Leakage-proof vibration harvester and harvesting method thereof

Abstract

A leakage-proof vibration harvester comprises a crawler-type walking mechanism, a fruit output mechanism, a chassis which is installed at the front end of the fruit output mechanism and provided with a U-shaped opening, and a clamping jaw vibration assembly which can clamp a tree trunk and vibrate, and the clamping jaw vibration assembly is hung on a machine frame, extending forwards, of the fruit output mechanism through a spring. The left half umbrella assembly is installed on the left side of the chassis and is in seamless connection with the left side of the fruit output mechanism, the right half umbrella assembly is installed on the right side of the chassis and is in seamless connection with the right side of the fruit output mechanism, and after the right half umbrella assembly and the left half umbrella assembly are opened, the ends of the right half umbrella assembly and the left half umbrella assembly intersect to form a closed collecting umbrella; the base plate closes the U-shaped opening to surround the trunk along with opening of the right half umbrella assembly and the left half umbrella assembly, or opens the U-shaped opening along with folding of the right half umbrella assembly and the left half umbrella assembly. The fruit collecting efficiency is improved, the harvesting efficiency is improved, and damage to trunks is reduced. The invention further provides a harvesting method of the leakage-proof vibration harvester.

Description

Technical Field

[0001] The invention relates to a leakproof vibration harvester and a harvesting method thereof, belonging to the technical field of vibration harvesting. Background Art

[0002] Orchard harvesting operations are characterized by high labor intensity and strong seasonality. The use of mechanical harvesters can greatly improve the harvesting efficiency. At present, the picking equipment for picking tea fruits is mainly tooth comb type, vibration type and rubber roller type. Among them, the vibrating tea fruit picking equipment has the highest picking efficiency. For example, CN202311480461.9, CN202111376654.0, CN202011153518.0, and CN202011153526.5 are all vibrating fruit harvesting equipment. The vibrating fruit harvester generally includes a walking mechanism, a clamping and vibrating mechanism for vibrating picked fruits, a collecting umbrella for receiving the vibrated fruits, and a fruit output mechanism for outputting the fruits from the collecting umbrella. It has strong clamping adaptability and high reliability of vibration picking, and can meet the vibration picking needs of fruit trees of different terrain types. However, there are still the following problems in the fruit collection of vibrating harvesting equipment: 1. The collecting umbrella is formed by two half umbrellas closed together. Due to the error of the umbrella rib transmission mechanism or the shaking and deformation of the umbrella ribs caused by the harvesting vibration, the two half umbrellas cannot be completely closed, forming a gap on the collecting umbrella. The volume of tea fruit is small and the running trajectory during the vibration process is changeable. The probability of fruit leaking from the gap during the vibration is high, which reduces the fruit collection rate.

[0003] 2. The collecting umbrella is installed on the U-shaped plate, and the U-shaped plate serves as the bottom of the collecting umbrella. The tree trunk enters the U-shaped plate, and the fruits fall into the collecting umbrella. The fruits are easily thrown out from the U-shaped opening of the U-shaped plate, causing fruit leakage and reducing the fruit collection rate.

[0004] 3. The impact of the clamping parts on the tree trunk and the clamping slippage during the vibration process will cause damage to the tree trunk. Summary of the invention

[0005] The leakproof vibration harvester provided by the present invention has two half-umbrella components whose ends cross to ensure that the two half-umbrella components are effectively closed after opening to form a closed collecting umbrella, thereby reducing the probability of fruit leakage from the collecting umbrella during picking, preventing the fruit falling into the collecting umbrella from leaking out through the U-shaped opening of the chassis, increasing the fruit collection rate, improving the harvesting efficiency, and effectively preventing slippage during vibration after clamping the tree trunk, thereby reducing damage to the tree trunk. The present invention also provides a harvesting method of the leakproof vibration harvester.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: The leakproof vibration harvester comprises a crawler-type walking mechanism, a fruit output mechanism installed at the front end of the crawler-type walking mechanism and arranged obliquely, a chassis installed at the front end of the fruit output mechanism and having a U-shaped opening, and a clamping claw vibration assembly capable of clamping a tree trunk and vibrating, wherein the clamping claw vibration assembly is suspended on a frame extending forward of the fruit output mechanism through a spring, and is characterized in that it also comprises a left half umbrella assembly installed on the left side of the chassis and seamlessly connected to the left side of the fruit output mechanism, and a right half umbrella assembly installed on the right side of the chassis and seamlessly connected to the right side of the fruit output mechanism, the rear ends of the right half umbrella assembly and the left half umbrella assembly are opened and cross to form a closed collecting umbrella, the clamping vibration assembly is located in the collecting umbrella, and the chassis closes the U-shaped opening to enclose the tree trunk as the right half umbrella assembly and the left half umbrella assembly are opened, or opens the U-shaped opening as the right half umbrella assembly and the left half umbrella assembly are folded.

