WO2023007039A1 - Continuous tree-harvesting unit - Google Patents

Continuous tree-harvesting unit Download PDF

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Publication number
WO2023007039A1
WO2023007039A1 PCT/ES2022/000024 ES2022000024W WO2023007039A1 WO 2023007039 A1 WO2023007039 A1 WO 2023007039A1 ES 2022000024 W ES2022000024 W ES 2022000024W WO 2023007039 A1 WO2023007039 A1 WO 2023007039A1
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WO
WIPO (PCT)
Prior art keywords
vibration
chains
tree
equipment
continuous
Prior art date
Application number
PCT/ES2022/000024
Other languages
Spanish (es)
French (fr)
Inventor
Jesús Ángel LÓPEZ-BRAVO ÁLVAREZ
Original Assignee
Lopez Bravo Alvarez Jesus Angel
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Publication date
Application filed by Lopez Bravo Alvarez Jesus Angel filed Critical Lopez Bravo Alvarez Jesus Angel
Publication of WO2023007039A1 publication Critical patent/WO2023007039A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
    • A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith

Definitions

  • the field of application of this equipment and its vibrating system falls within the manufacture of fruit harvesting equipment.
  • the object of the invention is to describe a new harvesting equipment with a vibrating and continuous fruit collection system, in such a way that it can perform its function without the need to stop at each tree and, in turn, carry out this collection at large speeds achieving performance never seen before.
  • the harvesting equipment has been designed to work continuously and is made up of a double tunnel-shaped chassis that encompasses and houses the entire tree inside, that is, this equipment can "go over" the trees. It is a self-propelled machine, composed of two separate porticos and joined together by structural elements, forming a tunnel that circulates housing the trees inside.It has a sensor to detect the presence of the tree to be vibrated and by means of an innovative vibrating system continuously, knocks down the fruit from the tree.Once the fruit is knocked down, it is driven by a system of slopes to a conveyor belt, which leads the fruit to an accumulator deposit.Due to the small size of the vibrating system, in In relation to the total volume of the collection equipment, the installation in it of the previously mentioned elements can be allowed, such as the slope system, conveyor belts and storage tank.
  • each of the corners of the collector equipment there is a driving wheel, adjustable in height and with orientation capacity.
  • the driver's cabin allows displacement to the right and left to achieve smaller measures in the movements of the machine.
  • the deposits that house the fruit can be folded towards the inside of the harvesting machine, just like and for the same reason as the cabin, that is, to try to contain the width of the machine when moving.
  • the newly developed vibrating system is made up of two chains, one on each side of the machine, which in turn mount rubber pads, in order to hold firmly to the tree to be vibrated without damaging it.
  • the aforementioned chain is made up of cylindrical rollers that rotate around some guides and some "links" that in turn house the rubber blocks. Both chains move along the guides synchronized with the movement of the harvesting equipment. When a tree approaches , this is detected, and the two chains "embrace" the tree, at which time the vibration begins and the fruit is detached. Thanks to the synchronism between the movement of the vibrating chain and the harvesting equipment, the tree is seized and vibrated without stopping the equipment.
  • the new collecting equipment is made on the basis of two tunnel-shaped porticos with the necessary dimensions to completely house the tree to be collected inside.
  • Each of the two bases or pillars of the two portals constitutes one of the "four corners" of the machine. Due to their high rigidity, these pillars serve as support and guide for the drive system of the harvesting equipment.
  • This drive system is made up of a drive wheel driven by a hydraulic motor-reducer. It has the ability to slide through the pillar in order to regulate the height of the harvesting equipment and adapt to the plantations, a movement that is carried out with the help of hydraulic cylinders.
  • the four drive wheels are also steerable in order to minimize the turning radius of the machine.
  • the two porticos are joined together by tubular elements, forming a highly rigid superstructure.
  • the combustion engine, gasoii and oil tanks and all the hydraulic and electrical system of the collection equipment are located. Covering the combustion engine and the hydraulic system, the slope system of the machine is located. These slopes have the mission of driving the felled fruit to the two conveyor belts, one on each side, located inside the machine. Therefore, the conveyor belts are located inside the lower part of the the superstructure.
  • the conveyor belts drive the fruit towards the rear of the machine, where the deposits that house the fruit are located.
  • the deposits are collapsible, in working conditions they "come out” from the sides of the superstructure and when the machine moves they are "collected” inside the superstructure.
  • the fruits are raised from the conveyor belt to the deposit with the help of from another conveyor belt.
  • the driver's cab allows movement to the right and left, so that during work the cab is outside the tunnel formed by the superstructure, leaving free space for the team to pass through. above the trees.
  • the cabin is collected inwards, thus reducing the final width of the equipment.
  • the vibrating system is also made up of a portal that houses the tree to be vibrated, although this time it does not have the shape of a tunnel but rather a " ⁇ " shape.
  • the upper part of the portal that makes up the vibrating system is attached to the chassis or superstructure of the collecting equipment, in such a way that it is hung only from the center by means of elastic elements, in order that the vibration that is transmitted to the tree is not transmitted in turn to the collecting equipment.
  • being only hung from the center it allows the entire “ ⁇ ”-shaped portico to oscillate to one side or the other and can freely adapt to the tree trunk to vibrate without damaging it. This degree of freedom that it has when being able to oscillate or pendulum has been designed so that the entire vibration system can move transversely and be able to tie down trees that are not completely vertical without damaging them.
  • the vibration chains are located at the bottom of the " ⁇ "-shaped portal that makes up the vibration system. These chains are made up of cylindrical rollers that move through guides and “links” that incorporate rubber pads on the outside.
  • the vibration chains are housed in supports that house the chain guides, the sprocket that moves each of the chains, the hydraulic motor that moves the chain sprocket, the chain tensioning element and the hydraulic motor with its eccentric masses causing vibration.
  • the aforementioned supports are attached by means of screws to the lower part of the arms of the portal in " ⁇ " of the vibration system.
  • the movement of the chains is always synchronized with the movement of the equipment.
  • a mechanical-hydraulic system capable of measuring the movement and displacement speed of the equipment and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains at the same speed.
  • electronic speed measurement devices radar, laser, etc. can be used and a control loop can be created that supplies the necessary hydraulic flow by means of a variable displacement pump.
  • the harvesting equipment also has a sensor, in this case a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains embrace the tree.
  • the force with which the tree is hugged can be regulated by adjusting the maximum clamping pressure of the hydraulic cylinders that close the portal.
  • the system begins to vibrate.
  • the vibration time is set by the user, although it is limited by the speed of movement and the length of the vibration chains.
  • the chains continue to move at the same speed as the harvesting equipment, a synchronism that enables the firm mooring between the chains and the tree to remain stationary.
  • the chains separate and continue to move, synchronized with the movement of the harvesting equipment, until the arrival of the next tree and the beginning of the next cycle.
  • this tightening occurs in the initial part of the chains and when the vibration ends and the cycle is finished, the trunk of the tree will be located in the final part of the chains. In this way, the longest possible vibration time will be optimized.
  • the guides on which the chain circulates, in its inner part, which is where it can be tied to the tree are completely straight, which prevents fluctuations in the tying pressure that could cause damage to the bark of the trees.
  • a mechanical probe has been used as a sensor, although other types of sensors can also be used, such as optics,...
  • the sensor is capable of distinguishing the presence of a tree or a metal pole used in super-intensive plantations , in order not to start the vibration cycle when a metallic post is detected.
  • the length of the vibration chains may depend on the planting system. A super-intensive planting system should have shorter chains and an intensive planting system with wider frames may have longer chains. The longer the chain, the higher the maximum speed at which the harvesting equipment can move, since it will be possible to ensure a greater contact of these with the tree and therefore a longer vibration time.
