CN208572781U - Stepless adjustable shakes fruit picking - Google Patents

Abstract

The utility model discloses a kind of stepless adjustables to shake fruit picking, including shaking mechanism and chuck mechanism；Shaking mechanism includes shell, equipped with mounting plate and the shaking arm being slidably matched with its single-degree-of-freedom in shell, mounting plate is equipped with the shaft for rotating cooperation, and one end of shaft is equipped with the rotor plate being firmly connected with it, the other end is equipped with the shaking power mechanism for driving it to rotate；Installation is equipped with amplitude adjusting mechanism on rotor plate；Chuck mechanism includes core bar, and core bar includes major diameter section and path section, and major diameter section is fixedly connected with shaking arm；The end of path section, which is fixedly mounted, is equipped with outer collet, and set is installed with inner clip head in path section, and interior collet is oppositely arranged with outer collet, and the fixture for clamping branch or trunk is formed between interior collet and outer collet；Set is installed with the spring for driving interior collet mobile towards outer collet in path section, and collet and mechanism further include the interior collet position restriction mechanism for clip position in locking after fixture clamps branch or trunk.

Description

Stepless adjustable shakes fruit picking

Technical field

The utility model belongs to the engineering device technique field of shaking tree or shrub, is specifically related to a kind of stepless adjustable vibration Shake fruit picking.

Background technique

The Chinese patent of Publication No. CN206948933U discloses a kind of fruit picker, it includes main telescopic rod, The end of the main telescopic rod is equipped with scissors operating mechanism, and the scissors operating mechanism is connected simultaneously by bracing wire with shear mechanism Its shear action is driven, the shear mechanism is mounted on the top of main telescopic rod；The side of the main telescopic rod is equipped with netted Falling apparatus and connect fruit device；The shear mechanism includes fixing seat, and the fixing seat is fixedly mounted on the top of main telescopic rod, The side of the fixing seat is equipped with fixed blade body, is hinged with shears cutter hub, institute by pin shaft on the fixed blade body The overhanging end bottom end face for stating shears cutter hub is provided with connecting column, and the connecting column is hinged by the top of pull rod and T-type plate It is connected, the bottom of the T-type plate is hinged on fixed blade body by shaft, and another end of the T-type plate is connected with bracing wire, Spring is installed between the free end lower end surface and fixed blade body of the T-type plate.The fruit picker is driven by bracing wire Scissors operating mechanism makees shear action, but can only cut a small amount of fruit every time, and efficiency is lower, and audient's range is small, is limited only to The peasant in small yield mu field, and the fruit that its netted collection device can accommodate is few, needs often to unload the full fruit of product, and When fruit weight build-up is to constant weight, fatigue damage easily is caused to the wrist of support.This is also one of monodactyle picking lever Obvious disadvantage.

The Chinese patent application of Publication No. CN 106576596A discloses a kind of band clamping function vibration comb lichee and adopts Device and picking, including clamping device, vibration Zhi Pai mechanism, clamping operating mechanism, transmission mechanism, operating stick, rotation speed control mechanism and Power source；The top of pedestal is provided with clamping device, and the lower part of pedestal is provided with rod set and connect with operating stick；It is arranged in operating stick There is control handle, control handle includes manipulation and control handle and revolving speed control handle, and manipulation and control handle passes through steel wire, covers in steel Casing outside silk is connected with clamping device, and revolving speed control handle and power knob are connected by control connecting line with power source Connect, power source is connected by flexible axle with the end of the drive rod inside operating stick, the head end of drive rod and base interior it is inclined Heart wheel is connected.Although band clamping function vibration comb lichee picker disposably can efficiently pick liana fruit, It is that the formula that curries needs to directly contact pericarp surface and generates impact to it, picks principle compared to other, the damage to fruit It is bigger, it is suitable only for the hard fruit of pericarp.