[0007] Preferably, the right half umbrella assembly includes a right active rib that can actively rotate on the chassis, a right passive rib that is rotatably mounted on the chassis and connected to the right active rib by an umbrella cloth, and the left half umbrella assembly includes a left active rib that can actively rotate on the chassis, a left passive rib that is rotatably mounted on the chassis and connected to the left active rib by an umbrella cloth, there are at least two right passive ribs and at least two left passive ribs, the right passive ribs are evenly spaced on the rear side of the right active ribs, and the left passive ribs are evenly spaced on the rear side of the left active ribs, the right active ribs are rotated forward to open the right half umbrella assembly, and the left active ribs are rotated forward to open the left half umbrella assembly, and the right active ribs and the left active ribs are rotated into place to form an inside-outside cross.

[0008] Preferably, two groups of cylinder crank assemblies are installed in the chassis, one group of cylinder crank assemblies is connected to the left active umbrella rib, and the other group of cylinder crank assemblies is connected to the right active umbrella rib, and the right active umbrella rib and the left active umbrella rib are respectively rotated on the chassis driven by the cylinder crank assemblies, and the cylinder crank assembly includes an umbrella rib cylinder installed in the chassis, a connecting rod 1 hinged to the telescopic end of the umbrella rib cylinder and hinged to the support in the chassis, a connecting rod 2 hinged to the telescopic end of the umbrella rib cylinder, a crank hinged to the connecting rod 2, and an umbrella rib driving shaft rotatably installed on the support and fixed to the crank, and the umbrella rib driving shaft is connected to the lower end of the left active umbrella rib or the lower end of the right active umbrella rib.

[0009] Preferably, the structures of the left active rib, the left passive rib, the right active rib and the right passive rib are all the same, and are all integrally formed by a bottom rod, an umbrella cloth rod parallel to the bottom rod and connected to the umbrella cloth, and an intermediate rod connecting the bottom rod and the umbrella cloth rod, a bending angle of 90±5 degrees is formed between the intermediate rod and the bottom rod and the umbrella cloth rod, the bottom rods of the right active rib and the left active rib are respectively fixed to the corresponding umbrella rib driving shafts, and the bottom rods of the left passive rib and the right passive rib are respectively rotatably mounted on the chassis.

[0010] Preferably, the bottom rod of the left active rib is 60-70 mm longer than the bottom rod of the right active rib, the rib driving shaft connected to the right active rib is 10-20 mm higher than the rib driving shaft connected to the left active rib, and the rib oil cylinder extends to drive the right active rib or the left active rib to rotate forward 200±10 degrees, so that the umbrella cloth rod of the left active rib is cross-arranged on the outside of the umbrella cloth rod of the right active rib.

[0011] Preferably, the chassis comprises a U-shaped plate with a U-shaped opening, a leak-proof left rubber plate installed on the left side of the U-shaped opening of the U-shaped plate, and a leak-proof right rubber plate installed on the right side of the U-shaped opening of the U-shaped plate, the leak-proof left rubber plate is connected to the rib driving shaft connected to the left active rib, the leak-proof right rubber plate is connected to the rib driving shaft connected to the right active rib, and the leak-proof left rubber plate and the leak-proof right rubber plate are provided with semicircular notches arranged opposite to each other, and the leak-proof left rubber plate and the leak-proof right rubber plate are unfolded and spliced ​​as the left half umbrella assembly and the right half umbrella assembly are opened to close the U-shaped opening and to butt the two semicircular notches to surround the tree trunk, or are rolled up and separated as the left half umbrella assembly and the right half umbrella assembly are folded.

[0012] Preferably, an axial pressure plate is fixed on the umbrella rib driving shaft, and the axial pressure plate is connected to the leak-proof left rubber plate or the leak-proof right rubber plate through a steel wire rope. The axial pressure plate rotates as the left half umbrella assembly or the right half umbrella assembly is folded, and the leak-proof left rubber plate or the leak-proof right rubber plate is rolled up by pulling the steel wire rope.

[0013] Preferably, the clamping vibration assembly includes a frame connected to a spring, a clamping claw mounted on the frame for clamping the tree trunk, and a vibrator fixed on the frame, the clamping claw includes a fixed plate fixed on the frame, a movable claw hinged on the frame and arranged on the left and right sides of the fixed plate, and the movable claw is closed and cooperates with the fixed plate to form a three-sided clamp on the tree trunk.

[0014] Preferably, the movable claw comprises a movable claw cylinder hinged on a frame at one end, and a clamping plate hinged to the other end of the movable claw cylinder, the middle part of the clamping plate has a rotating shaft, the rotating shaft is hinged on the frame, the clamping plate rotates around the rotating shaft as the movable claw cylinder extends and retracts, the clamping plates of the two movable claws are arranged opposite to each other and staggered up and down, forming a left and right cross with the extension of the movable claw cylinder, the fixed plate is arranged between the two clamping plates, and rubber layers are respectively fixed on the surfaces of the fixed plate and the clamping plate in contact with the tree trunk.

