a telescopic frame 34.1 with the front end connected with the U-shaped positioning chassis 31, a telescopic guide rail 34.2 horizontally arranged in the front-back direction and fixedly connected with a lifting group 35, and a telescopic oil cylinder 34.3 coaxially arranged with the telescopic guide rail 34.2, wherein one end of the telescopic frame 34.1 is inserted into the telescopic guide rail 34.2 in a guiding and matching manner, the telescopic oil cylinder 34.3 is inserted into one end of the telescopic frame 34.1 in a guiding and matching manner with the telescopic guide rail 34.2, one end of the telescopic oil cylinder 34.3 is fixed with the telescopic frame 34.1, the other end of the telescopic oil cylinder is fixed with the lifting group 35, and the telescopic frame 34.1 is driven to move along the telescopic guide rail 34.2 through the extension and retraction of the telescopic oil cylinder 34.3. The telescopic guide rail 34.2 guides the movement of the telescopic frame 34.1, and the telescopic oil cylinder 34.3 provides power for the front and back movement of the telescopic frame 34.1, so that the front and back movement of the U-shaped positioning chassis 31 is realized.
The lifting group 35 comprises a lifting sleeve body 35.1 fixedly connected with the telescopic group 34 and a lifting oil cylinder 35.2 used for driving the lifting sleeve body 35.1 to lift, one end of the lifting oil cylinder 35.2 is connected with the walking mechanism 1, the other end of the lifting oil cylinder is connected with the lifting sleeve body 35.1, the swinging group 36 comprises a rotary support 36.1 fixed on the walking mechanism 1, a rotary core body 36.2 rotatably sleeved on the rotary support 36.1 and a rotary oil cylinder 36.3 driving the rotary core body 36.2 to horizontally rotate on the rotary support 36.1, the rotary core body 36.2 is vertically arranged, the lifting sleeve body 35.1 is sleeved on the rotary core body 36.2 and matched with the rotary core body 36.2 along vertical direction, and rotates along with the rotation of the rotary core body 36.2. The lifting sleeve body 35.1 is connected with a telescopic guide rail 34.2 in the telescopic group 34, so that the telescopic group 34 is driven to lift through the lifting of the lifting sleeve body 35.1, the lifting sleeve body 35.1 is in guiding fit with the rotary core body 36.2, when the lifting oil cylinder 35.2 stretches, the lifting sleeve body 35.1 moves on the rotary core body 36.2, and through the guiding fit of the lifting sleeve body 35.1 and the rotary core body 36.2, the rotary core body 36.2 can be driven to rotate when rotating, so that the lifting sleeve body 35.1 can synchronously lift and rotate, the telescopic group 34 can be driven to synchronously lift and rotate, the synchronous stretching and retracting of the U-shaped positioning chassis 31 can be realized, the lifting and rotating are realized, the lifting group 35 is in structural fit with the swinging group 36, the lifting guide of the lifting sleeve body 35.1 is realized, the lifting sleeve body 35.1 can rotate along with the rotation of the rotary core body 36.2 is realized, and the structure is simple and reasonable. U type location chassis 31 moves through centering component 33's drive, can stretch out and draw back from beginning to end, oscilaltion and horizontal hunting, walk when the mechanism can't closely be close to the trunk, the motion through centering component makes to connect the effectual location of carrying the mechanism on the trunk, the extension connects the motion range who carries the mechanism, the reduction is walked the walking demand of mechanism to the topography, the assurance is connect and is carried the mechanism and can be according to the trunk position, thickness, highly select the most suitable position effective positioning on the trunk, satisfy the shake of the mountain hills inter forest fruit of hole uneven mountain region and collect the demand.