The Chinese patent of Publication No. CN107548707A discloses a kind of novel vertical vibration fruit picking vehicle, by adopting It plucks and collects integration to improve picking mechanical degree.The mechanism can be used for the arbors class picking fruit such as apple, citrus, pears, Composition include General Purpose Rubber wheel, collecting fruit slot, cushioning fender, tensioning cylinder, collecting fruit baffle, clamper fixing clamp, connecting rod, Body, eccentric orfice, crankshaft.The mechanism makes above-mentioned crank rotation by power input, so that above-mentioned connecting rod is driven to move reciprocatingly, Since clamper fixed frame is allowed to the fixation of target limb to do identical movement with connecting rod together, to reach vibration limb picking The purpose of fruit.The fruit shaken off falls into above-mentioned collecting fruit slot because by the blocking of above-mentioned cushioning fender, in collecting fruit There is cell therefor in the exit of slot, completes last storage work.Novel vertical vibration fruit picking vehicle contains power Device and collection device, the bulky structure of power device is not compact, and collection device compares limitation, can only collect falling for small area Fruit, and vibration mode is single, cannot change amplitude, is not suitable for the picking of various fruits and fruit different times.

Summary of the invention

In view of this, the purpose of this utility model is to provide a kind of stepless adjustables to shake fruit picking, not only may be used It realizes that the shaking to fruit is picked, and difference can be applicable to according to picking environment automatic adjustment shaking frequency and amplitude The picking requirement of the fruit of category.

In order to achieve the above objectives, the utility model provides the following technical solutions:

A kind of stepless adjustable shaking fruit picking, including shaking mechanism and chuck mechanism；

The shaking mechanism includes shell, equipped with mounting plate and the shaking being slidably matched with its single-degree-of-freedom in the shell Arm, the mounting plate, which is equipped with, rotates the shaft of cooperation, one end of the shaft be equipped with the rotor plate being firmly connected with it, The other end is equipped with the shaking power mechanism for driving it to rotate；

Installation is equipped with amplitude adjusting mechanism on the rotor plate, and the amplitude adjusting mechanism includes that amplitude adjusts motor, institute It states and is connected with screw rod on the output shaft of amplitude adjusting motor, set is installed with the adjusting set being threadedly engaged with it on the screw rod, Installation is equipped with sliding block in the adjusting set；The shaking arm is equipped with guide groove with its setting in a certain angle, the sliding block with The guide groove is slidably matched；

The chuck mechanism includes core bar, and the core bar includes the path section that major diameter section and outer diameter are less than the major diameter section, The major diameter section is fixedly connected with the shaking arm；The end of the path section, which is fixedly mounted, is equipped with outer collet, the path section Upper set is installed with the interior collet being slidably matched with its single-degree-of-freedom, and the interior collet is oppositely arranged with outer collet, and the inner clip The fixture for clamping branch or trunk is formed between head and outer collet；Set is installed with for driving in described in the path section The collet spring mobile towards the outer collet, and the collet and mechanism further include for clamping branch or tree in the fixture The interior collet position restriction mechanism of the interior clip position is locked after dry.

Further, the shaking power mechanism includes the main motor being mounted in the shell, the output of the main motor Axis is vertical with the shaft, is equipped between the output shaft of the main motor and the shaft for driving the rotor plate rotation Bevel gear transmission.

Further, installation is equipped with the guide rod parallel with the shaking arm in the shell, and the shaking arm is led with described It is slidably matched to bar.

Further, the guide rod is set as be parallel to each other two, and two guide rods are located at the shaking The two sides of arm, the shaking arm are equipped with the sliding sleeve being slidably matched respectively with two guide rods.

Further, the length direction of the guide groove is vertical with the shaking shaking direction of arm, the mounting plate, described turn Movable plate and the shaking arm are parallel to each other, the axis of the shaft respectively with the axis of the screw rod and it is described shaking arm axis Vertically.

Further, set is installed with bearing on the sliding block, and the bearing and the guide groove, which roll, to be cooperated；On the rotor plate Equipped with the bearing block with the screw rod rotatable engagement.

Further, the interior collet position restriction mechanism includes being sleeved in the path section and being located at the spring and institute The sliding sleeve between interior collet is stated, the sliding sleeve is slidably matched with the path section single-degree-of-freedom, is set with outside the major diameter section Equipped with the spacing collar for rotating cooperation, it is equipped with limit external tooth along its axially spaced-apart on the periphery wall of the sliding sleeve, it is adjacent Limit tooth socket is formed between two limit external tooths, the inner wall of the spacing collar is equipped with and the limit tooth socket fit Limit internal tooth；The periphery wall of the sliding sleeve is equipped with axial recessing groove, and the slot bottom of the axial direction recessing groove is apart from the core bar The distance of axis is greater than distance of the crest top land of the limit internal tooth apart from the core bar axis, and the week of the axial recessing groove It is more than or equal to the circumferential width of the limit internal tooth to width.

