CN107750640A - A kind of double trunk automatic clamping devices and method for self-propelled vibration harvester - Google Patents
A kind of double trunk automatic clamping devices and method for self-propelled vibration harvester Download PDFInfo
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- CN107750640A CN107750640A CN201711224048.0A CN201711224048A CN107750640A CN 107750640 A CN107750640 A CN 107750640A CN 201711224048 A CN201711224048 A CN 201711224048A CN 107750640 A CN107750640 A CN 107750640A
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- supporting rod
- pressure sensor
- fruit
- walking mechanism
- trunks
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- 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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Root Crops (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of double trunk automatic clamping devices and method for self-propelled vibration harvester, the mechanical oscillation harvesting technique field of fruit is related generally to, is made up of supporting rod, middle supporting rod, intermediate pressure sensor, preceding pressure sensor and front clamp bar among walking mechanism, rotary shaft, vibration machine, rear supporting rod, rear pressure sensor, two intermediate pressure sensors, two.It is installed on four supporting rods on vibration machine and pressure sensor is housed, vibration machine is arranged on the side of walking mechanism by rotary shaft.The automatic clamping device and method is simple in construction, easily controllable, dependable performance；By mechanical oscillation trunks of fruit trees, labor intensity is low, realizes that the major part of ripening fruits comes off；The mechanism not only avoid orchard worker and climb tree existing personal risk, and meet the continuous walking formula operation of mechanization requirement；Four supporting rods can realize the harvesting of two Tree Fruits simultaneously, and operating efficiency greatly improves.
Description
Technical field
This patent is related to the mechanical oscillation harvesting technique field of fruit, and in particular to one kind is used for self-propelled vibration harvester
Double trunk automatic clamping devices and method.
Background technology
China is used as traditional agriculture big country, and types of fruits is various, and its productive value and nutritive value are extremely abundant.Receive in orchard
It is most important link in orchard production overall process to obtain operation, and fruit harvesting labor intensity is big, and the amount of labour used is more.Traditional manually adopts
Receiving method per hectare needs hundreds of man-hours, accounts for 50% or so of the amount of labour used in the production process of orchard, wastes time and energy, and cost is high；
Therefore, orchard harvesting mechanization is always the emphasis of domestic and international research work.Mechanical-vibration type harvester uses shaking method, is state
Outer application is most, the good type of applicability.Harvest main manually hand in China orchard is plucked and aided in by simple tool, such as
The fruit of the dwarfing plantings such as jujube, cherry, peach, plum, apple production relies on picked by hand more, and which part realizes half machinery
Change harvesting.Not only efficiency is low for picked by hand, and orchard worker has Personal Risk during climbing tree.Current existing mechanization tree
For dry vibrating picker, it is necessary to which human assistance clamps trunk, efficiency is low, does not meet the requirement of continuous walking formula operation.Patent
The trunk automatic clamping mechanism for vibrating harvesting is proposed in 201610207249.9 and method, the mechanism ensure that oscillatory type
The security of harvesting and the continuous walking formula operation for meeting mechanization requirement, but the picking efficiency of the mechanism has much room for improvement, and can
There can be the mistake for omitting fruit tree.
In view of this, it is low that a kind of picking efficiency height, labor intensity are invented；And simple in construction, easily controllable, dependable performance
And adaptability is got well and has the self-propelled double trunk automatic clamping devices for being used to vibrate harvesting of market popularization value, is people in the industry
The problem of scholar's urgent need to resolve.
The content of the invention
For the deficiency in above-mentioned background technology, this patent proposes a kind of double trunks for self-propelled vibration harvester
Automatic clamping device and method, can solve the deficiency of existing mechanical oscillation trunk picker.
This patent includes walking mechanism 1, rotary shaft 2, vibration machine 3, rear supporting rod 4, rear pressure sensor 5, centre
Pressure sensor 6, middle supporting rod 7, middle supporting rod 8, intermediate pressure sensor 9, preceding pressure sensor 10 and front clamp bar
11.It is characterized in that：Front clamp bar 11, middle supporting rod 7, middle supporting rod 8 and rear supporting rod 4 are arranged on vibration machine 3,
Each supporting rod is scalable and movable, and preceding pressure sensor 10 is arranged on front clamp bar 11, intermediate pressure sensor 9 is pacified
On middle supporting rod 8, intermediate pressure sensor 6 is arranged on middle supporting rod 7, rear pressure sensor 5 presss from both sides after being arranged on
Hold on bar 4, vibration machine 3 is arranged on the side of walking mechanism 1 by rotary shaft 2.
The advantages of this patent：The automatic clamping device and method is simple in construction, easily controllable, dependable performance；Pass through machinery
Trunks of fruit trees is vibrated, labor intensity is low, realizes that the major part of ripening fruits comes off；The mechanism not only avoid orchard worker and climb tree presence
Personal risk, and meet the continuous walking formula operation of mechanization requirement；Four supporting rods can realize two fruit tree fruits simultaneously
Real harvesting, operating efficiency greatly improve.
Brief description of the drawings
Below in conjunction with the accompanying drawings with embodiment to the further details of explanation of this patent.