The rotary core body 36.2 is provided with a guide straight groove 36.21 vertically arranged, the bottom of the lifting sleeve body 35.1 is provided with a guide cross beam 35.11 radially arranged and matched with the guide straight groove 36.21, the guide cross beam 35.11 is inserted into the guide straight groove 36.21 and moves in the guide straight groove 36.21 along with the extension and retraction of the lifting oil cylinder 35.2, the bottom of the rotary core body 36.2 is provided with two radially symmetrical rotary connecting lugs 36.22, one end of the rotary oil cylinder 36.3 is connected with the rotary connecting lug 36.22, and the other end is connected with the running mechanism 1. In order to realize the synchronous rotation of the lifting sleeve body 35.1 and the rotating core body 36.2, the rotating core body 36.2 is provided with a guide straight groove 36.21, the lifting sleeve body 35.1 is provided with a guide cross beam 35.11 arranged along the radial direction, the guide cross beam 35.11 is inserted into the guide straight groove 36.21, when the rotating core body 36.2 rotates, the lifting sleeve body 35.1 is driven to rotate synchronously through the matching of the guide diameter groove 36.21 and the guide cross beam 35.11, and the guide matching is kept in the synchronous rotation process of the lifting sleeve body and the lifting sleeve body, the rotating core body 36.2 is rotatably sleeved on the rotating support 36.1, the rotating core body 36.2 is supported through the rotating support 36.1, the rotating direction of the rotating core body 36.2 is limited, and the stability of the rotating core body 36.2 in the rotating process is ensured.
The collection umbrella assembly 32 comprises two half umbrella canvas assemblies 32.1 and an opening and closing power assembly 32.2 which is connected with the half umbrella canvas assemblies 32.1 and used for controlling the half umbrella canvas assemblies 32.1 to open or close, the half umbrella canvas assemblies 32.1 and the opening and closing power assembly 32.2 are respectively arranged on a U-shaped positioning chassis 31, and the two half umbrella canvas assemblies 32.1 are driven by the opening and closing power assembly 32.2 to be opened and closed synchronously around the periphery of a trunk to form a collection umbrella or to be closed synchronously by the driving of the opening and closing power assembly 32.2. The two half umbrella canvas components 32.1 surround the periphery of the trunk to form a collection umbrella, the half umbrella canvas components 32.1 are arranged on the U-shaped positioning chassis 32, so that the collection umbrella formed by surrounding uses the U-shaped positioning chassis 32 as the bottom, and meanwhile, the surrounding of the half umbrella canvas components 32.1 shields the U-shaped opening of the U-shaped positioning chassis 32, so that the vibrated fruits completely fall into the collection umbrella without fruit leakage.
Wherein, two half umbrella canvas components 32.1 are symmetrically installed on the U-shaped positioning chassis 31, the half umbrella canvas components 32.1 comprise a rotating support plate 32.11, a rotating support rod 32.12, a fixed support plate 32.13 and a canvas 32.14, the rotating support plate 32.11, the rotating support rod 32.12 and the fixed support plate 32.13 are all obliquely arranged and are sequentially arranged in an umbrella framework, the bottom of the rotating support plate 32.11 and the bottom of the rotating support rod 32.12 are respectively and rotatably installed on the U-shaped positioning chassis 31, the bottom of the fixed support plate 32.13 is fixed on the U-shaped positioning chassis 31, the canvas 32.14 is connected between the rotating support plate 32.11 and the rotating support rod 32.12 in a triangular shape, the adjacent rotating support rods 32.12 and the rotating support rod 32.12 and the fixed support plate 32.13, the opening and closing power component 32.2 comprises a crank connecting rod 32.21 and a chain wheel chain piece 32.22 driven by an oil cylinder, the crank connecting rod 32.21 is connected with the bottom of the rotating support plate 32.11, the rotating support plate 32.11 is pushed to rotate around the bottom, and the chain wheel chain piece 32.22 is connected with the bottom of the rotating support plate 32.11 and the bottom of the rotating support rod 32.12 to drive the rotating support rod 32.12 and the rotating support plate 32.11 to synchronously rotate, so that the canvas is folded or folded. As shown in the figure, the rotating support plate 32.11 is a frame-type plate structure, when the two half umbrella canvas assemblies 32.1 are opened synchronously, the rotating support plates 32.11 of the two half umbrella canvas assemblies 32.1 are in side-by-side contact, so as to ensure that the two half umbrella canvas assemblies 32.1 surround to form a collecting umbrella, the rotating support rod 32.12 is