Picking machine for driving fruit trees to do elliptical reciprocating motion

Abstract

The utility model provides a picking machine for driving fruit trees to do elliptical reciprocating motion, and belongs to the field of agricultural machinery. The picking machine comprises a machine body, a reversing eccentric rotation mechanism and a clamping mechanism; the reversing deflection rotation mechanism is fixed to the machine body and provided with a first input part and a first output part, the input force direction of the first input part is perpendicular to the output force direction of the first output part, and the first input part is connected with an external driving device. One end of the clamping mechanism is rotationally connected with the first output part and does circular motion with the rotating center of the first output part as the circle center, and the other end of the clamping mechanism is connected with an operation fruit tree. According to the picking machine, rigid excitation is achieved through the simplified reversing deflection rotating mechanism and the clamping mechanism, the operation fruit trees are driven by the deflection rotating vibration mechanism to do elliptical reciprocating motion, the fruit falling rate of the operation fruit trees, especially transverse branches, is remarkably increased, the optimal operation efficiency can be achieved with the minimum energy consumption, and the labor intensity of workers is lowered. The device has the advantages of compact structure, low cost, reliable operation, low failure rate and the like.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery, and particularly relates to a picking machine for driving fruit trees to perform elliptical reciprocating motion. Background Art

[0002] Regardless of the working principle adopted by fruit and forest picking machines, their essence is to drive the working fruit trees to move at high speed, thereby driving the fruits to generate inertial kinetic energy. When the inertial kinetic energy of the fruits exceeds the binding force between the fruits and the fruit stalks, the picking effect of separating the fruits from the fruit stalks can be achieved. In order to improve the fruit drop rate, R & D personnel usually focus on vibration frequency and movement stroke. However, simply increasing the vibration frequency and movement stroke may not necessarily achieve the ideal fruit drop rate, and excessive vibration frequency and movement stroke will cause damage to the working fruit trees and reduce the efficiency at the same time. Through actual operation, it can be observed that there are significant differences in the fruit drop rates of fruits in different directions and parts of the working fruit trees, which indicates that in addition to vibration frequency and movement stroke, there are other factors that have an important impact on the fruit drop rate.

[0003] In the case of the main trunk vibrating, the fruit drop rate of the upper branches is significantly higher than that of the lower branches, and the fruit drop rate of the vertical branches is significantly higher than that of the horizontal branches; among the horizontally growing branches, the fruit drop rate of the horizontal branches perpendicular to the movement direction of the working fruit tree is higher, and the fruit drop rate of the horizontal branches parallel to the movement direction of the working fruit tree is lower. When the growth direction of the horizontal branch is parallel to the movement direction of the working fruit tree, the horizontal branch will not swing following the force application drive of the picking machine. Therefore, simply increasing the vibration frequency and movement stroke has limited effect on improving the fruit drop rate of such horizontal branches.

[0004] There is a disclosed vibrating pinecone picking machine (patent application number: CN202221237460.2), which includes a machine shell (1), a vibration device and a driving device (2). One side of the machine shell (1) is provided with a abutting part (3) for abutting against the tree trunk and a fixing device for fixing the machine shell (1) on the tree trunk. The vibration device includes a pair of meshing eccentric gears (4). The two eccentric gears (4) are arranged one above the other in the machine shell (1), with the same number of teeth and symmetrically arranged centers of gravity. The driving device (2) is arranged outside the machine shell (1) and is connected to the eccentric gear (4) through its output end to provide power for it.

[0005] This disclosed solution realizes vibration through structures such as eccentric gears and driving devices, and cannot drive the working fruit trees to move in multiple directions during the operation process. Therefore, there are problems such as poor fruit dropping efficiency, incomplete harvesting and low picking efficiency. Summary of the Utility Model

[0006] The present application provides a picking machine for driving fruit trees to perform elliptical reciprocating motion, aiming to solve the problems that the above-mentioned vibratory picking machine can only vibrate in one direction, so the picking efficiency is low, the fruit drop rate is not good, there is a lot of ineffective operation, and the transmission structure is relatively complex, and it is easy to fail during frequent vibration, resulting in a high failure rate during use and being inconvenient to use.

