CN211090716U

CN211090716U - Suspension type vibration picking machine

Info

Publication number: CN211090716U
Application number: CN201921830928.7U
Authority: CN
Inventors: 李立君; 高自成; 廖凯
Original assignee: Changsha Qinxinyuan Environmental Protection Technology Co ltd
Current assignee: Changsha Qinxinyuan Environmental Protection Technology Co ltd; Central South University of Forestry and Technology
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-07-28
Anticipated expiration: 2029-10-29

Abstract

The suspended vibration picking machine comprises a crawler-type walking mechanism and a vibration picking head horizontally arranged, and is characterized by further comprising a position adjusting mechanism for driving the vibration picking head to horizontally rotate and lift, wherein the position adjusting mechanism is arranged on the crawler-type walking mechanism, and the vibration picking head is connected with the position adjusting mechanism in a suspended mode through a rope in a single-point mode. The vibration picking head adopts the rope single-point to hang, and required manpower is small, and operating personnel can easily control, and the fine adjustment of manpower is gone up in the cooperation of the preliminary adjustment of machinery for the vibration picking head can be in different complex environment quick effectual centre gripping trunk, and the practicality and the reliability of suspension type vibration picking machine are higher, and the vibration picking head passes through the rope single-point to hang and connects moreover, can avoid picking in-process vibration to cause the influence to other parts.

Description

Suspension type vibration picking machine

Technical Field

The utility model relates to a suspension type vibration picking machine for the harvesting of agriculture and forestry orchard fruit.

Background

With the development and development of China, the agricultural industry is changed more and more quickly, fruit tree planting is carried out on a large scale in many places depending on the advantages of mountainous regions, however, orchard harvesting operation is the most important link in the whole process of orchard production, the labor intensity of forest fruit harvesting is high, and the labor amount is large. The traditional manual harvesting method needs hundreds of working hours per hectare, occupies about 50 percent of the labor amount in the orchard production process, wastes time and labor and has high cost. Therefore, orchard harvest mechanization is always the focus of research work at home and abroad. Currently, orchard mechanical harvesting is widely used as a mature technology abroad, and the production efficiency of mechanical harvesting is improved by 5-10 times compared with manual harvesting. The mechanical harvesting methods mainly include a shaking method and a combing method, and the shaking method is the most applied mechanical harvesting method. The mechanical vibration type harvester adopts a vibration method, and is a machine type with the most foreign application and good applicability. The orchard harvesting machinery in China is also gradually popularized, and the mechanical vibration type forest fruit harvesting machine is also used as a key popularization method.

However, the current mechanical vibration type forest fruit harvester generally adopts the mode that the picking arm is directly fixed on the walking chassis, the transverse position of the picking arm is adjusted mainly through the steering of the walking chassis, the picking head is also provided with transverse swinging, but only fine adjustment is carried out, and the picking arm is ensured to be aligned to a trunk. However, practical applications find that the adjustment can meet the requirements, but the adjustment is still troublesome, and the rotation of the walking chassis is difficult to accurately align the trunk, which brings difficulty to fine adjustment of the position of the picking head. In addition, the vibration excitation mechanism and the vehicle body in the existing vibrating type forest and fruit harvester are mainly in rigid connection, so that when the harvester is used for harvesting, vibration force can be transmitted to the vehicle body, and great damage is caused to the vehicle body.

SUMMERY OF THE UTILITY MODEL

The utility model provides a suspension type vibration picking machine, vibration picking head adopt the rope single-point to hang, and required manpower is small, and operating personnel can easily control, and the fine adjustment of manpower is gone up in the preliminary adjustment cooperation of machinery for vibration picking head can be in the quick effectual trunk of centre gripping of different complex environments, and practicality and reliability are higher, and vibration picking head passes through the rope single-point to hang and connects moreover, can avoid picking in-process vibration to cause the influence to other parts.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the suspended vibration picking machine comprises a crawler-type walking mechanism and a vibration picking head horizontally arranged, and is characterized by further comprising a position adjusting mechanism for driving the vibration picking head to horizontally rotate and lift, wherein the position adjusting mechanism is arranged on the crawler-type walking mechanism, and the vibration picking head is connected with the position adjusting mechanism in a suspended mode through a rope in a single-point mode.