connected with the rotating support plate 32.11 through the opening and closing power assembly 32.2 to rotate together, the canvas 32.14 is unfolded or retracted in the rotating process, the positions of the fixed support plates 32.13 of the two half umbrella canvas assemblies 32.1 are fixed, so that the two half umbrella canvas assemblies 32.1 surround together at the fixed support plate 32.13 all the time, when the two rotating support plates 32.11 rotate and then contact to form the collecting umbrella, and when the two rotating support plates 32.11 separate and rotate back to the original position, the collecting umbrella is retracted. The crank connecting rod piece 32.21 drives the rotating support plate 32.11 to rotate back and forth through the oil cylinder to form rotation and rotation of the rotating support plate 32.11, the rotating support rod 32.12 rotates together with the rotating support plate 32.11 through the connection of the chain wheel chain piece 32.21, so that the half umbrella canvas assemblies 32.1 are unfolded and folded, each half umbrella canvas assembly 32.1 is controlled to be folded by one unfolding power assembly 32.2, and therefore the two half umbrella canvas assemblies 32.1 are synchronously folded. When installing half umbrella canvas subassembly 32.1, can be according to the distribution situation of fruit on the fruit tree, the diameter and the degree of depth of the collection umbrella of formation are confirmed to the size of fruit tree in the orchard, through the regulation to rotating support plate, rotation bracing piece, fixed support plate inclination, can be in order to adjust the diameter of opening the umbrella and the degree of depth of collecting the umbrella subassembly to the fruit collection demand of adaptation different fruit trees.
The technical solutions of the embodiments of the present invention are fully described above with reference to the accompanying drawings, and it should be noted that the described embodiments are only some embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Claims (4)
1. The double-vibration fruit picking vehicle is characterized by comprising a crawler-type traveling mechanism (1), a vibration mechanism (2) for clamping a tree trunk to vibrate fruits and a receiving and carrying mechanism (3) for receiving the vibrated fruits, wherein the receiving and carrying mechanism (3) is arranged at the front end of the traveling mechanism (1) and can be opened or closed in an umbrella shape on the periphery of the tree trunk, the vibration mechanism (2) comprises an auxiliary vibration part (4) suspended right above the receiving and carrying mechanism (3) and a main vibration part (5) arranged on the receiving and carrying mechanism (3), the main vibration part (5) is positioned below the auxiliary vibration part (4), the main vibration part (5) and the auxiliary vibration part (4) respectively clamp the tree trunk and transmit vibration, and the clamping positions of the main vibration part (5) and the auxiliary vibration part (4) on the tree trunk are adjustable;
the carrying mechanism (3) comprises a U-shaped positioning chassis (31) matched with the trunk in a positioning way, a collection umbrella component (32) which is arranged on the U-shaped positioning chassis (31) and can be opened or closed in an umbrella shape, and a centering component (33) which drives the U-shaped positioning chassis (31) to move so that the trunk extends into a U-shaped opening of the U-shaped positioning chassis (31), wherein the U-shaped positioning chassis (31) is arranged at the front end of the walking mechanism (1) through the centering component (33), a main vibrating part (5) is arranged on the U-shaped positioning chassis (31), and a clamping opening is vertically aligned with the U-shaped opening of the U-shaped positioning chassis (31);
the centering assembly (33) comprises a telescopic group (34) capable of driving the U-shaped positioning chassis (31) to stretch back and forth, a lifting group (35) capable of driving the U-shaped positioning chassis (31) to lift up and down and a swinging group (36) capable of driving the U-shaped positioning chassis (31) to swing horizontally, the lifting group (35) and the swinging group (36) are both arranged on the walking mechanism (1), the telescopic group (34) is connected with the lifting group (35), and the U-shaped positioning chassis (31) is connected with the telescopic group (34);
the telescopic group (34) comprises a telescopic frame (34.1) with the front end connected with the U-shaped positioning chassis (31), a telescopic guide rail (34.2) horizontally arranged along the front-back direction and fixedly connected with the lifting group (35), and a telescopic oil cylinder (34.3) coaxially arranged with the telescopic guide rail (34.2), one end of the telescopic frame (34.1) is inserted into the telescopic guide rail (34.2) in a guiding and matching manner, the telescopic oil cylinder (34.3) is inserted into one end of the telescopic frame (34.1) in a guiding and matching manner with the telescopic guide rail (34.2), one end of the telescopic oil cylinder (34.3) is fixed with the telescopic frame (34.1), the other end of the telescopic oil cylinder is fixed with the lifting group (35), and the telescopic frame (34.1) is driven to move along the telescopic guide rail (34.2) through the extension and retraction of the telescopic oil cylinder (34.3);