Further, the periphery wall of the major diameter section is equipped with annular groove, and the spacing collar, which is equipped with, radially-inwardly to be prolonged It stretches and the annular convex ring with annular groove cooperation, two insertions is equipped at intervals on the internal perisporium of the annular convex ring and are positioned Hole, the slot bottom of the annular groove are equipped with positioning inner hole, the equal position of axis of the positioning inner hole and all insertion location holes It is equipped with the embeddable insertion positioning hole on the same radial section of the major diameter section, in the positioning inner hole and limits The retaining spring pearl of the spacing collar.

Further, the path section is equipped with axial slide, on the interior collet and sliding sleeve with the axial slide It is slidably matched.

It further, further include shaking control system, the shaking control system includes controller, for detecting the inner clip Head (8) and outer collet (7) between spacing displacement sensor and set for detecting the interior collet (8) or outer collet (7) The force snesor of suffered power during branch or trunk shaking；It is connected on the controller for controlling the amplitude tune The amplitude of section motor (5) adjusts driving circuit and the shaking power drive circuitry for controlling the shaking power mechanism；It is described Controller receives the data of the reaction branch or trunk outer diameter that detect from institute's displacement sensors, and Xiang Suoshu amplitude, which is adjusted, to be driven Dynamic circuit and shaking power drive circuitry issue control instruction, control the shaking power mechanism and export preset power and make institute Shaking mechanism is stated according to preset amplitude vibration；The controller receives the data detected from the force snesor, to institute It states shaking power drive circuitry and issues control instruction, adjust the output power of the shaking power mechanism and make the shaking mechanism It is vibrated according to preset frequency.

The utility model has the beneficial effects that:

The stepless adjustable shaking fruit picking of the utility model is driven by the way that shaft is arranged on bottom plate using shaft The rotation of turn movable plate, under the matching relationship of sliding block and guide groove, driving shaking arm is moved back and forth, and skill of reciprocating vibration can be realized Art purpose；By being slidably installed interior collet in path section, in this way, under the action of the spring, various outer diameter can be clamped The branch or trunk of size are limited the position of interior collet using interior collet position restriction mechanism, make fixture by spring after clamping Flexible structure is converted to rigid structure；It is then of reciprocating vibration using shaking mechanism driving shaking arm, realize shaking branch or trunk Technical purpose.

Particularly, by the way that control system, the outer diameter of the branch or trunk that detect first according to displacement sensor is arranged Data, and combine fruit tree type, controller transfer storage the amplitude to match with fruit tree type, branch or trunk outer diameter and The power of shaking power mechanism recalls, and makes branch or trunk according to the preset amplitude vibration；Although the outer diameter of branch or trunk In same range intervals, but each fruit tree required power in shaking be it is different, this results in preset value may The shaking requirement of the branch or trunk that are not able to satisfy under specifically used environment, i.e., under default amplitude and power condition, branch or The shaking frequency of trunk may there are biggish deviations between preset value；Branch or tree are detected by using force snesor at this time Required power, branch or trunk required function under the conditions of predeterminated frequency are calculated further according to required power when dry shaking Rate output, and then control shaking power mechanism according to after calculating power parameter export, in this way, can make branch or trunk according to Matched amplitude and frequency shaking preferably, can be applicable according to picking environment automatic adjustment shaking frequency and amplitude In the picking requirement of the fruit of different categories, the picking efficiency of fruit is improved.

Detailed description of the invention

In order to keep the purpose of this utility model, technical scheme and beneficial effects clearer, the utility model provides as follows Attached drawing is illustrated:

Fig. 1 is the structural schematic diagram that the utility model stepless adjustable shakes fruit picking embodiment；

Fig. 2 is the structural schematic diagram for shaking mechanism；

Fig. 3 is the bottom view of Fig. 2；

Fig. 4 is the structural schematic diagram of chuck mechanism；

Fig. 5 is the cross-sectional view of chuck mechanism；

Fig. 6 is the structural schematic diagram of core bar；

Fig. 7 is the bottom view of Fig. 6；

Fig. 8 is the functional block diagram of control system.

