CN112075206B - Suspension clamping vibration harvester - Google Patents
Suspension clamping vibration harvester Download PDFInfo
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- CN112075206B CN112075206B CN202011153518.0A CN202011153518A CN112075206B CN 112075206 B CN112075206 B CN 112075206B CN 202011153518 A CN202011153518 A CN 202011153518A CN 112075206 B CN112075206 B CN 112075206B
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- 239000000725 suspension Substances 0.000 title claims description 13
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 178
- 230000007246 mechanism Effects 0.000 claims abstract description 173
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 229910000831 Steel Inorganic materials 0.000 claims description 119
- 239000010959 steel Substances 0.000 claims description 119
- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 6
- 239000004744 fabric Substances 0.000 description 5
- 239000002420 orchard Substances 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000012876 topography Methods 0.000 description 5
- 241001247821 Ziziphus Species 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 244000126002 Ziziphus vulgaris Species 0.000 description 3
- 235000008529 Ziziphus vulgaris Nutrition 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005267 amalgamation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 244000269722 Thea sinensis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Root Crops (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model provides a hang centre gripping vibration harvester, including crawler-type running gear, fruit picking mechanism and fruit collection mechanism, fruit picking mechanism hangs in crawler-type running gear stretches out forward the frame that just is located fruit collection mechanism through a plurality of vertical springs that set up, fruit picking mechanism includes clamping component and vibrator, clamping component includes the centre gripping support that the level set up, the interior splint that stretches out forward, the external splint that aligns with interior splint, be used for pulling the hydro-cylinder power component that interior splint and external splint are close to or keep away from and carry out the direction to the motion of interior splint and external splint, clamping support and vibrator are connected with the frame through the spring respectively, the vibrator is adorned on clamping support, hydro-cylinder power component and direction component are adorned respectively on clamping support, interior splint and external splint are fixed respectively on direction component, and all are connected with hydro-cylinder power component. The fruit picking mechanism improves the structural reliability and practicality of the fruit picking mechanism and improves the terrain adaptability and practicability of the whole machine.
Description
Technical Field
The invention relates to a suspension clamping vibration harvester, and belongs to the technical field of mechanical picking of 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 harvest are obvious, the labor cost of fruit farmers is high, the labor force is insufficient, the picking efficiency is low, and the fruits are easy to damage and are unfavorable for storage. Although mechanical harvesting is adopted in some existing orchards, the mechanical harvesting is influenced by factors such as topography, fruit tree spacing and the like, the use and popularization of harvesting machinery are restricted to a certain extent, and the influence on fruit collection is particularly remarkable.
By patent search, related patent documents are:
1. CN 109121722A, a vibrating picking and collecting integrated mechanical arm, discloses a vibrating picking and collecting integrated mechanical arm, which comprises an arm, wherein a vibrator and two clamping claws are arranged on the arm, 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; supporting mechanisms capable of being unfolded and contracted are respectively arranged on the clamping claws, umbrella cloth is arranged on each supporting mechanism, after the supporting mechanisms are unfolded, the umbrella cloth is unfolded, and after the supporting mechanisms are contracted, the umbrella cloth is contracted.
2. CN 208708181U, a preset autonomous clamping picking mechanism, which comprises a plurality of sleeves capable of axially stretching, wherein the innermost sleeve is connected with a first stretching mechanism, a picking manipulator is arranged in the innermost sleeve, the picking manipulator comprises a second stretching mechanism, the second stretching mechanism is connected with a mechanical claw through a hinge, the gripping or loosening of the mechanical claw is driven by stretching of the second stretching mechanism, and the outermost sleeve is provided with a vibrating mechanism to drive shaking off of fruits.
3. CN 108496561A, a multi-functional jujube class harvesting device and harvesting method, including lower floor bottom plate and upper floor bottom plate, lower floor bottom plate bottom is equipped with the truckle, lower floor bottom plate top is equipped with screw nut, track board and guide rail, lower floor bottom plate tip is equipped with jujube branch clamp mouth, jujube branch clamp mouth corresponds and is provided with jujube tree chuck, screw nut's one end is connected with jujube tree chuck, the other end is connected with variable proportion and cuts fork link group, variable proportion cuts fork link group bottom is through bullnose wheel gomphosis on the track board, variable proportion cuts fork link group top and has connect high toughness umbrella cloth, and high toughness umbrella cloth relies on the outer funnel-shaped jujube of constituteing of variable proportion to collect the umbrella face, be provided with the slider on the guide rail correspondence, be equipped with guide arm one on the slider, upper floor bottom plate locates guide arm one top, be equipped with jujube tree fixed fixture on the upper floor bottom plate.
The sizes of the fruits are different, most of the fruit orchards such as oil tea fruit orchards are hilly, the topography pits in the orchards are uneven, how to adapt to the change of the topography is realized, the harvesting integration of the fruits is realized, and the fruit harvesting device has important significance for the fruit harvesting between hilly areas and is also an aim of research and development of the invention.
Disclosure of Invention
The suspension clamping vibration harvester provided by the invention has the advantages that the flexibility of butt joint of the fruit picking mechanism and the trunk is improved, the vibration falling picking requirements of various fruit trees are met, the structural reliability and the practicability of the fruit picking mechanism are improved, the opening and closing efficiency of the fruit collecting umbrella mechanism is improved, the harvesting requirements of forests and fruits between mountain hills with uneven pits are met, and the terrain adaptability and the practicability of the whole harvester are improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a hang centre gripping vibration harvester, includes crawler-type running gear, adorns fruit picking mechanism that is used for the vibration to pick the fruit on crawler-type running gear and adorns at crawler-type running gear front end and be used for collecting fruit collection mechanism, its characterized in that: the fruit picking mechanism is hung on a frame which is forwards extended by the crawler-type travelling mechanism through a plurality of vertically arranged springs and is positioned right above the fruit collecting mechanism, the fruit picking mechanism comprises a clamping assembly used for clamping a trunk and a vibrator arranged on the clamping assembly, the clamping assembly comprises a horizontally arranged clamping support, an inner clamping plate which is forwards extended, an outer clamping plate which is aligned with the inner clamping plate, an oil cylinder power assembly used for pulling the inner clamping plate and the outer clamping plate to be close to or far away from each other and a guide assembly used for guiding the movement of the inner clamping plate and the outer clamping plate, the clamping support and the vibrator are respectively connected with the frame through springs, the vibrator is arranged on the clamping support, the oil cylinder power assembly and the guide assembly are respectively arranged on the clamping support, and the inner clamping plate and the outer clamping plate are respectively fixed on the guide assemblies and are connected with the oil cylinder power assembly.
Preferably, the oil cylinder power assembly comprises a clamping oil cylinder which is horizontally arranged and arranged on the clamping support, a pulling steel rope which is arranged on the clamping support and forms a closed detour loop, an included angle between the clamping oil cylinder and the inner clamping plate is 90 degrees, the telescopic end of the clamping oil cylinder is fixedly connected with the inner clamping plate and is fixedly connected with the pulling steel rope, the pulling steel rope is fixedly connected with the outer clamping plate, and the pulling steel rope moves along with the stretching of the clamping oil cylinder so as to drive the inner clamping plate and the outer clamping plate to approach or depart from each other.
