A vibratory clamping device for fruit trees and a method for clamping fruit trees thereon

Abstract

This invention discloses a fruit tree vibration clamping device and its fruit tree clamping method. In this invention, the belt clamping mechanism has several rope tightening devices spaced apart within belt positioning brackets one, two, and three. Belt positioning brackets one and two are connected by a servo motor transmission assembly. Hook devices, hanging ring devices, and belts are connected to the corresponding rope tightening devices. A belt tightening mechanism and two belt clamping mechanisms spaced apart and fixed to each other are fixed on the impact plate. This invention controls the opening and closing of the entire device through the servo motor transmission assembly, tightens and loosens the belt through the belt tightening mechanism, and then resets the belt, hook devices, and hanging ring devices through the rope tightening devices. No manual intervention is required, achieving automatic clamping of the fruit tree. Simultaneously, by setting a static friction pre-tightening force preset value to pre-tighten the winding column, the belt can firmly clamp the fruit tree, and it can adapt to fruit trees with indistinct main branches and numerous, messy branches.

Description

Technical Field

[0001] This invention belongs to the field of forest and fruit harvesting machinery technology, specifically relating to a fruit tree vibration clamping device and a fruit tree clamping method. Background Technology

[0002] Harvesting is the most crucial step in the entire orchard production process, characterized by high labor intensity and a large workforce. Traditional manual harvesting methods require hundreds of man-hours per hectare, accounting for approximately 50% of the total labor in orchard production—a time-consuming, labor-intensive, and costly process. Using mechanical vibration harvesters can effectively improve harvesting efficiency and reduce labor costs. These harvesters employ a shaking method to dislodge the fruit, and the accuracy and secure gripping mechanism of the harvester is key to ensuring effective vibration transmission and optimal vibration results.

[0003] The vibrating harvester for fruit trees disclosed in patent CN102668815B uses a first motor to adjust the cam speed, continuously adjusting the vibration frequency of the actuator arm. It amplifies the cam's displacement using a lever principle, and the output shaft of a second motor drives a threaded screw to adjust the position of a slider on a rocker arm, continuously adjusting the amplitude of the actuator arm and thus providing different amplitude vibration excitations to the fruit tree. While this invention can adjust the frequency and amplitude of trunk vibration, after adjusting the slider position, the center line of the actuator arm and the rocker arm is no longer perpendicular. During vibration, the actuator arm generates a torsional torque on the trunk through the front claw, easily causing bark peeling and trunk damage. Furthermore, the structure of the front claw can only act on a single branch of the fruit tree, resulting in a small effective range. It is only suitable for the main trunk of small, regular fruit trees. When the main branch is not prominent and there are many scattered branches, the vibrating harvester cannot effectively grasp the main branch to transmit vibration to the various branches, leading to a decrease in fruit drop rate and reduced harvesting efficiency.

[0004] The vibratory fruit harvesting device disclosed in patent CN102656999A uses an eccentric wheel to rotate, causing a connecting rod to swing up and down. This rotation of the eccentric wheel is converted into the left-right swing of an L-shaped rocker arm, which in turn causes the tree trunk, to which the wire rope is attached, to vibrate, shaking the fruit off. The tractor's power take-off shaft has an adjustable speed, which changes the rotational speed of the eccentric wheel, thereby altering the vibration frequency of the L-shaped rocker arm, and consequently, the vibration frequency of the tree trunk to which the wire rope is attached. Furthermore, by changing the attachment position of the wire rope to the circular hole on the L-shaped rocker arm, the amplitude of the vibration exerted by the wire rope on the fruit tree can also be altered. While this invention can achieve the tightening of tree trunks or branches of any size using the wire rope and hook, the process requires manual operation and cannot automatically tighten the fruit tree.