  • Figure 1 schematically represents the collector equipment in work configuration seen from the front
  • Figure 2 schematically represents the collector equipment in work configuration seen from its side
  • Figure 3 schematically represents the collector equipment in transport configuration seen from the front.
  • Figure 4 schematically represents the continuous vibrating system seen from its frontal part and its lateral part.
  • Figure 5 schematically represents the core of the continuous vibrating system seen from the top, made up of the support where the chains are located, the hydraulic motors for vibration and movement of the chains, the guides, the chains themselves, the tensioner and the drive pinion.
  • Figure 8 schematically represents the core of the continuous vibrating system seen from its side and front.
  • Figure 7 schematically represents the drive sprocket of the vibration chain and one of the links.
  • the equipment consists of a chassis or superstructure basically formed by two porticos (1, 2) in the form of a tunnel, one in the front and one at the rear. These two porticoes are joined together at each of their four corners by four tubular elements (3).
  • Two frames (4) are installed in the lower and interior part of these porticos, parallel to the ground, which are the ones that support and they locate the facilities and services of the collection equipment (combustion engine, hydraulic, electrical installation, ).
  • a central tube (5) is also installed in order to join them.
  • This tubular element supports in its central part the novel shaft vibrating system (8).
  • each of the four pillars which make up the corners of the structure, the four motor systems (7) of the collection equipment are located. These four systems are similar, regardless of whether they are located on the front or rear of the computer. All are provided with wheels of the same dimension and are equipped with a hydraulic motor-reducer to drive them. Similarly, all four wheels can rotate in both ways. These driving systems, as previously indicated, have the ability to slide through the pillar in order to regulate the height of the harvesting equipment.
  • the collecting equipment should go as far away from the ground as possible, in order to avoid potholes and irregularities in the terrain; however, during work, it should go as close to the ground as possible, so that the vibration chains (8) can be attached to the tree in its lower part and prevent both the vibration system and the harvesting equipment from damaging the branches of the tree.
  • the adjustment of the height of the superstructure of the equipment is carried out with the help of hydraulic cylinders (9).
  • the four driving wheels can move in both directions, but always parallel two by two, that is, the two in front are always parallel and the two located in the back are equally. Orienting the front and rear wheels in opposite directions will result in a very small turning radius.
  • the combustion engine uses diesel fuel as fuel and drives all the hydraulic system pumps.
  • This hydraulic system acts on the following main elements:
  • the slope formation system (17) is located on each side of the collector and has the mission of directing the felled fruit towards the conveyor belts ⁇ 11). They cover both the combustion engine and the hydraulic system and are attached to the lower frame (4) of the equipment.
  • conveyor belts (11) On each of the sides of the collecting equipment, in its lower central part, there are two conveyor belts (11). These conveyor belts collect the fruit sent by the slope system (17) and lead it to other conveyor belts (11) located at the rear of the equipment. All these conveyor belts are installed on the lower frames (4) of the superstructure. The conveyor belts (11) located at the rear of the equipment collect the fruit and elevate it to the deposits (10).
  • the deposits (10) of the fruit have the peculiarity that they are collapsible, in working conditions they "come out” from the sides of the superstructure and when the machine moves they "collect” inside the superstructure. This movement is carried out through a hydraulic cylinder. On the other hand, the final part of the tapes that are unloaded in the deposits are lowered with them. Inside the deposits, located in their upper part, there are screws in charge of distributing the fruit evenly in the deposit.
  • the operator's cabin (24) allows lateral displacement, so that during work the cabin is outside the superstructure and the equipment can pass over the trees.
  • the heart of the harvesting equipment resides in the continuous vibrating system ( ⁇ ). This is suspended by various elastic elements to the central tube of the superstructure, in such a way that the vibrations generated by the eccentric masses are not transmitted by the equipment.
  • the vibrating system is made up of a portal (15) in the form of " ⁇ ", which can oscillate to one side or the other and thus adapt to the trunk of the tree to be vibrated without damaging it.
  • a portal in the form of " ⁇ "
  • the closing or pinching force can be controlled by limiting the hydraulic pressure in the cylinders, in order to prevent damage to the tree.
  • the vibration chains (8) are made up of cylindrical rollers (21) that move through some guides (19) around the entire aforementioned support and by some "links" (22) that incorporate some plugs on their outside. (23)
  • the rubber pads (23) of the links (22) allow firm coupling to the shaft and in turn prevent it from being damaged by vibration.
  • the movement of the chains (8) is always synchronized with the movement of the equipment.
  • a mechanical-hydraulic system capable of measuring the movement speed of the equipment using a non-driving fifth wheel and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains (8).
  • the vibration chains will always have the same speed as the movement of the collecting equipment.
  • the wheel detects the translation movement of the machine and its rotation acts proportionally on a hydraulic system that controls the flow of oil, in such a way that the faster the equipment moves, the more oil will flow to the hydraulic motor that moves the chains. of vibration (8) and vice versa, always compensated to achieve synchronism.
  • the harvesting equipment has a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains (8) embrace the tree.
  • This mechanical feeler incorporates a sensor in order to distinguish whether the object to be detected is a tree or a metal guide post for super-intensive plantations.
  • the system begins to vibrate, while both the harvesting equipment and the vibration chains (8) continue to move synchronously. In this way, the trees are vibrated continuously, without stopping the harvesting equipment at any time.
  • the synchronization of movements causes the mooring point between the vibration chains and the tree to remain static, always embracing with the same force and firmness and preventing any damage to the tree bark.
  • the chains separate from the tree and also continue to move synchronously with the movement of the harvesting equipment.
  • a user adjustable factor is the vibration time.
  • the maximum vibration time is calculated by the automaton of the harvesting equipment, considering in this calculation the displacement speed during the work and the useful length (straight part) of the guides (19) of the vibration chains (8 ). This calculation is made to prevent the shaft from reaching the end of its useful part while the chains move through their grooves and the vibration has not stopped.
  • the length of the chains is limited by the plantation frame, in such a way that in super-intensive frames shorter chains should be available, in order to prevent embracing two trees at the same time, since in case of If they do not have the same diameter, the clamping force on the smallest one would be less or even zero and the vibration could damage it.

Abstract

The invention relates to a novel self-propelled harvesting unit with a vibrating system for continuous fruit harvesting, so that it can perform its function without the need to stop at every tree and, in turn, perform this harvest at high speeds. The harvesting unit is made up of a double chassis in the shape of a tunnel which covers and houses the entire tree inside the same, in other words, this unit can "pass above" the trees. The vibrating system has two chains, one on each side of the machine, made up of cylindrical rollers that rotate around a support with guides and "links" that in turn house rubber studs. Both chains move synchronised with the movement of the harvesting unit. When a tree comes close, it is detected and the two chains "embrace" the tree, at which moment the vibration starts and the fruit is detached and led to a tank.

Description

D E S C R I P C I Ó N DESCRIPTION
EQUIPO DE RECOLECCION EN CONTINUO DE ÁRBOLES SECTOR DE LA TÉCNICA CONTINUOUS TREE HARVESTING EQUIPMENT TECHNIQUE SECTOR
El campo de aplicación de este equipo y su sistema de vibrado se encuadra dentro de la fabricación de equipos recolectores de frutos. El objeto de la invención es la de describir un nuevo equipo recolector con un sistema de vibrado y recogida de fruto en continuo, de tal forma, que pueda realizar su función sin necesidad de detenerse en cada árbol y a su vez, realizar esta recolección a grandes velocidades consiguiendo rendimientos nunca vistos hasta ahora. The field of application of this equipment and its vibrating system falls within the manufacture of fruit harvesting equipment. The object of the invention is to describe a new harvesting equipment with a vibrating and continuous fruit collection system, in such a way that it can perform its function without the need to stop at each tree and, in turn, carry out this collection at large speeds achieving performance never seen before.