[0007] To achieve the above object, the present utility model adopts the following technical solutions:

[0008] A picking machine for driving fruit trees to perform elliptical reciprocating motion, comprising a fuselage, a reversing eccentric rotation mechanism and a clamping mechanism; the reversing eccentric rotation mechanism is fixed to the fuselage, the reversing eccentric rotation mechanism is provided with a first input part and a first output part, the input force direction of the first input part is perpendicular to the output force direction of the first output part, the first input part is connected to an external driving device, one end of the clamping mechanism is rotatably connected to the first output part and makes a circular motion around the rotation center of the first output part, and the other end of the clamping mechanism is connected to the operating fruit tree.

[0009] Preferably, it further comprises a co-rotating eccentric rotation mechanism, the co-rotating eccentric rotation mechanism is fixed to the fuselage, the co-rotating eccentric rotation mechanism is located above the reversing eccentric rotation mechanism, the co-rotating eccentric rotation mechanism is provided with a second input part and a second output part, the first output part is provided with a first mounting hole, the second input part is connected to the first output part through the first mounting hole, and one end of the clamping mechanism is rotatably connected to the second output part and makes a circular motion around the rotation center of the second output part.

[0010] Preferably, a transmission shaft is installed between the co-rotating eccentric rotation mechanism and the reversing eccentric rotation mechanism.

[0011] Preferably, the first housing of the reversing eccentric rotation mechanism is provided with a first bearing, the first input part and the first output part are respectively connected to the first housing through the first bearing, a first gear and a second gear are respectively provided at the connection positions of the first input part and the first output part, and the first gear and the second gear are perpendicular and meshed.

[0012] Preferably, the end of the first output part is provided with a first eccentric hole or a first eccentric member, and the central axis of the first eccentric hole or the first eccentric member is parallel to the rotation center line of the first output part.

[0013] Preferably, the second housing of the co-rotating eccentric rotation mechanism is provided with a second bearing, the second input part is connected to the second housing through the second bearing, the end of the second output part is provided with a second eccentric hole or a second eccentric member, and the central axis of the second eccentric hole or the second eccentric member is parallel to the rotation center line of the second output part.

[0014] Preferably, the clamping mechanism includes a clamping member and a movable member. One end of the movable member is connected to the clamping member, and a third bearing is provided at the other end of the movable member. The movable member is connected to the first output part or the second output part through the third bearing. The clamping member includes a U-shaped hoop, a circular hoop, a semi-circular hoop, a polygonal hoop, an L-shaped hoop, a C-shaped hook, an F-shaped hook, and a tensioner.

[0015] Preferably, hanging members are respectively installed on the fuselage and the clamping mechanism in an up-and-down corresponding manner. A connecting rope for maintaining the dynamic balance of the clamping mechanism is provided between the two hanging members. The connecting rope includes a steel wire rope, a flexible cable, and a chain. The hanging member includes a hanging ring and a hook.

[0016] Preferably, a power device is further included, and the power device is connected to the first input part or the second input part.

[0017] Preferably, rollers are installed at the bottom of the fuselage.

[0018] The utility model has the following beneficial effects:

[0019] (1) For this picking machine, the operating fruit tree is ingeniously used as one of the fixed ends of the clamping mechanism. Rigid excitation is realized by using a simplified commutation and eccentric rotation mechanism and the clamping mechanism, and the conventionally necessary guiding and limiting mechanism is discarded. Moreover, the operating fruit tree makes an elliptical reciprocating motion under the drive of the picking device, and branches in different directions can swing under the force drive of the picking machine. Therefore, wide-angle picking can be carried out without a position adjustment mechanism, significantly improving the fruit drop rate of the operating fruit tree, especially the horizontal branches, and achieving the best operating efficiency with the minimum energy consumption. It has the advantages of a compact structure, cost reduction, reliable operation, and low failure rate.

