CN207626133U - A kind of double trunk automatic clamping devices for self-propelled vibration harvester - Google Patents

Abstract

A kind of double trunk automatic clamping devices for self-propelled vibration harvester, the mechanical oscillation harvesting technique field for relating generally to fruit is made of walking mechanism, rotary shaft, vibration machine, rear supporting rod, rear pressure sensor, the first intermediate pressure sensor, the first intermediate supporting rod, the second intermediate supporting rod, the second intermediate pressure sensor, preceding pressure sensor and front clamp bar.Pressure sensor is installed on vibration machine and is equipped on four supporting rods, and vibration machine is mounted on the side of walking mechanism by rotary shaft.The automatic clamping device and method is simple in structure, easily controllable, dependable performance；By mechanical oscillation trunks of fruit trees, labor intensity is low, realizes that the major part of ripening fruits falls off；The mechanism not only avoids orchard worker and climbs tree existing personal risk, and meets the continuous walking formula operation of mechanization requirement；The picking of two Tree Fruits can be achieved at the same time in four supporting rods, and working efficiency greatly improves.

Description

A kind of double trunk automatic clamping devices for self-propelled vibration harvester

Technical field

This patent is related to the mechanical oscillation harvesting technique field of fruit, and in particular to dress is clamped in the double trunks of a planting fruit-trees automatically It sets.

Background technology

China is used as traditional agriculture big country, and types of fruits is various, and productive value and nutritive value are extremely abundant.It receives in orchard It is most important link in orchard production overall process to obtain operation, and fruit harvesting labor intensity is big, and the amount of labour used is more.Traditional manually adopts Receiving method per hectare needs hundreds of working hours, accounts for 50% or so of the amount of labour used in the production process of orchard, time-consuming and laborious and of high cost； Therefore, orchard harvesting mechanization is always the emphasis of domestic and international research work.Mechanical-vibration type harvester uses shaking method, is state It is outer to apply most, the good type of applicability.Harvest main manually hand in China orchard is plucked and is assisted by simple tool, such as The fruit of the dwarfing plantings such as jujube, cherry, peach, plum, apple production relies on picked by hand, which part to realize half machinery more Change picking.Not only efficiency is low for picked by hand, but also there are Personal Risks during climbing tree by orchard worker.Current existing mechanization tree Dry vibrating picker needs human assistance that trunk is clamped, and efficiency is low, does not meet the requirement of continuous walking formula operation.Patent Trunk automatic clamping mechanism and method, the mechanism for vibrating harvesting are proposed in 201610207249.9 ensure that oscillatory type The safety of harvesting and the continuous walking formula operation for meeting mechanization requirement, but the picking efficiency of the mechanism is to be improved, and can There can be the mistake for omitting fruit tree.

In view of this, inventing, a kind of picking efficiency is high, labor intensity is low；And simple in structure, easily controllable, dependable performance And the self-propelled for vibrate the double trunk automatic clamping devices harvested of market popularization value is got well and had to adaptability, is people in the industry The problem of scholar's urgent need to resolve.

Invention content

For the deficiency in above-mentioned background technology, this patent proposes a kind of double trunks for self-propelled vibration harvester Automatic clamping device can solve the deficiency of existing mechanical oscillation trunk picker.

This patent includes walking mechanism 1, rotary shaft 2, vibration machine 3, rear supporting rod 4, rear pressure sensor 5, first Intermediate pressure sensor 6, the first intermediate supporting rod 7, the second intermediate supporting rod 8, the second intermediate pressure sensor 9, preceding pressure pass Sensor 10 and front clamp bar 11.It is characterized in that：Front clamp bar 11, the first intermediate supporting rod 7, the second intermediate supporting rod 8 and rear folder Bar 4 is held on vibration machine 3, each supporting rod is scalable and is moved forward and backward, and preceding pressure sensor 10 is mounted on fore-clamp It holds on bar 11, the second intermediate pressure sensor 9 is mounted on the second intermediate supporting rod 8, the first intermediate pressure sensor 6 is mounted on On first intermediate supporting rod 7, rear pressure sensor 5 be mounted on rear supporting rod 4 on, vibration machine 3 is mounted on by rotary shaft 2 The side of walking mechanism 1.

The advantages of this patent：The automatic clamping device and method is simple in structure, easily controllable, dependable performance；Pass through machinery Trunks of fruit trees is vibrated, labor intensity is low, realizes that the major part of ripening fruits falls off；The mechanism not only avoids orchard worker and climbs tree presence Personal risk, and meet the continuous walking formula operation of mechanization requirement；Two fruit tree fruits can be achieved at the same time in four supporting rods Real picking, working efficiency greatly improve.

Description of the drawings

Below in conjunction with the accompanying drawings with embodiment to the further details of explanation of this patent.

Fig. 1 is the overall structure diagram of double trunk automatic clamping mechanisms；

Fig. 2 is the overall structure diagram that rotary shaft rotates double trunk automatic clamping mechanisms after 180 °.

It is each part numbers in figure below：Walking mechanism 1, rotary shaft 2, vibration machine 3, after（Before）Supporting rod 4, after （Before）Pressure sensor 5, the first intermediate pressure sensor 6, the first intermediate supporting rod 7, among the second intermediate supporting rod 8, second It is pressure sensor 9, preceding（Afterwards）It is pressure sensor 10, preceding（Afterwards）Supporting rod 11.