Preferably, the guide assembly comprises two to three guide rods parallel to the clamping cylinder and guide sleeves matched with the guide rods in a guiding manner, wherein two guide sleeves are respectively arranged on the clamping support, the inner end of the inner clamping plate is fixed with the guide sleeves on the two guide rods and fixedly connected with the pulling steel rope, the inner end of the outer clamping plate is fixed with the guide sleeves on the two guide rods and fixedly connected with the pulling steel rope, and the inner end of the inner clamping plate and the inner end of the outer clamping plate are respectively fixed with the two guide sleeves on the same guide rod; two rope pulleys which are distributed at intervals are arranged in the clamping support, the steel rope is pulled to detour on the two rope pulleys to form a closed detour loop, and the detour direction is parallel to the clamping oil cylinder.
Preferably, the fruit collecting mechanism comprises a fruit collecting umbrella mechanism capable of automatically opening and closing and a belt fruit output mechanism for upwards outputting fruits in the fruit collecting umbrella mechanism, wherein the belt fruit output mechanism is obliquely arranged at the front end of the crawler-type travelling mechanism, the fruit collecting umbrella mechanism is arranged on the belt fruit output mechanism and is in gapless connection with the left side and the right side of the belt fruit output mechanism, the upper end of the belt fruit output mechanism is rotatably arranged on the crawler-type travelling mechanism, a jacking component for changing the inclination angle of the belt fruit output mechanism is arranged on the crawler-type travelling mechanism, and the belt fruit output mechanism is hinged with the jacking component.
Preferably, the fruit collecting umbrella mechanism comprises a chassis, an umbrella assembly and an umbrella control assembly, wherein the chassis is arranged at the lower end of the belt fruit output mechanism and is provided with a trunk entering opening, the umbrella assembly is arranged on the chassis and can be automatically opened and closed, the umbrella control assembly is used for controlling the umbrella assembly to be automatically opened and closed, the umbrella assembly is in seamless connection with the left side and the right side of the belt fruit output mechanism, and the umbrella control assembly is arranged at the back of the belt fruit output mechanism and is pulled to be opened or closed through a steel wire rope.
Preferably, the umbrella subassembly by two bilateral symmetry's half umbrella subassembly amalgamations form, half umbrella subassembly includes rib pole, canvas and the blade board that three slope set up, rib pole rotatable install on the chassis and the installation position of three rib poles on the chassis is from interior to outside along straight line evenly spaced distribution, the blade board is adorned on the rib pole of the outside, the canvas is connected between adjacent rib pole and with the rib pole of the inside and belt fruit output mechanism's side seamless connection, umbrella control assembly makes two blade boards amalgamation and canvas tighten through wire rope rotation in two half umbrella subassemblies and forms the collection umbrella of enclosing around the trunk.
Preferably, the umbrella rib rod is rotatably arranged on the chassis through a rope pulley assembly, the umbrella control assembly is connected with the rope pulley assembly through a steel wire rope, the rope pulley assembly comprises a rope pulley rotatably arranged on the chassis, a pressing plate for fixing the steel wire rope and the rope pulley and a limiting pin fixed on the rope pulley for limiting the rotation angle of the rope pulley, each rope pulley is respectively wound with one steel wire rope and is tightly pressed and fixed on the rope pulley through the pressing plate, the umbrella rib rod is arranged on the rope pulley, the limiting pin radially extends out of the rope pulley, and a limiting column matched with the limiting pin is arranged on the chassis;
the diameters of the three rope pulleys in the half umbrella assembly are not equal, and the included angles between the upper pressing plate of each rope pulley and the limiting pin are also not equal, so that the three umbrella rib rods synchronously rotate in place when the half umbrella assembly is assembled;
a plurality of uniformly-spaced positioning sleeves are arranged on the length edge of the blade plate, are sleeved on the umbrella rib rod, and are positioned on the umbrella rib rod through bolt pin columns which are in radial threaded fit with the umbrella rib rod;
the umbrella control assembly comprises a steel wire rope guiding movement assembly used for tightening the steel wire rope and guiding the movement of the steel wire rope and a pulling oil cylinder used for pulling the steel wire rope to move, and two ends of the steel wire rope are respectively connected to the steel wire rope guiding movement assembly.
Preferably, the steel wire rope guiding movement assembly comprises a guide post fixed on the back of the belt fruit output mechanism, a guide sleeve sleeved on the guide post in a guiding fit manner, a head end fixing piece for guiding and fixing the head end of the steel wire rope and a tail end fixing piece for guiding and fixing the tail end of the steel wire rope, wherein the head end fixing piece and the tail end fixing piece are respectively arranged on the guide sleeve, and the pulling oil cylinder is arranged on the guide post in parallel and the telescopic end is fixed with the guide sleeve.
Preferably, the head end fixing piece comprises a head end fixing plate fixed on the guide sleeve, a head end rope guide sleeve arranged on the head end fixing plate and used for guiding the movement of the steel wire rope, and a head end bolt sleeve which is arranged on the head end fixing plate in a threaded fit manner and used for fixing the head end of the steel wire rope, wherein the head end bolt sleeve is parallel to the pulling oil cylinder, and the head end of the steel wire rope passes through the head end rope guide sleeve and the head end bolt sleeve and is fixed on the head end bolt sleeve; the tail end fixing piece comprises a tail end fixing plate fixed on the guide sleeve, a tail end bolt sleeve which is arranged on the tail end fixing plate in a threaded fit mode and used for fixing the tail end of the steel wire rope, and a tail end spring which is arranged on the back face of the belt fruit output mechanism and connected with the tail end of the steel wire rope, wherein the tail end bolt sleeve and the tail end spring are respectively parallel to the pulling oil cylinder, tail end rope guide sleeves used for guiding the movement of the steel wire rope are respectively arranged on the back face of the guide post and the fruit output mechanism, the tail ends of the steel wire ropes which are wound on the rope wheels at the innermost side in the half umbrella assembly penetrate through the tail end rope guide sleeves and are connected with the tail end springs, the tail ends of other steel wire ropes penetrate through the tail end rope guide sleeves and the tail end bolt sleeve and are fixed on the tail end bolt sleeve, and the tail end bolt sleeve extends along with the extension of the pulling oil cylinder and retracts along with the retraction of the pulling oil cylinder.
Preferably, the belt fruit output mechanism comprises a belt support frame with a rotatable upper end, a transmission belt arranged on the crawler-type travelling mechanism in a bypassing way, a driving roller for driving the transmission belt to move and a tensioning roller for tensioning the transmission belt, wherein the driving roller is arranged at the upper end of the belt support frame in a driving fit manner with the transmission belt, the tensioning roller is arranged at the lower end of the belt support frame in a tensioning fit manner with the transmission belt, a fruit baffle for pushing fruits to move upwards is arranged on the transmission belt, and a small gap for branch and leaf leakage is formed between the bottom end of the fruit leakage-proof plate transmission belt aligned with the bottom end of the transmission belt and the fruit leakage-proof plate; the jacking component comprises a jacking bracket hinged on the crawler-type travelling mechanism and fixed with the belt fruit output mechanism, and a jacking oil cylinder hinged on the crawler-type travelling mechanism and connected with the jacking bracket at the telescopic end, wherein the jacking bracket swings up and down along with the telescopic of the jacking oil cylinder.
