CN110959384A

CN110959384A - Double-vibration picking machine and double-vibration picking method

Info

Publication number: CN110959384A
Application number: CN202010060538.7A
Authority: CN
Inventors: 李立君; 高自成; 廖凯; 汤刚车; 税加坤; 闵淑辉; 杨蹈宇; 万斌
Original assignee: Central South University of Forestry and Technology
Current assignee: Central South University of Forestry and Technology
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-04-07
Anticipated expiration: 2040-01-19
Also published as: CN110959384B

Abstract

The double-vibration picking machine comprises a crawler-type walking mechanism and is characterized in that a main vibration head and an auxiliary vibration head are mounted on the walking mechanism, the main vibration head and the auxiliary vibration head respectively clamp a trunk and transmit vibration, the main vibration head is mounted at the front end of the walking mechanism, the auxiliary vibration head is suspended above the main vibration head, and the clamping positions of the main vibration head and the auxiliary vibration head on the trunk can be adjusted. According to the fruit tree vibration picking device, the clamping positions of the main vibration head and the auxiliary vibration head 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 picking of fruits is more convenient, the working efficiency is greatly improved, and the vibration picking requirements of the fruits in the mountainous and hilly areas with uneven pits are met. The invention also provides a double-vibration picking method.

Description

Double-vibration picking machine and double-vibration picking method

Technical Field

The invention relates to a double-vibration picking machine and a double-vibration picking method, 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.

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 orchard can adapt to terrain changes, high-efficiency and high-probability picking of the fruits is realized, and the orchard has important significance for harvesting the forest fruits between the mountains and the hills, and is also the purpose of research and development.

Disclosure of Invention

According to the double-vibration picking machine and the double-vibration picking method provided by the invention, the clamping positions of the main vibration head and the auxiliary vibration head can be adjusted according to the position, the thickness and the fruit distribution of the tree trunk so as to adapt to the picking requirements of different fruit trees, the picking rate is improved, the picking of the fruits is more convenient, the working efficiency is greatly improved, and the vibration picking requirements of the fruits in the mountains and hills with uneven pits are met.

In order to achieve the purpose, the invention adopts the technical scheme that:

the double-vibration picking machine comprises a crawler-type walking mechanism and is characterized in that a main vibration head and an auxiliary vibration head are mounted on the walking mechanism, the main vibration head and the auxiliary vibration head respectively clamp a trunk and transmit vibration, the main vibration head is mounted at the front end of the walking mechanism, the auxiliary vibration head is suspended above the main vibration head, and the clamping positions of the main vibration head and the auxiliary vibration head on the trunk can be adjusted.

Preferably, a movable U-shaped trunk centering disc is mounted at the front end of the walking mechanism, the main vibrating head is mounted on the U-shaped trunk centering disc, a U-shaped opening corresponding to the trunk is formed in the U-shaped trunk centering disc, and the U-shaped trunk centering disc drives the main vibrating head to move, so that the trunk extends into the U-shaped opening and synchronously extends into a clamping opening of the main vibrating head.

Preferably, the U-shaped trunk centering disc is arranged at the front end of the walking mechanism through a moving mechanism, and the moving mechanism comprises a telescopic group capable of driving the U-shaped trunk centering disc to stretch back and forth, a lifting group capable of driving the U-shaped trunk centering disc to lift and a translation group capable of driving the U-shaped trunk centering disc to move left and right.

Preferably, flexible group including with the lift group along the cooperation of fore-and-aft direction be connected bear violently the pipe with adorn violently manage in bearing and one end with bear violently the union coupling, the other end with lift group connection's front and back pneumatic cylinder, U type trunk centering dish with bear violently the pipe fixed, along with the flexible and the back and forth motion of bearing violently the pipe of preceding back pneumatic cylinder.

Preferably, the lift group include with bear violently manage along the fore-and-aft direction cooperation be connected bear the frame, with bear the fixed lifting sleeve base of frame, along vertical lifting sleeve of being connected with lifting sleeve base direction cooperation and along the lift cylinder of vertical setting, the lifting sleeve is connected with walking the mechanism, bear the frame and all be right angle shape with lifting sleeve base, the lifting sleeve base is fixed at the top of bearing the frame, lift cylinder dress is connected with the lifting sleeve, the other end is connected with lifting sleeve base, the lifting sleeve base is along with lift cylinder's flexible guiding motion in the lifting sleeve, the drive bears the frame and goes up and down.

