WO2004006646A2

WO2004006646A2 - Multi-purpose shaking method and apparatus for the orchard harvesting

Info

Publication number: WO2004006646A2
Application number: PCT/IL2003/000577
Authority: WO
Inventors: Boris Podolsky; Nir Sadan
Original assignee: Boris Podolsky; Nir Sadan
Priority date: 2002-07-14
Filing date: 2003-07-13
Publication date: 2004-01-22
Also published as: IL150723A; AU2003242966A1; IL150723A0; AU2003242966A8; WO2004006646A3

Abstract

A multi-purpose shaking method for the orchard harvesting including bringing to a fruit tree or shrub a vehicle with a shaking apparatus mounted thereon. The claimed method is accomplished on the basis of a suggested device. This apparatus comprises: a frame (1) mounted on the body of a vehicle (3), a housing (5) which encloses a means for generating measured vibration (7) and means for controlling measured vibratory action (9), controlled grip (13), counterweights (15) and a controlled linkage suspension (17, 19). The controlled grip (13) of said shaking apparatus is mounted at the free end of the means for generating measured vibration (7) and provided with a controlled driving means (11). The housing (5) of the shaking apparatus is suspended on the frame (1) via a controlled linkage suspension (17, 19).

Description

MULTI-PURPOSE SHAKING METHOD AND APPARATUS FOR THE ORCHARD HARVESTING

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to fruit- and nut-harvesting equipment, and

more particularly to methods and apparatus for shaking fruit and nuts from the

limbs of trees and shrubbery.

2. Description of the Related Art

Most of the fruit- and nut-harvesting devices are mechanical devices,

which typically operate by gripping the tree trunk and imparting thereto a

controlled, low-frequency vibration or shaking action. This operation dislodges

the fruit or nuts, which are then collected and transported.

A typical tree-shaking apparatus includes two opposing clamp members

that engage the tree trunk, and which are themselves driven by dual oscillation or vibration units. Bunnelle in U.S. Pat. 4,903,471 disclose a shaking method

and apparatus - a variable force tree shaker, which includes a non-rotatable

housing having a two-piece shaft joumalled therein. A fixed weight is rigidly

connected to the shaft and an adjustable weight is pivotally connected to the

shaft. At least one hydraulic cylinder is formed in the fixed weight and receives

a piston which is connected to the adjustable weight by a piston rod. While the

shaft is driven, a hydraulic controller directs hydraulic fluid into said at least one

piston which moves the adjustable weight between a balanced position

diametrically opposed to the fixed weight providing no shaking forces to the

shaft, and a plurality of unbalanced position imparting shaking forces of

different intensities to the shaft.

Reynolds de Sousa et al. in U.S. Pat. 5,595,054 disclose a low power

agrical mechanical tree shaker, using phase-controlled linear impact vibrations

and including an adjustable springs set that connects the vibration set to the

clamp/trunk or limb set through the guiding system and allows to set the spring

tension for resonance vibration after attaching the shaker to a particular tree.

Consequently, the vibration of the shaker set will have an

adjustable phase angle between the shaker set and the clamp/trunk or limb set,

between 0° and 360°. The clamp has the form of a fork and includes a set

of vulcanized asymmetric grips, a vulcanized chains set, for the attachment of

the clamp to the tree. Orlando in U.S. Pat. 4,893,459 discloses a variable force tree shaker,

including a rotatable housing supporting a weight fixed to the housing and a

movable weight, with the movable weight being capable of being moved

between a balanced position and a plurality of unbalanced positions while the

housing is rotating at a shaking speed. Hydraulic fluid is controUably directed

into the housing between the fixed and movable weights to move the movable

weight while the housing is rotating.

Pool et al. in U.S. Pat. 3,537,246 and 3,592,073 disclose a tree shaker

apparatus including a frame pivotally mounted on a tractor for swinging

movement about a vertical axis and a horizontal axis. A boom and clamp

assembly is mounted on the frame for movement longitudinally thereof.