The beneficial effects of the invention are as follows:
1. the crawler-type travelling mechanism in the suspension clamping vibration harvester is used for travelling movement of the whole mechanism, the fruit picking mechanism is used for transmitting vibration to the trunk to enable fruits to shake off, the fruit collecting mechanism is used for collecting the fruits which are vibrated off by the fruit picking mechanism, so that integrated automatic operation from picking and collecting is realized, the picking and collecting of the fruits are more convenient, the working efficiency is greatly improved, the fruit picking mechanism is suspended and mounted through the springs, the vibrator is directly mounted on the clamping assembly to drive the clamping assembly to vibrate together with the trunk, and an elastic coupling vibration mode of coupling the vibrator and the trunk into a whole is formed, compared with a structure that the vibrator and the clamping member vibrate through a long arm in the prior art, the size and the weight of the fruit picking mechanism are reduced, and the vibration effectiveness of the trunk after being clamped is improved; the spring suspension mode is adopted to buffer rigid clamping impact of the clamping jaw and the trunk, so that damage to the trunk caused by vibration picking is reduced, picking and clamping angles of the fruit picking mechanism are conveniently and flexibly adjusted, clamping adaptability and flexibility are enhanced, the flexibility of butt joint of the fruit picking mechanism and the trunk is improved, and the vibration-falling picking requirements of various fruit trees are met.
2. The motion that adopts the pulling steel rope that forms the loop of detouring to drive interior splint and outer splint motion in the hydro-cylinder power pack, it is tight with the trunk to realize that interior splint are close to with outer splint, keep away from to loosen the trunk, so as to realize the effective centre gripping to the trunk, the centre gripping reliability is high effectual, the guide assembly is directed to the motion of interior and exterior splint, the quantity of guide bar is two to three, it has two uide bushing to install on the at least one guide bar, there are two uide bushing to direct respectively when interior outer splint move, the direction reliability is higher, and the setting up of many guide bars increases the intensity of whole centre gripping subassembly, guarantee that centre gripping trunk vibration in-process direction subassembly does not take place to warp, improve fruit picking mechanism's structural reliability and practicality.
3. The fruit collection mechanism comprises a fruit collection umbrella mechanism and a belt fruit output mechanism, an umbrella rib rod in the fruit collection umbrella mechanism is arranged on a rope pulley assembly, a steel wire rope is wound around and fixed on the rope pulley assembly, an oil cylinder is pulled to move so that the umbrella rib rod rotates, multiple umbrella rib rods synchronously rotate in place when the rope pulley assembly is designed to open and close, the opening and closing of the fruit collection umbrella mechanism are controlled through the winding loop movement of the steel wire rope, the power driving structure is simple and reliable, and the structural stability and the opening and closing reliability of the fruit collection umbrella mechanism are higher. The tail end fixing piece of the steel wire rope guiding movement assembly is provided with a tail end spring, when the half umbrella assembly is opened, the tail end spring stretches, and when the half umbrella assembly is closed, the tail end spring drives the half umbrella assembly to be closed in an accelerating mode through elastic restoring force, so that the opening and closing efficiency of the fruit collecting umbrella mechanism is improved.
4. The rotatable dress in belt fruit output mechanism upper end is on crawler-type running gear, and installs the jacking subassembly that is used for changing belt fruit output mechanism inclination on crawler-type running gear, and belt fruit output mechanism is articulated with jacking subassembly, makes fruit collection mechanism can adjust fluctuation by oneself along with the change of ground height, prevents that the chassis from inserting in earth, satisfies the demand of gathering of woods fruit between the mountain region hilly that the pothole is uneven, improves the topography adaptability and the practicality of whole machine.
Drawings
Fig. 1 is a schematic diagram of a suspension clamp vibration harvester in an embodiment.
Fig. 2 is a schematic view of the suspension of the fruit picking mechanism.
Fig. 3 is a schematic structural view of the clamping assembly.
Fig. 4 is a schematic structural view of the fruit collecting mechanism.
FIG. 5 is a schematic view of the jacking assembly mounted on a crawler travel mechanism.
Fig. 6 is a schematic view of the fruit collection mechanism without canvas and wire rope.
Fig. 7 is a schematic view of the fruit collection mechanism when closed.
FIG. 8 is a top view of the rib pole mounted to the chassis.
Fig. 9 is a schematic diagram of the distribution of the sheave assembly on the chassis.
Fig. 10 is a schematic view of a structure in which a wire rope is wound around a sheave and fixed to the sheave by a pressing plate.
FIG. 11 is a schematic view of the blade plate attached to the rib shaft.
Fig. 12 is an enlarged schematic view at a in fig. 11.
FIG. 13 is a schematic structural view of an umbrella control assembly.
Fig. 14 is a schematic structural view of a belt fruit output mechanism.
Detailed Description
Embodiments of the present invention are described in detail below with reference to fig. 1 to 14.
The utility model provides a hang centre gripping vibration harvester, includes crawler-type running gear 1, adorns fruit picking mechanism 2 that is used for the vibration to pick the fruit on crawler-type running gear 1 and adorn at crawler-type running gear 1 front end and be used for collecting fruit collection mechanism 3, its characterized in that: the fruit picking mechanism 2 is hung on a frame 11 extending forwards of the crawler-type travelling mechanism 1 through a plurality of vertically arranged springs A and is positioned right above the fruit collecting mechanism 3, the fruit picking mechanism 2 comprises a clamping assembly 21 used for clamping a trunk and a vibrator 22 arranged on the clamping assembly 21, the clamping assembly 21 comprises a horizontally arranged clamping support 21.1, an inner clamping plate 21.2 extending forwards, an outer clamping plate 21.3 aligned with the inner clamping plate 21.2, an oil cylinder power assembly 21.4 used for pulling the inner clamping plate 21.2 and the outer clamping plate 21.3 to approach or separate from each other and a guide assembly 21.5 used for guiding the movement of the inner clamping plate 21.2 and the outer clamping plate 21.3, the clamping support 21.1 and the vibrator 22 are respectively connected with the frame 11 through the springs A, the vibrator 22 is arranged on the clamping support 21.1, the oil cylinder power assembly 21.4 and the guide assembly 21.5 are respectively arranged on the clamping support 21.1, and the inner clamping plate 21.2 and the outer clamping plate 21.3 are respectively fixed on the guide assembly 21.5 and are both connected with the oil cylinder power assembly 21.4.
The crawler-type travelling mechanism 1 in the suspension clamping vibration harvester is used for travelling movement of the whole mechanism, the fruit picking mechanism 2 is used for transmitting vibration to the trunk to enable the fruits to shake off, the fruit collecting mechanism 3 is used for collecting the fruits which shake off by the fruit picking mechanism, so that integrated automatic operation from picking and collecting is realized, the picking and collecting of the fruits are more convenient, the working efficiency is greatly improved, the fruit picking mechanism is suspended and mounted through the springs, the vibrator 22 is directly mounted on the clamping assembly 21 to drive the clamping assembly 21 to vibrate together with the trunk, and an elastic coupling vibration mode of coupling the vibrator and the trunk into a whole is formed. The spring suspension mode is adopted to buffer rigid clamping impact of the clamping jaw and the trunk, so that damage to the trunk caused by vibration picking is reduced, picking and clamping angles of the fruit picking mechanism 2 are conveniently and flexibly adjusted, clamping adaptability and flexibility are enhanced, the flexibility of butt joint of the fruit picking mechanism and the trunk is improved, and the vibration-falling picking requirements of various fruit trees are met.
