CN113303094B - Vibration striking type shrub pulp picking and collecting vehicle - Google Patents
Vibration striking type shrub pulp picking and collecting vehicle Download PDFInfo
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- CN113303094B CN113303094B CN202110774191.7A CN202110774191A CN113303094B CN 113303094 B CN113303094 B CN 113303094B CN 202110774191 A CN202110774191 A CN 202110774191A CN 113303094 B CN113303094 B CN 113303094B
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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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Abstract
The invention relates to a vibration impact type shrub pulp picking and collecting vehicle which comprises a vehicle body, a vehicle roof, an impact executing mechanism, an impact driving mechanism and a fruit collecting mechanism, wherein the vehicle roof is provided with a plurality of wheels; the vehicle body is composed of a left part and a right part which are symmetrically arranged; the vehicle roof consists of two vertical edges and an upper edge, and vertical slots on the two vertical edges are respectively inserted and matched with vertical side walls on two sides of the vehicle body, so that the vehicle roof and the vehicle body are connected into a whole, and a picking operation space is formed inside the vehicle roof; the striking execution mechanism is composed of a left striking execution part and a right striking execution part which are symmetrically arranged; a left part and a right part which are respectively arranged in the vehicle body; the left and right striking execution parts are in surrounding fit with the periphery of the crown through comb-shaped striking rods; the striking driving mechanism comprises a left striking driving mechanism and a right striking driving mechanism which are respectively in driving connection with the left striking execution part and the right striking execution part; the fruit collecting mechanism comprises a left collecting rolling brush, a right collecting rolling brush, a left collecting box and a right collecting box. The invention realizes the automatic picking and collection of fruits and has better applicability.
Description
Technical Field
The invention belongs to the field of shrub fruit picking machines, and particularly relates to a vibration striking type shrub pulp picking and collecting vehicle.
Background
The sea buckthorn is deciduous shrub with thorn, and the sea buckthorn can prevent wind and fix sand, and the fruit can be eaten or used for making beverage, and the sea buckthorn fruit is valuable in beauty treatment and medicine. The fructus Hippophae is spherical, has diameter of 4-6 mm, weight of single fruit of 270-480 mg, orange yellow or orange red, and is rich in vitamin C, E, B12, carotenoid, flavonoid and fatty acid. The traditional sea-buckthorn picking method comprises the following steps: (1) and (4) manual harvesting: the cost is high and the efficiency is low; (2) simple mechanical harvesting: when picking, the steel wire bundles with elasticity need to be inserted into the branches, the fruits are shaken off through high-frequency vibration, and the branches, leaves and fruits are separated under the action of a collector below, but the picking requirement of the sea buckthorn can not be well met due to the fact that the sea buckthorn planting area is large. (3) Air-suction type harvesting: the vacuum pump is driven to form pressure and transmit the pressure to the picking head, so that the fruits are sucked into the plastic box under the action of air pressure, but the method is more suitable for picking large thornless sea buckthorn fruits and is not suitable for picking small sea buckthorn fruits produced in China. The sea-buckthorn has small fruits, thin peels and easy breakage, and the fruit stalks cannot fall off naturally, so that a lot of difficulty is brought to harvesting, and the labor amount for harvesting almost accounts for 90% of the labor amount for cultivating the sea-buckthorn. Therefore, the method has important significance for improving the harvesting efficiency.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the vibration beating type shrub pulp picking and collecting vehicle which is adjustable in picking height and picking width and good in applicability.
The above object of the present invention is achieved by the following technical solutions:
a vibration striking type shrub pulp picking and collecting vehicle is characterized in that; comprises a vehicle body, a vehicle roof, a striking actuating mechanism, a striking driving mechanism and a fruit collecting mechanism;
the vehicle body consists of a left part and a right part which are symmetrically arranged, and the left part and the right part consist of a vertical side wall and a transverse supporting table connected with the inner side of the bottom of the vertical side wall; the bottoms of the vertical side walls on the two sides are respectively provided with a front walking wheel and a rear walking wheel, and the horizontal supporting tables on the two sides are respectively provided with a front fruit guiding inclined plane and a rear fruit guiding inclined plane which are obliquely arranged and a fruit dropping hole which is connected with the lower end of the fruit guiding inclined plane;
the vehicle roof consists of two vertical edges and an upper transverse edge connecting the two vertical edges, the two vertical edges are provided with vertical slots, and the two vertical slots are respectively inserted and matched with the vertical side walls at the two sides of the vehicle body, so that the vehicle roof is connected with the left part and the right part of the vehicle body into a whole, and a picking operation space is formed between the vehicle roof and the vertical side walls at the two sides;
a group of roof height adjusting mechanisms are respectively arranged between the outside of the vertical side walls at the two sides of the vehicle body and the two sides of the corresponding side of the roof;
the striking executing mechanism is composed of a left striking executing part and a right striking executing part which are symmetrically arranged; the left and right striking execution parts are respectively arranged at the left part and the right part in the vehicle body in a manner of being adjustable along the left and right square; the left striking execution part and the right striking execution part form surrounding fit with the periphery of the crown through a comb-shaped striking rod;
the striking driving mechanism comprises a left striking driving mechanism and a right striking driving mechanism which are respectively in driving connection with the left striking execution part and the right striking execution part so that the tree crown enclosed between the left striking execution part and the right striking execution part can rock back and forth in a reciprocating manner;
the fruit collecting mechanism comprises a left collecting rolling brush, a right collecting rolling brush, a left collecting box and a right collecting box; the left collecting rolling brush and the right collecting rolling brush are respectively arranged at the inner side part of the transverse supporting platform at the left side and the inner side part of the transverse supporting platform at the right side and are respectively connected with the high-position end of the fruit guiding inclined plane on the transverse supporting platform at the left side and the high-position end of the fruit guiding inclined plane on the transverse supporting platform at the right side; the left and the right collecting rolling brushes rotate oppositely in a contact mode by the brush hairs; the two collecting boxes are respectively inserted into the lower part of the left transverse supporting table and the lower part of the right transverse supporting table and are respectively aligned with the blanking opening on the left transverse supporting table and the blanking opening on the right transverse supporting table from top to bottom.