[0020] (2) By connecting through an eccentric hole or an eccentric member to the clamping mechanism, vibration under the action of eccentricity is realized. The structure is simple, not prone to failure during frequent vibration, and has excellent use effects. Moreover, the force of the external driving device is conducted to the integral clamping mechanism through the integral eccentric rotating member to complete the force conduction. All structures in the force conduction process are integral structures, with strong rigidity.

[0021] (3) By setting a commutation and eccentric rotation mechanism, the vibration mode of generating vibration by elliptical motion in the traditional vertical plane is adjusted to the vibration mode of elliptical motion in the horizontal plane. This vibration mode can avoid the clamping mechanism from generating a force on the fruit tree in the vertical direction. Branches in different directions of the fruit tree can swing under the force drive of the picking machine, significantly improving the fruit drop rate of the operating fruit tree, especially the horizontal branches, achieving the best operating efficiency with the minimum energy consumption, and being able to reduce the breakage of branches caused by excessive inertial kinetic energy. At the same time, the fruits will fall around the tree crown and will not be thrown far away, facilitating the collection operation of fruit farmers. Description of the Drawings

[0022] Figure 1 Schematic diagram of the structure of the first picking machine in the present utility model;

[0023] Figure 2 Schematic diagram of the structure of the second picking machine in the present utility model;

[0024] Figure 3 Schematic diagram of the structure of the third picking machine in the present utility model;

[0025] Figure 4 Schematic diagram of the structure of the fourth picking machine in the present utility model;

[0026] Figure 5 Schematic diagram of the structure of the commutation biasing rotation mechanism of the first eccentric hole in the present utility model;

[0027] Figure 6 Schematic diagram of the structure of the commutation biasing rotation mechanism of the first eccentric member in the present utility model;

[0028] Figure 7 Schematic diagram of the structure of the clamping mechanism in the present utility model;

[0029] Figure 8 Schematic diagram of the structure of the co - direction biasing rotation mechanism of the second eccentric hole in the present utility model;

[0030] Figure 9 Schematic diagram of the structure of the co - direction biasing rotation mechanism of the second eccentric member in the present utility model;

[0031] Figure 10 Schematic diagram of the structure of the picking machine with an added power device in the present utility model.

[0032] Among them, 1 - fuselage, 2 - commutation biasing rotation mechanism, 3 - clamping mechanism, 4 - first input part, 5 - first output part, 6 - power device, 7 - fruit tree for operation, 8 - co - direction biasing rotation mechanism, 9 - second input part, 10 - second output part, 11 - transmission shaft, 12 - first housing, 13 - first bearing, 14 - first gear, 15 - second gear, 16 - first eccentric hole, 17 - first eccentric member, 18 - second housing, 19 - second bearing, 20 - first mounting hole, 21 - second eccentric hole, 22 - second eccentric member, 23 - clamping member, 24 - movable member, 25 - third bearing, 26 - hanging member, 27 - connecting rope, 28 - roller. Specific embodiments

[0033] Embodiment 1

[0034] Such as Figure 1 、 Figures 5-7As shown in the figure, a picking machine for driving fruit trees to make elliptical reciprocating motions includes a fuselage 1, a commutation and eccentric rotation mechanism 2, and a clamping mechanism 3. The commutation and eccentric rotation mechanism 2 is fixed to the fuselage 1. The commutation and eccentric rotation mechanism 2 is provided with a first input part 4 and a first output part 5. The input force direction of the first input part 4 is perpendicular to the output force direction of the first output part 5. The first input part 4 is connected to an external driving device. One end of the clamping mechanism 3 is rotatably connected to the first output part 5 and makes a circular motion around the rotation center of the first output part 5. The other end of the clamping mechanism 3 is connected to the working fruit tree 7.