Preferably, the translation group comprises a round pipe guide rail arranged on the walking mechanism along the left-right direction and left-right oil cylinders fixed on the round pipe guide rail in parallel, a lantern ring corresponding to the round pipe guide rail is arranged on the lifting sleeve, and the lantern ring is sleeved on the round pipe guide rail in a guiding matching manner and moves on the round pipe guide rail along with the stretching of the left-right oil cylinders.

Preferably, the main vibration head comprises a motor vibration box arranged on the U-shaped trunk centering disc and a clamping head arranged on the motor vibration box, a clamping opening of the clamping head is vertically aligned with the U-shaped opening, and the motor vibration box is movably connected with the U-shaped trunk centering disc along the front-back direction.

Preferably, the bottom of the motor vibration box is provided with a sliding block, a guide sliding rail which is in guide fit with the sliding block is arranged on the U-shaped tree trunk centering disc, 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 a rubber stop block which can be in soft contact with the sliding block is arranged at the end part of the guide sliding rail;

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 auxiliary vibrating head comprises a suspension adjusting assembly fixed on the walking mechanism in the vertical direction, a vibration clamping assembly for clamping the trunk to transmit vibration and a steel wire rope for hanging the vibration clamping assembly on the suspension adjusting assembly, one end of the steel wire rope is connected with the suspension adjusting assembly, the other end of the steel wire rope is connected with the vibration clamping assembly, and the steel wire rope is driven by the suspension adjusting assembly to move so as to drive and adjust the vibration clamping assembly 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.

The double-vibration picking method comprises the steps of picking forest fruits by the double-vibration picking machine, stopping the double-vibration picking machine beside fruit trees, selecting a main vibration head and/or an auxiliary vibration head to clamp the trunk and transmit vibration according to the height of the fruit trees, the fruit distribution, the thickness of the trunk and the branching conditions, clamping the main trunk by the main vibration head and clamping the branch trunk by the auxiliary vibration head, and adjusting the clamping position of the main vibration head and/or the auxiliary vibration head on the trunk and the vibration frequency of the main vibration head and/or the auxiliary vibration head to meet different picking requirements.

The invention has the beneficial effects that:

1. the walking mechanism in the double-vibration picking machine is used for walking movement of the whole mechanism, the auxiliary vibration head is suspended above the main vibration head, the clamping positions of the main vibration head and the auxiliary vibration head on a trunk can be adjusted, the main vibration head clamps the main trunk of a fruit tree to transmit vibration, the auxiliary vibration head 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 head and the auxiliary vibration head can be adjusted according to the position, the thickness and the distribution of the fruits so as to adapt to picking requirements of different fruit trees, improve picking rate, enable picking of the fruits to be more convenient and greatly improve working efficiency.

2. The main vibration head passes through U type trunk centering dish and trunk location, U type trunk centering dish passes through moving mechanism's drive and stretch out and draw back around realizing, oscilaltion and horizontal translation about, walk when the unable trunk that closely is close to of mechanism, the motion through moving mechanism makes the effectual location of U type trunk centering dish on the trunk, thereby make the main vibration head arrive the most suitable clamping position, the range of motion of extension main vibration head, it walks the line demand to walk of mechanism to the topography to reduce, guarantee that the main vibration head can be according to the trunk position, thickness and fruit distribute and select the most suitable clamping position, satisfy the vibration picking demand of the mountain and hills inter-forest fruit of hole uneven.

3. The main vibration head is arranged on the U-shaped trunk centering disc, the clamping opening is aligned with the U-shaped opening of the U-shaped trunk centering disc up and down, the U-shaped trunk centering disc drives the main vibration head to move together, according to the position of the trunk, the main vibration head reaches the most appropriate clamping position through thickness and fruit distribution, so that the fruit is guaranteed to be effectively shaken down when shaken down for picking, and the motor vibration box in the main vibration head is matched with the guide slide rail on the U-shaped trunk centering disc through the slide block at the bottom of the motor vibration box, and reciprocates on the guide slide rail in the vibration process, so that the influence of vibration on the U-shaped trunk centering disc is reduced, the U-shaped trunk centering disc is guaranteed not to move along with the vibration of the main vibration head, and the position stability of the U-shaped trunk centering disc is improved while the vibration is transmitted to drop the fruit.