[0015] The above-mentioned leak-proof vibration harvester harvesting method comprises the following steps: First, the leakproof vibration harvester is driven to the side of the fruit tree, so that the trunk enters the U-shaped opening of the chassis, and then the trunk is clamped by the clamping vibration assembly; Then, the right half umbrella assembly is opened first, and then the left half umbrella assembly is opened, the ends of the left half umbrella assembly and the right half umbrella assembly are crossed to form a closed collection umbrella, and the U-shaped opening of the chassis is closed to enclose the tree trunk; Next, the clamping vibration assembly is activated to transmit the vibration to the tree trunk, thereby forming a vibration picking process for the fruit; Afterwards, after the picking is completed, the fruit conveying mechanism is started to transport the fruits upward from the collecting umbrella; Finally, the left half umbrella assembly is folded up first, and then the right half umbrella assembly is folded up, the U-shaped opening of the chassis is opened, and the leak-proof vibration harvester is moved outward to separate the trunk from the chassis.

[0016] The beneficial effects of the invention are: The leak-proof vibration harvester of the present invention has a right half umbrella assembly and a left half umbrella assembly whose ends are crossed after opening to form a closed collecting umbrella. The ends of the two half umbrella assemblies are crossed, and when an error occurs in the umbrella rib transmission mechanism, only the crossing angle of the ends of the half umbrella assemblies will be reduced, and no gap will be generated between the half umbrella assemblies. This ensures that the two half umbrella assemblies are effectively closed to form a closed collecting umbrella after opening, and the crossing of the ends of the two half umbrella assemblies can effectively reduce the probability of forming a gap in the collecting umbrella due to the shaking or deformation of the umbrella ribs, reduce the probability of fruit leaking from the collecting umbrella during picking, increase the fruit collection rate, and improve the harvesting efficiency.

[0017] The chassis closes the U-shaped opening to enclose the tree trunk as the two half-umbrella assemblies are opened, or opens the U-shaped opening as the two half-umbrella assemblies are folded. When the two half-umbrella assemblies are opened and folded to form a collecting umbrella, the U-shaped opening of the chassis is closed and the tree trunk is enclosed, thereby preventing the fruits that fall into the collecting umbrella from leaking out through the U-shaped opening of the chassis, thus solving the problem of fruit leaking from the chassis opening. When the two half-umbrella assemblies are folded, the U-shaped opening of the chassis is opened, which does not hinder the tree trunk from entering and exiting the chassis, thereby improving the fruit collection rate and the harvesting efficiency.

[0018] Both the active ribs and the passive ribs are configured as multi-angle long rods with two angles. The multi-angle configuration of the ribs increases the diameter of the lower and upper ends of the collecting umbrella formed after the two half-umbrella assemblies are opened, increases the enclosed area of ​​the collecting umbrella around the trunk, and improves the fruit collection rate. The opening and closing of the U-shaped opening of the chassis and the opening and closing of the half-umbrella assembly are powered by the cylinder crank assembly, and the opening of the U-shaped opening is synchronized with the folding of the half-umbrella assembly, and the closing of the U-shaped opening is synchronized with the opening of the half-umbrella assembly, ensuring that the U-shaped opening of the chassis is closed in time when the collecting umbrella is opened to prevent fruit leakage, and the U-shaped opening of the chassis is opened in time when the collecting umbrella is folded for the trunk to enter and exit, forming a structure of linkage between the collecting umbrella and the chassis, which can effectively prevent fruit leakage and improve the fruit collection rate, and can also simplify the power structure of the whole machine and improve the efficiency of the whole machine. The fixed plate and the clamping plate in the clamp cooperate to form a three-claw clamp. The clamping force of the fixed plate and the clamping plate relative to the tree trunk is staggered on three sides, which can effectively prevent slippage during vibration after clamping the tree trunk and reduce damage to the tree trunk. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the leakproof vibration harvester of the present invention.

[0020] Figure 2 It is a top view of the left half umbrella assembly and the right half umbrella assembly in the opened state.

[0021] Figure 3 It is a schematic diagram of the connection between the cylinder crank assembly and the left active umbrella rib or the right active umbrella rib.

[0022] Figure 4 Schematic diagram of opening the U-shaped opening for the half umbrella assembly and the right half umbrella assembly.

[0023] Figure 5 A schematic diagram of folding the half umbrella assembly and the right half umbrella assembly to open the U-shaped opening.

[0024] Figure 6 It is a schematic diagram of the left half umbrella assembly and the right half umbrella assembly in the folded state.

[0025] Figure 7 This is a schematic diagram showing that the rib driving shaft connected to the right active rib and the rib driving shaft connected to the left active rib are at different heights.

[0026] Figure 8 Schematic diagram of the jaw vibration assembly when the jaws are closed.

[0027] Fig. 9 Schematic diagram of the jaw vibration assembly when the jaws are open.

[0028] Fig.10 This is a schematic diagram of a leak-proof vibration harvester clamping a tree trunk for vibration harvesting. DETAILED DESCRIPTION

[0029] Combine the following Figures 1 to 10 The embodiments of the present invention are described in detail.