[0005] Therefore, in practical applications, fruit tree vibration machinery needs to have a reliable clamping device that can directly and firmly clamp fruit trees with indistinct main branches and many messy branches, and can transmit vibration more effectively. Moreover, the clamping process can achieve automatic clamping of fruit trees without human intervention. In addition, the clamping device can minimize damage to the fruit trees themselves during vibration. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a fruit tree vibration clamping device and a fruit tree clamping method.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] This invention discloses a vibratory clamping device for fruit trees, comprising a servo drive assembly, a belt clamping mechanism, a belt tightening mechanism, an impact plate, and an external connection device. The belt clamping mechanism includes a rope tightening device, a belt positioning frame, a hook device, a hanging ring device, and a belt. The belt positioning frame includes a belt positioning bracket one, a U-shaped groove bracket, a belt positioning bracket two, and a belt positioning bracket three. One end of the belt positioning bracket one is fixed to one end of the U-shaped groove bracket; the other end of the U-shaped groove bracket is fixed to one end of the belt positioning bracket three. All three belt positioning brackets (one, two, and three) have a U-shaped groove structure, and each contains several rope tightening devices spaced apart. One rope tightening device at one end of the belt positioning bracket two is connected to the hook device, and one rope tightening device at the other end of the belt positioning bracket three is connected to the hanging ring device. When the hook device and hanging ring device are connected, the belt positioning frame forms a closed ring.

[0009] The cord tightening device includes a cord, a cord reel, a spring shaft, and a spring. Both ends of the spring shaft are fixed to the inner walls of the two sides of belt positioning bracket one, belt positioning bracket two, or belt positioning bracket three, respectively. The spring is sleeved on the spring shaft, and its inner hook is embedded in a square groove on the spring shaft. The cord reel is sleeved on the outside of the spring, and its outer hook is embedded in a square hole on the inner wall of the cord reel. One end of the cord is fixed to the outer hook of the spring, and the cord is wound around an annular groove on the outside of the cord reel. The other end of the cord of all cord tightening devices on belt positioning bracket one is connected to the belt. On belt positioning bracket two, except for the cord tightening device connected to the hook device, the other end of the cord of all cord tightening devices is connected to the belt. On belt positioning bracket three, except for the cord tightening device connected to the hanging ring device, the other end of the cord of all cord tightening devices is connected to the belt. In the initial state, the belt, hook device, and hanging ring device are close to the inner side of the belt positioning bracket.

[0010] The hook device includes a hook fixing block and a hook, and the ring device includes a ring fixing block and a ring; one end of the hook fixing block and one end of the ring fixing block are respectively fixed to both ends of the belt; both the hook fixing block and the ring fixing block are provided with an integrally formed boss; the boss of the hook fixing block is fixed to the other end of the rope of the rope tightening device at both ends of the belt positioning bracket, and the boss of the ring fixing block is fixed to the other end of the rope tightening device at the three ends of the belt positioning bracket; the other end of the hook fixing block and the other end of the ring fixing block are respectively fixed with a hook and a ring.

[0011] The belt clamping mechanism has two belts that are spaced apart and fixed to each other. The other end of the belt positioning bracket of the two belt clamping mechanisms is connected to the other end of the belt positioning bracket of the second belt clamping mechanism through a servo motor transmission assembly. The impact plate is fixed to the inner side of the U-shaped groove bracket of the two belt clamping mechanisms.

[0012] The belt tightening mechanism includes a support plate 1, a nut pressure plate pre-tightening mechanism, a winding post, a position fixing ring, a driven gear, a driving gear, a transmission shaft 1, a motor, and a support plate 2. The nut pressure plate pre-tightening mechanism includes a tightening nut and a spherical pressure plate. The support plates 1 and 2 are spaced vertically and are both fixed to the impact plate. The two ends of the transmission shaft 1 form a rotating pair with two bearing seats, and the two bearing seats are fixed to the support plates 1 and 2 respectively. Pressure plates are fitted on the threaded sections at both ends of the transmission shaft 1 and connected to tightening nuts. Two position fixing rings are fixed on the optical shaft section in the middle of the transmission shaft 1. Winding posts are fitted on both ends of the transmission shaft 1, and each winding post is axially limited at both ends by the pressure plate and position fixing ring at the corresponding end of the transmission shaft 1. The pressure plates at both ends of the transmission shaft 1 are tightened by the tightening nuts at the corresponding ends of the transmission shaft 1. The convex surface of the pressure plate faces the winding post. The winding post has a vertical square slot through hole, and the belts of the two belt clamping mechanisms pass through the square slot through holes of the two winding posts respectively; the motor housing is fixed to the impact plate through the motor bracket; a driving gear is fixed on the output shaft of the motor, and the driving gear meshes with a driven gear fixed on a section of the transmission shaft; the external connection device includes a connecting plate and an external connector; the external connector is fixed to the impact plate through the connecting plate and is located between the U-shaped slot brackets of the two belt clamping mechanisms.