El equipo recolector ha sido concebido para trabajar de forma continua y está conformado por un doble chasis en formal de túnel que abarca y alberga la totalidad del árbol en su interior, es decir, este equipo puede “pasar por encima" de los árboles. Se trata de una máquina autopropulsada, compuesta de dos pórticos separados y unidos entre si mediante elementos estructurales, conformando un túnel que circula albergando los árboles en su interior. Dispone de un sensor para detectar la presencia del árbol a vibrar y mediante un novedoso sistema de vibrado en continuo, derriba el fruto del árbol. Una vez que el fruto es derribado, este es conducido mediante un sistema de pendientes a una cinta transportadora, la cual conduce el fruto hasta un depósito acumulador. Debido al pequeño tamaño del sistema de vibrado, en relación con el volumen total del equipo de recolección, se puede permitir la instalación en el mismo de ios elementos anteriormente citados, como son el sistema de pendientes, cintas transportadoras y depósito acumulador. En cada una de las esquinas del equipo recolector se encuentra una rueda motriz, ajustable en altura y con capacidad de orientación. La cabina del conductor permite el desplazamiento a derecha e izquierda para conseguir medidas más reducidas en los desplazamientos de la máquina. Los depósitos que albergan el fruto pueden abatirse hacia el interior de la máquina recoiectora, al igual y por el mismo motivo que la cabina, es decir, para intentar contener la anchura de la máquina en los desplazamientos. The harvesting equipment has been designed to work continuously and is made up of a double tunnel-shaped chassis that encompasses and houses the entire tree inside, that is, this equipment can "go over" the trees. It is a self-propelled machine, composed of two separate porticos and joined together by structural elements, forming a tunnel that circulates housing the trees inside.It has a sensor to detect the presence of the tree to be vibrated and by means of an innovative vibrating system continuously, knocks down the fruit from the tree.Once the fruit is knocked down, it is driven by a system of slopes to a conveyor belt, which leads the fruit to an accumulator deposit.Due to the small size of the vibrating system, in In relation to the total volume of the collection equipment, the installation in it of the previously mentioned elements can be allowed, such as the slope system, conveyor belts and storage tank. In each of the corners of the collector equipment there is a driving wheel, adjustable in height and with orientation capacity. The driver's cabin allows displacement to the right and left to achieve smaller measures in the movements of the machine. The deposits that house the fruit can be folded towards the inside of the harvesting machine, just like and for the same reason as the cabin, that is, to try to contain the width of the machine when moving.
El nuevo sistema de vibrado desarrollado, está compuesto de dos cadenas, una cada lado de la máquina, que montan a su vez tacos de goma, con el objeto de agarrarse firmemente al árbol a vibrar sin dañarlo. La citada cadena está compuesta por rodillos cilindricos que giran alrededor de unas guías y por unos “eslabones" que a su vez alojan los tacos de goma. Ambas cadenas se mueven por las guías sincronizadas con el desplazamiento del equipo recolector. Cuando un árbol se aproxima, este es detectado, y las dos cadenas “abrazan” al árbol, momento en el cual comienza la vibración y el fruto es desprendido. Gracias al sincronismo entre el movimiento de la cadena vibradora y el equipo recolector, el árbol es agarrado y vibrado sin detenerse el equipo. The newly developed vibrating system is made up of two chains, one on each side of the machine, which in turn mount rubber pads, in order to hold firmly to the tree to be vibrated without damaging it. The aforementioned chain is made up of cylindrical rollers that rotate around some guides and some "links" that in turn house the rubber blocks. Both chains move along the guides synchronized with the movement of the harvesting equipment. When a tree approaches , this is detected, and the two chains "embrace" the tree, at which time the vibration begins and the fruit is detached. Thanks to the synchronism between the movement of the vibrating chain and the harvesting equipment, the tree is seized and vibrated without stopping the equipment.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
Existen numerosas publicaciones que describen equipos de recolección, particularmente pueden destacarse las siguientes, There are numerous publications that describe collection equipment, particularly the following can be highlighted,
• ES 126546511 · ES2630833A1 • ES 126546511 ES2630833A1
• ES1047154U • ES1047154U
• ES2652322A1 • ES2652322A1
• ES2567528A1 • ES2567528A1
• ES2293777A1 · ES2399807T3 • ES2293777A1 ES2399807T3
• US3473310A •US3473310A
• US5074107A •US5074107A
En ninguno de estos documentos se ha encontrado referencias a un equipo recolector autopropulsado basado en una superestructura capaz de albergar un árbol en su interior y que posea un sistema de vibrado continúo basado en cadenas de vibración móviles sincronizadas con el movimiento de traslación de la maquina recolectora. EXPLICACIÓN DE LA INVENCIÓN In none of these documents have references been found to a self-propelled harvesting equipment based on a superstructure capable of housing a tree inside and that has a continuous vibration system based on mobile vibration chains synchronized with the translational movement of the harvesting machine. . EXPLANATION OF THE INVENTION
El nuevo equipo recolector está fabricado a base de dos pórticos con forma de túnel con las dimensiones necesarias para albergar completamente el árbol a recolectaren su interior. Cada una de las dos bases o pilares de los dos pórticos constituye una de las “cuatro esquinas’’ de la máquina. Debido a su alta rigidez, estos pilares sirven de apoyo y a la vez de gula para el sistema motriz del equipo recolector. Este sistema motriz está conformado por una rueda motriz accionada por un motor-reductor hidráulico. Tiene la capacidad de deslizarse a través del pilar con el objeto de regular la altura del equipo recolector y adaptarse a las plantaciones, movimiento que es realizado con la ayuda de cilindros hidráulicos. Las cuatro ruedas motrices también son orientables con el objeto de reducir al máximo el radio de giro de la máquina. Los dos pórticos están unidos entre si mediante elementos tubulares conformando una superestructura de gran rigidez. En la parte inferior de la superestructura se ubica el motor de combustión, depósitos de gasoii y aceite y todo el sistema hidráulico y eléctrico del equipo recolector. Cubriendo el motor de combustión y el sistema hidráulico, se ubica el sistema de pendientes de la máquina. Estas pendientes tienen la misión de conducir el fruto derribado hada las dos cintas transportadoras, una a cada lado, ubicadas en la parte interior la máquina. Por tanto, las cintas transportadoras se ubican en el interior de la parte inferior de la superestructura. Las cintas transportadoras conducen los frutos hacia la parte trasera de la máquina, donde se ubica los depósitos que albergan el fruto. Los depósitos son abatióles, en condiciones de trabajo estos “salen” por los laterales de la superestructura y cuando la maquina se desplaza se “recogen" en el interior de la superestructura, Los frutos se elevan desde la cinta transportadora hasta el depósito con la ayuda de otra cinta transportadora.The new collecting equipment is made on the basis of two tunnel-shaped porticos with the necessary dimensions to completely house the tree to be collected inside. Each of the two bases or pillars of the two portals constitutes one of the "four corners" of the machine. Due to their high rigidity, these pillars serve as support and guide for the drive system of the harvesting equipment. This drive system is made up of a drive wheel driven by a hydraulic motor-reducer. It has the ability to slide through the pillar in order to regulate the height of the harvesting equipment and adapt to the plantations, a movement that is carried out with the help of hydraulic cylinders. The four drive wheels are also steerable in order to minimize the turning radius of the machine. The two porticos are joined together by tubular elements, forming a highly rigid superstructure. In the lower part of the superstructure the combustion engine, gasoii and oil tanks and all the hydraulic and electrical system of the collection equipment are located. Covering the combustion engine and the hydraulic system, the slope system of the machine is located. These slopes have the mission of driving the felled fruit to the two conveyor belts, one on each side, located inside the machine. Therefore, the conveyor belts are located inside the lower part of the the superstructure. The conveyor belts drive the fruit towards the rear of the machine, where the deposits that house the fruit are located. The deposits are collapsible, in working conditions they "come out" from the sides of the superstructure and when the machine moves they are "collected" inside the superstructure. The fruits are raised from the conveyor belt to the deposit with the help of from another conveyor belt.