Further: the car roof height adjusting mechanism comprises a height adjusting driving motor, a screw rod, a nut piece, a vertical guide frame and two vertical guide rails arranged in parallel, wherein a vertical mounting groove is formed in the vertical guide frame; the two vertical guide rails are arranged on the outer side surface of the vertical edge of the car roof, a vertical guide groove is formed between the two guide rails, the vertical guide frame is embedded in the vertical guide groove in a clearance fit manner, and the inner side of the vertical guide frame is fixedly connected with the vertical side wall of the car body; the screw is supported in the vertical mounting groove of the vertical guide frame; the height-adjusting driving motor is fixed at the lower end of the vertical guide frame and is in driving connection with the screw rod, the nut piece is in threaded connection with the screw rod, and two ends of the nut piece are fixedly connected with the two vertical guide rails on two sides.
Further: the left striking execution part and the right striking execution part respectively comprise striking rod installation upright posts, the striking rod installation upright posts are square upright posts, striking rod installation grooves are uniformly formed in the front side and the rear side of each striking rod installation upright post along the vertical direction, central shaft holes are formed in the striking rod installation upright posts, vertical shaft holes are respectively formed in the front side and the rear side of each central shaft hole, and the vertical shaft holes in the two sides respectively penetrate through the striking rod installation grooves in the two sides; a driving shaft is connected in the central shaft hole, and the lower end of the driving shaft extends out of the lower end of the striking rod mounting upright post and is fixedly connected to the shaft seat; the shaft seat is arranged on the shaft seat support sliding table in a rotatable mode along the central shaft of the driving shaft; a striking rod mounting shaft is rotatably mounted in the vertical shaft holes at the two sides, and the lower ends of the striking rod mounting shafts at the two sides extend out of the lower part of the striking rod mounting upright post and are connected with a striking rod opening and closing control mechanism; a group of striking rod assemblies extending outwards are fixedly connected in the driving shafts on the two sides and correspond to each striking rod mounting groove, and the striking rod assemblies on the striking rod mounting grooves on the two sides are symmetrically arranged in an encircling manner;
and the left striking execution part and the right striking execution part are respectively provided with a vibration driving mechanism which enables the striking rod mounting upright post to reciprocate up and down.
Further, the method comprises the following steps: the shaft seat supporting sliding table comprises a sliding block and a sliding block frame, the sliding block frame is arranged along the left-right direction, the outer end of the sliding block frame is fixedly connected with the inner side of the vertical side wall of the vehicle body, and a sliding groove along the left-right direction is formed in the sliding block frame; the sliding block is fixed in the sliding groove in a mode of being adjustable along the left and right sides, a shaft hole is formed in the upper end of the sliding block, a shaft platform is arranged at the lower end of the shaft seat, and the shaft hole and the shaft platform are in relatively rotatable plug-in fit.
Further, the method comprises the following steps: the striking rod opening and closing control mechanism comprises two first connecting rods, four second connecting rods, two third connecting rods, a first support, a second support, an opening and closing control motor and an opening and closing driving screw rod; the two first connecting rods are symmetrically arranged, and one ends of the two first connecting rods are fixedly connected with the lower ends of the two driving shafts respectively; the four second connecting rods are grouped in pairs, the two second connecting rods in the first group are arranged in parallel, one end of each of the two connecting rods can be relatively rotatably connected with the other end of one of the first connecting rods, the two second connecting rods in the second group are arranged in parallel, and one end of each of the two connecting rods can be relatively rotatably connected with the other end of the other first connecting rod; the other ends of the two second connecting rods of the first group are connected with one end of the first bracket in a relatively rotating manner; the other ends of the two second connecting rods of the second group can be relatively and rotatably connected with the other end of the first bracket; the two third connecting rods are symmetrically arranged; one end of a third connecting rod is connected with one end of the second bracket in a relatively rotating mode, and the other end of the third connecting rod is connected with the middle part of the second connecting rod, which is positioned at the inner side of the first group of two second connecting rods, in a relatively rotating mode; one end of the other third connecting rod is connected with the other end of the second bracket in a relatively rotating mode, and the other end of the other third connecting rod is connected with the middle part of the second connecting rod, which is positioned at the inner side of the second group of two second connecting rods, in a relatively rotating mode; the middle part of the second support is provided with a threaded hole which is in threaded connection with the opening and closing driving screw rod, the opening and closing driving screw rod is supported on the first support, and the outer end of the opening and closing driving screw rod is connected with an opening and closing control motor fixed on the outer side of the first support.