4. Adopt the mode that wire rope hung to suspend the vibration centre gripping subassembly in the vice vibration head in the top of main vibration head, wire rope's motion drives the vibration centre gripping subassembly and goes up and down, the height of adjustment vibration centre gripping subassembly, make the vibration centre gripping subassembly reach the height at most suitable clamping position place, the removal of vibration centre gripping subassembly is not limited by machinery, it is tight that hand vibration centre gripping subassembly can push it to the trunk clamp, the vibration centre gripping subassembly can move by oneself for walking the mechanism and reach required clamping position, the flexibility of improvement vice vibration head and trunk butt joint, satisfy the vibration picking demand of the forest fruit of the uneven mountain land hills of pothole.

Drawings

Fig. 1 is a schematic structural diagram of a double-vibration picking machine in a specific embodiment.

FIG. 2 is a schematic view of the structure of the main vibrating head mounted on the centering disk of the U-shaped tree trunk.

Fig. 3 is a schematic structural diagram of the moving mechanism arranged between the walking mechanism and the U-shaped trunk centering disc.

Fig. 4 is a combined side cross-sectional view of the lifting and retraction banks.

Fig. 5 is a combined perspective view of the lifting group and the telescopic group.

Fig. 6 is a top view of the dual vibratory picking machine.

Fig. 7 is a schematic structural view of the sub-oscillating head.

Detailed Description

The following describes an embodiment of the present invention in detail with reference to fig. 1 to 7.

Double-vibration picking machine, including the walking mechanism 1 of crawler-type, its characterized in that walk mechanism 1 on be equipped with main vibrating head 2 and vice vibrating head 3, main vibrating head 2 and vice vibrating head 3 centre gripping trunk and transmission vibration respectively, main vibrating head 2 dress is at the front end of walking mechanism 1, vice vibrating head 3 suspends in midair in the top of main vibrating head 2, main vibrating head 2 and vice vibrating head 3 are all adjustable to the clamping position of trunk.

The double-vibration picking machine is characterized in that the walking mechanism 1 is used for walking and moving the whole mechanism, the auxiliary vibrating head 3 is suspended above the main vibrating head 2, the main vibrating head 2 and the auxiliary vibrating head 3 can be adjusted to the clamping position of the trunk, the main trunk of a fruit tree is clamped by the main vibrating head 2 for transmitting vibration, the main trunk of a fruit tree is clamped by the auxiliary vibrating head 3 for transmitting vibration, the clamping position of the main vibrating head and the auxiliary vibrating head can be adjusted according to the trunk position and the thickness of the fruit tree, so that picking requirements of different fruit trees are met, picking rate is improved, picking of fruits is more convenient, and working efficiency is greatly improved.

The movable U-shaped trunk centering disc 11 is mounted at the front end of the walking mechanism 1, the main vibrating head 2 is mounted on the U-shaped trunk centering disc 11, a U-shaped opening 12 corresponding to the trunk is formed in the U-shaped trunk centering disc 11, and the U-shaped trunk centering disc 11 drives the main vibrating head 2 to move, so that the trunk extends into the U-shaped opening 12 and synchronously extends into a clamping opening of the main vibrating head 2. Main vibrating head 2 is through U type trunk centering dish 11 and trunk location, U type trunk centering dish drives main vibrating head 2 and moves together, walk when the unable trunk that closely is close to of mechanism, make the effectual location of U type trunk centering dish on the trunk through removing, thereby make main vibrating head 2 reach the most suitable clamping position, the motion range of extension main vibrating head, it walks the walking demand of mechanism to the topography to reduce to walk, guarantee that main vibrating head can be according to the trunk position, thickness and fruit distribute and select the most suitable clamping position, satisfy the shake of the mountain region hills of hole unevenness and fall the picking demand and guarantee effectively shake the fruit when shaking and fall the picking.