De igual forma que los depósitos se abaten, la cabina del conductor permite el desplazamiento a derecha e izquierda, con el objeto que durante el trabajo la cabina quede fuera del túnel conformado por la superestructura, quedando el espacio libre para que el equipo pueda pasar por encima de los árboles. Durante el desplazamiento del equipo, la cabina se recoge hacia el interior, disminuyendo asi la anchura final del equipo. In the same way that the tanks are lowered, the driver's cab allows movement to the right and left, so that during work the cab is outside the tunnel formed by the superstructure, leaving free space for the team to pass through. above the trees. During the movement of the equipment, the cabin is collected inwards, thus reducing the final width of the equipment.
El sistema de vibrado también está compuesto de un pórtico que alberga ei árbol a vibrar, aunque esta vez no tiene forma de túnel si no de “Ω”, La parte superior del pórtico que compone el sistema de vibrado se une al chasis o superestructura del equipo recolector, de tal forma que queda colgado sólo del centro mediante elementos elásticos, con el objeto de que la vibración que se trasmita al árbol no se transmita a su vez al equipo recolector. Por otro lado, al estar solamente colgado del centro, permite que todo el pórtico con forma de “Ω”, pueda oscilar a un lado u otro y pueda adaptarse libremente al tronco del árbol a vibrar sin dañarlo. Este grado de libertad que dispone al poder oscilar o pendular ha sido concebido para que todo el sistema de vibración pueda desplazarse de forma transversal y poder amarrar árboles que no se encuentren completamente verticales sin dañarlos. The vibrating system is also made up of a portal that houses the tree to be vibrated, although this time it does not have the shape of a tunnel but rather a "Ω" shape. The upper part of the portal that makes up the vibrating system is attached to the chassis or superstructure of the collecting equipment, in such a way that it is hung only from the center by means of elastic elements, in order that the vibration that is transmitted to the tree is not transmitted in turn to the collecting equipment. On the other hand, being only hung from the center, it allows the entire “Ω”-shaped portico to oscillate to one side or the other and can freely adapt to the tree trunk to vibrate without damaging it. This degree of freedom that it has when being able to oscillate or pendulum has been designed so that the entire vibration system can move transversely and be able to tie down trees that are not completely vertical without damaging them.
En la parte inferior del pórtico con forma de “Ω” que conforma el sistema de vibración están ubicadas las cadenas de vibración. Estas cadenas están compuestas por rodillos cilindricos que se desplazan a través de unas gulas y por unos "eslabones" que incorporan en su parte externa unos tacos de goma. Las cadenas de vibración van alojadas en unos soportes que albergan las guías de las cadenas, el piñón que mueve cada una de las cadenas, el motor hidráulico que mueve el piñón de las cadenas, el elemento tensor de las cadenas y el motor hidráulico con sus masas excéntricas causantes de la vibración. Los citados soportes van unidos mediante tornillos a la parte inferior de los brazos del pórtico en “Ω” del sistema de vibración. Entre la parte superior del pórtico y los perfiles laterales se encuentran sendos cilindros hidráulicos, cuya misión es la de “cerrar” el pórtico en “Ω” y lograr que las cadenas puedan ceñirse y abrazar al árbol a vibrar. De esta forma se crea una especie de pinza, capaz de rodear ai árbol a vibrar. The vibration chains are located at the bottom of the "Ω"-shaped portal that makes up the vibration system. These chains are made up of cylindrical rollers that move through guides and "links" that incorporate rubber pads on the outside. The vibration chains are housed in supports that house the chain guides, the sprocket that moves each of the chains, the hydraulic motor that moves the chain sprocket, the chain tensioning element and the hydraulic motor with its eccentric masses causing vibration. The aforementioned supports are attached by means of screws to the lower part of the arms of the portal in "Ω" of the vibration system. Between the upper part of the portal and the side profiles there are two hydraulic cylinders, whose mission is to "close" the portal in "Ω" and ensure that the chains can tighten and embrace the tree to be vibrated. In this way, a kind of clamp is created, capable of surrounding the tree to be vibrated.
En condiciones de trabajo, el movimiento de las cadenas siempre está sincronizado con el movimiento del equipo. Para tal fin se dispone de un sistema mecánico-hidráulico capaz de medir el movimiento y velocidad de desplazamiento del equipo y suministrar el caudal hidráulico necesario para accionar el motor hidráulico de las cadenas de vibración a la misma velocidad. Al igual que se ha utilizado un sistema mecánico-hidráulico para medir el movimiento del equipo, puede utilizarse dispositivos electrónicos de medida de velocidad (radar, láser, ...) y crear un lazo de control que suministre el caudal hidráulico necesario mediante una bomba de caudal variable. El equipo recolector también dispone de un sensor, en este caso de palpador mecánico, que detecta ia presencia deí árbol a vibrar y manda la señal para que las cadenas en movimiento, abracen al árbol. La fuerza con la que se abraza al árbol, pueda ser regulada ajustando la presión máxima de apriete de los cilindros hidráulicos que cierran el pórtico. Under working conditions, the movement of the chains is always synchronized with the movement of the equipment. For this purpose, there is a mechanical-hydraulic system capable of measuring the movement and displacement speed of the equipment and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains at the same speed. Just as a mechanical-hydraulic system has been used to measure the movement of the equipment, electronic speed measurement devices (radar, laser,...) can be used and a control loop can be created that supplies the necessary hydraulic flow by means of a variable displacement pump. The harvesting equipment also has a sensor, in this case a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains embrace the tree. The force with which the tree is hugged can be regulated by adjusting the maximum clamping pressure of the hydraulic cylinders that close the portal.
Una vez que el árbol es abrazado, el sistema comienza a vibrar, El tiempo de vibración está marcado por el usuario, aunque está limitado por la velocidad de desplazamiento y la longitud de las cadenas de vibración. Durante la vibración, las cadenas siguen moviéndose a la misma velocidad que el equipo recolector, sincronismo que posibilita que el firme amarre entre las cadenas y el árbol permanezca estacionario. Finalizada la vibración, las cadenas se separan y siguen igualmente moviéndose sincronizadas con el movimiento del equipo recolector hasta la llegada del siguiente árbol y comienzo del siguiente ciclo. Cuando se detecta el árbol y las cadenas se aterran a él, este apriete se produce en la parte inicial de las cadenas y cuando acaba la vibración y se termina el ciclo, el tronco del árbol estará situado en la parte final de las cadenas. De esta forma se optimizará el mayor tiempo de vibración posible. Las guias sobre las que circula la cadena, en su parte interior, que es donde puede amarrarse al árbol, son completamente rectas, lo que impide fluctuaciones en la presión de amarre que podrían causar daños en las cortezas de los árboles. Once the tree is hugged, the system begins to vibrate. The vibration time is set by the user, although it is limited by the speed of movement and the length of the vibration chains. During the vibration, the chains continue to move at the same speed as the harvesting equipment, a synchronism that enables the firm mooring between the chains and the tree to remain stationary. Once the vibration is finished, the chains separate and continue to move, synchronized with the movement of the harvesting equipment, until the arrival of the next tree and the beginning of the next cycle. When the tree is detected and the chains are attached to it, this tightening occurs in the initial part of the chains and when the vibration ends and the cycle is finished, the trunk of the tree will be located in the final part of the chains. In this way, the longest possible vibration time will be optimized. The guides on which the chain circulates, in its inner part, which is where it can be tied to the tree, are completely straight, which prevents fluctuations in the tying pressure that could cause damage to the bark of the trees.