[0013] Preferably, the servo drive assembly includes a U-shaped connecting frame one, a servo, a servo disk, a drive shaft two, a U-shaped connecting frame two, a U-shaped connector one, a U-shaped connector two, and a U-shaped connector three. The housing of the servo is fixed to the U-shaped connecting frame one, and the output shaft of the servo is fixed to one end of the U-shaped connector one via the servo disk; the other end of the U-shaped connector one is hinged to the U-shaped connecting frame one; one end of the drive shaft two is fixed to one end of the U-shaped connector one, and the other end is fixed to one end of the U-shaped connector three; both ends of the U-shaped connector three are hinged to the U-shaped connecting frame two; the hinge shafts of the U-shaped connector one and the U-shaped connecting frame one, the hinge shafts of both ends of the U-shaped connector three and the U-shaped connecting frame two, and the drive shaft two are coaxially arranged; U-shaped connector two is fixed to both the U-shaped connecting frame one and the U-shaped connector three. In one belt clamping mechanism, belt positioning bracket one is fixed to U-shaped connecting frame one, and belt positioning bracket two is fixed to U-shaped connecting piece two fixed on U-shaped connecting piece one; in the other belt clamping mechanism, belt positioning bracket one is fixed to U-shaped connecting frame two, and belt positioning bracket two is fixed to U-shaped connecting piece two fixed on U-shaped connecting piece three.

[0014] Preferably, the belt positioning bracket one of the two belt clamping mechanisms is fixed by a plurality of support columns spaced at intervals, the belt positioning bracket two of the two belt clamping mechanisms is fixed by a plurality of support columns spaced at intervals, and the belt positioning bracket three of the two belt clamping mechanisms is fixed by a plurality of support columns spaced at intervals.

[0015] Preferably, the coil spring shaft has two cylindrical holes, and each cylindrical hole is connected to the corresponding cylindrical holes on the inner walls of the belt positioning bracket one, belt positioning bracket two, or belt positioning bracket three by bolts and nuts.

[0016] Preferably, both the hook fixing block and the hanging ring fixing block are fixed to the belt through the U-shaped square groove.

[0017] Preferably, both ends of the winding post are provided with integrally formed circular flash.

[0018] Preferably, a rubber pad is fixed to the inner side of the impact plate.

[0019] The present invention discloses a fruit tree clamping method using a fruit tree vibration clamping device, as detailed below:

[0020] First, fix the external connector to the robotic arm, adjust the two tightening nuts so that the static friction preload between the two pressure plates and the corresponding winding post reaches the preset value; control the servo motor to rotate forward through the controller, which drives the belt positioning brackets in the two belt clamping mechanisms to rotate outward around the transmission shaft.

[0021] Next, the robotic arm drives the fruit tree vibration clamping device to move, so that the fruit tree enters the opening between the belt positioning bracket 2 and belt positioning bracket 3 of the two belt clamping mechanisms; the controller controls the servo motor to reverse, so that the belt positioning bracket 2 in the two belt clamping mechanisms rotates inward around the transmission shaft 2, so that the two hooks are engaged in the corresponding hanging rings.