Further, the method comprises the following steps: each group of beating rod assemblies are formed by connecting a plurality of scattered beating bent rods at one end through joints, shaft holes are formed in the joints, and the shaft holes and the driving shaft form limiting fit along the circumferential direction.
Further, the method comprises the following steps: the vibration driving mechanism comprises a spring and a cam; the lower extreme at the drive shaft is adorned to the spring suit, and the upper and lower end of spring respectively with the lower terminal surface of beating pole installation stand and the up end pressing contact of axle bed, the cam sets up in the top of beating pole installation stand, and the cam passes through the outer contour face and contacts with beating pole installation stand, and the cam is connected with cam driving motor, and cam driving motor passes through motor support and is connected with the vertical lateral wall of automobile body.
Further: the left striking driving mechanism and the right striking driving mechanism respectively comprise a sliding seat, a driving gear, a driven gear and a rocker arm; the sliding seat is supported on a sliding seat part arranged on a transverse supporting table of the vehicle body, the sliding seat is connected with a sliding seat driving screw rod through a sliding seat nut fixed at the lower end, the sliding seat driving screw rod penetrates through the vertical side wall of the vehicle body, and the outer end of the sliding seat driving screw rod is connected with a hand wheel; the driving gear and the driven gear are respectively arranged at the upper end of the sliding seat through wheel shafts, the driving gear is connected with a striking driving motor, and the driving gear is meshed with the driven gear; one end of the rocker arm is eccentrically and rotatably connected with the driven wheel, and the other section of the rocker arm is eccentrically and rotatably connected with the shaft seat.
Further: the front and the back sides of the roof are also provided with a front lifting shielding curtain and a back lifting shielding curtain which are arranged on the transverse edges of the roof.
Further: air grooves are uniformly distributed at the high end position of each fruit guide inclined plane along the front-back direction and are connected with an external air supply system through an air supply pipeline.
The invention has the advantages and positive effects that:
1. according to the invention, through the mutual matching of the striking mechanism, the fruit collecting mechanism, the striking driving mechanism and the roof height adjusting mechanism and all parts, the automatic picking and collecting of small berries such as sea-buckthorn and the like with different heights and widths can be realized within a certain space range, and the picking of small berries of different varieties in different regions can be adapted.
2. The invention utilizes the striking device which can vibrate in multiple directions, can efficiently shake off small berries such as sea-buckthorn and the like, is matched with the collecting device at the bottom of the vehicle to collect fruits, is suitable for picking the small berries such as the sea-buckthorn and the like, improves the efficiency of manual picking, and has high automation degree. Has wide application range.
3. Compared with other current patents, the striking mechanism is in an open state before reaching the target tree, rotates and converges after reaching the target position, and vibrates in multiple directions, so that the efficiency of shaking off fruits is high, and the damage to branches and leaves of the tree is small.
Drawings
FIG. 1 is an elevational view of the overall construction of the present invention;
FIG. 2 is a perspective view of the overall construction of the present invention;
FIG. 3 is a schematic structural view of the roof height adjustment mechanism of the present invention;
FIG. 4 is a schematic structural view of a left-side impact actuator of the present invention (the right-side impact actuator is identical in structure to the left-side impact actuator);
FIG. 5 is a top view of the striker lever opening and closing control mechanism of FIG. 4;
FIG. 6 is a schematic structural view of the vibration driving mechanism of the present invention;
FIG. 7 is a schematic view of the connection of the impact actuator to the impact drive mechanism of the present invention;
fig. 8 is a schematic structural view of the fruit collection mechanism of the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It is to be understood that this embodiment is illustrative and not restrictive.
A vibration striking type shrub fruit picking and collecting vehicle is shown in figures 1-8, and the invention point is as follows: the fruit picking and placing vehicle mainly comprises a vehicle body 1, a vehicle roof 3, a vehicle roof height adjusting mechanism 2, a striking executing mechanism 4, a striking driving mechanism 5 and a fruit collecting mechanism 6. The concrete structure and connection relation of each part are as follows:
1. vehicle body
The automobile body is the organism of picking the collection vehicle for concentrate the installation together with other parts, form the cooperation and connect.
The vehicle body mainly comprises a left part and a right part which are symmetrically arranged, and the left part and the right part are respectively composed of a vertical side wall and a transverse supporting table connected with the inner side of the bottom of the vertical side wall. Namely, the left part 12 of the vehicle body and the right part 13 of the vehicle body are both L-shaped and are oppositely arranged. The bottom of the vertical side walls at two sides is respectively provided with a front travelling wheel and a rear travelling wheel 11, so that the travelling movement of the picking and collecting vehicle can be realized. The two lateral support tables on the two sides are respectively provided with a front fruit guiding inclined surface 122 and a rear fruit guiding inclined surface 122 which are obliquely arranged (only the fruit guiding inclined surface on the left part of the vehicle body is marked in the drawing) and a fruit dropping opening 121 which is connected with the lower end of the fruit guiding inclined surface (only the fruit dropping opening on the left part of the vehicle body is marked in the drawing). Specifically, the fruit guiding inclined planes extend from the middle position of the vehicle body to the left side and the right side, and the fruit guiding inclined planes on the left part and the right part are arranged in a downward inclined mode from high to low.
