CN112136481B

CN112136481B - A operation robot for farming

Info

Publication number: CN112136481B
Application number: CN202010995420.3A
Authority: CN
Inventors: 宋荣
Original assignee: Wenzhou Polytechnic
Current assignee: Juneng Shandong Robot Technology Co ltd; Shandong Wochuan Intelligent Technology Co ltd
Priority date: 2020-09-21
Filing date: 2020-09-21
Publication date: 2021-11-30
Anticipated expiration: 2040-09-21
Also published as: CN112136481A

Abstract

The invention provides an operating robot for agricultural planting, relates to the technical field of agricultural picking, and solves the problem that the picking of leek flowers cannot be realized through structural linkage matching in the process of advancing through a picking device; the screening and clearing problem of sundries on the leek flowers can not be realized through the leek flower picking linkage through the structural improvement. An operating robot for agricultural planting, comprising a main body plate; the cutting plate is connected to the main body plate in a sliding mode, the bottom end face of the main body plate is welded with the roller seat, and the roller seat is connected with four rollers in a rotating mode. The six bulges are all in a semi-cylindrical structure and are welded on the rear end surface of the frame body; elastic expansion rod head end and protruding contact, and the framework still is the vibrations state when the framework is followed cutting board reciprocating motion to just also realized the vibrations of sieve, and then still realized the vibrations screening of plant fruit when the plant fruit rocks the screening.

Description

A operation robot for farming

Technical Field

The invention belongs to the technical field of agricultural picking, and particularly relates to an operating robot for agricultural planting.

Background

Leek flower is also called leek flower, and is a white flower cluster grown on leek white in autumn; leek flower, abbreviated as leek flower, also called leek moss; the wild leek flower is an important health care wild vegetable or seasoning, and the leek flower has rich nutrition.

As in application No.: CN201910905846.2, the invention provides a leek flower picking device, which comprises a support frame; a motor mounting seat is welded on the support frame, and a servo motor is fixedly connected to the motor mounting seat through a bolt; the support frame is fixedly connected with a collection box placing seat through bolts, and the collection box placing seat is provided with a collection box. The rotating shaft, the gear and the fan-shaped teeth are matched, and the fan-shaped teeth are meshed with the gear to realize the rotation of the rotating shaft, so that the forward swing of the collecting box structure is realized, the forward swing of the collecting box structure can be driven manually, and the fatigue strength of the leek flower during collection is reduced; through the setting of the structure that resets, on the one hand to gathering the box structure and swing the angle spacing, on the other hand can promote through the spring action of the structural spring that resets and gather the box structure and carry out the antiport and reset, and through the cooperation between structure and axis of rotation, gear and the fan-shaped tooth that resets, can realize gathering the reciprocal swing of box structure, replace arm swing back and forth.

The leek flower picking device similar to the above application has the following defects:

one is that the existing devices are mostly driven by a motor to realize picking, but the picking of the leek flowers cannot be realized through structural linkage coordination in the forward process of the picking device, and the electric drive cost is higher in contrast to the mechanical drive; moreover, the impurities on the leek flowers are often screened and removed manually after the leek flowers are picked by the conventional device, but the impurities on the leek flowers cannot be screened and removed through the structural improvement of the leek flower picking linkage.

In view of the above, research and improvement are made on the existing structure and defects, and an operation robot for agricultural planting is provided to achieve the purpose of higher practical value.

Disclosure of Invention

In order to solve the technical problems, the invention provides an operating robot for agricultural planting, which aims to solve the problems that the existing device is mostly driven by a motor to realize picking, the picking of the leek flowers cannot be realized through structural linkage coordination in the advancing process of the picking device, and the corresponding mechanical transmission is higher in electric drive cost; moreover, the impurities on the leek flowers are often required to be manually screened and removed after the leek flowers are picked by the conventional device, but the impurities on the leek flowers cannot be screened and removed through the structural improvement of the leek flower picking linkage.