En nuestro caso se ha usado un palpador mecánico como sensor, aunque puede igualmente utilizarse otro tipo de sensores, como ópticos, ... En todo caso, el sensor es capaz de distinguir la presencia de un árbol o un poste metálico usado en plantaciones superintensivas, con el fin de no iniciar el ciclo de vibración cuando se detecte un poste metálico. In our case, a mechanical probe has been used as a sensor, although other types of sensors can also be used, such as optics,... In any case, the sensor is capable of distinguishing the presence of a tree or a metal pole used in super-intensive plantations , in order not to start the vibration cycle when a metallic post is detected.
La longitud de las cadenas de vibración podrá depender del sistema de plantación. Un sistema de plantación superintensivo deberá disponer de cadenas más cortas y un sistema de plantación intensivo con marcos más anchos podrá disponer de cadenas más largas. Cuanto más larga sea la cadena, mayor será la velocidad máxima a la que podrá moverse el equipo de recolección, ya que se podrá asegurar un mayor contacto de éstas con el árbol y por tanto un mayor tiempo de vibración. The length of the vibration chains may depend on the planting system. A super-intensive planting system should have shorter chains and an intensive planting system with wider frames may have longer chains. The longer the chain, the higher the maximum speed at which the harvesting equipment can move, since it will be possible to ensure a greater contact of these with the tree and therefore a longer vibration time.
BREVE DESCRIPCIÓN DE LOS DIBUJOS BRIEF DESCRIPTION OF THE DRAWINGS
Para comprender mejor las ventajas y peculiaridades de la invención, se acompaña una serie de figuras que ilustran la forma de realización preferente de la misma. Estas figuras sólo se anexan a forma de ejemplo y no tienen carácter limitante. La figura 1 representa de forma esquemática el equipo recolector en configuración de trabajo visto desde su parte frontal La figura 2 representa de forma esquemática el equipo recolector en configuración de trabajo visto desde su parte lateral In order to better understand the advantages and peculiarities of the invention, a series of figures illustrating the preferred embodiment thereof is attached. These figures are only attached as an example and are not limiting. Figure 1 schematically represents the collector equipment in work configuration seen from the front Figure 2 schematically represents the collector equipment in work configuration seen from its side
La figura 3 representa de forma esquemática el equipo recolector en configuración de transporte visto desde su parte frontal Figure 3 schematically represents the collector equipment in transport configuration seen from the front.
La figura 4 representa de forma esquemática el sistema de vibrado continúo visto desde su parte frontal y su parte lateral Figure 4 schematically represents the continuous vibrating system seen from its frontal part and its lateral part.
La figura 5 representa de forma esquemática el núcleo del sistema de vibrado continúo visto desde su parte superior, compuesto del soporte donde se ubican las cadenas, los motores hidráulicos de vibración y desplazamiento de las cadenas, las gulas, las propias cadenas, el tensor y el piñón de accionamiento.Figure 5 schematically represents the core of the continuous vibrating system seen from the top, made up of the support where the chains are located, the hydraulic motors for vibration and movement of the chains, the guides, the chains themselves, the tensioner and the drive pinion.
La figura 8 representa de forma esquemática el núcleo del sistema de vibrado continúo visto desde su parte lateral y frontal Figure 8 schematically represents the core of the continuous vibrating system seen from its side and front.
La figura 7 representa de forma esquemática el piñón de accionamiento de la cadena de vibración y uno de los eslabones REALIZACIÓN PREFERENTE DE LA INVENCIÓN Figure 7 schematically represents the drive sprocket of the vibration chain and one of the links. PREFERRED EMBODIMENT OF THE INVENTION
A continuación, se describirá con un mayor detalle ¡a realización preferente del objeto de la invención, Como se ha indicado anteriormente, el equipo consta de un chasis o superestructura formada básicamente por dos pórticos (1 ,2) en forma de túnel, uno en la parte delantera y otro en la parte trasera. Estos dos pórticos están unidos entre si en cada una de sus cuatro esquinas por cuatro elementos tubulares (3), En la parte inferior e interior de estos pórticos se encuentra instalados dos bastidores (4), paralelos al suelo, que son los que soportan y ubican las instalaciones y servicios del equipo recolector (motor de combustión, instalación hidráulica, eléctrica, ...). En la parte superior y central de los dos pórticos, también se instala un tubo central (5) con el fin de unirlos. Este elemento tubular sostiene en su parte central el novedoso sistema de vibrado (8) de árboles. Next, the preferred embodiment of the object of the invention will be described in greater detail. As previously indicated, the equipment consists of a chassis or superstructure basically formed by two porticos (1, 2) in the form of a tunnel, one in the front and one at the rear. These two porticoes are joined together at each of their four corners by four tubular elements (3). Two frames (4) are installed in the lower and interior part of these porticos, parallel to the ground, which are the ones that support and they locate the facilities and services of the collection equipment (combustion engine, hydraulic, electrical installation, ...). In the upper and central part of the two porticos, a central tube (5) is also installed in order to join them. This tubular element supports in its central part the novel shaft vibrating system (8).
En cada uno de los cuatro pilares, que conforman las esquinas de la estructura, se encuentran ubicados los cuatro sistemas motrices (7) del equipo recolector. Estos cuatro sistemas son similares, independientemente de que vayan ubicados en la parte delantera o trasera del equipo. Todos van provistos de ruedas de la misma dimensión y se equipan con moto-reductor hidráulico para el accionamiento de las mismas. De igual forma, las cuatro ruedas pueden girar en ambos sentidos. Estos sistemas motrices, como se indicó anteriormente, tienen ¡a capacidad de deslizarse a través del pilar con el objeto de regular la altura del equipo recolector. Durante los desplazamientos, el equipo recolector deberá ir lo más separado posible del suelo, con el objeto de sortear los baches e irregularidades del terreno, sin embargo, durante el trabajo, debe ir lo más pegado al suelo posible, con el objeto de que las cadenas de vibración (8) puedan ceñirse al árbol en su parte más baja e impedir que tanto el sistema de vibración como el equipo recolector dañen las ramas del árbol. La regulación de la altura de la superestructura del equipo se realiza con la ayuda de cilindros hidráulicos (9). Las cuatro ruedas motrices pueden moverse en ambos sentidos, pero siempre paralelas dos a dos, es decir, las dos de delante siempre van paralelas e igualmente las dos ubicadas en ¡a parte de atrás. Orientando en sentidos opuestos las ruedas de delante y las de detrás se obtendrá un radio de giro muy reducido. In each of the four pillars, which make up the corners of the structure, the four motor systems (7) of the collection equipment are located. These four systems are similar, regardless of whether they are located on the front or rear of the computer. All are provided with wheels of the same dimension and are equipped with a hydraulic motor-reducer to drive them. Similarly, all four wheels can rotate in both ways. These driving systems, as previously indicated, have the ability to slide through the pillar in order to regulate the height of the harvesting equipment. During the movements, the collecting equipment should go as far away from the ground as possible, in order to avoid potholes and irregularities in the terrain; however, during work, it should go as close to the ground as possible, so that the vibration chains (8) can be attached to the tree in its lower part and prevent both the vibration system and the harvesting equipment from damaging the branches of the tree. The adjustment of the height of the superstructure of the equipment is carried out with the help of hydraulic cylinders (9). The four driving wheels can move in both directions, but always parallel two by two, that is, the two in front are always parallel and the two located in the back are equally. Orienting the front and rear wheels in opposite directions will result in a very small turning radius.