Description of symbols:

1- mounting plate；2- shakes arm；3- shaft；4- rotor plate；5- amplitude adjusts motor；6-6- core bar；6a- major diameter section； 6b- path section；The outer collet of 7-；Collet in 8-；9- spring；10- screw rod；11- adjusting set；12- sliding block；13- guide groove；Outside 14- Shell；15- main motor；16- guide rod；17- sliding sleeve；18- bevel gear transmission；19- sliding sleeve；20- spacing collar；21- limit Position external tooth；22- limits internal tooth；23- axial direction recessing groove；24- annular groove；25- annular convex ring；26- annular positioning groove；27- is fixed Position hole；28- positioning ball；29- axial slide；30- main motor mounting bracket；31- displacement sensor；32- force snesor.

Specific embodiment

The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art The utility model can be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.

As shown in Figure 1, shaking the structural schematic diagram of fruit picking embodiment for the utility model stepless adjustable.This reality Apply the stepless adjustable shaking fruit picking of example, including shaking mechanism and chuck mechanism.

The shaking mechanism of the present embodiment includes shell 14, and mounting plate 1 is equipped in shell 14 and is matched with the sliding of its single-degree-of-freedom The shaking arm 2 of conjunction, mounting plate 1 are equipped with the shaft 3 for rotating cooperation, and one end of shaft 3 is equipped with turn being firmly connected with it Movable plate 4, the other end are equipped with the shaking power mechanism for driving it to rotate.Specifically, shaking power mechanism includes outside being mounted on Main motor 15 in shell 14, mounting plate 1 be equipped with for installing main motor 15 main motor mounting bracket 30, main motor 15 it is defeated Shaft is vertical with shaft 3, and the bevel gear for driving rotor plate 4 to rotate is equipped between the output shaft and shaft 3 of main motor 15 and is passed Motivation structure 18.

Installation is equipped with amplitude adjusting mechanism on the rotor plate 4 of the present embodiment, and amplitude adjusting mechanism includes that amplitude adjusts motor 5, amplitude adjusts and is connected with screw rod 10 on the output shaft of motor 5, and rotor plate 4 is equipped with the bearing block with screw rod rotatable engagement, Set is installed with the adjusting set 11 being threadedly engaged with it on screw rod 10, and installation is equipped with sliding block 12 in adjusting set 11；It is set on shaking arm 2 There is the guide groove 13 with its setting in a certain angle, sliding block 12 is slidably matched with guide groove 13.Installing is covered on the sliding block 12 of the present embodiment There is bearing, bearing and guide groove 13, which roll, to be cooperated, and resistance can be effectively reduced.

Specifically, installation is equipped with the guide rod 16 parallel with shaking arm 2 in shell 14, shaking arm 2 and guide rod 16 are slided Cooperation.The guide rod 16 of the present embodiment is set as be parallel to each other two, and two guide rods 16 are located at the two of shaking arm 2 Side, shaking arm 2 are equipped with the sliding sleeve 17 being slidably matched respectively with two guide rods 16, can make to shake arm 2 in shaking operational process In it is more steady, two guide rods 16 are fixedly mounted on shell 14.The length direction of the guide groove 13 of the present embodiment and shaking The shaking direction of arm 2 is vertical, mounting plate 1, rotor plate 4 and shaking arm 2 be parallel to each other, the axis of shaft 2 respectively with screw rod 10 The axis of axis and shaking arm 2 intersects vertically.

The chuck mechanism of the present embodiment includes core bar 6, and core bar 6 includes that major diameter section 6a and outer diameter are small less than major diameter section 6a Diameter section 6b, major diameter section 6a are fixedly connected with shaking arm 2；The end of path section 6b, which is fixedly mounted, is equipped with outer collet 7, on path section 6b Set be installed with the interior collet 8 being slidably matched with its single-degree-of-freedom, interior collet 8 is oppositely arranged with outer collet 7, and interior collet 8 with outside The fixture for clamping branch or trunk is formed between collet 7；Set is installed with for driving interior collet 8 towards outer on path section 6b The mobile spring 9 of collet 7, and collet and mechanism further include for 8 position of collet in locking after fixture clamps branch or trunk Interior collet position restriction mechanism.