The invention relates to an object and an effect of an operation robot for agricultural planting, which are achieved by the following specific technical means:

an operating robot for agricultural planting, comprising a main body plate; the cutting plate is connected to the main body plate in a sliding mode, the bottom end face of the main body plate is welded with the roller seat, and the four rollers are connected to the roller seat in a rotating mode; the roller seat is provided with a transmission structure; the cutting plate is provided with a collecting structure; the collecting structure comprises a frame body and a collecting roller, the frame body is welded on the cutting plate, and the collecting roller is connected to the frame body in a rotating mode; the collecting roller is of a brush roller structure, is in transmission connection with the roller through a belt wheel and a belt, and is in contact with the top end face of the cutting plate; the main body plate comprises a rectangular seat and an elastic telescopic rod, the rectangular seat is welded on the main body plate, and the elastic telescopic rod is welded on the rectangular seat; the collecting structure also comprises six bulges, the six bulges are all in a semi-cylindrical structure, and the six bulges are welded on the rear end surface of the frame body; the head end of the elastic telescopic rod is in contact with the protrusion, and the frame body is still in a vibration state when the frame body moves to and fro along with the cutting plate.

Further, the main body plate comprises cutting heads A, and the cutting heads A are welded on the main body plate in a rectangular array shape; the cutting board includes cutting head B, it has cutting head B to cut to be the welding of rectangle array form on the board, and cutting head B and cutting head A head end are sharp column structure.

Further, the main body plate comprises a sliding groove, and the sliding groove is formed in the main body plate; the cutting plate also comprises a tooth row, a plate-shaped seat, a sliding rod and an elastic piece; the tooth row is welded on the cutting plate and is also connected in the sliding groove in a sliding manner; the plate-shaped seat is welded on the cutting plate and is also connected in a sliding hole on the main body plate in a sliding manner; two sliding rods are welded on the plate-shaped seat and are in sliding connection with the main body plate; elastic parts are sleeved on the two sliding rods, and the two elastic parts jointly form an elastic reset structure of the cutting plate.

Furthermore, the cutting plate also comprises two rectangular plates, and the two rectangular plates are symmetrically welded on the plate-shaped seat; two rectangular plate top end faces all contact with main part board bottom end face, and two rectangular plates have constituteed the limit structure of main part board and cutting board jointly.

Furthermore, the transmission structure comprises a rotating shaft A and a rotating shaft B, wherein the rotating shaft A is rotatably connected to the roller seat, and the rotating shaft B is also rotatably connected to the roller seat; the rotating shaft A is meshed with the rotating shaft B through a bevel gear, and the rotating shaft A is in transmission connection with the roller through a belt wheel and a belt.

Further, transmission structure still includes incomplete gear, incomplete gear is installed on pivot B, and incomplete gear and the tooth row meshing to when the gyro wheel rolls, the cutting board is reciprocating motion state.

Further, collect the structure and still include sieve and rectangle pole, the sieve welding is in the frame, and the sieve top personally submits the rectangular array form welding and has four rectangle poles to four rectangle poles have constituteed the limit structure of plant fruit jointly.

Further, the collecting structure further comprises sieve pores, the sieve pores are formed in a rectangular array shape on the sieve plate, and the sieve pores are in a conical pore structure.

Compared with the prior art, the invention has the following beneficial effects:

through the cooperation setting of main part board, cutting board and gyro wheel, can realize the automation of plant fruit when promoting this device and make the gyro wheel rotate and tailor, specifically as follows: firstly, the gear row is welded on the cutting plate and is also connected in the sliding groove in a sliding manner; the plate-shaped seat is welded on the cutting plate, and the plate-shaped seat is connected in a sliding hole in the main body plate in a sliding manner; two sliding rods are welded on the plate-shaped seat and are in sliding connection with the main body plate; elastic pieces are sleeved on the two sliding rods, and the two elastic pieces jointly form an elastic reset structure of the cutting plate; secondly, the rotating shaft A is rotatably connected to the roller seat, and the rotating shaft B is also rotatably connected to the roller seat; the rotating shaft A is meshed with the rotating shaft B through a bevel gear, and the rotating shaft A is connected with the roller through a belt wheel and a belt, so that the rotating shaft B is in a rotating state when the roller rotates; the incomplete gear is installed on the rotating shaft B, is meshed with the tooth row, and is in a reciprocating motion state when the roller rolls, so that the cutting of plants is realized.