Movement of the frame and the boom and clamp assembly is provided by

hydraulic cylinders controlled through respective valves. The valves are actuated

by selective operation of a control lever which is mounted for swinging

movement in tree modes which are manifested in similar

movements of the frame and the boom and clamp assembly to position the

clamp in gripping relation on a tree limb to be shaken by the apparatus.

Zehavi et al. in U.S. Pat. 5,473,875 disclose a tree-shaking apparatus that

includes a pair of vibration units whose eccentric rotators turn at identical speeds

but in opposite directions. During operation, rotation of the eccentric members is coordinated by a controller such that their asymmetric portions align at two

diametrically opposed points but lie precisely out of phase during the remainder

of the rotation cycle. This action causes the tree to shake along a single axis,

specified by the chosen alignment of the rotators, with vibratory forces along all

other directions canceling out. A controller systematically alters the direction

and frequency of shaking and monitors the resulting change in vibration

amplitude, selecting, as a final shaking axis and frequency, those which

correspond to the largest amplitude.

All aforesaid devices are similar in operation. The shaking action therein

is performed substantially by exciting centrifugal vibrations of mechanical

unbalance weights. The rotation of these unbalance weights generates a curved

sinusoidal driving force which is not optimal for the dynamics of the process. In

some existing devices it is possible to alter the

frequency or amplitude of driving force by altering the frequency of rotation of

aforesaid unbalance weights and/or altering the excentricity of their mass.

At the same time, the existing devices have some major drawbacks, such as:

a) considerable difficulties in independent adjustment of frequency

and amplitude of the driving force, b) impossibility of adjusting the amplitude of actuator movement,

c) long transition processes at the beginning and end of vibration

process,

d) impossibility of altering the curved driving force from a sinusoidal

to any other,

e) impossibility of altering the curved driving force within each

vibratory impulse and, as a result, impossibility of altering and

optimizing the acceleration value.

An object of the present invention is to provide a multi-purpose shaking

method and apparatus for the orchard harvesting by measured vibratory action on

any parts (trunk, limbs, crown) of any fruit trees and shrubbery, and any other

plants including of date-palm trees, nuts, olives etc.

irrespective of their dimensions and age, as well as dimensions and weight of

fruits.

Another object of the invention is to provide selective collection of fruits

according to predetermined parameters, such as ripeness stage of these

f uits, irrespective of their size or weight and irrespective of the kind, age and

dimensions of trees or shrubbery wherein they grow. SUMMARY OF THE INVENTION

Aforesaid objects of the invention may be achieved, in the inventors'

opinion, by utilizing the claimed invention, including a multi-purpose shaking

method and apparatus for the orchard harvesting.

The multi-purpose shaking method for the orchard harvesting includes

bringing to a fruit tree or shrub a vehicle with a shaking apparatus mounted

thereon, this apparatus having a controlled grip for a trunk, limbs or crown, with a

means for exciting measured vibration, as well as with a means for controlling the

measured vibratory action, as well as fixing the controlled grip the desirable

portion of a trunk, limb or crown.

Then in the shaking apparatus there is generated a measured vibration

transmitted via the controlled grip to a corresponding portion of this trunk, limb or

crown of a corresponding fruit tree or trunk of a corresponding tree or shrub. For

this purpose, there is performed, via the means for controlling

measured vibratory action, before the beginning of vibratory action or directly in

the course of this vibratory action, stepwise or continuous adjustment of

amplitude of movements of said controlled grip, as well as of frequency and any other parameters of vibrations of the means for generating measured vibration.

Thereby the vibration process is optimized both at any moment of its duration, and

within each separate vibratory impulse, there are provided increase, reduction or

change, according to a given program, in amplitude and frequency of these

vibrations, as well as of any other vibration parameters. This permits to selectively

collect fruits according to their ripeness stage, irrespective of size or weight of

these fruits and irrespective of the kind, age and dimensions of trees and

shrubbery wherein they grow.