the lifting set (35) comprises a lifting sleeve body (35.1) fixedly connected with the telescopic set (34) and a lifting oil cylinder (35.2) used for driving the lifting sleeve body (35.1) to lift, one end of the lifting oil cylinder (35.2) is connected with the walking mechanism (1), the other end of the lifting oil cylinder is connected with the lifting sleeve body (35.1), the swinging set (36) comprises a rotary support (36.1) fixed on the walking mechanism (1), a rotary core body (36.2) rotatably sleeved on the rotary support (36.1) and a rotary oil cylinder (36.3) driving the rotary core body (36.2) to horizontally rotate on the rotary support (36.1), the rotary core body (36.2) is vertically arranged, the lifting sleeve body (35.1) is sleeved on the rotary core body (36.2) and matched with the rotary core body (36.2) in a vertical guide mode and rotates along with the rotation of the rotary core body (36.2);
the rotary core body (36.2) is provided with a guide straight groove (36.21) which is vertically arranged, the bottom of the lifting sleeve body (35.1) is provided with a guide cross beam (35.11) which is radially arranged and is matched with the guide straight groove (36.21), the guide cross beam (35.11) is inserted into the guide straight groove (36.21) and moves in the guide straight groove (36.21) along with the expansion and contraction of the lifting oil cylinder (35.2), the bottom of the rotary core body (36.2) is provided with two radially symmetrical rotary connecting lugs (36.22), one end of the rotary oil cylinder (36.3) is connected with the rotary connecting lugs (36.22), and the other end of the rotary oil cylinder is connected with the traveling mechanism (1);
the main vibrating piece (5) comprises a motor vibrating box (51) arranged on the U-shaped positioning chassis (31) and a clamping head (52) arranged on the motor vibrating box (51), and a clamping opening of the clamping head (52) is vertically aligned with a U-shaped opening of the U-shaped positioning chassis (31);
the bottom of the motor vibration box (51) is provided with a sliding block (53), a U-shaped positioning chassis (31) is provided with a guide sliding rail (54) which is in guide fit with the sliding block (53), the sliding block (53) is sleeved on the guide sliding rail (54) and reciprocates on the guide sliding rail (54) along with the vibration of the motor vibration box (51), and the end part of the guide sliding rail (54) is provided with a rubber stopper (55) which can be in soft contact with the sliding block (53);
the clamping head (52) comprises two clamping jaws (521) which are in mirror symmetry and a clamping oil cylinder (522) which is connected with the clamping jaws (521) through connecting rods, and the two clamping jaws (521) are close to or separate along with the expansion and contraction of the clamping oil cylinder (522).
2. The double-vibration forest fruit picking vehicle as claimed in claim 1, wherein the secondary vibration member (4) comprises a suspension adjusting assembly (41) fixed on the traveling mechanism (1) in the vertical direction, a vibration clamping assembly (42) for clamping the trunk to transmit vibration, and a steel wire rope (43) for suspending the vibration clamping assembly (42) on the suspension adjusting assembly (41), one end of the steel wire rope (43) is connected with the suspension adjusting assembly (41), the other end of the steel wire rope is connected with the vibration clamping assembly (42), and the steel wire rope (43) is driven to move by the suspension adjusting assembly (41) so as to drive and adjust the vibration clamping assembly (42) to lift;
the suspension adjusting assembly (41) comprises a supporting rod (41.1) fixed on the walking mechanism (1) in the vertical direction, a suspension adjusting oil cylinder (41.2) fixed on the supporting rod (41.1) in parallel and a horizontal rod (41.3) horizontally arranged and fixed at the top of the supporting rod (41.1), one end of a steel wire rope (43) is fixed on the supporting rod (41.1), the other end of the steel wire rope bypasses a rotating wheel at the telescopic end of the suspension adjusting oil cylinder (41.2), and then bypasses a supporting tension wheel on the horizontal rod (41.3) and then is connected with the vibration clamping assembly (42), and the telescopic pulling steel wire rope (43) of the suspension adjusting oil cylinder (41.2) moves to drive the vibration clamping assembly (42) to lift.