[0035] The external driving device can adopt a motor, an internal combustion engine, a pneumatic device or a hydraulic device. In practical applications, a tractor is preferably used as the external driving device. One end of the first input part 4 is nested and connected to the power output shaft of the tractor through a universal joint cross bearing transmission assembly. In terms of the specific selection of the tractor model, the type, horsepower and size of the tractor can be flexibly selected according to the type and size of the fruit tree and combined with the terrain and landform.

[0036] The ends of the first input part 4 and the first output part 5 can adopt an external threaded shaft, an internal threaded sleeve, an external hexagonal shaft, an internal hexagonal sleeve, an external spline shaft, an internal spline sleeve or a flange plate, etc. to adapt to different connection methods.

[0037] The first housing 12 of the commutation and eccentric rotation mechanism 2 is provided with a first bearing 13. The first input part 4 and the first output part 5 are respectively connected to the first housing 12 through the first bearing 13. First gears 14 and second gears 15 are respectively arranged at the connection positions of the first input part 4 and the first output part 5. The first gears 14 and the second gears 15 are perpendicular and meshed.

[0038] The number of teeth of the first gears 14 is greater than, equal to or less than the number of teeth of the second gears 15. The input / output speed ratio of the first input part 4 and the first output part 5 can be set to deceleration, constant speed or acceleration, and the vibration frequency can be reasonably set according to the actual conditions of the external driving device and the working fruit tree.

[0039] A first eccentric hole 16 or a first eccentric member 17 is arranged at the end of the first output part 5. The central axis of the first eccentric hole 16 or the first eccentric member 17 is parallel to the rotation center line of the first output part 5.

[0040] In this embodiment, the number of the first eccentric holes 16 is three. The distances of the three first eccentric holes 16 from the center of the circle are all different, which are eccentric holes. After connecting the clamping mechanism 3 through any one of the first eccentric holes 16, the effect of eccentric transmission is achieved.

[0041] The eccentricity of the first eccentric hole 16 or the first eccentric member 17 can be designed as required to achieve the best performance requirements for the movement stroke, lever arm, or output torque. When a larger movement stroke is required, the eccentricity can be designed to be increased; when a larger output torque is required, the eccentricity can be designed to be decreased.

[0042] The clamping mechanism 3 includes a clamping member 23 and a movable member 24. One end of the movable member 24 is connected to the clamping member 23, and a third bearing 25 is provided at the other end of the movable member 24. The movable member 24 is connected to the first output part 5 or the second output part 10 through the third bearing 25. The clamping member 23 includes a U-shaped hoop, a circular hoop, a semi-circular hoop, a polygonal hoop, an L-shaped hoop, a C-shaped hook, an F-shaped hook, and a tensioner.

[0043] Taking the front-back direction as a reference, when the third bearing 25 is at the 6 o'clock or 12 o'clock position, the included angle between the clamping mechanism 3 and the fruit tree under operation is 0°; while when the third bearing 25 is at other positions, the clamping mechanism 3 forms an included angle with the fruit tree under operation. The maximum value of the included angle depends on the eccentricity of the eccentric rotation mechanism and the length of the clamping mechanism 3. The included angle can be adjusted by changing the eccentricity or the length. Therefore, when the clamping mechanism 3 moves on a horizontal plane, in addition to the movement in the front-back direction, the fruit tree under operation is also driven by pushing and pulling on both the left and right sides. Therefore, the fruit tree under operation does not simply move in a straight reciprocating motion but in an elliptical reciprocating motion.

[0044] The above different types of clamping members 23 are used to meet the diverse needs of different fruit trees and application scenarios.

[0045] Suspension members 26 are respectively installed above and below the fuselage 1 and the clamping mechanism 3. A connecting rope 27 for maintaining the dynamic balance of the clamping mechanism 3 is provided between the two suspension members 26. The connecting rope 27 includes a steel wire rope, a flexible cable, and a chain. The suspension member 26 includes a sling and a hook.