The U-shaped trunk centering disc 11 is arranged at the front end of the walking mechanism 1 through the moving mechanism 4, and the moving mechanism 4 comprises a telescopic group 41 capable of driving the U-shaped trunk centering disc 11 to stretch back and forth, a lifting group 42 capable of driving the U-shaped trunk centering disc 11 to lift, and a translation group 43 capable of driving the U-shaped trunk centering disc 11 to move left and right. The U-shaped trunk centering disc 11 is driven by the moving mechanism 4 to realize fore-and-aft expansion, up-and-down lifting and left-and-right translation, so that the U-shaped trunk centering disc 11 is effectively positioned on the trunk, namely, the trunk extends into the U-shaped opening 12 of the U-shaped trunk centering disc 11, and meanwhile, the trunk also extends into the clamping opening of the main vibrating head 2, the U-shaped trunk centering disc 11 centers and positions the trunk, so that the main vibrating head 2 can be driven to move to the most proper clamping position, but also can protect the trunk in the working process of the main vibrating head 2, ensure the trunk above the clamping position of the main vibrating head 2 to vibrate and fall fruits along with the vibration, simultaneously, the trunk below the clamping position of the main vibration head 2 reduces the amplitude due to the protection of the U-shaped trunk to the central disc 11, the vibration closer to the root of the tree is smaller, namely, the root of the tree is loosened, and the damage to the root of the tree due to the vibration is avoided.

The telescopic group 41 comprises a bearing transverse pipe 41.1 which is connected with the lifting group 42 in a guiding and matching manner along the front and back directions, a front hydraulic cylinder 41.2 and a rear hydraulic cylinder 41.2 which are arranged in the bearing transverse pipe 41.1 and one end of which is connected with the bearing transverse pipe 41.1 and the other end of which is connected with the lifting group 42, wherein the U-shaped trunk centering disc 11 is fixed with the bearing transverse pipe 41.1 and moves back and forth along with the extension of the front hydraulic cylinder 41.2 and the rear hydraulic cylinder 41.2 and the bearing transverse pipe 41.1. The bearing transverse pipe 41.1 and the lifting group 42 are matched in a guiding mode along the front-back direction, the U-shaped trunk centering disc 11 is driven to move front and back through the movement of the bearing transverse pipe 41.1, and the front hydraulic cylinder 41.2 and the rear hydraulic cylinder 41.2 provide power for the movement of the bearing transverse pipe 41.1.

The lifting group 42 comprises a bearing frame 42.1 which is connected with the bearing transverse pipe 41.1 in a guiding and matching manner along the front-back direction, a lifting sleeve base 42.2 fixed with the bearing frame 42.1, a lifting sleeve 42.3 which is connected with the lifting sleeve base 42.2 in a guiding and matching manner along the vertical direction and a lifting oil cylinder 42.4 arranged along the vertical direction, the lifting sleeve 42.3 is connected with the walking mechanism 1, the bearing frame 42.1 and the lifting sleeve base 42.2 are both in a right-angle shape, the lifting sleeve base 42.2 is fixed at the top of the bearing frame 42.1, one lifting oil cylinder 42.4 is connected with the lifting sleeve 42.3, the other end of the lifting oil cylinder is connected with the lifting sleeve base 42.2, and the lifting sleeve base 42.2 moves in a guiding manner in the lifting sleeve 42.3 along with the extension and retraction of the lifting oil cylinder 42.4 to drive the bearing. Bear frame 42.1 goes up and down to drive and bear violently pipe 41.1 and go up and down, thereby make U type trunk go up and down to center plate 11, bear frame 42.1 and lifting sleeve base 42.2 all are right angle shape, both connect and play the effect of bearing promptly, realize bearing frame 42.1 again and bear violently pipe 41.1 along the direction cooperation of fore-and-aft direction, and lifting sleeve 42.3 and lifting sleeve base 42.2 along vertical direction cooperation, make lifting group 42 can drive flexible group 41 synchronous lifting, and flexible group 41 can be synchronous along the fore-and-aft direction in the lift process.

The translation group 43 comprises a circular tube guide rail 43.1 arranged on the running mechanism 1 along the left-right direction and a left-right oil cylinder 43.2 fixed on the circular tube guide rail 43.1 in parallel, a lantern ring 42.31 corresponding to the circular tube guide rail 43.1 is arranged on the lifting sleeve 42.3, and the lantern ring 42.31 is sleeved on the circular tube guide rail 43.1 in a guiding matching manner and moves on the circular tube guide rail 43.1 along with the expansion and contraction of the left-right oil cylinder 43.2. The lantern ring 42.31 is matched with the circular tube guide rail 43.1 in a guiding way, the left and right oil cylinders 43.2 drive the lantern ring 42.31 to move on the circular tube guide rail 43.1, so as to drive the lifting sleeve 42.3 to move in the left and right directions, namely, the lifting group 42 moves in the left and right directions under the action of the translation group 42, so that the U-shaped trunk centering disc 11 can realize the composite motion in the front-back, left-right and up-down directions, so as to move the U-shaped trunk centering disc 11 according to the position of the trunk relative to the walking mechanism 1, when the walking mechanism 1 can not be close to the trunk closely, the centering disc 11 and the main vibrating head 2 in the U-shaped tree can be smoothly butted with the trunk through the driving of the moving mechanism 4, the influence of uneven terrain on fruit picking is reduced, and the practicability and.