Preferably, the position adjusting mechanism comprises a base fixed on the crawler-type traveling mechanism, a rotating assembly arranged on the base and used for driving the vibrating picking head to horizontally rotate, and a rope suspension assembly arranged on the rotating assembly and used for driving the vibrating picking head to lift, and the vibrating picking head is suspended on the rope suspension assembly.

Preferably, the rotating assembly comprises a driving gear horizontally mounted on the base and driven by a motor, a driven gear engaged with the driving gear, and a column vertically fixed on the driven gear, and the rope suspension assembly is mounted on the column.

Preferably, the rope suspension assembly comprises a hydraulic lifting cylinder fixed on the stand column along the vertical direction, a horizontal rod and a rope, wherein the horizontal rod and the rope are fixed at the top of the stand column and are arranged above the vibration picking head in parallel, one end of the rope is connected with the telescopic end of the hydraulic lifting cylinder, and the other end of the rope is connected with the vibration picking head through the guide traction of the horizontal rod.

Preferably, the telescopic end of the lifting hydraulic cylinder is provided with a pulley which is in rolling fit with the upright post, one end of the rope is connected with the pulley, the horizontal rod is provided with a guide wheel which is used for guiding and dragging the rope, and the rope is in rolling fit contact with the guide wheel.

Preferably, the vibrating picking head comprises an eccentric wheel vibrating box capable of generating horizontal vibration, a connecting rod connected with the eccentric wheel vibrating box and a clamping jaw for clamping the trunk, wherein the clamping jaw is arranged at the free end of the connecting rod, and the connecting rod is connected with the position adjusting mechanism through a rope in a single-point suspension mode.

Preferably, the clamping jaw comprises a hydraulic cylinder arranged at the free end of the connecting rod in parallel, a guide rod coaxially butted with the free end of the connecting rod, a guide sleeve sleeved on the guide rod in a guide matching manner, a lower chuck arranged at the telescopic end of the hydraulic cylinder and fixed with the guide sleeve, and an upper chuck arranged at the free end of the guide rod and matched with the lower chuck to clamp the trunk.

Preferably, the guide rod is a double-rod structure fixed with each other, and the guide sleeve is a double-cylinder sleeve sleeved on the guide rod.

Preferably, two eccentric blocks which can counteract vertical vibration and superpose horizontal vibration are arranged in the eccentric wheel vibration box.

Preferably, a handle is fixed on the eccentric wheel vibration box.

The utility model has the advantages that:

the suspension type vibration picking machine of the utility model comprises a crawler type running mechanism, a vibration picking head and a position adjusting mechanism, the vibration picking head is moved to be close to the fruit tree trunk by the crawler type running mechanism during operation, the horizontal position and the height of the vibration picking head are preliminarily adjusted by the position adjusting mechanism, because the position adjusting mechanism is connected with the vibration picking head through the rope single-point suspension, an operator can hold the vibration picking head by hands, the vibration picking head is further finely adjusted in position, so that the vibration picking head smoothly clamps the trunk of the fruit tree, because the rope is hung in a single point, the required manpower is small, the operator can easily hold the rope, the preliminary adjustment of the machine is matched with the fine adjustment of the manpower, the vibration picking head can fast and effectively clamp the tree trunk in different complex environments, and the suspension type vibration picking machine is higher in practicability and reliability.

The vibration picking head is connected in a suspension mode through a rope single point, and the influence of vibration on other parts in the picking process can be avoided. The eccentric wheel vibration case is inside to have two vertical vibrations and offset each other and the superimposed eccentric block of horizontal vibration, and the increase amplitude improves the vibration and picks efficiency.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the position adjustment mechanism.