The oil cylinder power assembly 21.4 comprises a clamping oil cylinder 21.41 which is horizontally arranged and arranged on the clamping support 21.1, a pulling steel rope 21.42 which is arranged on the clamping support 21.1 and forms a closed detour loop, an included angle between the clamping oil cylinder 21.41 and the inner clamping plate 21.2 is 90 degrees, a telescopic end of the clamping oil cylinder 21.41 is fixedly connected with the inner clamping plate 21.2 and is fixedly connected with the pulling steel rope 21.42, the pulling steel rope 21.42 is fixedly connected with the outer clamping plate 21.3, and the pulling steel rope 21.42 moves along with the telescopic action of the clamping oil cylinder 21.41 so as to drive the inner clamping plate 21.2 and the outer clamping plate 21.3 to approach or separate from each other. As can be seen from fig. 2 to 3, the pulling steel rope 21.42 forms a complete round of detouring closed loop on the clamping bracket 21.1, the inner clamping plate 21.2 and the outer clamping plate 21.3 are respectively arranged on two opposite sides of the pulling steel rope, when the clamping oil cylinder 21.4 stretches, the inner clamping plate 21.2 moves along with the clamping oil cylinder 21.4 in the same direction and enables the pulling steel rope to move in a loop, and the outer clamping plate 21.3 moves along with the pulling steel rope 21.42 in the opposite direction and moves along with the inner clamping plate 21.2, so that the distance between the inner clamping plate and the outer clamping plate is reduced to clamp a trunk; when the clamping cylinder 24.1 is retracted, the loop running direction of the pulling steel rope 21.42 is opposite to the former, the inner clamping plate 21.2 moves along with the retraction of the clamping cylinder 21.4, meanwhile, the pulling steel rope 21.42 drives the outer clamping plate 21.3 to move reversely with the inner clamping plate 21.2, the distance between the inner clamping plate 21.2 and the outer clamping plate 21.3 is increased, the loosened trunk is clamped, and the characteristic that the moving directions of the pulling steel rope 21.42 forming a closed detouring loop on the opposite sides in the moving process are opposite is utilized to realize the approaching and the separating of the inner clamping plate and the outer clamping plate, so that the stability of the clamping structure is good, and the clamping reliability is high.
The guide assembly 21.5 comprises guide rods 21.51 parallel to the clamping oil cylinders 21.41 and guide sleeves I21.52 matched with the guide rods 21.51 in a guide way, the number of the guide rods 21.51 is two to three, the guide rods are respectively arranged on the clamping support 21.1, at least one guide rod 21.51 is provided with two guide sleeves I21.52, the inner end of the inner clamping plate 21.2 is fixed with the guide sleeves I21.52 on the two guide rods 21.51 and fixedly connected with the pulling steel rope 21.42, the inner end of the outer clamping plate 21.3 is fixed with the guide sleeves I21.52 on the two guide rods 21.51 and fixedly connected with the pulling steel rope 21.42, and the inner end of the inner clamping plate 21.2 and the inner end of the outer clamping plate 21.3 are respectively fixed with the two guide sleeves I21.52 on the same guide rod 21.51; two rope pulleys 21.11 which are distributed at intervals are arranged in the clamping bracket 21.1, the pulling steel rope 21.42 winds on the two rope pulleys 21.11 to form a closed winding loop, and the winding direction is parallel to the clamping oil cylinder 21.41. As can be seen from fig. 3, three guide rods 21.51 are installed on the clamping support 21.1, two guide sleeves 21.52 are assembled on one guide rod 21.51, one guide sleeve 21.52 is assembled on the other two guide rods 21.51, the inner end of the inner clamping plate 21.2 is fixed with the two guide sleeves 21.52, the inner end of the outer clamping plate 21.3 is fixed with the other two guide sleeves 21.52, one guide sleeve 21.52 on the guide rods 21.51 with the two guide sleeves 21.52 is fixed with the inner clamping plate 21.2, the other guide sleeve 21.52 is fixed with the inner end of the outer clamping plate 21.3, namely the inner end of the inner clamping plate 21.2 and the inner end of the outer clamping plate 21.3 are respectively fixed with the two guide sleeves 21.52 on the same guide rod 21.51, and the two guide sleeves 21.52 on one guide rod 21.51 move oppositely or reversely during operation, namely, the movement directions of the two guide sleeves are limited by one guide rod 21.51, so that the consistency of the guide and the synchronism of the guide sleeves are ensured, and the reliability of the guide sleeves is improved, and the reliability of the clamping assembly is improved, and the reliability of the guide sleeves 21.52 is improved, and the clamping assembly is more than that the guide sleeves 21.52 are arranged in the process.
The fruit collecting mechanism 3 comprises a fruit collecting umbrella mechanism 4 capable of automatically opening and closing and a belt fruit output mechanism 5 for outputting fruits in the fruit collecting umbrella mechanism 4 upwards, wherein the belt fruit output mechanism 5 is obliquely arranged at the front end of the crawler-type travelling mechanism 1, the fruit collecting umbrella mechanism 4 is arranged on the belt fruit output mechanism 5 and is in zero-clearance connection with the left side and the right side of the belt fruit output mechanism 5, the upper end of the belt fruit output mechanism 5 is rotatably arranged on the crawler-type travelling mechanism 1, a jacking component 6 for changing the inclination angle of the belt fruit output mechanism 5 is arranged on the crawler-type travelling mechanism 1, and the belt fruit output mechanism 5 is hinged with the jacking component 6. It can be seen from the drawing that the fruit collecting umbrella mechanism 4 is connected with the left side and the right side of the belt fruit output mechanism 5, when the fruit collecting umbrella mechanism 4 is opened, the fruit collecting umbrella mechanism 4 and the belt fruit output mechanism 5 surround to form an upward opening collecting umbrella to surround the periphery of a trunk, fruits directly fall into the collecting umbrella after vibrating, the belt fruit output mechanism 5 moves upward to output the fruits of the collecting umbrella, the upper end of the belt fruit output mechanism 5 is rotatably arranged on the crawler-type travelling mechanism 1, and the jacking component 6 is hinged with the belt fruit output mechanism 5, so that the fruit collecting mechanism 3 can rotate for a certain angle relative to the crawler-type travelling mechanism 1, the fruit collecting mechanism 3 can automatically adjust fluctuation along with the change of the ground height, the chassis is prevented from being inserted into soil, the harvesting requirement of the fruits between hills and mountains with uneven pits is met, and the terrain adaptability and practicability of the whole machine are improved.