[0022] Then, the controller controls the motor to rotate forward, and through the meshing of the drive gear and driven gear, drives the transmission shaft to rotate, which in turn drives the two winding columns to rotate. The two winding columns respectively tighten and take in the corresponding belts, and the two belts retract synchronously. At the same time, the two belts respectively pull the ropes of the corresponding rope tightening devices, causing the corresponding rope drums to rotate forward around the coil spring shaft, and driving the corresponding coil springs to retract. When the upper belt tightens around the fruit tree, the belt can no longer retract, that is, the external force on the corresponding winding column is greater than the preset value of the static friction preload. The winding column rotates freely around the transmission shaft, while the lower belt continues to retract until it tightens around the fruit tree. Then the controller controls the motor to stop working, completing the tightening work.

[0023] After the fruit trees have completed the vibration harvest, the controller controls the motor to reverse and release the two belts; at the same time, under the restoring force of each coil spring, the corresponding rope drum reverses around the corresponding coil spring shaft, and each rope is rewound onto the corresponding rope drum, which drives the corresponding belt, hook device and hanging ring device to reset and re-attach to the inner side of the corresponding belt positioning frame.

[0024] Finally, the controller reverses the servo motor, causing the belt positioning brackets of the two belt clamping mechanisms to rotate outwards. The two hooks disengage from their corresponding hanging rings, and the robotic arm moves the fruit tree vibration clamping device, causing the fruit tree to move out of the opening between the belt positioning brackets of the two belt clamping mechanisms.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention controls the opening and closing of the entire device through a servo motor transmission assembly, and tightens and loosens the belt through a belt tightening mechanism. Then, the belt, hook device, and hanging ring device are reset through the various rope tightening devices of the belt clamping mechanism, achieving automatic clamping of the fruit tree without manual intervention. At the same time, this invention uses a nut pressure plate pre-tightening mechanism in the belt tightening mechanism to set a preset value of static friction pre-tightening force to pre-tighten the winding column. When the external force on the upper winding column in the device is greater than the preset value of static friction pre-tightening force, the winding column idles and no longer tightens the belt, while the lower winding column continues to tighten the belt until it clamps the fruit tree. In this way, the fruit tree can be firmly clamped, and vibration can be transmitted more effectively. It can also adapt to fruit trees with indistinct main branches and many messy branches. At the same time, the method of clamping the fruit tree with a belt can reduce damage to the trunk and bark of the fruit tree. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the belt clamping mechanism in this invention;

[0029] Figure 3 This is a schematic diagram of the rope tightening device in this invention;

[0030] Figure 4 This is a partial structural diagram of the belt clamping mechanism in this invention;

[0031] Figure 5 This is a schematic diagram of the servo drive assembly in this invention;

[0032] Figure 6 This is a schematic diagram of the belt tightening mechanism, impact plate, and external connection device in this invention;

[0033] Figure 7 This is a schematic diagram of the structure of the transmission shaft, the nut pressure plate pre-tightening mechanism, the winding column, and the position fixing ring in this invention;

[0034] Figure 8 This is a schematic diagram of the winding post structure in this invention;

[0035] Figure 9 This is a schematic diagram of the structure of the present invention in its open state;

[0036] Figure 10 This is a schematic diagram of the structure of the present invention when the fruit tree is tightly held. Detailed Implementation

[0037] The present invention will now be further described with reference to the accompanying drawings.

[0038] like Figure 1 As shown, the present invention provides a fruit tree vibration clamping device, which includes a servo motor transmission assembly 1, a belt clamping mechanism 2, a belt tightening mechanism 3, an impact plate 4, and an external connection device 5.

[0039] like Figure 2 and Figure 4As shown, the belt tightening mechanism 2 includes a rope tightening device 6, a belt positioning frame, a hook device 10, a hanging ring device 11, and a belt 37. The belt positioning frame includes a belt positioning bracket 1 7, a U-shaped groove bracket 8, a belt positioning bracket 2 9, and a belt positioning bracket 3 12. One end of the belt positioning bracket 1 7 is fixed to one end of the U-shaped groove bracket 8; the other end of the U-shaped groove bracket 8 is fixed to one end of the belt positioning bracket 3 12. The belt positioning brackets 1 7, 2 9, and 3 12 are all U-shaped groove structures, and several rope tightening devices 6 are spaced apart inside. Among them, one rope tightening device 6 at one end of the belt positioning bracket 2 9 is connected to the hook device 10, and one rope tightening device 6 at the other end of the belt positioning bracket 3 12 is connected to the hanging ring device 11. When the hook device 10 and the hanging ring device 11 are connected, the belt positioning frame is a closed ring.