El motor de combustión utiliza como combustible gasoil y mueve todas las bombas del sistema hidráulico. Este sistema hidráulico actúa en ios siguientes principales elementos: The combustion engine uses diesel fuel as fuel and drives all the hydraulic system pumps. This hydraulic system acts on the following main elements:
• Movimiento de traslación del equipo, enviando fluido hidráulico al motor- reductor ubicado en las ruedas motrices • Movement of translation of the equipment, sending hydraulic fluid to the motor-reducer located in the driving wheels.
• Giro de las ruedas, actuando en los cilindros hidráulicos de orientación de las mismas • Rotation of the wheels, acting on the hydraulic cylinders of orientation of the same
• Regulación de la altura de la superestructura, actuando sobre ios cilindros hidráulicos ubicados en los cuatro pilares • Regulation of the height of the superstructure, acting on the hydraulic cylinders located in the four pillars.
• Abatimiento de depósitos (10), actuando sobre los cilindros hidráulicos de los depósitos • Lowering of deposits (10), acting on the hydraulic cylinders of the deposits
• Movimiento del husillo de depósitos, actuando sobre el motor hidráulico asociado al husillo • Movement of the deposit screw, acting on the hydraulic motor associated with the screw.
• Movimiento de cintas transportadoras (11), actuando sobre los motores hidráulicos de las mismas • Movement of conveyor belts (11), acting on their hydraulic motors.
• Movimiento de las cadenas de vibración (8), actuando sobre sus motores hidráulicos {12} asociados al piñón (13) de las cadenas • Movement of the vibration chains (8), acting on their hydraulic motors {12} associated with the sprocket (13) of the chains.
• Apertura y cierra del sistema de vibración, actuando sobre los cilindros hidráulicos (14) del pórtico de vibrado (15) • Opening and closing of the vibration system, acting on the hydraulic cylinders (14) of the vibrating portal (15).
• Vibrado, actuando sobre los motores hidráulicos (18) que mueven las masas excéntricas • Vibrated, acting on the hydraulic motors (18) that move the eccentric masses.
Algunos de estos usos necesitan de bombas dedicadas. Some of these uses require dedicated pumps.
El sistema de formación de pendientes (17) se ubica a cada lado del recolector y tiene la misión de dirigir el fruto derribado hacia las cintas transportadoras {11). Cubren tanto el motor de combustión como el sistema hidráulico y se encuentran unidos al bastidor inferior (4) del equipo. The slope formation system (17) is located on each side of the collector and has the mission of directing the felled fruit towards the conveyor belts {11). They cover both the combustion engine and the hydraulic system and are attached to the lower frame (4) of the equipment.
A cada uno de los lados del equipo recolector, en su parte inferior central, se encuentran sendas cintas transportadoras (11). Estas cintas trasportadoras recogen el fruto enviado por el sistema de pendientes (17) y lo conducen hasta otras cintas trasportadoras (11) ubicadas en la parte trasera del equipo. Todas estas cintas trasportadoras se instalan sobre los bastidores inferiores (4) de la superestructura. Las cintas transportadoras (11) ubicadas en la parte trasera del equipo, recogen el fruto y lo elevan hasta los depósitos (10). On each of the sides of the collecting equipment, in its lower central part, there are two conveyor belts (11). These conveyor belts collect the fruit sent by the slope system (17) and lead it to other conveyor belts (11) located at the rear of the equipment. All these conveyor belts are installed on the lower frames (4) of the superstructure. The conveyor belts (11) located at the rear of the equipment collect the fruit and elevate it to the deposits (10).
Los depósitos (10) del fruto tiene la peculiaridad de que son abatióles, en condiciones de trabajo estos “salen" por los laterales de la superestructura y cuando la maquina se desplaza se “recogen" en el interior de la superestructura. Este movimiento se realiza a través de un cilindro hidráulico. Por otro lado, la parte final de las cintas que descargan en los depósitos se abaten con ellos. En el interior de los depósitos, ubicados en su parte superior se encuentran unos husillos encargados de distribuir homogéneamente el fruto en el depósito. The deposits (10) of the fruit have the peculiarity that they are collapsible, in working conditions they "come out" from the sides of the superstructure and when the machine moves they "collect" inside the superstructure. This movement is carried out through a hydraulic cylinder. On the other hand, the final part of the tapes that are unloaded in the deposits are lowered with them. Inside the deposits, located in their upper part, there are screws in charge of distributing the fruit evenly in the deposit.
La cabina del operador (24) permite el desplazamiento lateral, con el objeto que durante el trabajo la cabina quede fuera de la superestructura y el equipo pueda pasar por encima de los árboles. The operator's cabin (24) allows lateral displacement, so that during work the cabin is outside the superstructure and the equipment can pass over the trees.
El corazón del equipo recolector reside en el sistema de vibrado continuo (ø). Éste se suspende mediante varios elementos elásticos ai tubo central de la superestructura, de tal forma que las vibraciones generadas por las masas excéntricas no se transmitan por el equipo. The heart of the harvesting equipment resides in the continuous vibrating system (ø). This is suspended by various elastic elements to the central tube of the superstructure, in such a way that the vibrations generated by the eccentric masses are not transmitted by the equipment.
Como se indicó anteriormente, el sistema de vibrado, está compuesto de un pórtico (15) en forma de “Ω”, el cual puede oscilar a un lado u otro y de esta forma adaptarse al tronco del árbol a vibrar sin dañarlo. Entre la parte superior del pórtico y los perfiles laterales se encuentran sendos cilindros hidráulicos (14), cuya misión es la de “abrir” y “cerrar” el pórtico en logrando que el sistema de vibración pueda aferrarse al árbol a vibrar. La fuerza de cierre o pinzamiento, puede controlarse limitando la presión hidráulica en los cilindros, con el objeto de impedir daños en el árbol. As previously indicated, the vibrating system is made up of a portal (15) in the form of "Ω", which can oscillate to one side or the other and thus adapt to the trunk of the tree to be vibrated without damaging it. Between the upper part of the portal and the side profiles there are two hydraulic cylinders (14), whose mission is to "open" and "close" the portal so that the vibration system can cling to the tree to be vibrated. The closing or pinching force can be controlled by limiting the hydraulic pressure in the cylinders, in order to prevent damage to the tree.
Atornillados a la parte inferior de los laterales del pórtico de vibración, se ubican unos soportes (18) que albergan todo el núcleo del sistema de vibrado continuo. En este soporte se ubican: Screwed to the lower part of the sides of the vibration portal, there are some supports (18) that house the entire core of the continuous vibrating system. In this support are located:
• Las cadenas de vibración (8) • Vibration chains (8)
• Guias (19) de las cadenas de vibración • Guides (19) of the vibration chains
* Piñón (13) que mueve las cadenas de vibración * Sprocket (13) that moves the vibration chains
* Motor hidráulico (12) que acciona el piñón de las cadenas de vibración* Hydraulic motor (12) that drives the pinion of the vibration chains
• Elemento tensor (20) de las cadenas • Tensioning element (20) of the chains
• Masas excéntricas de vibración • Eccentric masses of vibration
• Motor hidráulico (16) de giro de las masas excéntricas • Hydraulic motor (16) for turning the eccentric masses.
Las cadenas de vibración (8) están compuestas por rodillos cilindricos (21) que se desplazan a través de unas guías (19) alrededor de todo el soporte anteriormente citado y por unos “eslabones" (22) que incorporan en su parte externa unos tacos de goma (23). Los tacos de goma (23) de ¡os eslabones (22) permiten el acoplamiento firme al árbol y a su vez evitan que éste sea dañado por la vibración. The vibration chains (8) are made up of cylindrical rollers (21) that move through some guides (19) around the entire aforementioned support and by some "links" (22) that incorporate some plugs on their outside. (23) The rubber pads (23) of the links (22) allow firm coupling to the shaft and in turn prevent it from being damaged by vibration.