The interior collet position restriction mechanism of the present embodiment includes being sleeved on path section 6b and being located at spring 9 and interior collet 8 Between sliding sleeve 19, sliding sleeve 19 is slidably matched with path section 6b single-degree-of-freedom, and major diameter section 6a housing, which is installed with, to be rotated The spacing collar 20 of cooperation, is equipped with limit external tooth 21 along its axially spaced-apart on the periphery wall of sliding sleeve 19, and adjacent two limits are outer Limit tooth socket is formed between tooth 21, the inner wall of spacing collar 20 is equipped with the limit internal tooth 22 with limit tooth socket fit；Sliding sleeve 19 periphery wall is equipped with axial recessing groove 23, and distance of the slot bottom of axial recessing groove 23 apart from 6 axis of core bar is greater than in limit Distance of the crest top land of tooth 22 apart from 6 axis of core bar, and the circumferential width of axial recessing groove 23 is more than or equal to limit internal tooth 22 Circumferential width.The periphery wall of the major diameter section 6a of the present embodiment is equipped with annular groove 24, and spacing collar 20 is equipped with radially-inwardly The annular convex ring 25 for extending and cooperating with annular groove 24 is equipped at intervals with two insertion location holes on the internal perisporium of annular convex ring 25 26, the slot bottom of annular groove 24 is equipped with positioning inner hole 27, positions the equal position of axis of inner hole 27 and all insertion location holes 26 In on the same radial section of major diameter section 6a, it is equipped in the embeddable insertion location hole 26 and limits in positioning inner hole 27 The retaining spring pearl 28 of position sleeve 20.Matching relationship between retaining spring pearl 28 and insertion location hole 26 can limit limit sleeve Cylinder 20 slewing area, even when retaining spring pearl 28 is embedded an insertion location hole 26, at this time limit internal tooth 22 and The limit cooperation of external tooth 21 is limited, sliding sleeve 19 can not be slided along path section 6b, then another is embedding when the insertion of retaining spring pearl 28 When entering location hole 26, limited at the position where internal tooth 22 is located at axial recessing groove 23 at this time, sliding sleeve 19 can be along path Section 6b sliding.In this way, operator is convenient to be embedded in matching between location hole 26 with two respectively according to retaining spring pearl 28 Coincidence sets to judge to limit position of the internal tooth 22 relative to axial recessing groove 23, convenient for operation.

In this way, limit internal tooth 22 is located at 23 position of axial recessing groove, in external force when fixture is not held in place Under, it drives interior collet 8 and sliding sleeve 19 to overcome 9 elastic force of spring, slides interior collet 8 backwards to outer collet 7, i.e., fixture opens clamping Branch or trunk；When fixture is held in place, rotary stopper sleeve 20 makes to limit internal tooth 22 in limit tooth socket, in this way, Using limit internal tooth 22 and the position limiting structure between external tooth 21 is limited, the position of interior collet 8, the i.e. open width of fixture can be limited It not will increase, and due to branch or the position-limiting action of trunk, the open width of fixture will not reduce；During shaking, keep It limits internal tooth 22 to be located in limit tooth socket, fixture will not impact and interfere to shaking movement；After the completion of shaking, rotary spacing Sleeve 20 makes to limit internal tooth 22 positioned at 23 position of axial recessing groove, and interior collet 8 can be again sliding along path section 6b at this time It is dynamic, that is, it is convenient to remove fixture from corresponding branch or trunk.

Further, path section 6b is equipped with axial slide 29, slides with axial slide 29 on interior collet 8 and sliding sleeve 19 Cooperation.

The stepless adjustable shaking fruit picking of the present embodiment further includes shaking control system, and shaking control system includes Controller, the displacement sensor for detecting the spacing between interior collet 8 and outer collet 7 and for detecting interior collet 8 or outer clip The force snesor of first 7 power suffered during branch or trunk shake；It is connected on controller for controlling amplitude tune The amplitude of section motor 5 adjusts driving circuit and the shaking power drive circuitry for controlling shaking power mechanism；Controller receives The data of the reaction branch or trunk outer diameter that detect from displacement sensor adjust driving circuit to amplitude and shaking power drive It moves circuit and issues control instruction, control shaking power mechanism exports preset power and shaking mechanism is made to shake according to preset amplitude It is dynamic；Controller, which receives, carrys out the data that force sensor detects, issues control instruction to shaking power drive circuitry, adjusts shaking The output power of power mechanism simultaneously vibrates shaking mechanism according to preset frequency.