Fig. 3 is a schematic structural view of a vibratory picking head.

Fig. 4 is a partially enlarged schematic view of fig. 4.

FIG. 5 is a schematic structural diagram of two eccentric blocks arranged inside the eccentric wheel vibration box.

Detailed Description

The following describes embodiments of the present invention in detail with reference to fig. 1 to 5.

The suspended vibration picking machine comprises a crawler-type walking mechanism 1 and a vibration picking head 2 arranged horizontally, and is characterized by further comprising a position adjusting mechanism 3 used for driving the vibration picking head 2 to rotate horizontally and lift, wherein the position adjusting mechanism 3 is arranged on the crawler-type walking mechanism 1, and the vibration picking head 2 and the position adjusting mechanism 3 are connected in a suspended mode through a rope single point.

In the suspension type vibration picking machine, the vibration picking head 2 is moved to be close to a fruit tree trunk through the crawler type traveling mechanism 1 during operation, the horizontal position and the height of the vibration picking head 2 are preliminarily adjusted through the position adjusting mechanism 3, the vibration picking head 2 is connected with the position adjusting mechanism 3 through the rope single-point suspension, so that an operator can hold the vibration picking head 2 by hand and further finely adjust the position of the vibration picking head 2, the vibration picking head can smoothly clamp the fruit tree trunk, the machine can be controlled easily due to the rope single-point suspension, the machine can rapidly and effectively clamp the fruit tree trunk in different complex environments due to the fine adjustment of the manpower required by the rope single-point suspension, the practicability and the reliability of the suspension type vibration picking machine are higher, and the vibration picking head 2 is connected through the rope single-point suspension, can avoid the influence of vibration on other parts in the picking process.

The position adjusting mechanism 3 comprises a base 31 fixed on the crawler-type walking mechanism 1, a rotating assembly 32 installed on the base 31 and used for driving the vibrating picking head 2 to horizontally rotate, and a rope suspension assembly 33 installed on the rotating assembly 32 and used for driving the vibrating picking head 2 to lift, and the vibrating picking head 2 is suspended on the rope suspension assembly 33. Rotating assembly 32 and cable suspension assembly 33 cooperate to effect horizontal rotation and elevation of the vibratory picking head 2.

The rotating assembly 32 comprises a driving gear 32.1 horizontally mounted on the base 31 and driven by a motor, a driven gear 32.2 engaged with the driving gear 32.1, and a column 32.3 vertically fixed on the driven gear 32.2, and a rope suspension assembly 33 is mounted on the column 32.3. The motor below the driving gear 32.1 is omitted in the attached drawing 2, the driving gear 32.1 is meshed with the driven gear 32.2, the driven gear 32.2 is driven to rotate through rotation of the driving gear 32.1, so that the upright post 32.3 is rotated, the rope suspension assembly 33 drives the vibration picking head 2 to rotate along with rotation of the upright post, and preliminary adjustment of the horizontal position of the vibration picking head 2 is achieved.

The rope suspension assembly 33 comprises a lifting hydraulic cylinder 33.1 fixed on the upright column 32.3 in the vertical direction, a horizontal rod 33.2 and a rope 33.3 which are fixed at the top of the upright column 32.3 and are arranged above the vibrating picking head in parallel, one end of the rope 33.3 is connected with the telescopic end of the lifting hydraulic cylinder 33.1, and the other end of the rope is connected with the vibrating picking head 2 through the guiding traction of the horizontal rod 33.2. As can be seen from fig. 1 and 2, the rope 33.3 is straightened between the vibrating picking head 2 and the telescopic end of the lifting hydraulic cylinder 33.1, when the telescopic end of the lifting hydraulic cylinder 33.1 is shortened, the vibrating picking head 2 pulls the rope 33.3 to move by gravity, and the height is lowered; when the telescopic end of the lifting hydraulic cylinder 33.1 extends, the vibrating picking head 2 moves upwards by pulling the rope 33.3, and the height rises, so that the height of the vibrating picking head 2 is adjusted.