Through main part board, cutting board, gyro wheel and the cooperation setting of collecting the structure, can realize the collection after the plant fruit is tailor when promoting this device messenger gyro wheel and rotate, and can also realize rocking and vibrations screening after the fruit is collected, specifically as follows: firstly, the collecting roller is of a brush roller structure, is connected with the roller through a belt wheel and a belt, and is in contact with the top end surface of the cutting plate, so that the collecting roller can clean cut plant fruits into the frame body when the roller rolls; fourthly, the sieve plate is welded in the frame, the top end of the sieve plate is welded with four rectangular rods in a rectangular array shape, and the four rectangular rods jointly form a limiting structure of the plant fruits, so that the plant fruits can be prevented from being accumulated to influence the subsequent vibration screening; secondly, sieve pores are arranged on the sieve plate in a rectangular array shape and are in a conical pore structure, so that the sieve pores can be prevented from being blocked during screening; thirdly, the six bulges are all in a semi-cylindrical structure and are welded on the rear end surface of the frame body; elastic expansion rod head end and protruding contact, and the framework still is the vibrations state when the framework is followed cutting board reciprocating motion to just also realized the vibrations of sieve, and then still realized the vibrations screening of plant fruit when the plant fruit rocks the screening.

Drawings

Fig. 1 is a schematic axial view of the present invention.

Fig. 2 is a schematic axial view of the present invention in another direction of fig. 1.

Fig. 3 is an enlarged schematic view of fig. 2 at a.

Fig. 4 is an enlarged axial view of the main body plate and the cutting plate of the present invention.

Fig. 5 is an enlarged view of the structure of fig. 4B according to the present invention.

FIG. 6 is an enlarged, axial view of the collection structure of the present invention.

Fig. 7 is a schematic axial view of the invention in fig. 6.

Fig. 8 is an enlarged view of the structure of fig. 7 at C according to the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a main body plate; 101. a cutting head A; 102. a sliding groove; 103. a rectangular base; 104. an elastic telescopic rod; 2. cutting the board; 201. a cutting head B; 202. a tooth row; 203. a plate-shaped seat; 204. a slide bar; 205. an elastic member; 206. a rectangular plate; 3. a roller seat; 4. a roller; 5. a transmission structure; 501. a rotating shaft A; 502. a rotating shaft B; 503. an incomplete gear; 6. a collection structure; 601. a frame body; 602. a collection roller; 603. a sieve plate; 604. a rectangular bar; 605. screening holes; 606. and (4) protruding.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in figures 1 to 8:

the invention provides an operating robot for agricultural planting, which comprises a main body plate 1; the main body plate 1 is connected with a cutting plate 2 in a sliding way, the bottom end face of the main body plate 1 is welded with a roller seat 3, and the roller seat 3 is connected with four rollers 4 in a rotating way; the roller seat 3 is provided with a transmission structure 5; the cutting plate 2 is provided with a collecting structure 6; referring to fig. 1 and 2, the collecting structure 6 comprises a frame 601 and a collecting roller 602, the frame 601 is welded on the cutting board 2, and the frame 601 is rotatably connected with the collecting roller 602; the collecting roller 602 is of a brush roller structure, the collecting roller 602 is in transmission connection with the roller 4 through a belt wheel and a belt, and the collecting roller 602 is in contact with the top end face of the cutting plate 2, so that the collecting roller 602 can clean the cut plant fruits into the frame body 601 when the roller 4 rolls; referring to fig. 2, the main body plate 1 includes a rectangular seat 103 and an elastic expansion link 104, the rectangular seat 103 is welded on the main body plate 1, and the elastic expansion link 104 is welded on the rectangular seat 103; the collecting structure 6 further comprises six protrusions 606, the six protrusions 606 are all of a semi-cylindrical structure, and the six protrusions 606 are all welded on the rear end face of the frame body 601; elastic expansion rod 104 head end and protruding 606 contact, and framework 601 still is the vibrations state when framework 601 follows cutting board 2 reciprocating motion to just also realized the vibrations of sieve 603, and then still realized the vibrations screening of plant fruit when the screening is rocked to the plant fruit.