The fruit collecting umbrella mechanism 4 comprises a chassis 41, an umbrella assembly 42 and an umbrella control assembly 43, wherein the chassis 41 is arranged at the lower end of the belt fruit output mechanism 5 and is provided with a trunk inlet opening, the umbrella assembly 42 is arranged on the chassis 41 and can be automatically opened and closed, the umbrella control assembly 43 is used for controlling the umbrella assembly 42 to be automatically opened and closed, the umbrella assembly 42 is in seamless connection with the left side and the right side of the belt fruit output mechanism 5, and the umbrella control assembly 43 is arranged at the back of the belt fruit output mechanism 5 and pulls the umbrella assembly 42 to be opened or closed through a steel wire rope 44. The opening of chassis 41 and trunk butt joint, the trunk gets into the opening of chassis 41 after, and reuse umbrella control assembly 43 control umbrella subassembly 42 opens, forms around the trunk and collects the umbrella, later with clamping jaw clamp trunk, start vibrator 22 after the centre gripping and transmit the vibration to the trunk, make the fruit shake and fall to collect in the umbrella, walk around the return circuit motion through wire rope 44 and control opening and shutting of umbrella mechanism 4, power drive simple structure is reliable, and the structural stability and the reliability of opening and shutting of umbrella mechanism 4 are collected to the fruit are higher.
The umbrella assembly 42 is formed by splicing two bilaterally symmetrical half umbrella assemblies 42.1, each half umbrella assembly 42.1 comprises three obliquely arranged umbrella rib rods 42.2, canvasses 42.3 and blade plates 42.4, the umbrella rib rods 42.2 are rotatably arranged on the chassis 41, the installation positions of the three umbrella rib rods 42.2 on the chassis 41 are uniformly distributed at intervals along a straight line from inside to outside, the blade plates 42.4 are arranged on the outermost umbrella rib rods 42.2, the canvasses 42.3 are connected between the adjacent umbrella rib rods 42.2, the innermost umbrella rib rods 42.2 are connected with the side edges of the belt fruit output mechanism 5 in a seamless mode, and the umbrella control assembly 43 synchronously pulls the umbrella rib rods 42.2 in the two half umbrella assemblies 42.1 through steel wire ropes 44 to rotate so that the two blade plates 42.4 are spliced and the canvasses 42.3 are tightened to form a collecting umbrella encircling the trunk. The half umbrella assemblies 42.1 comprise three umbrella rib rods 42.2, the bottom ends of the three umbrella rib rods 42.2 are rotatably arranged on the chassis 41, the installation positions are evenly spaced from inside to outside along a straight line, the umbrella rib rods 42.2 in the two half umbrella assemblies 42.1 are distributed in a bilateral symmetry mode, namely, the six umbrella rib rods 42.2 are divided into two groups and distributed in a bilateral symmetry mode, when the two half umbrella assemblies 42.1 are synchronously pulled to be opened by the umbrella control assembly 43, the two blade plates 42.4 are spliced and canvas is tightly tightened to form a surrounding collecting umbrella, and the rotation of the umbrella rib rods 42.2 can be limited when the blade plates 42.4 are contacted, so that the rotation is prevented from being excessively limited.
The umbrella rib rod 42.2 is rotatably arranged on the chassis 41 through rope pulley assemblies 42.5, the umbrella control assembly 43 is connected with the rope pulley assemblies 42.5 through steel wires 44, the rope pulley assemblies 42.5 comprise rope pulleys second 42.51 rotatably arranged on the chassis 41, pressing plates 42.52 used for fixing the steel wires 44 and the rope pulleys second 42.51 and limiting pins 42.53 fixed on the rope pulleys second 42.51 and used for limiting the rotation angle of the rope pulleys second 42.51, each rope pulley second 42.51 is respectively wound with one steel wire rope 44 and is tightly pressed and fixed on the rope pulley second 42.51 through the pressing plates 42.52, the umbrella rib rod 42.2 is arranged on the rope pulleys second 42.51, the limiting pins 42.53 extend out of the rope pulleys second 42.51 in the radial direction, and limiting columns 41.1 matched with the limiting pins 42.53 are arranged on the chassis 41;
the diameters of the three rope pulleys II 42.51 in the half umbrella assembly 42.1 are not equal, and the included angles between the upper pressing plate 42.52 of each rope pulley II 42.51 and the limiting pin 42.53 are also not equal, so that the three rib rods 42.2 synchronously rotate in place when the half umbrella assembly 42.1 is meshed;
a plurality of evenly-spaced positioning sleeves 42.41 are arranged on the length edges of the blade plates 42.4, the positioning sleeves 42.41 are sleeved on the umbrella rib rods 42.2, and the positioning sleeves 42.41 are positioned on the umbrella rib rods 42.2 through bolt pins 42.42 which are in radial threaded fit with the umbrella rib rods 42.2; the positioning sleeve 42.41 can rotate on the rib rod 42.2 by loosening the bolt pin column 42.42 so as to drive the blade plate 42.4 to rotate, so that the blade plate 42.4 can be adjusted to be in a vertical setting in the folding state of the half umbrella assembly, the space occupation rate of the blade plate 42.4 is reduced, and the blade plate 42.4 is adjusted to be in a splicing position before the half umbrella assembly is fully opened;
As shown in fig. 10, the outer periphery of the second rope pulley 42.51 is cut into an axial side plane, a pressing plate 42.52 is fixed on the axial side plane to press the steel wire rope 44 on the second rope pulley 42.51, so that the steel wire rope 44 cannot move relative to the second rope pulley 42.51, when the steel wire rope 44 is pulled, the second rope pulley 42.51 rotates on the chassis 41 to drive the umbrella rib rod 42.2 to rotate, a limiting pin 42.53 on the outermost second rope pulley 42.51 limits the rotation of the second rope pulley 42.51 through contact with the limiting column 41.1, namely, the movement of the steel wire rope 44 is limited, the movement displacement of one steel wire rope 44 is limited, and the movement displacement of six steel wire ropes 44 is synchronously limited; as can be seen from the drawing, each rib rod 42.2 is respectively arranged on one rope wheel two 42.51, namely six rope wheels two 42.51 are arranged on the chassis 41, the six rope wheels two 42.51 are equally divided into two groups of two rope wheels which are symmetrically distributed left and right, the rope wheels two 42.51 which are symmetrically distributed left and right are arranged in mirror symmetry, the rotation directions of the rope wheels which are symmetrically distributed are opposite when the half umbrella components are opened, the opposite winding of the wire ropes 44 on the rope wheels which are symmetrically distributed is used, namely the head ends and the tail ends of the wire ropes 44 on the two rope wheels which are symmetrically distributed are opposite to realize the rotation reversal of the symmetrical rope wheels so as to realize the synchronous opening and closing of the two half umbrella components, one wire rope 44 winds one rope wheel two 42.51 to rotate, thereby realizing the rotation of the rib rod 42.2, and the single rotation angles of the three rib rods 42.2 from inside to outside in each half umbrella component are different, the three rib rods 42.2 can synchronously rotate to drive the half umbrella assembly to effectively open, for example, the rotation angle of the outermost rib rod 42.2 of the half umbrella assembly 42.1 is 180 degrees, namely the rotation angle of the outermost rope pulley II 42.51 is 180 degrees in the process of folding to open, the rotation angle of the middle rib rod 42.2 is 120 degrees, namely the rotation angle of the middle rope pulley is 120 degrees, the rotation angle of the innermost rib rod 42.2 is 60 degrees, namely the rotation angle of the innermost rope pulley is 60 degrees, in order to realize the synchronous rotation of the three rib rods 42.2, namely the synchronous rotation of the three rope pulleys from inside to outside, the radius of the three rope pulleys from inside to outside is different, so that the same movement displacement of the steel wire rope 44 is realized, but the rotation angles of the three rope pulleys II 42.51 are different, the rotation angles of the three rope pulleys II 42.51 of the half umbrella assembly 42.1 are different, namely the rotation is synchronous in place, namely the rotation is the same, realizing the effective opening and closing of the half umbrella component 42.1; the positions of the axial side planes cut out by the outer circumferences of the three rope pulleys are also different, namely the included angles between the pressing blocks 42.52 and the limiting pins 42.53 are different, so that the fixed positions of the outer circumferences of the steel wire rope 44 and the rope pulley II 42.51 are different, and the limiting pins 43.53 on each rope pulley II 42.51 can be contacted with the limiting columns 41.1 after single rotation, thereby realizing limiting and improving the limiting reliability.