Como se indicó anteriormente, en condiciones de trabajo, el movimiento de las cadenas (8) siempre está sincronizado con el movimiento del equipo. Para tal fin se dispone de un sistema mecánico-hidráulico capaz de medir la velocidad de desplazamiento del equipo utilizando una quinta rueda no motriz y suministrar el caudal hidráulico necesario para accionar el motor hidráulico de las cadenas de vibración (8). De esta forma, siempre tendrán la misma velocidad las cadenas de vibración que el desplazamiento del equipo recolector. La rueda detecta el movimiento de traslación de la máquina y su giro actúa de forma proporcional sobre un sistema hidráulico que controla el flujo de aceite, de tal forma, que cuanto más rápido se desplace el equipo más aceite fluirá al motor hidráulico que mueve las cadenas de vibración (8) y viceversa, siempre compensado para conseguir el sincronismo. As previously indicated, in working conditions, the movement of the chains (8) is always synchronized with the movement of the equipment. To this end, there is a mechanical-hydraulic system capable of measuring the movement speed of the equipment using a non-driving fifth wheel and supplying the necessary hydraulic flow to activate the hydraulic motor of the vibration chains (8). In this way, the vibration chains will always have the same speed as the movement of the collecting equipment. The wheel detects the translation movement of the machine and its rotation acts proportionally on a hydraulic system that controls the flow of oil, in such a way that the faster the equipment moves, the more oil will flow to the hydraulic motor that moves the chains. of vibration (8) and vice versa, always compensated to achieve synchronism.
Por otro lado, y como ya se comentó anteriormente, el equipo recolector dispone de un palpador mecánico, que detecta la presencia del árbol a vibrar y manda la señal para que las cadenas (8) en movimiento, abracen ai árbol. Este palpador mecánico incorpora un sensor con el objeto de distinguir si el objeto a detectar es un árbol o se trata de un poste metálico de guiado de piantaciones superintensivas. On the other hand, and as previously mentioned, the harvesting equipment has a mechanical feeler, which detects the presence of the tree to be vibrated and sends the signal so that the moving chains (8) embrace the tree. This mechanical feeler incorporates a sensor in order to distinguish whether the object to be detected is a tree or a metal guide post for super-intensive plantations.
Una vez que el árbol es abrazado, el sistema comienza a vibrar, mientras que a su vez, tanto el equipo recolector como las cadenas de vibración (8) siguen moviéndose sincronizadamente. De esta forma, los árboles son vibrados de forma continua, sin detenerse en ningún momento el equipo recolector. La sincronización de movimientos provoca, que el punto de amarre entre las cadenas de vibración y el árbol permanezca estático, abrazando siempre con la misma fuerza y firmeza e impidiendo cualquier daño a la corteza del árbol. Finalizada la vibración, las cadenas se separan del árbol y siguen igualmente moviéndose de forma sincronizada con el desplazamiento del equipo recolector. Once the tree is embraced, the system begins to vibrate, while both the harvesting equipment and the vibration chains (8) continue to move synchronously. In this way, the trees are vibrated continuously, without stopping the harvesting equipment at any time. The synchronization of movements causes the mooring point between the vibration chains and the tree to remain static, always embracing with the same force and firmness and preventing any damage to the tree bark. Once the vibration is finished, the chains separate from the tree and also continue to move synchronously with the movement of the harvesting equipment.
Un factor ajustable por el usuario es el tiempo de vibración. Sin embargo, el tiempo máximo de vibración es calculado por el autómata del equipo recolector, considerando en este cálculo ¡a velocidad de desplazamiento durante el trabajo y la longitud útil (parte recta) de las guías (19) de las cadenas de vibración (8). Este cálculo es realizado para impedir que, durante el desplazamiento de las cadenas a través de sus gusas, el árbol llegue” al final de su parte útil y la vibración no se haya detenido. A user adjustable factor is the vibration time. However, the maximum vibration time is calculated by the automaton of the harvesting equipment, considering in this calculation the displacement speed during the work and the useful length (straight part) of the guides (19) of the vibration chains (8 ). This calculation is made to prevent the shaft from reaching the end of its useful part while the chains move through their grooves and the vibration has not stopped.
Existen varias configuraciones, en cuanto a la longitud de las cadenas de vibración (8), cuya instalación dependerá de los marcos de plantación, ya que no es lo mismo trabajar con plantaciones de 1,5 metros entre árboles que plantaciones con 7 metros entre árboles. Si analizamos: • Para una misma velocidad de traslación del equipo, cuanto mayor sea la longitud de ¡as cadenas de vibración mayor podrá ser el tiempo de vibrado There are several configurations, in terms of the length of the vibration chains (8), whose installation will depend on the planting frames, since it is not the same to work with plantations of 1.5 meters between trees than plantations with 7 meters between trees. . If we analyze: • For the same translation speed of the equipment, the greater the length of the vibration chains, the longer the vibration time can be.
• Si se desea trabajar con un tiempo establecido de vibración, cuanto mayor sea ¡a longitud de las cadenas de vibración mayor podrá ser la velocidad de recolección. • If you want to work with a set vibration time, the greater the length of the vibration chains, the greater the collection speed can be.
Sin embargo, la longitud de las cadenas queda limitada por el marco de plantación, de tal forma, que en marcos superintensivos se deberá disponer de cadenas más cortas, con el objeto de impedir abrazar a dos árboles a la vez, ya que en caso de que no poseyeran el mismo diámetro, la fuerza de apriete en el más pequeño seria menor o incluso nula y la vibración podría dañarlo.However, the length of the chains is limited by the plantation frame, in such a way that in super-intensive frames shorter chains should be available, in order to prevent embracing two trees at the same time, since in case of If they do not have the same diameter, the clamping force on the smallest one would be less or even zero and the vibration could damage it.
Por otro ¡ado, en marcos más grandes, usando cadenas de vibración más largas, se pueden obtener velocidades de recolección muy elevadas, inéditas hasta este momento. On the other hand, in larger frames, using longer vibration chains, very high harvesting speeds can be obtained, hitherto unheard of.
De esta forma, quedan suficientemente descritas las partes y funciones del equipo recolector. Es importante remarcar, que la descripción efectuada tan sólo se ajusta a un ejemplo de realización preferente y que todas las variaciones de detaile asociadas a formas o tamaños quedan igualmente protegidas. In this way, the parts and functions of the collecting equipment are sufficiently described. It is important to note that the description made only adjusts to a preferred embodiment and that all variations in detail associated with shapes or sizes are equally protected.

Claims

REIVINDICACIONES
I- Equipo de recolección en continuo de árboles, autopropulsado, con superestructura en forma de túnel, de dimensiones suficientes para alojar tos árboles en su interior, dotado de un sistema de vibración en continuo utilizando cadenas de vibración (8) móviles sincronizadas con el movimiento de traslación de la máquina, caracterizado porque dispone de: I- Continuous tree harvesting equipment, self-propelled, with a tunnel-shaped superstructure, of sufficient dimensions to house the trees inside, equipped with a continuous vibration system using mobile vibration chains (8) synchronized with the movement of translation of the machine, characterized in that it has:
• un motor de combustión y un sistema mecánico-hidráulico motriz conformado por cuatro sistemas motrices (7) orientadles y ajustables en altura. Cada sistema motriz se compone de una rueda y un motor reductor hidráulico • a combustion engine and a mechanical-hydraulic motor system made up of four motor systems (7) that can be oriented and adjustable in height. Each drive system consists of a wheel and a hydraulic reduction motor
• una superestructura a base de dos pórticos (1 ,2) con forma de túnel unidos entre si mediante elementos tubulares (3) y dos bastidores inferiores (4)• a superstructure based on two tunnel-shaped porticos (1,2) joined together by tubular elements (3) and two lower frames (4)
• depósitos abatidles (10), ocultándose en el interior de la superestructura• Collapsible tanks (10), hiding inside the superstructure
• cabina de operador (24) desplazable transversalmente • operator's cabin (24) transversally movable
• sistema de pendientes (17) y cintas (11) para el traslado de los frutos hasta los depósitos (10) que almacenan el fruto • System of slopes (17) and belts (11) for the transfer of the fruit to the warehouses (10) that store the fruit.