2. Vehicle roof
The roof is used for connecting the left part and the right part of the vehicle body together, and mainly comprises a left vertical side 31, a right vertical side 33 and an upper transverse side 32 connecting the two vertical sides. The whole body is in an inverted U shape. The two vertical edges are respectively provided with a left vertical slot 311 and a right vertical slot 331, and the two vertical slots are respectively inserted and matched with the vertical side walls at the two sides of the vehicle body, so that the vehicle roof and the left and right parts of the vehicle body are connected into a whole, and a picking operation space is formed between the vehicle roof and the vertical side walls at the two sides. Further: the two vertical guide blocks can be fixed outside the vertical side walls on the two sides of the car body, vertical grooves matched with the vertical guide blocks are formed in the vertical slot walls of the car roof, the vertical grooves are matched with the vertical guide blocks, on one hand, the guide effect of vertical movement of the car roof is achieved, on the other hand, the positions of the car roof and the car body in the front-back direction can be restrained, and the front-back limiting effect is achieved.
3. Vehicle roof height adjusting mechanism
And a group of roof height adjusting mechanisms are respectively arranged between the outside of the vertical side walls at the two sides of the vehicle body and the two sides of the corresponding side of the roof. The automatic picking of small berries such as sea-buckthorn with different heights is realized by adjusting the height of the vehicle roof. In the present invention, the roof height adjustment mechanism is preferably: comprising a height-adjusting drive motor 21, a screw 23, a nut member (not shown in the figure), a vertical guide frame 22 and two vertical guide rails 24 arranged in parallel. Wherein, the nut piece is the opposite-shaped nut structure that the middle is provided with the screw hole and the left and right sides is provided with the link. And a vertical mounting groove is formed in the vertical guide frame. The two vertical guide rails are arranged on the outer side surface of the vertical edge of the car roof, a vertical guide groove is formed between the two guide rails, the vertical guide frame is embedded in the vertical guide groove in a clearance fit mode, and the inner side of the vertical guide frame is fixedly connected with the vertical side wall of the car body. The screw rod is supported in the vertical mounting groove of the vertical guide frame, and the vertical mounting groove is not communicated with the upper end and the lower end of the vertical guide frame so as to mount the upper end part and the lower end part of the screw rod. The height-adjusting driving motor is fixed at the lower end of the vertical guide frame and is in driving connection with the screw rod, the nut piece is in threaded connection with the screw rod, and two ends of the nut piece are fixedly connected with the two vertical guide rails on two sides. This roof height adjustment mechanism, it is rotatory through heightening driving motor drive screw rod, and the screw rod drives nut spare and reciprocates, and nut spare drives the roof through two vertical guided ways and reciprocates, realizes the regulation of roof height, has the convenient advantage of adjustment.
Besides the vehicle roof height adjusting mechanism, the vehicle roof height adjusting mechanism can also adopt common structural components such as an electric push rod, an air cylinder, a hydraulic cylinder and the like to adjust the vehicle roof height.
3. Impact actuating mechanism
The striking executing mechanism is composed of a left striking executing part and a right striking executing part which are symmetrically arranged; the left and right striking execution parts are respectively arranged at the left part and the right part in the vehicle body in a manner of being adjustable along the left and right square; the left striking execution part and the right striking execution part form surrounding fit with the periphery of the crown through a comb-shaped striking rod. The left striking execution part and the right striking execution part are specifically structured as follows:
the left striking execution part and the right striking execution part respectively comprise a striking rod mounting upright post 41, and the striking rod mounting upright post is a square upright post. A central shaft hole is arranged on the striking rod mounting upright post, and the central shaft hole adopts a spline hole. A drive shaft 44 is connected within the central shaft bore by a male and female spline fit. The lower end of the drive shaft extends from the lower end of the striker rod mounting post and is fixedly attached to the shaft seat 46. The shaft seat is rotatably mounted to the shaft seat support slide along a central axis of the drive shaft. The shaft seat supporting sliding table comprises a sliding block 48 and a sliding block frame 49, the sliding block frame is arranged along the left-right direction, the outer end of the sliding block frame is fixedly connected with the inner side of the vertical side wall of the vehicle body, and a sliding groove along the left-right direction is formed in the sliding block frame. A plurality of screw holes 491 are arranged on the front side wall and the rear side wall of the sliding groove in an aligning mode according to the left-right direction, threaded holes are arranged on the front side wall and the rear side wall of the sliding block in an aligning mode, the sliding block is embedded into the sliding groove in a clearance fit mode, and fixing screws are arranged in the threaded holes on the front side wall and the rear side wall of the sliding block and a group of aligned screw holes on the two sides of the sliding groove so that the sliding block is fixed in the sliding groove. The sliding block and the sliding groove are connected in the mode, and the position of the sliding block in the sliding groove can be adjusted and fixed. The upper end of the sliding block is provided with a shaft hole, the lower end of the shaft seat is provided with a shaft platform 461, and the shaft hole and the shaft platform are in relatively rotatable plug-in fit. Therefore, the position of the mounting upright post of the striking rod can be adjusted by adjusting the position of the sliding block.