The umbrella control assembly 43 comprises a steel wire rope guiding movement assembly 43.1 for tightening the steel wire rope 44 and guiding the movement of the steel wire rope 44, and a pulling oil cylinder 43.2 for pulling the steel wire rope 44 to move, wherein two ends of the steel wire rope 44 are respectively connected to the steel wire rope guiding movement assembly 43.1. The wire rope 44 bypasses and fixes on rope sheave two 42.51, and the both ends of wire rope 44 are fixed by wire rope direction motion subassembly 43.1, and that can pull the synchronous motion of wire rope 44 that straightens when wire rope direction motion subassembly 43.1 moves to pulling rope sheave two 42.51 and rotating, driving structure through the motion of wire rope drives rope sheave two 42.51 is more simplified, and required metal part is less, and the driving reliability is high, not only can effectively reduce the cost of manufacture of whole mechanism, also can reduce the weight of whole mechanism, reduces energy consumption, and the economic practicality of harvester is stronger and the validity of opening and shutting operation is higher.
The steel wire rope guiding and moving assembly 43.1 comprises a guide post 43.3 fixed on the back surface of the belt fruit output mechanism 5, a second guide sleeve 43.4 sleeved on the guide post 43.3 in a guiding and matching mode, a head end fixing piece 43.5 used for guiding and fixing the head end of the steel wire rope 44 and a tail end fixing piece 43.6 used for guiding and fixing the tail end of the steel wire rope 44, the head end fixing piece 43.5 and the tail end fixing piece 43.6 are respectively installed on the second guide sleeve 43.4, the pulling oil cylinder 43.2 is parallelly installed on the guide post 43.3, and the telescopic end of the pulling oil cylinder is fixed with the second guide sleeve 43.4. It can be seen from fig. 13 that the guide post 43.3 is parallel to the pulling cylinder 43.2, the head end fixing piece 43.5 and the tail end fixing piece 43.6 are respectively arranged on the second guide sleeve 43.4, when the pulling cylinder 43.2 moves, the head end and the tail end of the steel wire rope 44 are driven to synchronously move so that the steel wire rope 44 moves to drive the rope pulley to rotate, the steel wire rope guide movement assembly 43.1 limits the movement direction of the steel wire rope, six steel wire ropes 44 effectively pass through, the movements do not interfere with each other, the structure rationality is high, and the operability is strong.
The head end fixing piece 43.5 comprises a head end fixing plate 43.51 fixed on the second guide sleeve 43.4, a head end rope guide sleeve 43.52 arranged on the head end fixing plate 43.51 and used for guiding the movement of the steel wire rope, and a head end bolt sleeve 43.53 which is arranged on the head end fixing plate 43.51 in a threaded fit manner and used for fixing the head end of the steel wire rope, wherein the head end bolt sleeve 43.53 is parallel to the pulling oil cylinder 43.2, and the head end of the steel wire rope passes through the head end rope guide sleeve 43.52 and the head end bolt sleeve 43.53 and is fixed on the head end bolt sleeve 43.53; the tail end fixing part 43.6 comprises a tail end fixing plate 43.61 fixed on the second guide sleeve 43.4, a tail end bolt sleeve 43.62 which is arranged on the tail end fixing plate 43.61 in a threaded fit manner and used for fixing the tail end of the steel wire rope, and a tail end spring 43.63 which is arranged on the back surface of the belt fruit output mechanism 5 and connected with the tail end of the steel wire rope, wherein the tail end bolt sleeve 43.62 and the tail end spring 43.63 are respectively parallel to the pulling cylinder 43.2, the tail end rope guide sleeve 43.64 used for guiding the movement of the steel wire rope is respectively arranged on the back surfaces of the guide post 43.3 and the fruit output mechanism 5, the tail end of the steel wire rope 44 which is wound on the innermost rope wheel second 42.51 in the half umbrella assembly 42.1 passes through the tail end rope guide sleeve 43.64 and is connected with the tail end spring 43.63, the tail ends of other steel wire ropes 44 pass through the tail end rope guide sleeve 43.64 and the tail end bolt sleeve 43.62 and are fixed on the tail end bolt sleeve 43.62, the tail end spring 43.63 is stretched along with the extension of the pulling cylinder 43.2, and is retracted along with the retraction of the pulling cylinder 43.2. As shown in fig. 13, six head bolt sleeves 43.53 are mounted on the head end fixing plate 43.51 in a threaded fit manner, that is, the head end of each wire rope 44 passes through the head end rope guide sleeve 43.52 and then penetrates into the head end bolt sleeve 43.53, the head end of the wire rope can be positioned at the end part of the head end bolt sleeve 43.53 in a knotting or bonding manner after penetrating out of the head end bolt sleeve 43.53, the head end bolt sleeve 43.53 can rotate on the head end fixing plate 43.51, so that the tightening state of the wire rope 44 can be adjusted, and the wire rope 44 can be re-tightened when the wire rope 44 is loosened due to repeated movement in the use process; the tail end fixing plate 43.61 is arranged on the four tail end bolt sleeves 43.62 in a threaded fit manner, namely, the tail end of the steel wire rope 44 wound on the rope pulley at the outermost side and the middle passes through the tail end rope guide sleeve 43.64 and then penetrates into the tail end bolt sleeve 43.62, the tail end of the steel wire rope can be positioned at the end part of the tail end bolt sleeve 43.62 through a knotting or bonding method after penetrating out of the tail end bolt sleeve 43.62, meanwhile, the tail end bolt sleeve 43.62 can rotate on the tail end fixing plate 43.61, the stretching state of the steel wire rope can be adjusted, the loose steel wire rope 44 is timely adjusted to be stretched, the movement reliability of the steel wire rope 44 is improved, and the rotation effectiveness of the umbrella rib rod 42.2 is ensured; the tail end of the steel wire rope 44 which bypasses the innermost rope pulley II 42.51 passes through the tail end rope guide sleeve 43.64 and is connected with the tail end springs 43.63, the number of the tail end springs 43.63 is two, namely, the tail ends of the steel wire ropes on the innermost rope pulley in each half umbrella assembly 42.1 are respectively connected with one tail end spring 43.63, when the pulling oil cylinder 43.2 stretches, the tail end springs 43.63 are synchronously stretched, when the pulling oil cylinder 43.2 stretches, the tail end springs 43.62 synchronously shrink, the elastic restoring force drives the steel wire ropes 44 connected with the tail end springs to move fast, the rope pulleys are enabled to rotate fast, the half umbrella assemblies are driven to be folded fast, and the opening and closing efficiency of the fruit collecting umbrella mechanism is improved.