Referring to fig. 2, the main body plate 1 includes cutting heads a101, and the cutting heads a101 are welded to the main body plate 1 in a rectangular array; cutting board 2 includes cutting head B201, is the welding of rectangle array form on the cutting board 2 and has cutting head B201, and cutting head B201 and cutting head A101 head end are sharp column structure to can realize cutting the collection of plant when the cutting.

Referring to fig. 4 and 5, the main body plate 1 includes a sliding groove 102, and the sliding groove 102 is formed on the main body plate 1; the cutting board 2 further comprises a tooth row 202, a plate-shaped seat 203, a sliding rod 204 and an elastic piece 205; the tooth row 202 is welded on the cutting plate 2, and the tooth row 202 is also connected in the sliding groove 102 in a sliding way; the plate-shaped seat 203 is welded on the cutting plate 2, and the plate-shaped seat 203 is also connected in a sliding hole on the main body plate 1 in a sliding way; two sliding rods 204 are welded on the plate-shaped seat 203, and the two sliding rods 204 are connected with the main body plate 1 in a sliding manner; the two sliding rods 204 are sleeved with elastic pieces 205, and the two elastic pieces 205 jointly form an elastic reset structure of the cutting plate 2.

Referring to fig. 5, the cutting board 2 further comprises two rectangular boards 206, the two rectangular boards 206 are arranged, and the two rectangular boards 206 are symmetrically welded on the board-shaped seat 203; the top end faces of the two rectangular plates 206 are in contact with the bottom end face of the main body plate 1, and the two rectangular plates 206 jointly form the limiting structures of the main body plate 1 and the cutting plate 2.

Referring to fig. 2, the transmission structure 5 includes a rotation shaft a501 and a rotation shaft B502, the rotation shaft a501 is rotatably connected to the roller base 3, and the rotation shaft B502 is also rotatably connected to the roller base 3; the rotating shaft A501 and the rotating shaft B502 are meshed through a bevel gear, and the rotating shaft A501 is in transmission connection with the roller 4 through a belt wheel and a belt, so that the rotating shaft B502 is in a rotating state when the roller 4 rotates.

Referring to fig. 2, the transmission structure 5 further includes an incomplete gear 503, the incomplete gear 503 is mounted on the rotating shaft B502, the incomplete gear 503 is meshed with the gear row 202, and the cutting board 2 is in a reciprocating state when the roller 4 rolls, thereby cutting the plants.

Referring to fig. 6, the collecting structure 6 further includes a screen plate 603 and rectangular rods 604, the screen plate 603 is welded in the frame 601, the top end of the screen plate 603 is in a rectangular array shape and is welded with four rectangular rods 604, and the four rectangular rods 604 jointly form a limiting structure of the plant fruit, so that the plant fruit can be prevented from being stacked to influence subsequent vibration screening.

Referring to fig. 7 and 8, the collecting structure 6 further includes screen holes 605, the screen plates 603 are provided with the screen holes 605 in a rectangular array, and the screen holes 605 are in a tapered hole structure, so that the screen holes 605 can be prevented from being blocked during screening.

The specific use mode and function of the embodiment are as follows:

when the device is pushed, firstly, the tooth row 202 is welded on the cutting plate 2, and the tooth row 202 is also connected in the sliding groove 102 in a sliding way; the plate-shaped seat 203 is welded on the cutting plate 2, and the plate-shaped seat 203 is connected in a sliding hole on the main body plate 1 in a sliding manner; two sliding rods 204 are welded on the plate-shaped seat 203, and the two sliding rods 204 are connected with the main body plate 1 in a sliding manner; the two sliding rods 204 are sleeved with elastic pieces 205, and the two elastic pieces 205 jointly form an elastic reset structure of the cutting plate 2; secondly, the rotating shaft A501 is rotatably connected to the roller seat 3, and the rotating shaft B502 is also rotatably connected to the roller seat 3; the rotating shaft A501 and the rotating shaft B502 are meshed through a bevel gear, and the rotating shaft A501 is connected with the roller 4 through a belt wheel and a belt, so that the rotating shaft B502 is in a rotating state when the roller 4 rotates; the incomplete gear 503 is arranged on the rotating shaft B502, the incomplete gear 503 is meshed with the tooth row 202, and the cutting board 2 is in a reciprocating motion state when the roller 4 rolls, so that the cutting of plants is realized; thirdly, as the collecting roller 602 is of a brush roller structure, the collecting roller 602 is connected with the roller 4 through a belt wheel and a belt, and the collecting roller 602 is in contact with the top end surface of the cutting plate 2, the collecting roller 602 can clean the cut plant fruits into the frame 601 when the roller 4 rolls; fourthly, the screen plate 603 is welded in the frame body 601, four rectangular rods 604 are welded on the top end surface of the screen plate 603 in a rectangular array shape, and the four rectangular rods 604 jointly form a limiting structure of the plant fruit, so that the plant fruit can be prevented from being stacked to influence subsequent vibration screening; fifthly, because the sieve plate 603 is provided with the sieve pores 605 in a rectangular array shape, and the sieve pores 605 are in a tapered pore structure, the sieve pores 605 can be prevented from being blocked during screening; sixthly, six protrusions 606 are arranged, the six protrusions 606 are all of a semi-cylindrical structure, and the six protrusions 606 are all welded on the rear end face of the frame body 601; elastic expansion rod 104 head end and protruding 606 contact, and framework 601 still is the vibrations state when framework 601 follows cutting board 2 reciprocating motion to just also realized the vibrations of sieve 603, and then still realized the vibrations screening of plant fruit when the screening is rocked to the plant fruit.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. An operating robot for agricultural planting, characterized in that: comprises a main body plate (1); the cutting plate (2) is connected to the main body plate (1) in a sliding mode, the bottom end face of the main body plate (1) is welded with the roller seat (3), and the four rollers (4) are connected to the roller seat (3) in a rotating mode; the roller seat (3) is provided with a transmission structure (5); a collecting structure (6) is arranged on the cutting plate (2); the collecting structure (6) comprises a frame body (601) and a collecting roller (602), the frame body (601) is welded on the cutting plate (2), and the frame body (601) is rotatably connected with the collecting roller (602); the collecting roller (602) is of a brush roller structure, the collecting roller (602) is in transmission connection with the roller (4) through a belt wheel and a belt, and the collecting roller (602) is in contact with the top end face of the cutting plate (2); the main body plate (1) comprises a rectangular seat (103) and an elastic telescopic rod (104), the rectangular seat (103) is welded on the main body plate (1), and the elastic telescopic rod (104) is welded on the rectangular seat (103); the collecting structure (6) further comprises six protrusions (606), the six protrusions (606) are all in a semi-cylindrical structure, and the six protrusions (606) are all welded on the rear end face of the frame body (601); the head end of the elastic telescopic rod (104) is contacted with the bulge (606), and when the frame body (601) reciprocates along with the cutting board (2), the frame body (601) is still in a vibration state,

the cutting head main plate comprises a main body plate (1) and a cutting head base, wherein the main body plate (1) comprises cutting heads A (101), and the cutting heads A (101) are welded on the main body plate (1) in a rectangular array shape; the cutting plate (2) comprises cutting heads B (201), the cutting heads B (201) are welded on the cutting plate (2) in a rectangular array shape, the head ends of the cutting heads B (201) and the cutting heads A (101) are both in a pointed structure,