The telescopic end of the lifting hydraulic cylinder 33.1 is provided with a pulley 33.11 in rolling fit with the upright post 32.3, one end of the rope 33.3 is connected with the pulley 33.11, the horizontal rod 33.2 is provided with a guide wheel 33.21 for guiding and dragging the rope 33.3, and the rope 33.3 is in rolling fit contact with the guide wheel 33.21. The pulley 33.11 rolls on the upright post 32.3 in the expansion and contraction process of the lifting hydraulic cylinder 33.1, and when the rope 33.3 moves, the guide wheel 33.21 rotates along with the movement of the rope 33.3 to guide the rope 33.3, so that the rope 33.3 is prevented from deviating, and the structural reliability of the rope suspension assembly 33 is improved.

The vibrating picking head 2 comprises an eccentric wheel vibrating box 21 capable of generating horizontal vibration, a connecting rod 22 connected with the eccentric wheel vibrating box 21 and a clamping jaw 23 used for clamping a trunk, wherein the clamping jaw 23 is arranged at the free end of the connecting rod 22, and the connecting rod 22 is connected with the position adjusting mechanism 3 through a rope single-point suspension. The eccentric vibration box 21 transmits the vibrations to the jaws 23, via the connecting rods 22, so that the trunk is vibrated,

the clamping jaw 23 comprises a hydraulic cylinder 24 which is parallelly arranged at the free end of the connecting rod 22, a guide rod 25 which is coaxially butted with the free end of the connecting rod 22, a guide sleeve 26 which is sleeved on the guide rod 25 in a guide matching way, a lower clamping head 27 which is arranged at the telescopic end of the hydraulic cylinder 24 and is fixed with the guide sleeve 26, and an upper clamping head 28 which is arranged at the free end of the guide rod 25 and is matched with the lower clamping head 27 to clamp the trunk. The distance between the lower chuck 27 and the upper chuck 28 is changed by the expansion and contraction of the hydraulic cylinder 24, so that trunks with different diameters can be clamped, the expansion and contraction of the hydraulic cylinder 24 are guided by the cooperation of the guide rod 25 and the guide sleeve 26, namely, the movement of the lower chuck 27 is guided, the deflection is prevented, and the effective clamping of the trunks by the lower chuck 27 and the upper chuck 28 is ensured.

The guide rod 25 is a double-rod structure fixed to each other, and the guide sleeve 26 is a double-cylinder sleeve sleeved on the guide rod 25. As shown in FIG. 4, the guide rod 25 with the double-rod structure has higher structural strength, so that the guide rod 25 does not deform in the process of clamping the trunk, and the guiding reliability is improved.

The eccentric wheel vibration box 21 is internally provided with two eccentric blocks 21.1 which can mutually offset vertical vibration and superpose horizontal vibration. As shown in figure 5, the two eccentric blocks 21.1 are opposite in rotation direction, symmetrically distributed and identical in quantity, so that the eccentric forces generated by the eccentric blocks 21.1 are offset in the vertical direction and are superposed in the horizontal direction (along the connecting rod 22), and finally, only the force in the horizontal direction is generated, so that the amplitude is increased, and the vibration picking efficiency is improved.

Wherein, a handle 29 is fixed on the eccentric wheel vibration box 21. The handle 29 can be held by an operator, the vibration picking head 2 is subjected to further position fine adjustment, the clamping jaws 23 smoothly clamp the fruit tree trunk, the rope single-point suspension is adopted, the required manpower is small, the operator can easily hold the handle 29, the vibration is only transmitted to the trunk through the eccentric wheel vibration box 21, the vibration cannot be transmitted to the crawler-type walking mechanism 1 and the position adjusting mechanism 3, and the influence on the normal operation of the crawler-type walking mechanism 1 and the position adjusting mechanism 3 cannot be caused.