[0040] like Figure 3 As shown, the rope tightening device 6 includes a rope 34, a rope drum 38, a spring shaft 39, and a spring 40; both ends of the spring shaft 39 are fixed to the inner walls of the belt positioning bracket 1 7, belt positioning bracket 2 9, or belt positioning bracket 3 12 respectively; the spring 40 is sleeved on the spring shaft 39, and the inner hook 40-1 of the spring 40 is embedded in the square groove 39-1 opened on the spring shaft 39; the rope drum 38 is sleeved on the outside of the spring 40, and the outer hook 40-2 of the spring 40 is embedded in the square hole opened on the inner side wall of the rope drum 38; one end of the rope 34 is fixed to the outer hook of the spring 40, and the rope 34 is wound in the annular groove on the outside of the rope drum 38. On belt positioning bracket 1 7, the other end of the rope 34 of all rope tightening devices 6 is connected to the belt 37. On belt positioning bracket 2 9, except for the rope tightening device 6 connected to the hook device 10, the other end of the rope 34 of all other rope tightening devices 6 is connected to the belt 37. On belt positioning bracket 3 12, except for the rope tightening device 6 connected to the hanging ring device 11, the other end of the rope 34 of all other rope tightening devices 6 is connected to the belt 37. In the initial state, the belt 37, hook device 10, and hanging ring device 11 are close to the inner side of the belt positioning bracket.

[0041] like Figure 4As shown, the hook device 10 includes a hook fixing block 35 and a hook 35-3, and the hanging ring device 11 includes a hanging ring fixing block 36 and a hanging ring 36-1. One end of the hook fixing block 35 and one end of the hanging ring fixing block 36 are respectively fixed to both ends of the belt 37. Both the hook fixing block 35 and the hanging ring fixing block 36 are provided with an integrally formed boss 35-2. The boss 35-2 of the hook fixing block 35 is fixed to the other end of the rope 34 of the rope tightening device 6 at the end of the belt positioning bracket 2 9, and the boss 35-2 of the hanging ring fixing block 36 is fixed to the other end of the rope tightening device 6 at the end of the belt positioning bracket 3 12. The other end of the hook fixing block 35 and the other end of the hanging ring fixing block 36 are respectively fixed with a hook 35-3 and a hanging ring 36-1.

[0042] like Figure 1 and Figure 2 As shown, the belt clamping mechanism 2 has two belts that are spaced apart and fixed to each other. The other end of the belt positioning bracket 7 of the two belt clamping mechanisms 2 is connected to the other end of the belt positioning bracket 9 through the servo motor transmission assembly 1. The impact plate 4 is fixed to the inner side of the U-shaped groove bracket 8 of the two belt clamping mechanisms 2.