The main vibration head 2 comprises a motor vibration box 21 arranged on the U-shaped trunk centering disk 11 and a clamping head 22 arranged on the motor vibration box 21, a clamping opening of the clamping head 22 is vertically aligned with the U-shaped opening 12, and the motor vibration box 21 is movably connected with the U-shaped trunk centering disk 11 along the front-back direction.

The bottom of the motor vibration box 21 is provided with a sliding block 23, a guide sliding rail 24 which is in guide fit with the sliding block 23 is arranged on the U-shaped tree trunk centering disc 11, the sliding block 23 is sleeved on the guide sliding rail 24 and reciprocates on the guide sliding rail 24 along with the vibration of the motor vibration box 21, and a rubber stop 25 which can be in soft contact with the sliding block 23 is arranged at the end part of the guide sliding rail 24;

the clamping head 22 comprises two clamping jaws 221 which are mirror images and a clamping oil cylinder 222 which is connected with the clamping jaws 221 through a connecting rod, and the two clamping jaws 221 approach or separate along with the expansion and contraction of the clamping oil cylinder 222. The two jaws 221 grip the trunk when close and release the grip on the trunk when apart.

Motor vibration case 21 cooperates with the direction slide rail 24 on the U type trunk centering dish 11 through the smooth 23 piece of its bottom in main vibrating head 2, and slider 23 reciprocating motion on direction slide rail 24 in vibration process to reduce the influence of vibration to U type trunk centering dish 11, guarantee that U type trunk centering dish 11 does not move along with main vibrating head 2's vibration, when the fruit is shaken in the transmission vibration, improve U type location chassis 31's positional stability. And set up rubber dog 225 at the tip of guide slider 24, strike the buffering through rubber dog 25 when slider 23 moves the overlimit, avoid the strong impact to guide slider 24, and slider 23 reciprocating motion can not contact with rubber dog 25 on guide slide rail 24 under the normal condition, and U type trunk centering disk 11 can not follow slider 23 and move together.

The auxiliary vibrating head 3 comprises a suspension adjusting assembly 31 fixed on the walking mechanism 1 in the vertical direction, a vibration clamping assembly 32 for clamping the trunk to transmit vibration and a steel wire rope 33 for hanging the vibration clamping assembly 32 on the suspension adjusting assembly 31, one end of the steel wire rope 33 is connected with the suspension adjusting assembly 31, the other end of the steel wire rope 33 is connected with the vibration clamping assembly 32, and the suspension adjusting assembly 31 drives the steel wire rope 33 to move so as to drive and adjust the vibration clamping assembly 32 to lift;

the suspension adjusting assembly 31 comprises a supporting rod 31.1 vertically fixed on the walking mechanism 1, a suspension adjusting oil cylinder 31.2 fixed on the supporting rod 31.1 in parallel and a horizontal rod 31.3 horizontally arranged and fixed at the top of the supporting rod 31.1, one end of a steel wire rope 31.1 is fixed on the supporting rod 31.1, the other end of the steel wire rope bypasses a rotating wheel at the telescopic end of the suspension adjusting oil cylinder 31.2 and then bypasses a supporting tension wheel on the horizontal rod 31.3 to be connected with the vibration clamping assembly 32, and the telescopic pulling steel wire rope 33 of the suspension adjusting oil cylinder 31.2 moves to drive the vibration clamping assembly 32 to ascend and descend.