The belt fruit output mechanism 5 comprises a belt support frame 51 with a rotatable upper end, a transmission belt 52 arranged on the belt support frame 51 in a bypassing manner, a driving roller 53 for driving the transmission belt 52 to move and a tensioning roller 54 for tensioning the transmission belt 52, wherein the driving roller 53 is arranged at the upper end of the belt support frame 51 in a driving manner with the transmission belt 52, the tensioning roller 54 is arranged at the lower end of the belt support frame 51 in a tensioning manner with the transmission belt 52, a fruit baffle plate 52.1 for pushing fruits to move upwards is arranged on the transmission belt 52, a fruit leakage prevention plate 41.2 aligned with the bottom end of the transmission belt 52 is arranged on the chassis 41, and a small gap for branch and leaf leakage is formed between the bottom end of the transmission belt 52 and the fruit leakage prevention plate 41.2; the jacking component 6 comprises a jacking bracket 61 hinged on the crawler-type running mechanism 1 and fixed with the belt fruit output mechanism 5, and a jacking cylinder 62 hinged on the crawler-type running mechanism 1 and connected with the jacking bracket 61 at the telescopic end, wherein the jacking bracket 61 swings up and down along with the telescopic action of the jacking cylinder 62. The belt support frame 51 upper end is rotatable, and jacking cylinder 62 and jacking support 61 articulate on crawler-type running gear 1, and the telescopic place height of adjustable belt support frame 51 of jacking cylinder 62 also can drive whole fruit collection mechanism 3 and swing about crawler-type running gear 1 when going through the pothole ground simultaneously to avoid chassis 41 to insert in earth because the ground is uneven in the motion overplanting, satisfy the mountain region hilly and mountain region fruit harvesting demand of gathering that the pothole is uneven, improve the topography adaptability and the practicality of whole machine.
The foregoing disclosure of embodiments of the present invention has been fully described with reference to the accompanying drawings, in which it is to be understood that the embodiments described are merely some of the embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Claims (4)
1. The utility model provides a hang centre gripping vibration harvester, includes crawler-type running gear (1), adorns fruit picking mechanism (2) that are used for the vibration to pick the fruit on crawler-type running gear (1) and adorn fruit collection mechanism (3) that are used for collecting the fruit at crawler-type running gear (1) front end, its characterized in that: the fruit picking mechanism (2) is hung on a frame (11) which is vertically arranged and extends forwards from the crawler-type travelling mechanism (1) and is positioned right above the fruit collecting mechanism (3), the fruit picking mechanism (2) comprises a clamping assembly (21) for clamping a trunk and a vibrator (22) arranged on the clamping assembly (21), the clamping assembly (21) comprises a horizontally arranged clamping bracket (21.1), an inner clamping plate (21.2) which extends forwards, an outer clamping plate (21.3) aligned with the inner clamping plate (21.2), an oil cylinder power assembly (21.4) for pulling the inner clamping plate (21.2) and the outer clamping plate (21.3) to be close to or far away from each other, and a guide assembly (21.5) for guiding the movement of the inner clamping plate (21.2) and the outer clamping plate (21.3), the clamping bracket (21.1) and the vibrator (22) are respectively connected with the frame (11) through the springs (A), the vibrator (22) is arranged on the clamping bracket (21.1), and the oil cylinder power assembly (21.4) and the guide assembly (21.5) are respectively arranged on the clamping bracket (21.1) and the guide assembly (21.5) are respectively fixed on the clamping bracket (21.2) and the guide assembly (21.5);
The fruit collecting mechanism (3) comprises a fruit collecting umbrella mechanism (4) capable of automatically opening and closing and a belt fruit output mechanism (5) for outputting fruits in the fruit collecting umbrella mechanism (4) upwards, the belt fruit output mechanism (5) is obliquely arranged at the front end of the crawler-type travelling mechanism (1), the fruit collecting umbrella mechanism (4) is arranged on the belt fruit output mechanism (5) and is in zero-clearance connection with the left side and the right side of the belt fruit output mechanism (5), the upper end of the belt fruit output mechanism (5) is rotatably arranged on the crawler-type travelling mechanism (1), a jacking component (6) for changing the inclination angle of the belt fruit output mechanism (5) is arranged on the crawler-type travelling mechanism (1), and the belt fruit output mechanism (5) is hinged with the jacking component (6);
the fruit collecting umbrella mechanism (4) comprises a chassis (41) arranged at the lower end of the belt fruit output mechanism (5) and provided with a trunk inlet opening, an umbrella assembly (42) arranged on the chassis (41) and capable of being automatically opened and closed, and an umbrella control assembly (43) for controlling the umbrella assembly (42) to be automatically opened and closed, wherein the umbrella assembly (42) is in seamless connection with the left side and the right side of the belt fruit output mechanism (5), and the umbrella control assembly (43) is arranged at the back of the belt fruit output mechanism (5) and pulls the umbrella assembly (42) to be opened or closed through a steel wire rope (44);
The umbrella assembly (42) is formed by splicing two left-right symmetrical half umbrella assemblies (42.1), each half umbrella assembly (42.1) comprises three obliquely arranged umbrella rib rods (42.2), canvasses (42.3) and blade plates (42.4), each umbrella rib rod (42.2) is rotatably arranged on the chassis (41), the installation positions of the three umbrella rib rods (42.2) on the chassis (41) are uniformly distributed at intervals along a straight line from inside to outside, the blade plates (42.4) are arranged on the outermost umbrella rib rods (42.2), the canvasses (42.3) are connected between the adjacent umbrella rib rods (42.2) and seamlessly connect the innermost umbrella rib rods (42.2) with the side edges of the belt fruit output mechanism (5), and the umbrella control assembly (43) synchronously pulls the umbrella rib rods (42.2) in the two half umbrella assemblies through steel wire ropes (44) to splice the two blade plates (42.4) and tightly surround the trunk formed by the canvasses (42.3);
the umbrella rib rods (42.2) are respectively rotatably arranged on the chassis (41) through rope pulley assemblies (42.5), the umbrella control assemblies (43) are connected with the rope pulley assemblies (42.5) through steel wire ropes (44), the rope pulley assemblies (42.5) comprise rope pulleys (42.51) rotatably arranged on the chassis (41), pressing plates (42.52) used for fixing the steel wire ropes (44) and the rope pulleys (42.51) and limiting pins (42.53) fixed on the rope pulleys (42.51) and used for limiting the rotation angle of the rope pulleys (42.51), each rope pulley (42.51) is respectively wound with one steel wire rope (44) and used for pressing and fixing the steel wire ropes (44) on the rope pulleys (42.51) through the pressing plates (42.52), the umbrella rib rods (42.2) are arranged on the rope pulleys (42.51), the limiting pins (42.53) extend out of the rope pulleys (42.51) in the radial direction, and the chassis (41) are provided with limiting columns (41.1) matched with the limiting pins (42.53);
The diameters of the three rope pulley two (42.51) in the half umbrella assembly (42.1) are not equal, and the included angles between the upper pressing plate (42.52) of each rope pulley two (42.51) and the limiting pin (42.53) are also not equal, so that the three rib rods (42.2) synchronously rotate in place when the half umbrella assembly (42.1) is engaged;