Fig. 1 is the overall structure diagram of double trunk automatic clamping mechanisms；
Fig. 2 is the overall structure diagram that rotary shaft rotates double trunk automatic clamping mechanisms after 180 °.
It is each part numbers in figure below：Walking mechanism 1, rotary shaft 2, vibration machine 3, after（Before）Supporting rod 4, after
（Before）It is pressure sensor 5, intermediate pressure sensor 6, middle supporting rod 7, middle supporting rod 8, intermediate pressure sensor 9, preceding
（Afterwards）It is pressure sensor 10, preceding（Afterwards）Supporting rod 11.
Embodiment
As shown in figure 1, a kind of double trunk automatic clamping devices and method for self-propelled vibration harvester of this patent,
Including walking mechanism 1, rotary shaft 2, vibration machine 3, rear supporting rod 4, rear pressure sensor 5, intermediate pressure sensor 6, in
Between supporting rod 7, middle supporting rod 8, intermediate pressure sensor 9, preceding pressure sensor 10 and front clamp bar 11.Preceding pressure sensor
The distance between 10 and rear pressure sensor 5 are slightly larger than the distance between two fruit trees, the distance between less than three fruit trees, with
Ensure that four supporting rods can act on two fruit trees simultaneously.The speed and the rotating speed of rotary shaft that walking mechanism 1 is walked meet one
Determine relation：Rotary shaft 2 rotates the time and walking mechanism travel distance L used in 180 °（The length of vibration machine is L）It is used
Time it is equal.
Specific work process：Walking mechanism 1 is from wardrobe or end of line, front clamp bar 11 and middle supporting rod 7 and centre
Supporting rod 8 is in contraction state, and rear supporting rod 4 is in elongation state, when after supporting rod 4 touch trunks of fruit trees, rear pressure
After sensor 5 detects pressure change, the pause of running gear 1 travels forward, and front clamp bar 11 stretches out, when touching second fruit
Trunk is set, after preceding pressure sensor 10 detects pressure change, middle supporting rod 7 and middle supporting rod 8 stretch out and divided simultaneously
Do not draw close towards front and rear supporting rod, stop after four supporting rods firmly clamp two trunks of fruit trees and reach the thrust of setting
Only, vibration machine 3 vibrates with the perpendicular direction of supporting rod, makes fruit abscission, after vibrating certain time, rear supporting rod 4
Shunk simultaneously with middle supporting rod 7 and middle supporting rod 8, front clamp bar 11 continue keep elongation state, running gear 1 to move ahead
While entering, rotary shaft 2 drives retained part to rotate 180 °.As shown in Fig. 2 front clamp bar 11 and the rear position of supporting rod 4 are mutual
Change, that is, be now in being moved forward for rear supporting rod 11, running gear 1 for elongation state, when after supporting rod 11 touch
To trunks of fruit trees, after rear pressure sensor 10 detects pressure change, the pause of running gear 1 travels forward, and front clamp bar 4 stretches out
And move backward, when touching second trunks of fruit trees, after preceding pressure sensor 5 detects pressure change, centre clamping 7 is with
Between supporting rod 8 simultaneously stretch out and drawn close respectively towards front and rear supporting rod, when four supporting rods by two trunks of fruit trees firmly press from both sides
To hold and stop after reaching the thrust of setting, vibration machine 3 vibrates with the perpendicular direction of supporting rod, makes fruit abscission,
After vibrating certain time, rear supporting rod 11 shrinks simultaneously with centre clamping 7 and middle supporting rod 8, and front clamp bar 4 continues holding and stretched
Long status, prepare the detection of trunks of fruit trees next time.
If the number of the row fruit tree is even number, can direct basis said process complete the harvesting of the row fruit tree；If the row
The number of fruit tree is odd number, then should be handled in addition for last fruit tree：When after supporting rod 11 touch trunks of fruit trees, rear pressure
After force snesor detects pressure change, the pause of walking mechanism 1 travels forward, the stretching of front clamp bar 4 and the backward side of supporting rod 11
To motion, existing clamp bar 4 is moved to the middle position of supporting rod 7, when preceding pressure sensor 5 is still not detected by pressure, can determine whether
The row only remains a fruit tree, and now middle supporting rod 8 is directly stretched out and supporting rod 11 is drawn close respectively backward, when clamping trunk
Trunks of fruit trees is exerted oneself to stop after clamping and reaching the thrust of setting by two supporting rods, vibration machine 3 with supporting rod phase
Vertical direction vibration, makes fruit abscission, completes the harvesting of the fruit tree.