To accomplish the claimed method, the means for generating measured

vibration and the means for controlling measured vibratory action may be

substantially hydraulic, pneumatic or electric. The method may be as well

accomplished on the basis of these means when one of these means is hydraulic or

pneumatic, and the other electric.

The claimed method is carried out on the basis of suggested multi-purpose

shaking apparatus for the orchard harvesting by measured vibratory action on any

parts (trunk, limbs, and crown) of any fruit trees and shrubbery,

and any other plants including of date-palm trees, nuts, olives etc. irrespective of

their dimensions and age, as well as dimensions and weight of fruits. This

apparatus comprises a frame mounted on the body of a vehicle, a housing enclosing a means for generating measured vibration and a means for controlling

measured vibratory action, controlled grip, counterweights and controlled linkage

suspension. The controlled grip of shaking apparatus is mounted at the free end of

aforesaid means for generating measured vibration and provided with a controlled

driving means. The counterweights are substantially shaped as weights movably

mounted in the housing to create a dynamic reaction of shaking apparatus. The

housing of multi-purpose shaking apparatus is suspended on the frame via a

controlled linkage suspension intended to prevent vibration transmission to the

body of the vehicle.

The means for measured vibration may be a single rod, double rod or

diaphragm hydraulic cylinder.

The means for controlling measured vibratory action of shaking apparatus is

substantially a hydraulic control valve provided with a master

controller. This master controller may be substantially hydraulic, pneumatic or

electric. It may have a programmed device, such as a microprocessor. The controlled grip of shaking apparatus mounted at the free end of means

for generating measured vibration is provided with a controlled driving means,

such as a hydraulic cylinder. This hydraulic cylinder may be associated with the

master controller.

The controlled linkage suspension whereby the housing is suspended on the

frame is provided with at least one actuator formed substantially as a hydraulic

cylinder. This hydraulic cylinder may be also connected to the master controller.

According to the claimed method the multi-purpose shaking apparatus may

further have a pneumatic or electric drive or a combined hydro-electric or

pneumo-electric drive, but these embodiments are not described in more detail

herein, and the inventors decided at this stage to restrict themselves to a more

detailed description of a multi-purpose shaking apparatus substantially with a

hydraulic drive.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described in conjunction with the following

drawings FIG. 1 - 5 in which like reference numerals designate like elements

and wherein: FIG. 1 shows the basic diagram of the claimed apparatus wherein the means for

generating measured vibration comprises a single rod hydraulic cylinder;

FIG. 2 shows a basic diagram of the claimed apparatus wherein the means for

generating measured vibration is a double rod hydraulic cylinder;

FIG. 3 shows a diagram of the claimed apparatus with a housing suspended via

linkage suspension on the frame mounted on a vehicle;

FIG. 4 - 5 show a diagram of the claimed apparatus with its housing suspended

via linkage suspension on the frame secured on the vehicle, respectively at the

initial (FIG. 4) and final (FIG. 5) moment of vibration cycle.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

The claimed multi-purpose shaking apparatus for the orchard harvesting

(see FIG. 1 - 3) comprises the following main parts: frame 1 secured on the body of a vehicle 3, housing 5 enclosing a means for generating measured vibration-

single rod hydraulic cylinder 7 and means for controlling measured vibratory

action containing a hydraulic control valve 9 and master controller 11, as well as

a set 13 of a control grip, counterweights 15 and controlled linkage suspension

formed of rockers 17 and 19 (see FIG. 3).