the main body plate (1) comprises a sliding groove (102), and the sliding groove (102) is formed in the main body plate (1); the cutting plate (2) further comprises a tooth row (202), a plate-shaped seat (203), a sliding rod (204) and an elastic piece (205); the tooth row (202) is welded on the cutting plate (2), and the tooth row (202) is also connected in the sliding groove (102) in a sliding manner; the plate-shaped seat (203) is welded on the cutting plate (2), and the plate-shaped seat (203) is also connected in a sliding hole on the main body plate (1) in a sliding manner; two sliding rods (204) are welded on the plate-shaped seat (203), and the two sliding rods (204) are connected with the main body plate (1) in a sliding manner; the two sliding rods (204) are sleeved with elastic pieces (205), and the two elastic pieces (205) jointly form an elastic reset structure of the cutting plate (2),

the cutting plate (2) further comprises two rectangular plates (206), the two rectangular plates (206) are arranged in total, and the two rectangular plates (206) are symmetrically welded on the plate-shaped seat (203); the top end surfaces of the two rectangular plates (206) are contacted with the bottom end surface of the main body plate (1), and the two rectangular plates (206) jointly form a limiting structure of the main body plate (1) and the cutting plate (2),

the transmission structure (5) comprises a rotating shaft A (501) and a rotating shaft B (502), the rotating shaft A (501) is rotatably connected to the roller seat (3), and the rotating shaft B (502) is also rotatably connected to the roller seat (3); the rotating shaft A (501) is meshed with the rotating shaft B (502) through a bevel gear, the rotating shaft A (501) is in transmission connection with the roller (4) through a belt wheel and a belt,

the transmission structure (5) also comprises an incomplete gear (503), the incomplete gear (503) is arranged on the rotating shaft B (502), the incomplete gear (503) is meshed with the tooth row (202), and the cutting board (2) is in a reciprocating state when the roller (4) rolls,

the collecting structure (6) further comprises a sieve plate (603) and rectangular rods (604), the sieve plate (603) is welded in the frame body (601), the top end surface of the sieve plate (603) is in a rectangular array shape, the four rectangular rods (604) are welded, and the four rectangular rods (604) jointly form a limiting structure of the plant fruits,

the collecting structure (6) also comprises sieve pores (605), the sieve plates (603) are provided with the sieve pores (605) in a rectangular array shape, and the sieve pores (605) are in a conical pore structure,

when the device is pushed, firstly, the tooth row is welded on the cutting plate and is also connected in the sliding groove in a sliding way; the plate-shaped seat is welded in the cutting plate and is connected in a sliding hole in the main body plate in a sliding manner; two sliding rods are welded on the plate-shaped seat and are in sliding connection with the main body plate; elastic pieces are sleeved on the two sliding rods, and the two elastic pieces jointly form an elastic reset structure of the cutting plate; secondly, the rotating shaft A is rotationally connected to the roller seat, and the rotating shaft B is also rotationally connected to the roller seat; the rotating shaft A is meshed with the rotating shaft B through a bevel gear, and the rotating shaft A is connected with the roller through a belt wheel and a belt, so that the rotating shaft B is in a rotating state when the roller rotates; the incomplete gear is arranged on the rotating shaft B and is meshed with the gear row, and the cutting plate is in a reciprocating motion state when the roller rolls, so that the cutting of plants is realized; thirdly, the collecting roller is of a brush roller structure, is connected with the roller through a belt wheel and a belt and is in contact with the top end surface of the cutting plate, so that the collecting roller can clean the cut plant fruits into the frame body when the roller rolls; fourthly, the sieve plate is welded in the frame, the four rectangular rods are welded on the top end surface of the sieve plate in a rectangular array shape, and the four rectangular rods jointly form a limiting structure of the plant fruits, so that the plant fruits can be prevented from being accumulated to influence the subsequent vibration screening; fifthly, because the sieve plate is provided with sieve pores in a rectangular array shape, and the sieve pores are in a conical pore structure, the sieve pores can be prevented from being blocked during screening; sixthly, six bulges are arranged on the frame body, and are all in a semi-cylindrical structure and are welded on the rear end face of the frame body; elastic expansion rod head end and protruding contact, and the framework still is the vibration state when the framework is followed cutting board reciprocating motion to just also realized the vibrations of sieve, and then still realized the vibrations screening of plant fruit when the plant fruit rocks the screening.