[0046] The clamping mechanism 3 is vertically suspended and connected to the fuselage 1 through the connecting rope 27, and the clamping mechanism 3 can maintain its own dynamic balance in the suspended state. Therefore, whether the clamping member 23 is movably connected or fixedly connected to the fruit tree 7 does not affect the picking operation.

[0047] Rollers 28 are installed at the bottom of the fuselage 1.

[0048] The movement of the picking machine is facilitated by the rollers 28.

[0049] Embodiment 2

[0050] The difference between this embodiment and Embodiment 1 is that as Figure 2 、 Figure 8 and Figure 9As shown in the figure, it further includes a co-rotating mechanism 8. The co-rotating mechanism 8 is fixed to the fuselage 1. The co-rotating mechanism 8 is located above the reversing and rotating mechanism 2. The co-rotating mechanism 8 is provided with a second input part 9 and a second output part 10. The first output part 5 is provided with a first mounting hole 20. The second input part 9 is connected to the first output part 5 through the first mounting hole 20. One end of the clamping mechanism 3 is rotatably connected to the second output part 10 and makes a circular motion with the rotation center of the second output part 10 as the center of the circle.

[0051] The second housing 18 of the co-rotating mechanism 8 is provided with a second bearing 19. The second input part 9 is connected to the second housing 18 through the second bearing 19. The end of the second output part 10 is provided with a second eccentric hole 21 or a second eccentric member 22. The central axis of the second eccentric hole 21 or the second eccentric member 22 is parallel to the rotation center line of the second output part 10.

[0052] The eccentric distance of the second eccentric hole 21 or the second eccentric member 22 can be designed as required to achieve the best performance requirements of the motion stroke, lever arm or output torque. When a larger motion stroke is required, the eccentric distance can be designed to be increased; when a larger output torque is required, the eccentric distance can be designed to be decreased.

[0053] The ends of the second input part 9 and the second output part 10 can adopt external thread shafts, internal thread sleeves, external hexagon shafts, internal hexagon sleeves, external spline shafts, internal spline sleeves or flange plates, etc. to adapt to different connection methods.

[0054] After adding the co-rotating mechanism 8 to the picking machine, the reversing and rotating mechanism 2 no longer performs eccentric transmission. Only the effect of reversing transmission is achieved through the first mounting hole 20, and the eccentric effect is achieved by the co-rotating mechanism 8.

[0055] Embodiment 3

[0056] The difference between this embodiment and Embodiment 2 is that as Figure 3 and Figure 4 shown, a transmission shaft 11 is installed between the co-rotating mechanism 8 and the reversing and rotating mechanism 2.

[0057] Flanges are respectively provided at both ends of the transmission shaft 11. The transmission shaft 11 is connected to the first output part 5 and the second input part 9 through the flanges at both ends. At this time, the reversing and rotating mechanism 2 only achieves the effect of reversing transmission through the first mounting hole 20, and the eccentric effect is achieved by the co-rotating mechanism 8. The transmission shaft 11 plays a role in extending the connection distance.

[0058] The two ends of the transmission shaft 11 can also adopt matching external thread shafts, internal thread sleeves, external hexagon shafts, internal hexagon sleeves, external spline shafts or internal spline sleeves, etc. according to the end types of the first output part 5 and the second input part 9.

[0059] The length of the transmission shaft 11 can be customized according to needs. The same-direction offset rotation mechanism 8 can be fixed at multiple positions on the fuselage 1 and connected to the commutation offset rotation mechanism 2 by means of transmission shafts 11 of different lengths, which can meet the requirements of different clamping heights of the fruit trees during operation.

[0060] Embodiment 4

[0061] The difference between this embodiment and the above-mentioned embodiments lies in that: it further includes a power device 6, and the power device 6 is connected to the first input part 4 or the second input part 9.