3. The double-vibration fruit picking vehicle as claimed in claim 1, wherein the collection umbrella assembly (32) comprises two half umbrella canvas assemblies (32.1) and an opening and closing power assembly (32.2) connected with the half umbrella canvas assemblies (32.1) for controlling the half umbrella canvas assemblies (32.1) to open or close, the half umbrella canvas assemblies (32.1) and the opening and closing power assembly (32.2) are respectively arranged on the U-shaped positioning chassis (31), and the two half umbrella canvas assemblies (32.1) are driven by the opening and closing power assembly (32.2) to synchronously open and close around the periphery of the trunk to form a collection umbrella or synchronously close with the driving of the opening and closing power assembly (32.2).
4. The double-vibration fruit picking vehicle as claimed in claim 3, wherein two half umbrella canvas components (32.1) are symmetrically installed on the U-shaped positioning chassis (31), the half umbrella canvas components (32.1) comprise a rotating support plate (32.11), a rotating support rod (32.12), a fixed support plate (32.13) and a canvas (32.14), the rotating support plate (32.11), the rotating support rod (32.12) and the fixed support plate (32.13) are all obliquely arranged and are sequentially arranged in an umbrella framework, the bottom of the rotating support plate (32.11) and the bottom of the rotating support rod (32.12) are respectively and rotatably installed on the U-shaped positioning chassis (31), the bottom of the fixed support plate (32.13) is fixed on the U-shaped positioning chassis (31), the canvas (32.14) is connected between the rotating support plate (32.11) and the rotating support rod (32.12) in a triangular shape, between the adjacent rotating support rods (32.12) and between the rotating support rod (32.12) and the fixed support plate (32.13), the opening and closing power assembly (32.2) comprises a crank connecting rod piece (32.21) and a chain wheel chain piece (32.22) which are driven by an oil cylinder, the crank connecting rod piece (32.21) is connected with the bottom of the rotating support plate (32.11) to push the rotating support plate (32.11) to rotate around the bottom of the rotating support plate, the chain wheel chain piece (32.22) is connected with the bottom of the rotating support plate (32.11) and the bottom of the rotating support rod (32.12) to drive the rotating support rod (32.12) and the rotating support plate (32.11) to synchronously rotate, so that canvas is opened or closed.
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| CN202010057482.XA CN110959383B (en) | 2020-01-19 | 2020-01-19 | Double-vibration picking vehicle for forest fruits |
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| CN112075206B (en) * | 2020-10-26 | 2024-03-19 | 中南林业科技大学 | Suspension clamping vibration harvester |
| CN112400476B (en) * | 2020-12-04 | 2022-05-31 | 盐城市盐海拖拉机制造有限公司 | Flexible vibration mechanism of berry type plant fruit harvesting operation machine |
| CN114616985B (en) * | 2022-04-12 | 2023-05-23 | 西安科技大学 | Fruit tree combine harvesting equipment |
| CN114885677A (en) * | 2022-05-20 | 2022-08-12 | 西北农林科技大学 | A vibration harvesting mechanism for olive fruit |
| CN114868725B (en) * | 2022-06-01 | 2023-05-26 | 丽水学院 | Device for preventing and controlling wasps |
| CN115443808A (en) * | 2022-09-15 | 2022-12-09 | 杭州大天数控机床有限公司 | Floor type forest fruit harvester |
| CN115812435B (en) * | 2022-11-17 | 2023-07-04 | 浙江省柑橘研究所 | Waxberry loss-reducing picking equipment capable of being packaged and prevented from falling to ground in integrated loading mode |
| CN117657556B (en) * | 2024-02-01 | 2024-04-02 | 烟台世缘橡胶有限公司 | Automatic high-styrene rubber packing and stacking device |
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Application publication date: 20200407 Assignee: HUNAN NONGYOU AGRICULTURAL EQUIPMENT CO.,LTD. Assignor: CENTRAL SOUTH University OF FORESTRY AND TECHNOLOGY Contract record no.: X2022980019284 Denomination of invention: Double vibration forest fruit picking car Granted publication date: 20220211 License type: Exclusive License Record date: 20221025 |