Hydraulic cylinder 7 has a rod 21 (see FIG. 1) at the free end whereof there is

mounted an arm 23 with cushion 25. On the arm 23 there is secured, via pin 27,

a controlled grip 29 with cushion 31. Controlled grip 29 is provided with a

controlled driving means - hydraulic cylinder 33 and is capable of clamping or

releasing the trunk or limb of a tree 35. Hydraulic control valve 9, such as a

spool valve, is capable of delivering hydraulic fluid to hydraulic cylinder 7, and

hydraulic control valve 37 - of delivering hydraulic fluid to hydraulic cylinder

33. Both hydraulic control valves 9 and 37 are operated by master controller 11.

As master controller 11 there may be used a device of any type - mechanic,

hydraulic, pneumatic, electric etc. In this case, there is applied substantially an

electric master controller which may be programmed. Hydraulic pump 39

delivers hydraulic fluid under pressure from tank 41 to hydraulic control valves

9 and 37. FIG. 2 shows a diagram of another embodiment of the claimed apparatus

wherein the means for generating measured vibration comprises a double rod

hydraulic cylinder 43 with two rods 45 and 47 enclosed in housing 49. The free

end of rod 45 of hydraulic cylinder 43 (see FIG. 2) carries an arm 23 with

cushion 25. On the arm 23 there is secured, via pin 27, a controlled grip 29

with cushion 31. Controlled grip 29 is provided with a controlled driving

means- hydraulic cylinder 33 and is adapted to clamp or release the trunk or

limb of a tree 35. Rods 45 and 47 are secured to piston 51 on its both ends. At

the free end of rod 47 there is secured a clutch 53 which is, in turn, connected to

hydraulic motor 55. Clutch 53 is adapted to transmit certain angular movement

from hydraulic motor 55 via rod 47, piston 51 and rod 45 to arm 23 with grip 29,

which makes it possible to accommodate the grip to the inclination of the trunk

or limb of a tree 35.

Clutch 53 provides reciprocal movement of rod 47 relative to hydraulic motor 55

and housing 49.

FIG. 3 shows the attachment of housing 49 of the claimed apparatus onto

the chassis of a vehicle (tractor, automobile or any other self-propelled or pull-

type vehicle) via a controlled linkage suspension. Housing 49 is suspended via

rockers 17 and 19 on frame 57 attached to chassis 59 of the vehicle (the chassis

is not shown in the drawings in detail). On the frame 57 there are also mounted hydraulic cylinders 61 and 63 which, by their rods 65 and 67 respectively, fix

rockers 17 and 19 to prevent their free vibrations relative to frame 57 at the

moment, when the apparatus approaches the trunk or limb of a tree 35 or at the

moment of clamping this trunk or limb 35 by grip 29.

Counterweights 15 (see FIG.l) are substantially weights movably

mounted in housing 5 to generate a dynamic reaction of the shaking apparatus.

The means for generating measured vibration may comprise a single rod

hydraulic cylinder 7 (see FIG.l), double rod hydraulic cylinder 43 (see FIG. 2)

or diaphragm hydraulic cylinder (not shown in the drawings).

The means for controlling measured vibratory action of shaking apparatus

is substantially a hydraulic control valve 9 provided with a master controller 11

(see FIG. 1). This master controller 11 may be hydrauUc, pneumatic or electric.

In the described embodiment of the claimed apparatus, master controller 11 is

electric and provided with a programmed device, such as microprocessor (not

shown in the drawings). In the claimed apparatus master controller 11 also

controls the operation of hydraulic control valve 37 hydraulic cylinders 33 and

the operation of hydraulic cylinders 61 and 63 fixing the rockers 17 and 19 of

linkage suspension. The claimed apparatus operates as follows (see FIG. 4, 5).

Vehicle 59 with frame 57 mounted on its body approaches the tree.

Rockers 17 and 19 of the linkage suspension are rigidly fixed by rods 65 and 67

of hydraulic cylinders 61 and 63. On command from master controller 11,

hydraulic control valve 37 delivers hydraulic fluid to hydraulic cylinder 33 of

grip 29, the latter clamps the trunk or limb of a tree 35 between cushions 25 and

31, to avoid damage to the trunk or limb of tree 35. Clutch 53 and hydraulic

motor 55 transmit a certain angular movement from hydraulic motor 55 via rod

47, piston 51 and rod 45 to the arm 23 with grip

29 to turn them through a certain angle about the longitudinal axis and thereby

accommodate the grip 29 to the inclination of the trunk or limb of tree 35.