[0030] The leakproof vibration harvester comprises a crawler-type walking mechanism 1, a fruit output mechanism 2 which is installed at the front end of the crawler-type walking mechanism 1 and is inclined, a chassis 3 which is installed at the front end of the fruit output mechanism 2 and has a U-shaped opening, and a clamping claw vibration assembly 4 which can clamp a tree trunk and vibrate. The clamping claw vibration assembly 4 is suspended on a frame extending forward of the fruit output mechanism 2 through a spring 7. The machine is characterized in that it also comprises a left half umbrella assembly 5 which is installed on the left side of the chassis 3 and seamlessly connected to the left side of the fruit output mechanism 2, and a right half umbrella assembly 6 which is installed on the right side of the chassis 3 and seamlessly connected to the right side of the fruit output mechanism 2. The rear ends of the right half umbrella assembly 6 and the left half umbrella assembly 5 are opened and cross to form a closed collecting umbrella 8. The clamping vibration assembly 4 is located in the collecting umbrella. The chassis 3 closes the U-shaped opening to enclose the tree trunk as the right half umbrella assembly 6 and the left half umbrella assembly 5 are opened, or opens the U-shaped opening as the right half umbrella assembly 6 and the left half umbrella assembly 6 are folded.

[0031] In the leak-proof vibration harvester described above, the right half umbrella assembly 6 and the left half umbrella assembly 5 are opened and the ends thereof cross to form a closed collecting umbrella 8. The ends of the two half umbrella assemblies cross, and when there is an error in the umbrella rib transmission mechanism, only the angle of intersection of the ends of the half umbrella assemblies will be reduced, and no gap will be generated between the half umbrella assemblies, thereby ensuring that the two half umbrella assemblies are effectively closed after opening to form a closed collecting umbrella 8. Moreover, the intersection of the ends of the two half umbrella assemblies can effectively reduce the probability of forming a gap in the collecting umbrella due to shaking or deformation of the umbrella ribs, reduce the probability of fruit leaking from the collecting umbrella during picking, increase the fruit collection rate, and improve the harvesting efficiency. The chassis 3 closes the U-shaped opening to enclose the tree trunk as the two half-umbrella assemblies are opened, or opens the U-shaped opening as the two half-umbrella assemblies are folded. When the two half-umbrella assemblies are opened and folded to form the collecting umbrella 8, the U-shaped opening of the chassis 3 is closed and the tree trunk is enclosed, preventing the fruits that fall into the collecting umbrella 8 from leaking out of the U-shaped opening of the chassis 3, thereby solving the problem of fruit leakage from the chassis opening. When the two half-umbrella assemblies are folded, the U-shaped opening of the chassis 3 is opened, which does not hinder the tree trunk from entering and exiting the chassis 3, thereby improving the fruit collection rate and the harvesting efficiency.

[0032] Wherein, the right half umbrella assembly 6 comprises a right active rib 61 which can be actively rotated on the chassis 3, a right passive rib 62 which is rotatably mounted on the chassis 3 and connected to the right active rib 61 through an umbrella cloth, and the left half umbrella assembly 5 comprises a left active rib 51 which can be actively rotated on the chassis 3, and a left passive rib 52 which is rotatably mounted on the chassis 3 and connected to the left active rib 51 through an umbrella cloth, and the right passive rib 62 and the left passive rib 52 are at least two each, the right passive rib 62 is evenly spaced on the rear side of the right active rib 61, and the left passive rib 52 is evenly spaced on the rear side of the left active rib 51, the right active rib 61 rotates forward to open the right half umbrella assembly 6, and the left active rib 51 rotates forward to open the left half umbrella assembly 5, and the right active rib 61 and the left active rib 51 are rotated into place to form an inside-outside cross. The right active rib 61 and the left active rib 51 can actively rotate on the chassis, and respectively drive the right passive rib 62 and the left passive rib 52 to rotate through the umbrella cloth, so as to open the right half umbrella assembly 6 and the left half umbrella assembly 5 respectively. After the two half umbrella assemblies are opened, the right active rib 61 and the left active rib 51 form an inside-outside intersection, so that the ends of the left half umbrella assembly 5 and the right half umbrella assembly 6 cross to form a closed collection umbrella 8; when folding, the active rib rotates, and when the active rib contacts the passive rib, the passive rib is pushed back, thereby pushing multiple passive ribs back in turn to realize the folding of the half umbrella assembly.