Claims (1)
- A kind of 1. double trunk automatic clamping devices and method for self-propelled vibration harvester, by walking mechanism（1）, rotary shaft （2）, vibration machine（3）, rear supporting rod（4）, rear pressure sensor（5）, intermediate pressure sensor（6）, middle supporting rod （7）, middle supporting rod（8）, intermediate pressure sensor（9）, preceding pressure sensor（10）With front clamp bar（11）Composition；Its feature It is：Front clamp bar（11）, middle supporting rod（7）, middle supporting rod（8）With rear supporting rod（4）Installed in vibration machine（3） On, each supporting rod is scalable and movable, preceding pressure sensor（10）Installed in front clamp bar（11）Upper, intermediate pressure passes Sensor（9）Installed in middle supporting rod（8）Upper, intermediate pressure sensor（6）Installed in middle supporting rod（7）Upper, rear pressure passes Sensor（5）Installed in rear supporting rod（4）On, vibration machine（3）Pass through rotary shaft（2）Installed in walking mechanism（1）Side； Described preceding pressure sensor（10）With rear pressure sensor（5）The distance between slightly larger than the distance between two fruit trees, it is small In the distance between three fruit trees, to ensure that four supporting rods can be acted on two fruit trees simultaneously；Walking mechanism（1）Walking The rotating speed of speed and rotary shaft meets certain relation：Rotary shaft（2）Rotate the time used in 180 ° and walking mechanism travel distance L （The length of vibration machine is L）Time used is equal；Walking mechanism（1）From wardrobe or end of line, front clamp bar（11） With middle supporting rod（7）With middle supporting rod（8）It is in contraction state, rear supporting rod（4）In elongation state, when after clamping Bar（4）Touch trunks of fruit trees, rear pressure sensor（5）After detecting pressure change, walking mechanism（1）Pause travels forward, Front clamp bar（11）Stretch out, when touching second trunks of fruit trees, preceding pressure sensor（10）It is middle after detecting pressure change Supporting rod（7）With middle supporting rod（8）Stretch out and drawn close respectively towards front and rear supporting rod simultaneously, when four supporting rods are by two Trunks of fruit trees is firmly clamped and stopped after reaching the thrust of setting, vibration machine（3）In the direction perpendicular with supporting rod Vibration, make fruit abscission, after vibrating certain time, rear supporting rod（4）With middle supporting rod（7）With middle supporting rod（8）Simultaneously Shrink, front clamp bar（11）Continue to keep elongation state, walking mechanism（1）While traveling forward, rotary shaft（2）Drive clamping 180 ° of part rotation, front clamp bar（11）With rear supporting rod（4）Position mutually changes, that is, be now in elongation state be after press from both sides Hold bar（11）, walking mechanism（1）Move forward, when after supporting rod（11）Touch trunks of fruit trees, rear pressure sensor （10）After detecting pressure change, walking mechanism（1）Pause travels forward, front clamp bar（4）Stretch out and move backward, work as touching To second trunks of fruit trees, preceding pressure sensor（5）After detecting pressure change, centre clamping（7）With middle supporting rod（8）Together When stretch out and drawn close respectively towards front and rear supporting rod, when two trunks of fruit trees are firmly clamped and reach setting by four supporting rods Thrust after stop, vibration machine（3）Vibrated with the perpendicular direction of supporting rod, make fruit abscission, the timing of vibration one Between after, rear supporting rod（11）Clamped with centre（7）With middle supporting rod（8）Shrink simultaneously, front clamp bar（4）Continue to keep elongation State, prepare the detection of trunks of fruit trees next time；If the number of the row fruit tree is even number, can direct basis said process it is complete Into the harvesting of the row fruit tree；If the number of the row fruit tree is odd number, should be handled in addition for last fruit tree：When after clamping Bar（11）Trunks of fruit trees is touched, after rear pressure sensor detects pressure change, walking mechanism（1）Pause travels forward, preceding Supporting rod（4）Stretching and backward supporting rod（11）Direction is moved, existing clamp bar（4）It is moved to middle supporting rod（7）Position, it is preceding Pressure sensor（5）When being still not detected by pressure, it can determine whether that the row only remains a fruit tree, now middle supporting rod（8）Directly stretch Go out and supporting rod respectively backward（11）Draw close, set when trunks of fruit trees is firmly clamped and reached by two supporting rods of clamping trunk Stop after fixed thrust, vibration machine（3）Vibrated with the perpendicular direction of supporting rod, make fruit abscission, complete the fruit The harvesting of tree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711224048.0A CN107750640B (en) | 2017-11-29 | 2017-11-29 | Automatic double-trunk clamping device and method for self-propelled vibration harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711224048.0A CN107750640B (en) | 2017-11-29 | 2017-11-29 | Automatic double-trunk clamping device and method for self-propelled vibration harvester |
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| Publication Number | Publication Date |
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| CN107750640A true CN107750640A (en) | 2018-03-06 |
| CN107750640B CN107750640B (en) | 2023-07-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112219560A (en) * | 2020-11-09 | 2021-01-15 | 西北农林科技大学 | Olive picking machine and working method thereof |
| CN112790004A (en) * | 2021-03-09 | 2021-05-14 | 西京学院 | High-frequency vibration type walnut picking system carried by unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112219560A (en) * | 2020-11-09 | 2021-01-15 | 西北农林科技大学 | Olive picking machine and working method thereof |
| CN112790004A (en) * | 2021-03-09 | 2021-05-14 | 西京学院 | High-frequency vibration type walnut picking system carried by unmanned aerial vehicle |
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|---|---|
| CN107750640B (en) | 2023-07-18 |
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