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.