The front side and the rear side of the striking rod mounting upright post are uniformly provided with striking rod mounting grooves along the vertical direction. The front side and the rear side of the central shaft hole are respectively provided with a vertical shaft hole, and the vertical shaft holes on the two sides respectively penetrate through the striking rod mounting grooves on the two sides. A striking rod mounting shaft 43 is rotatably mounted in the vertical shaft holes on the two sides, a group of striking rod assemblies 42 extending outwards are fixedly connected in the driving shafts on the two sides corresponding to each striking rod mounting groove, and the striking rod assemblies on the striking rod mounting shafts on the two sides are symmetrically arranged in an encircling manner. Each striking rod assembly is formed by connecting a plurality of scattered striking bent rods at one end through a joint, and the number of the striking bent rods of each striking rod assembly in the drawing is 3, but not limited to three. The joint is provided with a shaft hole, and the shaft hole and the driving shaft form limiting fit along the circumferential direction. Specifically, the non-cooperation position of drive shaft and beating pole subassembly adopts the optical axis structure, and the shaft hole cooperation position of drive shaft and beating pole subassembly can adopt the cooperation structure of square shaft and quad slit, also can adopt the cooperation structure of integral key shaft and splined hole.
The lower ends of the mounting shafts of the two striking rods extend out from the lower part of the mounting upright post of the striking rod and are connected with a striking rod opening and closing control mechanism 45. The striking rod opening and closing control mechanism comprises two first connecting rods 451, four second connecting rods 452, two third connecting rods 453, a first support 456, a second support 454, an opening and closing control motor 457 and an opening and closing driving screw rod 455. The two first connecting rods are symmetrically arranged, and one ends of the two first connecting rods are fixedly connected with the lower ends of the two driving shafts respectively. Two liang a set of four second connecting rods, but the one end of two second connecting rods parallel arrangement and these two connecting rods of first group all is connected with the other end relative rotation formula of one of them first connecting rod, but two second connecting rods parallel arrangement and the one end of these two connecting rods of second group all are connected with the other end relative rotation formula of another first connecting rod. The other ends of the two second connecting rods of the first group are connected with one end of the first bracket in a relatively rotating manner; the other ends of the two second connecting rods of the second group are connected with the other end of the first support in a relatively rotating mode. The two third connecting rods are symmetrically arranged; one end of a third connecting rod is connected with one end of the second bracket in a relatively rotating mode, and the other end of the third connecting rod is connected with the middle part of the second connecting rod, which is positioned at the inner side of the first group of two second connecting rods, in a relatively rotating mode; one end of the other third connecting rod is connected with the other end of the second bracket in a relatively rotating mode, and the other end of the other third connecting rod is connected with the middle part of the second connecting rod, located on the inner side, of the second group of two second connecting rods in a relatively rotating mode. The middle part of the second support is provided with a threaded hole which is in threaded connection with the opening and closing driving screw rod, the opening and closing driving screw rod is supported on the first support, and the outer end of the opening and closing driving screw rod is connected with an opening and closing control motor fixed on the outer side of the first support.
By adopting the beating rod opening and closing control mechanism, the opening and closing control motor is fixedly connected with the opening and closing driving lead screw, the opening and closing driving lead screw is matched with a threaded hole at the upper end of the second support, the transmission mechanism consisting of a plurality of connecting rods and two supports is connected with beating rod mounting shafts at two sides, and the opening and closing control motor drives the opening and closing driving lead screw to rotate, so that the transmission mechanism drives the beating rod mounting shafts at two sides to rotate, the beating rods at the front side and the rear side rotate at a certain angle relative to each other in an X-Y plane, and the opening and closing control of the beating rods is realized.
The left striking execution part and the right striking execution part are provided with vibration driving mechanisms 47 which enable the striking rod mounting upright post to reciprocate up and down. The vibration driving mechanism includes a spring 474 and a cam 471; the spring is sleeved at the lower end of the driving shaft, and the upper end and the lower end of the spring are respectively in pressing contact with the lower end surface of the mounting upright post of the striking rod and the upper end surface of the shaft seat; the cam is arranged above the striking rod mounting upright post, the cam is in contact with the striking rod mounting upright post through an outer contour surface, the cam is connected 472 with the cam driving motor, and the cam driving motor is connected with the vertical side wall of the vehicle body through a motor support 473. The cam is driven to rotate by the cam driving motor, and the striking rod reciprocates up and down in the Z-axis direction under the action of the cam and the spring.