[0033] Among them, two groups of cylinder crank assemblies 9 are installed in the chassis 3, one group of cylinder crank assemblies 9 is connected to the left active umbrella rib 51, and the other group of cylinder crank assemblies 9 is connected to the right active umbrella rib 61. The right active umbrella rib 61 and the left active umbrella rib 51 rotate on the chassis 3 respectively driven by the cylinder crank assembly 9. The cylinder crank assembly 9 includes an umbrella rib cylinder 91 installed in the chassis 3, a connecting rod 1 91 hinged to the telescopic end of the umbrella rib cylinder 91 and hinged to the support 31 in the chassis 3, a connecting rod 2 93 hinged to the telescopic end of the umbrella rib cylinder 91, a crank 94 hinged to the connecting rod 2 93, and an umbrella rib driving shaft 95 rotatably installed on the support 31 and fixed to the crank 94. The umbrella rib driving shaft 95 is connected to the lower end of the left active umbrella rib 51 or the lower end of the right active umbrella rib 61. The rib oil cylinder 91 is extended to push the connecting rod 1 91 to rotate on the support 31 and the connecting rod 2 93 to move, thereby driving the crank 94 to rotate around the rib driving shaft 95. The rib driving shaft 95 rotates with the rotation of the crank 94, driving the active rib to rotate forward, forming the opening of the half-umbrella assembly. The rib oil cylinder 91 is shortened to drive the connecting rod 1 91 to rotate on the support 31, and the connecting rod 2 93 moves, thereby driving the crank 94 to rotate around the rib driving shaft 95. The rib driving shaft 95 rotates with the rotation of the crank 94, driving the active rib to rotate backward, forming the folding of the half-umbrella assembly. The movement of the cylinder crank assembly 9 forms a stable rotation angle for the active rib, ensuring that the two half-umbrella assemblies can be opened in time and effectively.

[0034] Among them, the structures of the left active rib 51, the left passive rib 52, the right active rib 61 and the right passive rib 62 are all the same, and are all formed in one piece by a bottom rod 10, an umbrella cloth rod 11 parallel to the bottom rod 10 and connected to the umbrella cloth, and an intermediate rod 12 connecting the bottom rod 10 and the umbrella cloth rod 11, and the intermediate rod 12 forms a 90±5 degree bend angle with the bottom rod 10 and the umbrella cloth rod 11 respectively, and the bottom rods 10 of the right active rib 61 and the left active rib 51 are respectively fixed to the corresponding umbrella rib driving shaft 95, and the bottom rods 10 of the left passive rib 52 and the bottom rods 10 of the right passive rib 62 are respectively rotatably mounted on the chassis 3. The active ribs and the passive ribs are both configured as multi-angle long rods with two bends, and the multi-angle configuration of the ribs increases the diameter of the lower end and the upper end of the collecting umbrella 8 formed after the two half umbrella assemblies are opened, increases the enclosed area of ​​the collecting umbrella 8 around the trunk, and improves the fruit collection rate.

[0035] Among them, the bottom rod 10 of the left active rib 51 is 60-70 mm longer than the bottom rod 10 of the right active rib 61, and the rib driving shaft 95 connected to the right active rib 61 is 10-20 mm higher than the rib driving shaft 95 connected to the left active rib 51. The rib oil cylinder 91 extends to drive the right active rib 61 or the left active rib 51 to rotate forward 200±10 degrees, so that the umbrella cloth rod 11 of the left active rib 51 is cross-arranged on the outside of the umbrella cloth rod 11 of the right active rib 61. When opening, the right active rib 61 is first rotated forward to the right half umbrella assembly 6, and then the left active rib 51 is rotated forward to the left half umbrella assembly 5. Since the length of the bottom rod 10 of the left active rib 51 is greater than the length of the bottom rod of the right active rib 61, and the height of the rib driving shaft 95 connected to the left active rib 51 is lower than the height of the right active rib 51, the left active rib 51 rotates forward without contacting and interfering with the right active rib 61 that has been rotated forward. When the left active rib 51 rotates forward 180 degrees to approach the right active rib 61 that has been rotated forward, the bottom rod 10 of the left active rib 51 and the middle The rod 12 will be below the bottom rod 10 and the middle rod 12 of the right active rib 61, and the umbrella cloth rod 11 of the left active rib 51 will be outside the umbrella cloth rod 11 of the right active rib 61. When the left active rib 51 continues to rotate forward, the umbrella cloth rod 11 of the left active rib 51 will form an inside-outside cross distribution with the umbrella cloth rod 11 of the right active rib 61 that has been rotated into place. The rotation angles of the left active rib 51 and the right active rib 61 are both greater than 180 degrees, so that the ends of the left half umbrella assembly 5 and the right half umbrella assembly 6 form an effective cross closure, avoiding the formation of fruit leakage gaps due to the inability of the half umbrellas to be completely closed, thereby improving the fruit collection rate.