a plurality of evenly-spaced positioning sleeves (42.41) are arranged on the length edge of the blade plate (42.4), the positioning sleeves (42.41) are sleeved on the umbrella rib rod (42.2), and the positioning sleeves (42.41) are positioned on the umbrella rib rod (42.2) through bolt pins (42.42) which are in radial threaded fit with the umbrella rib rod (42.2);
the umbrella control assembly (43) comprises a steel wire rope guiding movement assembly (43.1) for tightening the steel wire rope (44) and guiding the movement of the steel wire rope (44) and a pulling oil cylinder (43.2) for pulling the steel wire rope (44) to move, and two ends of the steel wire rope (44) are respectively connected to the steel wire rope guiding movement assembly (43.1);
the steel wire rope guiding movement assembly (43.1) comprises a guide post (43.3) fixed on the back of the belt fruit output mechanism (5), a second guide sleeve (43.4) sleeved on the guide post (43.3) in a guiding and matching mode, a head end fixing piece (43.5) used for guiding and fixing the head end of the steel wire rope (44) and a tail end fixing piece (43.6) used for guiding and fixing the tail end of the steel wire rope (44), the head end fixing piece (43.5) and the tail end fixing piece (43.6) are respectively arranged on the second guide sleeve (43.4), and a pulling oil cylinder (43.2) is parallelly arranged on the guide post (43.3) and the telescopic end of the pulling oil cylinder is fixed with the second guide sleeve (43.4);
The head end fixing piece (43.5) comprises a head end fixing plate (43.51) fixed on the second guide sleeve (43.4), a head end rope guide sleeve (43.52) arranged on the head end fixing plate (43.51) and used for guiding the movement of the steel wire rope, and a head end bolt sleeve (43.53) which is arranged on the head end fixing plate (43.51) in a threaded fit manner and used for fixing the head end of the steel wire rope, wherein the head end bolt sleeve (43.53) is parallel to the pulling oil cylinder (43.2), and the head end of the steel wire rope passes through the head end rope guide sleeve (43.52) and the head end bolt sleeve (43.53) and is fixed on the head end bolt sleeve (43.53); the tail end fixing piece (43.6) comprises a tail end fixing plate (43.61) fixed on a second guide sleeve (43.4), a tail end bolt sleeve (43.62) which is arranged on a tail end fixing plate (43.61) in a threaded fit mode and used for fixing the tail end of a steel wire rope, and a tail end spring (43.63) which is arranged on the back face of the belt fruit output mechanism (5) and is connected with the tail end of the steel wire rope, the tail end bolt sleeve (43.62) and the tail end spring (43.63) are respectively parallel to the pulling cylinder (43.2), tail end rope guide sleeves (43.64) used for guiding the movement of the steel wire rope are respectively arranged on the back face of the guide post (43.3) and the fruit output mechanism (5), the tail end of the steel wire rope (44) wound on the innermost rope wheel second (42.51) in the semi-umbrella assembly (42.1) penetrates through the tail end rope guide sleeves (43.64) to be connected with the tail end spring (43.63), the tail end of the other steel wire rope (44) penetrates through the tail end bolt sleeves (43.64) and the tail end bolt sleeve (43.62) and is fixed on the tail end bolt sleeve (43.62), and the tail end bolt sleeve (43.5662) is pulled by the tail end rope guide sleeve (42.51), and the tail end rope (43.51) is pulled by the tail end rope (43.2) to be pulled by the tail end rope, and the tail end bolt sleeve (43.2) to be pulled by the tail end spring (2).
2. The suspension clamp vibration harvester of claim 1 wherein: the oil cylinder power assembly (21.4) comprises a clamping oil cylinder (21.41) horizontally arranged and arranged on a clamping support (21.1), a pulling steel rope (21.42) arranged on the clamping support (21.1) and forming a closed winding loop, wherein an included angle between the clamping oil cylinder (21.41) and the inner clamping plate (21.2) is 90 degrees, the telescopic end of the clamping oil cylinder (21.41) is fixedly connected with the inner clamping plate (21.2) and is fixedly connected with the pulling steel rope (21.42), the pulling steel rope (21.42) is fixedly connected with the outer clamping plate (21.3), and the pulling steel rope (21.42) moves along with the stretching of the clamping oil cylinder (21.41) so as to drive the inner clamping plate (21.2) and the outer clamping plate (21.3) to be close to or far away from each other.
3. The suspension clamp vibration harvester of claim 2 wherein: the guide assembly (21.5) comprises guide rods (21.51) parallel to the clamping oil cylinders (21.41) and guide sleeves I (21.52) in guide fit with the guide rods (21.51), the number of the guide rods (21.51) is two to three and the guide rods are respectively arranged on the clamping support (21.1), at least one guide rod (21.51) is provided with two guide sleeves I (21.52), the inner end of an inner clamping plate (21.2) is fixed with the guide sleeves I (21.52) on the two guide rods (21.51) and fixedly connected with a pulling steel rope (21.42), the inner end of an outer clamping plate (21.3) is fixed with the guide sleeves I (21.52) on the two guide rods (21.51) and fixedly connected with the pulling steel rope (21.42), and the inner end of the inner clamping plate (21.2) and the inner end of the outer clamping plate (21.3) are respectively fixed with the two guide sleeves I (21.52) on the same guide rod (21.51); two rope wheels I (21.11) which are distributed at intervals are arranged in the clamping support (21.1), the steel rope (21.42) is pulled to bypass on the two rope wheels I (21.11) to form a closed bypass loop, and the bypass direction is parallel to the clamping oil cylinder (21.41).
4. The suspension clamp vibration harvester of claim 1 wherein: the belt fruit output mechanism (5) comprises a belt support frame (51) with the upper end rotatably arranged on the crawler-type travelling mechanism (1), a transmission belt (52) arranged around the belt support frame (51), a driving roller (53) for driving the transmission belt (52) to move and a tensioning roller (54) for tensioning the transmission belt (52), wherein the driving roller (53) is arranged at the upper end of the belt support frame (51) in a driving fit manner with the transmission belt (52), the tensioning roller (54) is arranged at the lower end of the belt support frame (51) in a tensioning fit manner with the transmission belt (52), a fruit baffle (52.1) for pushing fruits to move upwards is arranged on the transmission belt (52), a fruit leakage prevention plate (41.2) aligned with the bottom end of the transmission belt (52) is arranged on the chassis (41), and a small gap for branch and leaf leakage is formed between the bottom end of the transmission belt (52) and the fruit leakage prevention plate (41.2); the jacking component (6) comprises a jacking bracket (61) hinged on the crawler-type travelling mechanism (1) and fixed with the belt fruit output mechanism (5) and a jacking cylinder (62) hinged on the crawler-type travelling mechanism (1) and connected with the jacking bracket (61) at the telescopic end, wherein the jacking bracket (61) swings up and down along with the telescopic action of the jacking cylinder (62).
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| CN202011153518.0A CN112075206B (en) | 2020-10-26 | 2020-10-26 | Suspension clamping vibration harvester |
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| CN202011153518.0A CN112075206B (en) | 2020-10-26 | 2020-10-26 | Suspension clamping vibration harvester |
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|---|---|---|---|---|
| CN113578696A (en) * | 2021-08-10 | 2021-11-02 | 山东金帝精密机械科技股份有限公司 | Clamping and vibrating device of plastic-impregnated bearing retainer |
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