4. Impact driving mechanism
The impact driving mechanism has the following functions: the driving striking execution mechanism swings back and forth around the axis of the driving shaft in a reciprocating mode, comprises a left striking driving mechanism and a right striking driving mechanism, and is in driving connection with the left striking execution part and the right striking execution part respectively, so that the tree crown enclosed between the left striking execution part and the right striking execution part swings back and forth in a reciprocating mode. Specifically, the method comprises the following steps:
the left striking driving mechanism and the right striking driving mechanism each include a slider 51, a driving gear 52, a driven gear 53, and a swing arm 54. A slider portion 123 is provided at a position between the front and rear fruit guide slopes of the lateral support base of the vehicle body, and the slider is supported on the slider portion. The slide is connected with a slide driving lead screw 55 through a slide nut fixed at the lower end, the slide driving lead screw penetrates through the vertical side wall of the vehicle body, and the outer end of the slide driving lead screw is connected with a hand wheel 56. The driving gear and the driven gear are respectively arranged at the upper end of the sliding seat through wheel shafts, the driving gear is connected with a striking driving motor, and the driving gear is meshed with the driven gear; one end of the rocker arm is eccentrically and rotatably connected with the driven wheel, and the other section of the rocker arm is eccentrically and rotatably connected with the shaft seat. By adopting the beating driving mechanism, the hand wheel is rotated to drive the sliding seat to drive the screw rod to rotate, the left and right positions of the sliding seat can be adjusted, the left and right positions of the beating executing mechanism can be adjusted by matching the adjustment of the position of the shaft seat, and the picking width can be adjusted by adjusting the left and right positions of the beating executing mechanism.
5. Fruit collecting mechanism
The fruit collecting mechanism realizes the collection of the dropped fruits by beating, and mainly comprises a left collecting rolling brush, a right collecting rolling brush, a left collecting box 64 and a right collecting box 64. The collecting roller brush 61 is a cylindrical structure with a brush and is driven to rotate by a motor. The left and right collecting rolling brushes are respectively installed on the inner side part of the transverse supporting table on the left side and the inner side part of the transverse supporting table on the right side through the supporting frame, and are respectively linked with the high-position end of the fruit guide inclined plane on the transverse supporting table on the left side and the high-position end of the fruit guide inclined plane on the transverse supporting table on the right side, and the comb plate 62 is installed at the high-position end of the fruit inclined plane. The left and right collecting rolling brushes are in relative reverse rotation motion in a mode that the bristles are in contact, namely the left collecting rolling brush rotates anticlockwise, the right rolling brush rotates clockwise, dropped small berries are caught, and the dropped small berries are conveyed to the fruit guiding inclined planes on two sides through rotation motion.
The two collecting boxes are respectively inserted into the lower part of the left transverse supporting table and the lower part of the right transverse supporting table and are respectively aligned with the blanking opening on the left transverse supporting table and the blanking opening on the right transverse supporting table from top to bottom. Specifically, the lower part of the horizontal supporting table on the left side and the lower part of the horizontal supporting table on the right side are provided with two collecting box slots which are symmetrically arranged left and right, and two side edges of the collecting box are respectively inserted into the two collecting box slots. For conveniently inserting and collecting the box and taking off and collect the box, be fixed with preceding baffle at the front end of collecting the box, install the handle in the front on the baffle, and the rear end both sides of collecting the box are provided with the slot, insert detachable backplate in the slot.
In addition to the above structure, the fruit collecting mechanism is provided with air grooves 63 uniformly distributed along the front-back direction at the high end of each fruit guide inclined plane, and connected with an external air supply system through an air supply pipeline.
This mechanism is collected to fruit is rotatory by motor drive round brush, and the round brush catches and hits the little berry of hitting and hitting the drop, prevents that seabuckthorn or little berry from dropping from the space of vehicle bottom portion, and the round brush cooperates with the broach, brings the fruit into the fruit inclined plane of leading on both sides, and the fruit glides along the inclined plane, through the blowing of air pocket again, realizes reducing the fruit and piles up to make the fruit get into in the containing box smoothly.
Besides the five main mechanisms, the front side and the rear side of the roof are also provided with a front lifting curtain and a rear lifting curtain which are arranged on the transverse edges of the roof. When the striking mechanism works, the lifting shielding curtain descends to prevent fruits from flying out.
The working principle of the vibration striking type shrub pulp picking and collecting vehicle is as follows:
before the vibration striking type sea buckthorn picking and collecting vehicle is used, the height of the vehicle roof is adjusted through a vehicle roof lifting mechanism according to the height of picked fruit trees; the positions of the striking executing mechanisms on the left side and the right side are adjusted through the position adjusting mechanisms of the striking mechanisms according to the tree width of the picked fruit tree, so that the best picking effect is achieved.
When the beating executing mechanism of the picking and collecting vehicle is not just opposite to the picked fruit tree, the equipment is in a dormant state, the shielding curtain is lifted, and at the moment, the beating rod is in an open state and the beating executing mechanism does not work. The rolling brush motor stops rotating, and the motor connected with the cam stops rotating.
When the beating executing mechanism of the picking and collecting vehicle is right opposite to the picked fruit tree, the equipment is in a working state, the shielding curtain is lowered, the opening and closing control motor of the beating executing mechanism rotates to drive the beating rod to fold, the picked fruit tree is held, and the beating rod extends into the fruit tree at the moment. Then, the beating driving motor drives the driving gear to rotate, the beating rod swings back and forth in the X-Y plane through transmission, the cam rotates, and under the action of the spring, the beating rod vibrates up and down along the Z-axis direction. The picked fruit tree falls off through the swinging of the beating rod in the X-Y direction and the vertical vibration in the Z-axis direction.