Specific implementation mode

As shown in Figure 1, a kind of double trunk automatic clamping devices and method for self-propelled vibration harvester of this patent, Including walking mechanism 1, rotary shaft 2, vibration machine 3, rear supporting rod 4, rear pressure sensor 5, the first intermediate pressure sensor 6, the first intermediate supporting rod 7, the second intermediate supporting rod 8, the second intermediate pressure sensor 9, preceding pressure sensor 10 and front clamp Bar 11.The distance between preceding pressure sensor 10 and rear pressure sensor 5 are less than three slightly larger than the distance between two fruit trees The distance between fruit tree, to ensure that four supporting rods can be acted on simultaneously on two fruit trees.The speed and rotation that walking mechanism 1 is walked The rotating speed of shaft meets certain relationship：Rotary shaft 2 rotates time and walking mechanism travel distance L used in 180 °（Vibration occurs The length of device is L）Time used is equal.

Specific work process：Walking mechanism 1 is from wardrobe or end of line, 7 He of front clamp bar 11 and the first intermediate supporting rod Second intermediate supporting rod 8 is in contraction state, and rear supporting rod 4 is in elongation state, when after supporting rod 4 touch fruit tree tree Dry, after rear pressure sensor 5 detects pressure change, the pause of walking mechanism 1 travels forward, and front clamp bar 11 stretches out, and works as touching To second trunks of fruit trees, after preceding pressure sensor 10 detects pressure change, clamping among the first intermediate supporting rod 7 and second Bar 8 is stretched out and is drawn close respectively towards front and back supporting rod simultaneously, when two trunks of fruit trees are firmly clamped and are reached by four supporting rods Stop after to the pressing force of setting, vibration machine 3 is vibrated with the perpendicular direction of supporting rod, makes fruit abscission, vibration one After fixing time, rear supporting rod 4 is shunk simultaneously with the first intermediate supporting rod 7 and the second intermediate supporting rod 8, and front clamp bar 11 is after continuation of insurance Elongation state is held, while walking mechanism 1 is advanced forward, rotary shaft 2 drives retained part to rotate 180 °.As shown in Fig. 2, fore-clamp It holds bar 11 with 4 position of rear supporting rod mutually to change, that is, it is rear supporting rod 11 to be now in elongation state, and walking mechanism 1 continues Travel forward, when after supporting rod 11 touch trunks of fruit trees, after rear pressure sensor 10 detects pressure change, running gear 1 Pause travels forward, and front clamp bar 4 is stretched out and moved backward, and when touching second trunks of fruit trees, preceding pressure sensor 5 detects To after pressure change, clamping 7 and the second intermediate supporting rod 8 are stretched out and are leaned on respectively towards front and back supporting rod simultaneously among first Hold together, stop after two trunks of fruit trees are exerted oneself to be clamped and reach the pressing force of setting by four supporting rods, vibration machine 3 with The perpendicular direction vibration of supporting rod, makes fruit abscission, vibration be clamped after a certain period of time, among rear supporting rod 11 and first 7 and Second intermediate supporting rod 8 is shunk simultaneously, and front clamp bar 4 continues to keep elongation state, prepares the detection of trunks of fruit trees next time.

If the number of the row fruit tree is even number, can the direct basis above process complete the picking of the row fruit tree；If the row The number of fruit tree is odd number, then in addition the last class fruit tree should be handled：When after supporting rod touch trunks of fruit trees, rear pressure After sensor detects pressure change, the pause of walking mechanism 1 travels forward, and front clamp bar stretches out and supporting rod direction is transported backward Dynamic, existing clamp bar is moved to intermediate supporting rod position, when pressure is still not detected in preceding pressure sensor, can determine whether that the row is only surplus One fruit tree, intermediate supporting rod directly stretches out at this time and supporting rod is drawn close respectively backward, when two supporting rods of clamping trunk Trunks of fruit trees is firmly clamped and is stopped after reaching the pressing force of setting, vibration machine shakes in the direction perpendicular with supporting rod It is dynamic, make fruit abscission, completes the picking of the row fruit tree.

Claims (1)

1. a kind of double trunk automatic clamping devices for self-propelled vibration harvester, by walking mechanism（1）, rotary shaft（2）, shake Dynamic generator（3）, rear supporting rod（4）, rear pressure sensor（5）, the first intermediate pressure sensor（6）, the first intermediate supporting rod （7）, the second intermediate supporting rod（8）, the second intermediate pressure sensor（9）, preceding pressure sensor（10）With front clamp bar（11）Group At；It is characterized in that：Front clamp bar（11）, the first intermediate supporting rod（7）, the second intermediate supporting rod（8）With rear supporting rod（4）Installation In vibration machine（3）On, each supporting rod is scalable and is moved forward and backward, preceding pressure sensor（10）Mounted on front clamp bar （11）Upper, the second intermediate pressure sensor（9）Mounted on the second intermediate supporting rod（8）Upper, the first intermediate pressure sensor（6）Peace Mounted in the first intermediate supporting rod（7）Upper, rear pressure sensor（5）Mounted on rear supporting rod（4）On, vibration machine（3）Pass through Rotary shaft（2）Mounted on walking mechanism（1）Side.