The technical solutions of the embodiments of the present invention are completely described above with reference to the accompanying drawings, and it should be noted that the described embodiments are only some embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Claims

1. A suspension type vibration picking machine comprises a crawler-type walking mechanism (1) and a vibration picking head (2) arranged horizontally, and is characterized by further comprising a position adjusting mechanism (3) used for driving the vibration picking head (2) to rotate horizontally and lift, wherein the position adjusting mechanism (3) is arranged on the crawler-type walking mechanism (1), and the vibration picking head (2) and the position adjusting mechanism (3) are connected in a suspension mode through a rope single point.

2. A suspended type vibration picking machine according to claim 1, characterized in that the position adjusting mechanism (3) comprises a base (31) fixed on the crawler type running mechanism (1), a rotating assembly (32) installed on the base (31) for driving the vibration picking head (2) to rotate horizontally and a rope suspension assembly (33) installed on the rotating assembly (32) for driving the vibration picking head (2) to lift, and the vibration picking head (2) is suspended on the rope suspension assembly (33).

3. Suspension type vibration picking machine according to claim 2, characterized in that the rotating assembly (32) comprises a driving gear (32.1) horizontally mounted on the base (31) and driven by the motor, a driven gear (32.2) engaged with the driving gear (32.1) and a column (32.3) vertically fixed on the driven gear (32.2), the rope suspension assembly (33) is mounted on the column (32.3).

4. A suspended vibratory picking machine according to claim 3 characterised in that the rope suspension assembly (33) comprises a hydraulic lifting cylinder (33.1) fixed vertically on the upright (32.3), a horizontal bar (33.2) fixed on top of the upright (32.3) and arranged in parallel above the vibratory picking head (2) and a rope (33.3), one end of the rope (33.3) is connected with the telescopic end of the hydraulic lifting cylinder (33.1), and the other end is connected with the vibratory picking head (2) by the guiding traction of the horizontal bar (33.2).

5. A suspended vibratory picking machine according to claim 4 characterised in that the telescopic end of the hydraulic lifting cylinder (33.1) is provided with a pulley (33.11) in rolling engagement with the upright (32.3), one end of the rope (33.3) is connected to the pulley (33.11), the horizontal bar (33.2) is provided with a guide wheel (33.21) for guiding and pulling the rope (33.3), and the rope (33.3) is in rolling engagement with the guide wheel (33.21).

6. A suspended vibratory picking machine according to claim 1 characterised in that the vibratory picking head (2) comprises an eccentric vibratory box (21) which produces horizontal vibrations, a connecting rod (22) connected to the eccentric vibratory box (21) and a jaw (23) for gripping the trunk, the jaw (23) being mounted at the free end of the connecting rod (22), the connecting rod (22) being connected to the position adjustment mechanism (3) by a single point suspension with a rope.

7. The hanging type vibration picking machine according to claim 6, characterized in that the clamping jaws (23) comprise a hydraulic cylinder (24) which is arranged at the free end of the connecting rod (22) in parallel, a guide rod (25) which is coaxially butted with the free end of the connecting rod (22), a guide sleeve (26) which is sheathed on the guide rod (25) in a guide matching way, a lower clamping head (27) which is arranged at the telescopic end of the hydraulic cylinder (24) and is fixed with the guide sleeve (26), and an upper clamping head (28) which is arranged at the free end of the guide rod (25) and is matched with the lower clamping head (27) to clamp the trunk.

8. A suspended vibration picking machine according to claim 7 characterised in that the guiding bars (25) are of a double bar construction fixed to each other and the guiding sleeves (26) are double sleeves fitted over the guiding bars (25).

9. Hanging vibratory picking machine according to claim 6, characterised in that the eccentric vibratory box (21) has inside two eccentric masses (21.1) with vertical vibrations counteracting each other and horizontal vibrations superimposed.

10. A suspended vibratory picking machine according to claim 6 characterised in that the eccentric vibratory box (21) is fixed with a handle (29).