After the fruit falls, through the rotation of round brush, the fruit on the broach board will brush the hair is combed to leading on the fruit inclined plane, and then blows through the air duct, and the fruit can get into the receiver. And the fruit collection is realized.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the scope of the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (8)
1. A vibration striking type shrub pulp picking and collecting vehicle is characterized in that; comprises a vehicle body, a vehicle roof, a striking actuating mechanism, a striking driving mechanism and a fruit collecting mechanism;
the vehicle body consists of a left part and a right part which are symmetrically arranged, and the left part and the right part consist of a vertical side wall and a transverse supporting table connected with the inner side of the bottom of the vertical side wall; the bottoms of the vertical side walls on the two sides are respectively provided with a front walking wheel and a rear walking wheel, and the horizontal supporting tables on the two sides are respectively provided with a front fruit guiding inclined plane and a rear fruit guiding inclined plane which are obliquely arranged and a fruit dropping hole which is connected with the lower end of the fruit guiding inclined plane;
the vehicle roof consists of two vertical edges and an upper transverse edge connecting the two vertical edges, the two vertical edges are provided with vertical slots, and the two vertical slots are respectively inserted and matched with the vertical side walls at the two sides of the vehicle body, so that the vehicle roof is connected with the left part and the right part of the vehicle body into a whole, and a picking operation space is formed between the vehicle roof and the vertical side walls at the two sides;
a group of roof height adjusting mechanisms are respectively arranged between the outside of the vertical side walls at the two sides of the vehicle body and the two sides of the corresponding side of the roof;
the striking executing mechanism is composed of a left striking executing part and a right striking executing part which are symmetrically arranged; the left and right striking execution parts are respectively arranged at the left part and the right part in the vehicle body in a manner of being adjustable along the left and right square; the left striking execution part and the right striking execution part form surrounding fit with the periphery of the crown through a comb-shaped striking rod;
the striking driving mechanism comprises a left striking driving mechanism and a right striking driving mechanism which are respectively in driving connection with the left striking execution part and the right striking execution part so that the tree crown enclosed between the left striking execution part and the right striking execution part can rock back and forth in a reciprocating manner;
the fruit collecting mechanism comprises a left collecting rolling brush, a right collecting rolling brush, a left collecting box and a right collecting box; the left collecting rolling brush and the right collecting rolling brush are respectively arranged at the inner side part of the transverse supporting platform at the left side and the inner side part of the transverse supporting platform at the right side and are respectively connected with the high-position end of the fruit guiding inclined plane on the transverse supporting platform at the left side and the high-position end of the fruit guiding inclined plane on the transverse supporting platform at the right side; the left and the right collecting rolling brushes rotate oppositely in a contact mode by the brush hairs; the two collecting boxes are respectively inserted into the lower part of the left transverse supporting table and the lower part of the right transverse supporting table and are respectively aligned with the blanking opening on the left transverse supporting table and the blanking opening on the right transverse supporting table up and down;
the left striking execution part and the right striking execution part respectively comprise striking rod installation upright posts, the striking rod installation upright posts are square upright posts, striking rod installation grooves are uniformly formed in the front side and the rear side of each striking rod installation upright post along the vertical direction, central shaft holes are formed in the striking rod installation upright posts, vertical shaft holes are respectively formed in the front side and the rear side of each central shaft hole, and the vertical shaft holes in the two sides respectively penetrate through the striking rod installation grooves in the two sides; a driving shaft is connected in the central shaft hole, and the lower end of the driving shaft extends out of the lower end of the striking rod mounting upright post and is fixedly connected to the shaft seat; the shaft seat is arranged on the shaft seat support sliding table in a rotatable mode along the central shaft of the driving shaft; a striking rod mounting shaft is rotatably mounted in the vertical shaft holes at the two sides, and the lower ends of the striking rod mounting shafts at the two sides extend out of the lower part of the striking rod mounting upright post and are connected with a striking rod opening and closing control mechanism; a group of striking rod assemblies extending outwards are fixedly connected in the driving shafts on the two sides and correspond to each striking rod mounting groove, and the striking rod assemblies on the striking rod mounting grooves on the two sides are symmetrically arranged in an encircling manner; the left striking execution part and the right striking execution part are respectively provided with a vibration driving mechanism which enables the striking rod mounting upright post to reciprocate up and down;
the striking rod opening and closing control mechanism comprises two first connecting rods, four second connecting rods, two third connecting rods, a first support, a second support, an opening and closing control motor and an opening and closing driving screw rod; the two first connecting rods are symmetrically arranged, and one ends of the two first connecting rods are fixedly connected with the lower ends of the two driving shafts respectively; the four second connecting rods are grouped in pairs, the two second connecting rods in the first group are arranged in parallel, one end of each of the two connecting rods can be relatively rotatably connected with the other end of one of the first connecting rods, the two second connecting rods in the second group are arranged in parallel, and one end of each of the two connecting rods can be relatively rotatably connected with the other end of the other first connecting rod; the other ends of the two second connecting rods of the first group are connected with one end of the first bracket in a relatively rotating manner; the other ends of the two second connecting rods of the second group can be relatively and rotatably connected with the other end of the first bracket; the two third connecting rods are symmetrically arranged; one end of a third connecting rod is connected with one end of the second bracket in a relatively rotating mode, and the other end of the third connecting rod is connected with the middle part of the second connecting rod, which is positioned at the inner side of the first group of two second connecting rods, in a relatively rotating mode; one end of the other third connecting rod is connected with the other end of the second bracket in a relatively rotating mode, and the other end of the other third connecting rod is connected with the middle part of the second connecting rod, which is positioned at the inner side of the second group of two second connecting rods, in a relatively rotating mode; the middle part of the second support is provided with a threaded hole which is in threaded connection with the opening and closing driving screw rod, the opening and closing driving screw rod is supported on the first support, and the outer end of the opening and closing driving screw rod is connected with an opening and closing control motor fixed on the outer side of the first support.
2. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: the car roof height adjusting mechanism comprises a height adjusting driving motor, a screw rod, a nut piece, a vertical guide frame and two vertical guide rails arranged in parallel, wherein a vertical mounting groove is formed in the vertical guide frame; the two vertical guide rails are arranged on the outer side surface of the vertical edge of the car roof, a vertical guide groove is formed between the two guide rails, the vertical guide frame is embedded in the vertical guide groove in a clearance fit manner, and the inner side of the vertical guide frame is fixedly connected with the vertical side wall of the car body; the screw is supported in the vertical mounting groove of the vertical guide frame; the height-adjusting driving motor is fixed at the lower end of the vertical guide frame and is in driving connection with the screw rod, the nut piece is in threaded connection with the screw rod, and two ends of the nut piece are fixedly connected with the two vertical guide rails on two sides.
3. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: the shaft seat supporting sliding table comprises a sliding block and a sliding block frame, the sliding block frame is arranged along the left-right direction, the outer end of the sliding block frame is fixedly connected with the inner side of the vertical side wall of the vehicle body, and a sliding groove along the left-right direction is formed in the sliding block frame; the sliding block is fixed in the sliding groove in a mode of being adjustable along the left and right sides, a shaft hole is formed in the upper end of the sliding block, a shaft platform is arranged at the lower end of the shaft seat, and the shaft hole and the shaft platform are in relatively rotatable plug-in fit.
4. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: each group of beating rod assemblies are formed by connecting a plurality of scattered beating bent rods at one end through joints, shaft holes are formed in the joints, and the shaft holes and the driving shaft form limiting fit along the circumferential direction.
5. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: the vibration driving mechanism comprises a spring and a cam; the lower extreme at the drive shaft is adorned to the spring suit, and the upper and lower end of spring respectively with the lower terminal surface of beating pole installation stand and the up end pressing contact of axle bed, the cam sets up in the top of beating pole installation stand, and the cam passes through the outer contour face and contacts with beating pole installation stand, and the cam is connected with cam driving motor, and cam driving motor passes through motor support and is connected with the vertical lateral wall of automobile body.
6. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: the left striking driving mechanism and the right striking driving mechanism respectively comprise a sliding seat, a driving gear, a driven gear and a rocker arm; the sliding seat is supported on a sliding seat part arranged on a transverse supporting table of the vehicle body, the sliding seat is connected with a sliding seat driving screw rod through a sliding seat nut fixed at the lower end, the sliding seat driving screw rod penetrates through the vertical side wall of the vehicle body, and the outer end of the sliding seat driving screw rod is connected with a hand wheel; the driving gear and the driven gear are respectively arranged at the upper end of the sliding seat through wheel shafts, the driving gear is connected with a striking driving motor, and the driving gear is meshed with the driven gear; one end of the rocker arm is eccentrically and rotatably connected with the driven wheel, and the other section of the rocker arm is eccentrically and rotatably connected with the shaft seat.
7. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: the front and the back sides of the roof are also provided with a front lifting shielding curtain and a back lifting shielding curtain which are arranged on the transverse edges of the roof.
8. The vibratory impact type shrub pulp picking and collecting vehicle as claimed in claim 1, wherein: air grooves are uniformly distributed at the high end position of each fruit guide inclined plane along the front-back direction and are connected with an external air supply system through an air supply pipeline.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110774191.7A CN113303094B (en) | 2021-07-08 | 2021-07-08 | Vibration striking type shrub pulp picking and collecting vehicle |
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| CN202110774191.7A CN113303094B (en) | 2021-07-08 | 2021-07-08 | Vibration striking type shrub pulp picking and collecting vehicle |
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| CN113303094B true CN113303094B (en) | 2022-04-19 |
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| CN114747367A (en) * | 2022-04-22 | 2022-07-15 | 浙江理工大学 | Double-face beating type camellia oleifera fruit picking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES1010924Y (en) * | 1989-06-14 | 1990-08-16 | Raco Industrial, S.A. | COLLECTION MACHINE FOR ALMONDS AND SIMILAR PRODUCTS. |
| CN105594374B (en) * | 2016-02-05 | 2017-11-28 | 农业部南京农业机械化研究所 | A kind of oscillatory type medlar-picking machine structure |
| CN205848033U (en) * | 2016-08-02 | 2017-01-04 | 郭志忠 | Formula of bestirring flexibility Fructus Lycii combine |
| CN106358590B (en) * | 2016-08-19 | 2018-03-02 | 湖北工业大学 | A kind of self-propelled tea picker |
| CN106856841A (en) * | 2017-01-17 | 2017-06-20 | 中船重工中南装备有限责任公司 | It is a kind of can continuously recovery operations vertical double-drum harvesting machinery |
| CN109699295B (en) * | 2019-01-21 | 2020-10-13 | 武汉理工大学 | Harvesting trolley of self-adaptive vibrating type picking machine |
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