[0062] This picking machine can be used with its own power device 6 to be applicable to more application scenarios.

[0063] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A picking machine for driving fruit trees to make elliptical reciprocating motions, characterized in that, It includes a fuselage (1), a reversing and rotating mechanism (2), and a clamping mechanism (3); the reversing and rotating mechanism (2) is fixed to the fuselage (1), the reversing and rotating mechanism (2) is provided with a first input part (4) and a first output part (5), the input force direction of the first input part (4) is perpendicular to the output force direction of the first output part (5), the first input part (4) is connected to an external driving device, one end of the clamping mechanism (3) is rotatably connected to the first output part (5) and makes a circular motion with the rotation center of the first output part (5) as the center of the circle, and the other end of the clamping mechanism (3) is connected to the fruit tree (7) to be operated.

2. The picking machine for driving fruit trees to make elliptical reciprocating motions according to claim 1, characterized in that, It further includes a co-rotating mechanism (8), the co-rotating mechanism (8) is fixed to the fuselage (1), the co-rotating mechanism (8) is located above the reversing and rotating mechanism (2), the co-rotating mechanism (8) is provided with a second input part (9) and a second output part (10), the first output part (5) is provided with a first mounting hole (20), and the second input part (9) is connected to the first output part (5) through the first mounting hole (20), and one end of the clamping mechanism (3) is rotatably connected to the second output part (10) and makes a circular motion with the rotation center of the second output part (10) as the center of the circle.

3. The picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 2, characterized in that, A transmission shaft (11) is installed between the co-rotating mechanism (8) and the reversing and rotating mechanism (2).

4. A picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 1, characterized in that, The first housing (12) of the reversing and rotating mechanism (2) is provided with a first bearing (13), the first input part (4) and the first output part (5) are respectively connected to the first housing (12) through the first bearing (13), a first gear (14) and a second gear (15) are respectively provided at the connection positions of the first input part (4) and the first output part (5), and the first gear (14) and the second gear (15) are perpendicular and meshed.

5. A picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 4, characterized in that, The end of the first output part (5) is provided with a first eccentric hole (16) or a first eccentric member (17), and the central axis of the first eccentric hole (16) or the first eccentric member (17) is parallel to the rotation center line of the first output part (5).

6. A picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 2, characterized in that, The second housing (18) of the co-rotating mechanism (8) is provided with a second bearing (19), the second input part (9) is connected to the second housing (18) through the second bearing (19), the end of the second output part (10) is provided with a second eccentric hole (21) or a second eccentric member (22), and the central axis of the second eccentric hole (21) or the second eccentric member (22) is parallel to the rotation center line of the second output part (10).

7. A picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 2, characterized in that, The clamping mechanism (3) includes a clamping member (23) and a movable member (24), one end of the movable member (24) is connected to the clamping member (23), the other end of the movable member (24) is provided with a third bearing (25), the movable member (24) is connected to the first output part (5) or the second output part (10) through the third bearing (25), and the clamping member (23) includes a U-shaped hoop, a circular hoop, a semi-circular hoop, a polygonal hoop, an L-shaped hoop, a C-shaped hook, an F-shaped hook, and a tensioner.

8. A picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 1, characterized in that, Hanging members (26) are respectively installed on the fuselage (1) and the clamping mechanism (3) in an up-and-down corresponding manner. A connecting rope (27) for maintaining the dynamic balance of the clamping mechanism (3) is provided between the two hanging members (26). The connecting rope (27) includes a steel wire rope, a flexible cord, and a chain. The hanging member (26) includes a lifting ring and a hook.

9. The picking machine for driving fruit trees to make elliptical reciprocating motions according to claim 2, characterized in that, It further includes a power device (6), and the power device (6) is connected to the first input part (4) or the second input part (9).

10. The picking machine for driving fruit trees to perform elliptical reciprocating motion according to claim 1, characterized in that, Rollers (28) are installed at the bottom of the fuselage (1).

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