Then, on command from master controller 11, rods 65 and 67 move

inside hydraulic cylinders 61 and 63 to release rockers 17 and 19 of the linkage

suspension on which housing 5 (see FIG. 1) or 49 (see FIG. 2) is suspended, so

that this housing can freely vibrate relative to frame 57 and chassis 59. Next, on

command from master controller 11 hydraulic control valve 9 provides

intermittent delivery of hydraulic fluid to hydraulic cylinder 7 or 43 (see FIG. 1 ,

2), controlling thereby the vibrations of its piston 51. FIG. 4 shows the

movement of piston 51 to the right, whUe housing 49 moves to the left (due to the reaction caused by pressure of hydrauUc fluid in the hydraulic cylinder).

FIG. 5 shows the movement of piston 51 to the left, while the housing 49 moves

to the right. Counterweights 15 (see FIG.l) are weights movably mounted in

body 5 or 49 to cause a dynamic reaction of the shaking apparatus.

The application of suggested apparatus for accomplishing the claimed

method allows to adjust within a wide range and at any moment desired all the

parameters of vibrations driving force both during the entire vibratory process,

and within each vibration impulse. Besides, it is possible to adjust

within a sufficiently wide range the amplitude of the actuator movements. The

results of parameters alteration in the process of vibration of the actuator permit

to provide maximum accelerations within each impulse and optimize the

vibratory process. The absence of transition processes makes it possible to

instantly start or stop the apparatus. Moreover, the optimization of vibratory

process raises the percentage of fruit collection and reduces power demand,

weight and cost of the apparatus.

The application of the claimed method and apparatus allows, in the

opinion of the inventors, to solve the problem of selective harvesting in the

orchard by measured vibratory action on any parts (trunk, limbs, crown) of any

fruit trees and shrubbery, and any others plants including of date-palm trees, nuts, olives etc. irrespective of their dimensions and age, as well as dimensions

and weight of fruits.

Besides, in the opinion of inventors, it is also possible to provide selective

harvesting of fruits according to predetermined parameters, such as ripeness

stage of these fruits, irrespective of their size or weight and irrespective of the

kind, age and dimensions trees or shrubbery.

While this invention has been described in conjunction with specific

embodiment thereof, it is evident that many alternatives, modifications and

variations will be apparent to those skilled in the art. Accordingly, the

preferred embodiments of the invention as set forth herein are intended to be

illustrative, not limiting. Various changes may be made without departing from

the spirit and scope of the invention as defined in the following claims.

Claims

CLAIMSWe claim:

1. A multi-purpose shaking method for the orchard harvesting by means of

measured vibratory action on any parts (trunk, limbs, crown) of any fruit trees

and shrubbery, and any other plants including of date-palm trees, nuts, olives,

etc. irrespective of their dimensions and age, as well as dimensions and weight

of fruits, the method comprising:

i) bringing to a fruit tree or shrub a vehicle with a shaking apparatus

mounted thereon, the apparatus having a controlled grip for the

trunk, limbs or crown, a means for generating measured vibration,

as well as a means for controlling the measured vibratory action;

ii) fixing the controlled grip on the required portion of a trunk, limb or

crown;

iii) generating in the shaking apparatus a measured vibration

transmitted via the controlled grip to the corresponding portion of

the trunk, limb or crown of a corresponding fruit tree or trunk of a

corresponding tree or shrub;

iv) stepwise or continuous adjustment, both before the beginning of

vibratory action, and directly during vibratory action, via said means

for controlling the measured vibratory action, of the amplitude of movements of said controlled grip, as well as of frequency

and any other parameters of vibrations of said means for generating

measured vibration, to optimize the vibratory process both at any

moment of its duration, and within each separate vibratory impulse, to

raise, reduce or alter according to a predetermined program the

amplitude and frequency of said vibrations, as well as any other

parameters of vibrations,

whereby there is provided a possibility of selective harvesting of

fruits according to their ripeness stage, irrespective of size and

weight of these fruits and irrespective of the kind, age and

dimensions of trees and shrubs wherein they grow.