[0036] Wherein, the chassis 3 includes a U-shaped plate 31 with a U-shaped opening, a leak-proof left rubber plate 32 installed on the left side of the U-shaped opening of the U-shaped plate 31, and a leak-proof right rubber plate 33 installed on the right side of the U-shaped opening of the U-shaped plate 31. The leak-proof left rubber plate 32 is connected to the umbrella rib driving shaft 95 connected to the left active umbrella rib 51, and the leak-proof right rubber plate 33 is connected to the umbrella rib driving shaft 95 connected to the right active umbrella rib 61. The leak-proof left rubber plate 32 and the leak-proof right rubber plate 33 are provided with semicircular notches 34 arranged opposite to each other. The leak-proof left rubber plate 32 and the leak-proof right rubber plate 33 are unfolded and spliced ​​with the opening of the left half umbrella assembly 5 and the right half umbrella assembly 6 to close the U-shaped opening and to abut the two semicircular notches 34 to surround the trunk, or are rolled up and separated with the folding of the left half umbrella assembly 5 and the right half umbrella assembly 6. The leakproof left rubber plate 32 and the leakproof right rubber plate 33 are made of rubber material. The rotation of the rib driving shaft 95 can pull the leakproof left rubber plate 32 and the leakproof right rubber plate 33 to curl and deform. When the left half umbrella assembly 5 and the right half umbrella assembly 6 are folded, the rotation of the rib driving shaft 95 drives the leakproof left rubber plate 32 and the leakproof right rubber plate 33 to roll up and separate. Figure 5 and 6As shown, the U-shaped opening of the U-shaped plate 31 is opened to allow the tree trunk to enter and exit. When the left half umbrella assembly 5 and the right half umbrella assembly 5 are opened, the rotation of the inner bone drive shaft 95 causes the leak-proof left rubber plate 32 and the leak-proof right rubber plate 33 to unfold and assemble under the action of the elastic restoring force, as shown in FIG. Figure 2 and 4 As shown, the two semicircular notches 34 abut against each other to surround the tree trunk, closing the U-shaped opening of the U-shaped plate 31 to prevent the fruit from leaking from the U-shaped opening during the vibration picking process.

[0037] Among them, an axial pressure plate 96 is fixed on the umbrella rib driving shaft 95, and the axial pressure plate 96 is connected to the leak-proof left rubber plate 32 or the leak-proof right rubber plate 33 through a steel wire rope 97. The axial pressure plate 96 rotates as the left half umbrella assembly 5 or the right half umbrella assembly 6 is folded, and pulls the leak-proof left rubber plate 32 or the leak-proof right rubber plate 33 to roll up through the steel wire rope 97. When the left half umbrella assembly 5 is folded, the rib driving shaft 95 pulls the leak-proof left rubber plate 32 upwards through the steel wire rope 97 to roll it up; when the right half umbrella assembly 6 is folded, the rib driving shaft 95 pulls the leak-proof right rubber plate 33 upwards through the steel wire rope 97 to roll it up; when both rubber plates are rolled up, the U-shaped opening of the U-shaped disk 31 is opened, and the tree trunk can move in and out smoothly; when the left half umbrella assembly 5 is opened, the rotation of the rib driving shaft 95 releases the tension on the steel wire rope, and the leak-proof left rubber plate 32 is unfolded under the action of the elastic restoring force; when the right half umbrella assembly 5 is opened, the rotation of the rib driving shaft 95 releases the tension on the steel wire rope, and the leak-proof right rubber plate 33 is unfolded under the action of the elastic restoring force, and is spliced ​​with the leak-proof left rubber plate 32, so that the two semicircular notches 34 are butted to enclose the tree trunk. The opening and closing of the U-shaped opening of the chassis 3 and the opening and closing of the half-umbrella assembly are powered by the cylinder crank assembly, and the opening of the U-shaped opening is synchronized with the folding of the half-umbrella assembly, and the closing of the U-shaped opening is synchronized with the opening of the half-umbrella assembly, ensuring that the U-shaped opening of the chassis is closed in time when the collecting umbrella is opened to prevent fruit leakage, and the U-shaped opening of the chassis is opened in time to allow tree trunks to enter and exit when the collecting umbrella is folded, forming a structure in which the collecting umbrella and the chassis are linked and coordinated, which can effectively prevent fruit leakage and improve the fruit collection rate, and can also simplify the power structure of the whole machine and improve the efficiency of the whole machine.

[0038] The clamping vibration assembly 4 includes a frame 41 connected to the spring 7, a clamping claw 42 mounted on the frame 41 for clamping the trunk, and a vibrator 43 fixed on the frame 41. The clamping claw 42 includes a fixed plate 44 fixed on the frame 41, and a movable claw 45 hinged on the frame 41 and arranged on the left and right sides of the fixed plate 44. The movable claw 45 is closed and cooperates with the fixed plate 44 to form a three-sided clamping of the trunk. The three-sided clamping of the trunk is formed by the cooperation of the movable claw 45 and the fixed plate 44, thereby improving the clamping reliability.

[0039] The movable claw 45 includes a movable claw cylinder 46 hinged on the frame at one end, a clamping plate 47 hinged on the other end of the movable claw cylinder 46, a rotating shaft 471 is provided in the middle of the clamping plate 47, the rotating shaft 471 is hinged on the frame 41, and the clamping plate 47 rotates around the rotating shaft 471 with the extension and contraction of the movable claw cylinder 46. The clamping plates 47 of the two movable claws 45 are arranged oppositely and staggered up and down, forming a left-right cross with the extension of the movable claw cylinder 46. The fixed plate 44 is arranged between the two clamping plates 47, and the rubber layer is fixed on the surfaces of the fixed plate 44 and the clamping plate 47 that contact the tree trunk. The fixed plate 44 and the clamping plate 47 cooperate to form a three-claw clamping claw, and the clamping force of the fixed plate 44 and the clamping plate 47 relative to the tree trunk is staggered on three sides, which can effectively prevent slippage during vibration after clamping the tree trunk and reduce damage to the tree trunk.