It can be seen from the figure that the vibration clamping assembly 32 is suspended on the suspension adjusting assembly 31 through a steel wire rope 33, the movement of the steel wire rope 33 drives the vibration clamping assembly 32 to lift, the height of the vibration clamping assembly 32 is adjusted, the vibration clamping assembly 32 reaches the height of the most suitable clamping position, when a trunk needs to be clamped, an operator stands in the walking mechanism 1, the vibration clamping assembly 32 is in contact with the trunk and clamps the trunk in a hand-pushing mode, the vibration clamping assembly 32 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 in the mountainous and hilly areas with uneven potholes is met, the vibration clamping assembly 32 is only connected with the suspension adjusting assembly 31 in a steel wire rope suspension mode, and the vibration of the vibration clamping assembly 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 invention also discloses a double-vibration picking method, wherein the double-vibration picking machine is adopted for picking the forest fruits, the double-vibration picking machine is parked beside the fruit trees, the main vibration head 2 and/or the auxiliary vibration head 3 are selected to clamp the trunk and transmit vibration according to the height of the fruit trees, the fruit distribution, the thickness of the trunk and the branching condition, the main vibration head 2 clamps the main trunk, the auxiliary vibration head 3 clamps the branching trunk, the clamping position of the main vibration head 2 and/or the auxiliary vibration head 3 on the trunk and the vibration frequency of the main vibration head 2 and/or the auxiliary vibration head 3 are/is adjusted, and different picking requirements are met.

The main vibration head clamps the main trunk of the fruit tree to transmit vibration in the picking method, the auxiliary vibration head clamps the branch trunk with larger diameter and more fruits to transmit vibration, and the clamping positions of the main vibration head and the auxiliary vibration head can be adjusted according to the trunk position, the thickness and the fruit distribution so as to adapt to the picking requirements of different fruit trees, improve the picking rate, make the picking of the fruits more convenient and greatly improve the working efficiency.

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

1. Double-vibration picking machine comprises a crawler-type walking mechanism (1) and is characterized in that a main vibration head (2) and an auxiliary vibration head (3) are arranged on the walking mechanism (1), the main vibration head (2) and the auxiliary vibration head (3) respectively clamp a trunk and transmit vibration, the main vibration head (2) is arranged at the front end of the walking mechanism (1), the auxiliary vibration head (3) is suspended above the main vibration head (2), and the main vibration head (2) and the auxiliary vibration head (3) can adjust the clamping position of the trunk.

2. The double-vibration picking machine as claimed in claim 1, characterized in that the movable U-shaped trunk centering disc (11) is arranged at the front end of the running mechanism (1), the main vibration head (2) is arranged on the U-shaped trunk centering disc (11), a U-shaped opening (12) corresponding to the trunk is formed in the U-shaped trunk centering disc (11), and the U-shaped trunk centering disc (11) drives the main vibration head (2) to move, so that the trunk extends into the U-shaped opening (12) and synchronously extends into a clamping opening of the main vibration head (2).

3. The double-vibration picking machine according to claim 2, characterized in that the U-shaped trunk centering disc (11) is arranged at the front end of the walking mechanism (1) through a moving mechanism (4), and the moving mechanism (4) comprises a telescopic group (41) capable of driving the U-shaped trunk centering disc (11) to stretch back and forth, a lifting group (42) capable of driving the U-shaped trunk centering disc (11) to lift, and a translation group (43) capable of driving the U-shaped trunk centering disc (11) to move left and right.

4. The double-vibration picking machine as claimed in claim 3, characterized in that the telescopic group (41) comprises a bearing transverse pipe (41.1) connected with the lifting group (42) in a guiding and matching way along the front and back directions and a front and back hydraulic cylinder (41.2) which is arranged in the bearing transverse pipe (41.1) and is connected with the bearing transverse pipe (41.1) at one end and connected with the lifting group (42) at the other end, the U-shaped trunk centering disc (11) is fixed with the bearing transverse pipe (41.1) and moves back and forth along with the bearing transverse pipe (41.1) along with the extension and retraction of the front and back hydraulic cylinder (41.2).

5. The double-vibration picking machine according to claim 4, characterized in that the lifting group (42) comprises a bearing frame (42.1) connected with the bearing transverse tube (41.1) in a guiding fit manner along the front-back direction, a lifting sleeve base (42.2) fixed with the bearing frame (42.1), the lifting sleeve (42.3) is connected with the lifting sleeve base (42.2) in a guide matching mode along the vertical direction, and the lifting oil cylinder (42.4) is arranged along the vertical direction, the lifting sleeve (42.3) is connected with the walking mechanism (1), the bearing frame (42.1) and the lifting sleeve base (42.2) are in a right-angle shape, the lifting sleeve base (42.2) is fixed at the top of the bearing frame (42.1), one lifting oil cylinder (42.4) is connected with the lifting sleeve (42.3), the other end of the lifting oil cylinder is connected with the lifting sleeve base (42.2), and the lifting sleeve base (42.2) can move in the lifting sleeve (42.3) in a guide mode along with the expansion of the lifting oil cylinder (42.4) to drive the bearing frame (42.1) to lift.