The principle of the control system of the present embodiment is as follows: the branch that is detected first according to displacement sensor or trunk Outer diameter data, and the type of fruit tree is combined, controller transfers the vibration of storage to match with fruit tree type, branch or trunk outer diameter The power of width and shaking power mechanism recalls, and makes branch or trunk according to the preset amplitude vibration, i.e., has in control system Select the input module of fruit tree type and the memory for storing related data；Storage with fruit tree type, branch or trunk The primary data of the parameters such as the power of amplitude, frequency and shaking power mechanism that outer diameter matches can be pre- by empirical value And if gradually being adjusted in subsequent use process；Certainly, control system can also use self learning system, can pass through self-study The related data in optimization memory is practised, principle is identical as existing self learning system, no longer tires out one by one and states.

Although the outer diameter of branch or trunk, in same range intervals, each fruit tree power required in shaking is Different, the shaking requirement of this branch or trunk for resulting in preset value that may not be able to meet under specifically used environment exists Under default amplitude and power condition, branch or trunk shaking frequency may there are biggish deviations between preset value；At this time Required power, branch or tree are calculated further according to required power when detecting branch or trunk shaking by using force snesor The required power output under default amplitude and frequency condition is done, and then controls shaking power mechanism according to the power after calculating Parameter output, in this way, branch or trunk can be made to shake according to matched preferably amplitude and frequency, it can be according to picking ring Border automatic adjustment shaking frequency and amplitude, are applicable to the picking requirement of the fruit of different categories, improve the picking efficiency of fruit.

Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.

Claims (10)

1. a kind of stepless adjustable shakes fruit picking, it is characterised in that: including shaking mechanism and chuck mechanism；

The shaking mechanism includes shell (14), and the sliding of mounting plate (1) He Yuqi single-degree-of-freedom is equipped in the shell (14) and is matched The shaking arm (2) of conjunction, the mounting plate (1) are equipped with the shaft (3) for rotating cooperation, and one end of the shaft (3) is equipped with The rotor plate (4), the other end that are firmly connected with it are equipped with the shaking power mechanism for driving it to rotate；

Installation is equipped with amplitude adjusting mechanism on the rotor plate (4), and the amplitude adjusting mechanism includes that amplitude adjusts motor (5), It is connected with screw rod (10) on the output shaft of amplitude adjusting motor (5), covers and be installed with and its screw thread on the screw rod (10) The adjusting set (11) of cooperation, installation is equipped with sliding block (12) on the adjusting set (11)；It is in one that the shaking arm (2), which is equipped with it, The guide groove (13) of clamp angle setting, the sliding block (12) are slidably matched with the guide groove (13)；

The chuck mechanism includes core bar (6), and the core bar (6) includes that major diameter section (6a) and outer diameter are less than the major diameter section (6a) Path section (6b), the major diameter section (6a) is fixedly connected with the shaking arm (2)；The fixed peace in the end of the path section (6b) It is installed with outer collet (7), set is installed with the interior collet (8) being slidably matched with its single-degree-of-freedom on the path section (6b), described Interior collet (8) is oppositely arranged with outer collet (7), and between the interior collet (8) and outer collet (7) formed for clamp branch or The fixture of trunk；Set is installed with for driving the interior collet (8) mobile towards the outer collet (7) on the path section (6b) Spring (9), and the collet and mechanism further include for locking the interior collet after the fixture clamps branch or trunk (8) the interior collet position restriction mechanism of position.

2. stepless adjustable according to claim 1 shakes fruit picking, it is characterised in that: the shaking power mechanism Including the main motor (15) being mounted in the shell (14), the output shaft of the main motor (15) is vertical with the shaft (3), The bevel gear for driving the rotor plate (4) to rotate is equipped between the output shaft and the shaft (3) of the main motor (15) Transmission mechanism (18).