[0040] The present invention also protects the above-mentioned leak-proof vibration harvester harvesting method, the steps comprising: First, the leakproof vibration harvester is driven to the side of the fruit tree, so that the trunk enters the U-shaped opening of the chassis 3, and then the trunk is clamped by the clamping vibration assembly 4; Then, the right half umbrella assembly 6 is opened first, and then the left half umbrella assembly 5 is opened, the ends of the left half umbrella assembly 5 and the right half umbrella assembly 6 are crossed to form a closed collecting umbrella 8, and the U-shaped opening of the chassis 3 is closed to enclose the tree trunk; Next, the clamping vibration assembly 4 is activated to transmit the vibration to the tree trunk, thereby forming a vibration picking process for the fruit; Afterwards, after the picking is completed, the fruit conveying mechanism 2 is started to output the fruits upward from the collecting umbrella 8; Finally, the left half umbrella assembly 5 is folded first, and then the right half umbrella assembly 6 is folded, the U-shaped opening of the chassis 3 is opened, and the leakproof vibration harvester is moved outward to separate the trunk from the chassis 3.

[0041] The harvesting method of the leakproof vibration harvester described above is to first open the right half umbrella assembly 6, and then open the left half umbrella assembly 5, and the ends are crossed to form a closed collection umbrella 8. The ends of the two half umbrella assemblies are crossed. When the umbrella rib transmission mechanism has an error, it will only reduce the angle of intersection of the ends of the half umbrella assemblies, and will not cause gaps between the half umbrella assemblies. It can ensure that the two half umbrella assemblies are effectively closed to form a closed collection umbrella 8 after opening. Moreover, the intersection of the ends of the two half umbrella assemblies can effectively reduce the probability of forming a collection umbrella gap due to umbrella rib shaking or force deformation, reduce the probability of fruit leakage from the collection umbrella during the picking process, increase the fruit collection rate, and improve the harvesting efficiency. When the two half umbrella assemblies are opened and closed to form the collection umbrella 8, the U-shaped opening of the chassis 3 is closed and the trunk is surrounded, so as to prevent the fruit falling into the collection umbrella 8 from leaking out through the U-shaped opening of the chassis, and solve the problem of fruit leakage from the chassis opening. When the two half umbrella assemblies are folded, the U-shaped opening of the chassis 3 is opened, which does not hinder the trunk from entering and exiting the chassis, and improves the fruit collection rate and the harvesting efficiency.

[0042] The above is a complete description of the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the described embodiments are only part of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. A leakproof vibration harvester, comprising a crawler-type traveling mechanism, a fruit output mechanism installed at the front end of the crawler-type traveling mechanism and arranged obliquely, a chassis installed at the front end of the fruit output mechanism and having a U-shaped opening, a clamping claw vibrating assembly capable of clamping a tree trunk and vibrating, the clamping claw vibrating assembly being suspended on a frame extending forward of the fruit output mechanism through a spring, characterized in that: It also includes a left half umbrella assembly installed on the left side of the chassis and seamlessly connected to the left side of the fruit output mechanism, and a right half umbrella assembly installed on the right side of the chassis and seamlessly connected to the right side of the fruit output mechanism. When the right half umbrella assembly and the left half umbrella assembly are opened, the rear ends thereof cross to form a closed collecting umbrella. The clamping vibration assembly is located in the collecting umbrella. As the right half umbrella assembly and the left half umbrella assembly are opened, the chassis closes the U-shaped opening to enclose the tree trunk, or opens the U-shaped opening as the right half umbrella assembly and the left half umbrella assembly are folded.

2. The leakproof vibration harvester according to claim 1, characterized in that: The right half umbrella assembly comprises a right active rib that can be actively rotated on the chassis, a right passive rib that is rotatably mounted on the chassis and connected to the right active rib through an umbrella cloth, the left half umbrella assembly comprises a left active rib that can be actively rotated on the chassis, a left passive rib that is rotatably mounted on the chassis and connected to the left active rib through an umbrella cloth, the right passive rib and the left passive rib are at least two, the right passive ribs are evenly spaced at the rear side of the right active ribs, and the left passive ribs are evenly spaced at the rear side of the left active ribs, the right active rib rotates forward to open the right half umbrella assembly, the left active rib rotates forward to open the left half umbrella assembly, and the right active rib and the left active rib are rotated into place to form an inside-outside cross.

3. The leakproof vibration harvester according to claim 2, characterized in that: Two groups of cylinder crank assemblies are installed in the chassis, one group of cylinder crank assemblies is connected to the left active umbrella rib, and the other group of cylinder crank assemblies is connected to the right active umbrella rib. The right active umbrella rib and the left active umbrella rib rotate on the chassis respectively driven by the cylinder crank assemblies. The cylinder crank assembly includes an umbrella rib cylinder installed in the chassis, a connecting rod 1 hinged to the telescopic end of the umbrella rib cylinder and hinged to the support in the chassis, a connecting rod 2 hinged to the telescopic end of the umbrella rib cylinder, a crank hinged to the connecting rod 2, and an umbrella rib driving shaft rotatably installed on the support and fixed to the crank, and the umbrella rib driving shaft is connected to the lower end of the left active umbrella rib or the lower end of the right active umbrella rib.