2. A method for the orchard harvesting according to claim 1, wherein there are

used said means for generating measured vibration, and said means for controlling

the measured vibratory action, these means being substantiaUy hydraulic.

3. A method for the orchard harvesting according to claim 1, wherein there are

used said means for generating measured vibration, as well as said means for

controlling measured vibratory action, these means being substantiaUy pneumatic.

4. A method for the orchard harvesting according to claim 1, wherein there are

used said means for generating measured vibration, as well as said means for

controlling the measured vibratory action, these means being substantially

electric.

5. A method for the orchard harvesting according to claim 1, wherein there are

used said means for generating measured vibration, as well as said means for

controlling measured vibratory action, one of these means being hydraulic or

pneumatic and the other electric.

6. A multi-purpose shaking apparatus for the orchard harvesting by measured

vibratory action on any parts (trunk, limbs, crown) of any fruit trees and

shrubbery, and any other plants including of date-palm trees, nuts, olives etc.

irrespective of their dimensions and age, as well as dimensions and weight of

fruits, this apparatus comprising:

a) a frame mounted on the body of a vehicle;

b) a housing enclosing a means for generating measured vibration and

means for controlling the measured vibratory action of said shaking

apparatus; c) a controlled grip of the shaking apparatus mounted at the free end of said

means for generating measured vibration and having a controlled driving

means;

d) counterweights, substantially weights movably mounted in the housing

and intended for generating a dynamic reaction of shaking apparatus;

e) a controlled linkage suspension whereby said housing is suspended on

said frame to avoid transmitting vibration to the body of a vehicle.

7. A multi-purpose shaking apparatus according to claim 6, wherein said means

for generating measured vibration is substantially formed as a hydraulic cylinder.

8. A multi-purpose shaking apparatus according to claim 7, wherein said hydraulic

cylinder is a single rod cylinder.

9. A multi-purpose shaking apparatus according to claim 7, wherein said hydraulic

cylinder is a double rod cylinder.

10. A multi-purpose shaking apparatus according to claim 7, wherein said

hydraulic cylinder is a diaphragm cylinder.

11. A multi-purpose shaking apparatus according to claim 6, wherein said means

for controlling measured vibratory action of the shaking apparatus is substantially

formed as a hydraulic control valve provided with a master controller.

12. A multi-purpose shaking apparatus according to claim 11, wherein said

master controller is substantially hydraulic.

13. A multi-purpose vibratory apparatus according to claim 11, wherein said

master controller is substantially pneumatic.

14. A multi-purpose shaking apparatus according to claim 11, wherein said master

controller is substantially electric.

15. A multi-purpose shaking apparatus according to claim 14, wherein said master

controller is provided with a programmed device, such as microprocessor.

16. A multi-purpose shaking apparatus according to claim 6, wherein the

confroUed grip of said shaking apparatus mounted at the free end of said means

for generating measured vibration is provided with a controlled driving means,

such as a hydraulic cylinder.

17. A multi-purpose shaking apparatus according to claim 16, wherein the

controlled grip of said shaking apparatus mounted at the free end of said means

for generating measured vibration is provided with a controlled driving means,

such as hydraulic cylinder associated with said master controller.

18. A multi-purpose shaking apparatus according to claim 6, wherein said

controlled linkage suspension whereby said housing is suspended on said frame is

provided at least with one actuator formed substantiaUy as a hydraulic cylinder.

19. A multi-purpose shaking apparatus according to claim 18, wherein said

controlled linkage suspension is provided at least with one actuator formed

substantially as a hydraulic cylinder associated with said master controller.