3. stepless adjustable according to claim 1 shakes fruit picking, it is characterised in that: peace in the shell (14) It is installed with the guide rod (16) parallel with shaking arm (2), the shaking arm (2) is slidably matched with the guide rod (16).

4. stepless adjustable according to claim 3 shakes fruit picking, it is characterised in that: the guide rod (16) sets For two to be parallel to each other, and two guide rods (16) are located at the two sides of shaking arm (2), the shaking arm (2) it is equipped with the sliding sleeve (17) being slidably matched respectively with two guide rods (16).

5. stepless adjustable according to claim 1 shakes fruit picking, it is characterised in that: the length of the guide groove (13) It is vertical with the shaking shaking direction of arm (2) to spend direction, the mounting plate (1), the rotor plate (4) and the shaking arm (2) it is parallel to each other, axis of the axis of the shaft (3) respectively with the axis of the screw rod (10) and shaking arm (2) hangs down Directly.

6. stepless adjustable according to claim 1 shakes fruit picking, it is characterised in that: covered on the sliding block (12) It is installed with bearing, the bearing and the guide groove (13), which roll, to be cooperated；The rotor plate (4) is equipped with matches with screw rod rotation The bearing block of conjunction.

7. stepless adjustable according to claim 1-6 shakes fruit picking, it is characterised in that: the inner clip Head position restriction mechanism includes being sleeved on the path section (6b) and between the spring (9) and the interior collet (8) Sliding sleeve (19), the sliding sleeve (19) is slidably matched with the path section (6b) single-degree-of-freedom, and the major diameter section (6a) is outside Set is installed with the spacing collar (20) for rotating cooperation, is equipped with and limits along its axially spaced-apart on the periphery wall of the sliding sleeve (19) Position external tooth (21) forms between adjacent two limit external tooths (21) and limits tooth socket, on the inner wall of the spacing collar (20) Equipped with the limit internal tooth (22) with the limit tooth socket fit；The periphery wall of the sliding sleeve (19) is equipped with axial recessing groove (23), distance of the slot bottom of the axial recessing groove (23) apart from the core bar (6) axis is greater than limit internal tooth (22) Distance of the crest top land apart from the core bar (6) axis, and the circumferential width of the axial recessing groove (23) is more than or equal to the limit The circumferential width of position internal tooth (22).

8. stepless adjustable according to claim 7 shakes fruit picking, it is characterised in that: the major diameter section (6a) Periphery wall be equipped with annular groove (24), the spacing collar (20) be equipped with extend radially inwardly and with the annular groove (24) annular convex ring (25) cooperated is equipped at intervals with two insertion location holes (26) on the internal perisporium of the annular convex ring (25), The slot bottom of the annular groove (24) is equipped with positioning inner hole (27), positioning inner hole (27) and all insertion location holes (26) axis is respectively positioned on the same radial section of the major diameter section (6a), is equipped in the positioning inner hole (27) embeddable Insertion location hole (26) is interior and limits the retaining spring pearl (28) of the spacing collar (20).

9. stepless adjustable according to claim 7 shakes fruit picking, it is characterised in that: on the path section (6b) Equipped with axial slide (29), it is slidably matched with the axial slide (29) on the interior collet (8) and sliding sleeve (19).

10. stepless adjustable according to claim 1 shakes fruit picking, it is characterised in that: further include shaking control System, the shaking control system includes controller, the spacing for detecting between the interior collet (8) and outer collet (7) Displacement sensor and for detecting the interior collet (8) or outer collet (7) power suffered during branch or trunk shake Force snesor；The amplitude adjusting driving circuit that motor (5) are adjusted for controlling the amplitude is connected on the controller With the shaking power drive circuitry for controlling the shaking power mechanism；The controller, which receives, comes from institute's displacement sensors The data of the reaction branch or trunk outer diameter that detect, Xiang Suoshu amplitude adjusts driving circuit and shaking power drive circuitry issues Control instruction controls the shaking power mechanism and exports preset power and the shaking mechanism is made to shake according to preset amplitude It is dynamic；The controller receives the data detected from the force snesor, issues and controls to the shaking power drive circuitry Instruction adjusts the output power of the shaking power mechanism and vibrates the shaking mechanism according to preset frequency.