6. The double-vibration picking machine as claimed in claim 5, characterized in that the translation group (43) comprises a round tube guide rail (43.1) arranged on the running mechanism (1) along the left-right direction and left and right oil cylinders (43.2) fixed on the round tube guide rail (43.1) in parallel, a lantern ring (42.31) corresponding to the round tube guide rail (43.1) is arranged on the lifting sleeve (42.3), and the lantern ring (42.31) is sleeved on the round tube guide rail (43.1) in a guiding fit mode and moves on the round tube guide rail (43.1) along with the expansion and contraction of the left and right oil cylinders (43.2).

7. The double-vibration picking machine according to claim 2, characterized in that the main vibration head (2) comprises a motor vibration box (21) mounted on the U-shaped trunk centering plate (11) and a clamping head (22) mounted on the motor vibration box (21), the clamping mouth of the clamping head (22) is aligned with the U-shaped mouth (12) up and down, and the motor vibration box (21) is movably connected with the U-shaped trunk centering plate (11) along the front-back direction.

8. The double-vibration picking machine according to claim 7, characterized in that the bottom of the motor vibration box (21) is provided with a slide block (23), a guide slide rail (24) which is matched with the slide block (23) in a guide way is arranged on the U-shaped tree trunk centering disc (11), the slide block (23) is sleeved on the guide slide rail (24) and reciprocates on the guide slide rail (24) along with the vibration of the motor vibration box (21), and the end part of the guide slide rail (24) is provided with a rubber stopper (25) which can be in soft contact with the slide block (23);

the clamping head (22) comprises two clamping jaws (221) which are in mirror symmetry and a clamping oil cylinder (222) which is connected with the clamping jaws (221) through a connecting rod, and the two clamping jaws (221) are close to or separate from each other along with the expansion and contraction of the clamping oil cylinder (222).

9. The double-vibration picking machine according to claim 1, characterized in that the secondary vibrating head (3) comprises a suspension adjusting component (31) fixed on the walking mechanism (1) along the vertical direction, a vibration clamping component (32) for clamping the trunk to transmit vibration, and a steel wire rope (33) for hanging the vibration clamping component (32) on the suspension adjusting component (31), one end of the steel wire rope (33) is connected with the suspension adjusting component (31), the other end is connected with the vibration clamping component (32), and the steel wire rope (33) is driven by the suspension adjusting component (31) to move, so that the vibration clamping component (32) is driven to lift;

the suspension adjusting assembly (31) comprises a supporting rod (31.1) fixed on the walking mechanism (1) in the vertical direction, a suspension adjusting oil cylinder (31.2) fixed on the supporting rod (31.1) in parallel and a horizontal rod (31.3) horizontally arranged and fixed at the top of the supporting rod (31.1), one end of a steel wire rope (31.1) is fixed on the supporting rod (31.1), the other end of the steel wire rope bypasses a rotating wheel at the telescopic end of the suspension adjusting oil cylinder (31.2), and then bypasses a supporting tension wheel on the horizontal rod (31.3) and then is connected with the vibration clamping assembly (32), and the telescopic pulling steel wire rope (33) of the suspension adjusting oil cylinder (31.2) moves to drive the vibration clamping assembly (32) to lift.

10. The double-vibration picking method comprises the steps of picking forest fruits by using the double-vibration picking machine according to any one of claims 1 to 9, stopping the double-vibration picking machine beside fruit trees, selecting a main vibration head (2) and/or an auxiliary vibration head (3) to clamp the trunk and transmit vibration according to the height, the fruit distribution, the trunk thickness and the branch condition of the fruit trees, clamping the main trunk by the main vibration head (2), clamping the branch trunk by the auxiliary vibration head (3), and adjusting the clamping position of the main vibration head (2) and/or the auxiliary vibration head (3) on the trunk and the vibration frequency of the main vibration head (2) and/or the auxiliary vibration head (3) to meet different picking requirements.