4. The leakproof vibration harvester according to claim 3, characterized in that: The structures of the left active rib, the left passive rib, the right active rib and the right passive rib are all the same, and are all integrally formed by a bottom rod, an umbrella cloth rod which is parallel to the bottom rod and connected to the umbrella cloth, and an intermediate rod connecting the bottom rod and the umbrella cloth rod. A bending angle of 90±5 degrees is formed between the intermediate rod and the bottom rod and the umbrella cloth rod respectively. The bottom rods of the right active rib and the left active rib are respectively fixed to the corresponding umbrella rib driving shafts, and the bottom rods of the left passive rib and the right passive rib are respectively rotatably mounted on the chassis.

5. The leakproof vibration harvester according to claim 4, characterized in that: The bottom rod of the left active rib is 60-70 mm longer than the bottom rod of the right active rib, the rib driving shaft connected to the right active rib is 10-20 mm higher than the rib driving shaft connected to the left active rib, and the rib oil cylinder extends to drive the right active rib or the left active rib to rotate forward 200±10 degrees, so that the umbrella cloth rod of the left active rib is cross-arranged on the outside of the umbrella cloth rod of the right active rib.

6. The leakproof vibration harvester according to claim 3, characterized in that: The chassis comprises a U-shaped plate with a U-shaped opening, a leakproof left rubber plate installed on the left side of the U-shaped opening of the U-shaped plate, and a leakproof right rubber plate installed on the right side of the U-shaped opening of the U-shaped plate. The leakproof left rubber plate is connected to an umbrella rib driving shaft connected to a left active umbrella rib, and the leakproof right rubber plate is connected to an umbrella rib driving shaft connected to a right active umbrella rib. Semicircular notches arranged opposite to each other are provided on the leakproof left rubber plate and the leakproof right rubber plate. The leakproof left rubber plate and the leakproof right rubber plate are unfolded and assembled with the opening of the left half umbrella assembly and the right half umbrella assembly to close the U-shaped opening and to butt the two semicircular notches to surround the tree trunk, or are rolled up and separated with the folding of the left half umbrella assembly and the right half umbrella assembly.

7. The leakproof vibration harvester according to claim 6, characterized in that: An axial pressure plate is fixed on the umbrella rib driving shaft, and the axial pressure plate is connected to the leak-proof left rubber plate or the leak-proof right rubber plate through a steel wire rope. The axial pressure plate rotates as the left half umbrella assembly or the right half umbrella assembly is folded, and the leak-proof left rubber plate or the leak-proof right rubber plate is rolled up by pulling the steel wire rope.

8. The leakproof vibration harvester according to claim 1, characterized in that: The clamping vibration assembly includes a frame connected to a spring, a clamping claw installed on the frame for clamping a tree trunk, and a vibrator fixed on the frame. The clamping claw includes a fixed plate fixed on the frame, a movable claw hinged on the frame and arranged on the left and right sides of the fixed plate. The movable claw is closed and cooperates with the fixed plate to form a three-sided clamp on the tree trunk.

9. The leakproof vibration harvester according to claim 8, characterized in that: The movable claw comprises a movable claw cylinder hinged on a frame at one end and a clamping plate hinged on the other end of the movable claw cylinder. A rotating shaft is provided in the middle of the clamping plate, and the rotating shaft is hinged on the frame. The clamping plate rotates around the rotating shaft as the movable claw cylinder is extended or retracted. The clamping plates of the two movable claws are arranged opposite to each other and staggered up and down, forming a left and right cross with the extension of the movable claw cylinder. A fixed plate is arranged between the two clamping plates, and rubber layers are respectively fixed on the surfaces of the fixed plate and the clamping plate in contact with the tree trunk.

10. The harvesting method of the leakproof vibration harvester according to any one of claims 1 to 9, comprising: First, the leakproof vibration harvester is driven to the side of the fruit tree, so that the trunk enters the U-shaped opening of the chassis, and then the trunk is clamped by the clamping vibration assembly; Then, the right half umbrella assembly is opened first, and then the left half umbrella assembly is opened, the ends of the left half umbrella assembly and the right half umbrella assembly are crossed to form a closed collection umbrella, and the U-shaped opening of the chassis is closed to enclose the tree trunk; Next, the clamping vibration assembly is activated to transmit the vibration to the tree trunk, thereby forming a vibration picking process for the fruit; Afterwards, after the picking is completed, the fruit conveying mechanism is started to transport the fruits upward from the collecting umbrella; Finally, the left half umbrella assembly is folded up first, and then the right half umbrella assembly is folded up, the U-shaped opening of the chassis is opened, and the leak-proof vibration harvester is moved outward to separate the trunk from the chassis.

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