• elemento sensor que detecta la presencia de árboles y los distingue de postes metálicos • sensor element that detects the presence of trees and distinguishes them from metal posts
• autómata de control que gestiona los ciclos de vibrado y limita el tiempo máximo de vibración • control automaton that manages the vibration cycles and limits the maximum vibration time
2.- Equipo de recolección en continuo de árboles, según la reivindicación 1, caracterizado porque el sistema de vibración continúa está compuesto de un pórtico de vibrado (15) en forma de Q, el cual puede oscilar a un lado u otro y de esta forma adaptarse al tronco del árbol a vibrar sin dañarlo. Este pórtico se suspende de un tubo central (5) de la superestructura de la máquina mediante varios elementos elásticos de tal forma que las vibraciones generadas por las masas excéntricas no se transmitan por el equipo. 2.- Continuous tree harvesting equipment, according to claim 1, characterized in that the continuous vibration system is made up of a Q-shaped vibrating portal (15), which can oscillate to one side or the other and thus shape to adapt to the tree trunk to vibrate without damaging it. This portal is suspended from a central tube (5) of the superstructure of the machine by means of several elastic elements in such a way that the vibrations generated by the eccentric masses are not transmitted by the equipment.
3.- Equipo de recolección en continuo de árboles, según la reivindicación 2, caracterizado porque el pórtico de vibrado (15) dispone entre el perfil superior y tos perfiles laterales de sendos cilindros hidráulicos (14), cuya misión es la de abrir y cerrar este pórtico en D, logrando que el sistema de vibración pueda aferrarse al árbol a vibrar. 3.- Continuous tree harvesting equipment, according to claim 2, characterized in that the vibrating portal (15) has two separate hydraulic cylinders (14) between the upper profile and the lateral profiles, whose mission is to open and close this D-shaped gantry, making the vibration system cling to the tree to be vibrated.
4 - Equipo de recolección en continuo de árboles, según la reivindicación 1, caracterizado porque el sistema de vibración continua de árboles dispone de una cadena de vibración (8) compuesta de rodillos cilindricos (21) que se desplazan a través de unas guias (19) alrededor de un soporte (18) y por unos eslabones (22) que Incorporan en su parte externa unos tacos de goma (23) para evitar daños en las cortezas de los árboles 5.- Equipo de recolección en continuo de árboles, según la reivindicación 1, caracterizado porque el movimiento de las cadenas de vibración (8) siempre está sincronizado con el movimiento de traslación del equipo mediante sistemas mecánico-hidráulicos o electrónicos que miden la velocidad de traslación del equipo y suministran el caudal hidráulico necesario para accionar el motor hidráulico de las cadenas de vibración y conseguir el sincronismo entre ambos movimientos. 4 - Continuous tree harvesting equipment, according to claim 1, characterized in that the continuous tree vibration system has a vibration chain (8) made up of cylindrical rollers (21) that move through guides (19 ) around a support (18) and by some links (22) that incorporate rubber pads (23) on the outside to prevent damage to the tree bark 5.- Continuous tree harvesting equipment, according to the Claim 1, characterized in that the movement of the vibration chains (8) is always synchronized with the translation movement of the equipment by means of mechanical-hydraulic or electronic systems that measure the translation speed of the equipment and supply the necessary hydraulic flow to activate the hydraulic motor of the vibration chains and achieve synchronism between both movements.
8.- Equipo de recolección en continuo de árboles! según la reivindicación 2, caracterizado porque en la parte inferior de los laterales del pórtico de vibrado (15) se ubican unos soportes (18) que albergan todo el núcleo del sistema de vibrado continúo. En este soporte se ubican: 8.- Continuous tree collection equipment ! according to claim 2, characterized in that in the lower part of the sides of the vibrating portal (15) there are some supports (18) that house the entire core of the continuous vibrating system. In this support are located:
* Las cadenas de vibración (8) * Vibration chains (8)
• Guías (19) de las cadenas de vibración • Guides (19) of the vibration chains
• Piñón (13) que mueve las cadenas de vibración • Pinion (13) that moves the vibration chains
• Motor hidráulico (12) que acciona el piñón de las cadenas de vibración• Hydraulic motor (12) that drives the pinion of the vibration chains.
• Elemento tensor (20) de las cadenas • Tensioning element (20) of the chains
• Masas excéntricas de vibración • Eccentric masses of vibration
• Motor hidráulico (16) de giro de las masas excéntricas • Hydraulic motor (16) for turning the eccentric masses.
7.- Equipo de recolección en continuo de árboles, según la reivindicación 1, caracterizado porque la longitud de las cadenas de vibración (8) es variable. 7. Continuous tree harvesting equipment, according to claim 1, characterized in that the length of the vibration chains (8) is variable.
PCT/ES2022/000024 2021-07-28 2022-06-01 Continuous tree-harvesting unit WO2023007039A1 (en)

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ESP202100077 2021-07-28
ES202100077A ES2911112B2 (en) 2021-07-28 2021-07-28 Continuous tree collection equipment

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660021A (en) * 1952-04-29 1953-11-24 Mcdowell Fred Berrypicking machine
ES281385U (en) * 1983-09-09 1985-09-01 Ligones Hubert Vibrating machine for harvesting all types of berries (Machine-translation by Google Translate, not legally binding)
US5259177A (en) * 1991-07-30 1993-11-09 Donald Windemuller Blueberry picking machine
ES2567528A1 (en) * 2015-08-05 2016-04-22 Universidad de Córdoba Integral and self-propelled combine harvester based on trunk vibration and simultaneous cup shaking and fruit harvesting procedure (Machine-translation by Google Translate, not legally binding)
CN110447390A (en) * 2019-08-28 2019-11-15 东北大学 A kind of interior comb displacement appearance vibration fructus lycii picker
ES1265465U (en) * 2021-01-21 2021-04-16 Ianus Ingenieria S L U Multipurpose machine for growing trees. (Machine-translation by Google Translate, not legally binding)

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660021A (en) * 1952-04-29 1953-11-24 Mcdowell Fred Berrypicking machine
ES281385U (en) * 1983-09-09 1985-09-01 Ligones Hubert Vibrating machine for harvesting all types of berries (Machine-translation by Google Translate, not legally binding)
US5259177A (en) * 1991-07-30 1993-11-09 Donald Windemuller Blueberry picking machine
ES2567528A1 (en) * 2015-08-05 2016-04-22 Universidad de Córdoba Integral and self-propelled combine harvester based on trunk vibration and simultaneous cup shaking and fruit harvesting procedure (Machine-translation by Google Translate, not legally binding)
CN110447390A (en) * 2019-08-28 2019-11-15 东北大学 A kind of interior comb displacement appearance vibration fructus lycii picker
ES1265465U (en) * 2021-01-21 2021-04-16 Ianus Ingenieria S L U Multipurpose machine for growing trees. (Machine-translation by Google Translate, not legally binding)

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