[0043] like Figure 6 , Figure 7 and Figure 8As shown, the belt tightening mechanism 3 includes a support plate 21, a nut pressure plate pre-tightening mechanism, a winding post 24, a position fixing ring 25, a driven gear 26, a driving gear 27, a transmission shaft 28, a motor 29, and a support plate 31. The nut pressure plate pre-tightening mechanism includes a tightening nut 22 and a spherical pressure plate 23. The support plates 21 and 31 are spaced vertically and are both fixed to the impact plate 4. The two ends of the transmission shaft 28 and two bearing seats 30 form rotating pairs, and the two bearing seats 30 are fixed to the support plates 21 and 31 respectively. The threaded sections at both ends of the transmission shaft 28 are fitted with... A pressure plate 23 is provided and connected to a tightening nut 22; two position fixing rings 25 with a spacing are fixed on the optical shaft section in the middle of the drive shaft 28; a winding post 24 is sleeved on both ends of the drive shaft 28, and the two ends of each winding post 24 are axially limited by the pressure plate 23 and the position fixing ring 25 at the corresponding ends of the drive shaft 28; the pressure plates 23 at both ends of the drive shaft 28 are pressed by the tightening nuts 22 at the corresponding ends of the drive shaft 28; the convex surface of the pressure plate 23 is set facing the winding post 24; the contact area between the convex surface of the pressure plate 23 and the winding post 24 can be changed by tightening the nut 22 to generate different static friction preload. The winding post 24 has a vertical square slot through hole 24-1, and the belts 37 of the two belt clamping mechanisms 2 pass through the square slot through holes 24-1 of the two winding posts 24 respectively; the housing of the motor 29 is fixed to the impact plate 4 through the motor bracket 32; a drive gear 27 is fixed on the output shaft of the motor 29, and the drive gear 27 meshes with the driven gear 26 fixed on the optical shaft section of the transmission shaft 28; the motor 29 is controlled by a controller. The external connection device 5 includes a connecting plate and an external connector 33; the external connector 33 is fixed to the impact plate 4 through the connecting plate and is located between the U-shaped slot brackets 8 of the two belt clamping mechanisms 2, and is used to connect machines such as robotic arms.

[0044] As a preferred embodiment, such as Figure 5As shown, the servo drive assembly 1 includes a U-shaped connecting frame 13, a servo motor 14, a servo disc 15, a drive shaft 16, a U-shaped connecting frame 17, a U-shaped connector 18, a U-shaped connector 19, and a U-shaped connector 20. The housing of the servo motor 14 is fixed on the U-shaped connecting frame 13. The output shaft of the servo motor 14 is fixed to one end of the U-shaped connector 18 via the servo disc 15. The servo motor 14 is controlled by a controller. The other end of the U-shaped connector 18 is hinged to the U-shaped connecting frame 13. One end of the drive shaft 16 is fixed to one end of the U-shaped connector 18, and the other end is fixed to one end of the U-shaped connector 20. Both ends of the U-shaped connector 20 are hinged to the U-shaped connecting frame 17. The hinge shafts of the U-shaped connector 18 and the U-shaped connecting frame 13, the hinge shafts of both ends of the U-shaped connector 20 and the U-shaped connecting frame 17, and the drive shaft 16 are coaxially arranged. U-shaped connectors 19 are fixed to both the U-shaped connector 18 and the U-shaped connector 20. In one of the belt clamping mechanisms 2, belt positioning bracket 17 is fixed to U-shaped connecting bracket 13, and belt positioning bracket 29 is fixed to U-shaped connecting piece 29 fixed on U-shaped connecting piece 18; in the other belt clamping mechanism 2, belt positioning bracket 17 is fixed to U-shaped connecting bracket 27, and belt positioning bracket 29 is fixed to U-shaped connecting piece 29 fixed on U-shaped connecting piece 30.

[0045] As a preferred embodiment, such as Figure 9 As shown, the belt positioning bracket 1 7 of the two belt clamping mechanisms 2 is fixed by multiple support columns 43 arranged at intervals, the belt positioning bracket 2 9 of the two belt clamping mechanisms 2 is fixed by multiple support columns 43 arranged at intervals, and the belt positioning bracket 3 12 of the two belt clamping mechanisms 2 is fixed by multiple support columns 43 arranged at intervals.

[0046] As a preferred embodiment, such as Figure 3 As shown, the coil spring shaft 39 has two cylindrical holes 39-2. Each cylindrical hole 39-2 is connected to the corresponding cylindrical holes on the inner walls of the belt positioning bracket 1 7, belt positioning bracket 2 9, or belt positioning bracket 3 12 by bolts and nuts, thereby fixing the coil spring shaft 39 on the belt positioning bracket 1 7, belt positioning bracket 2 9, or belt positioning bracket 3 12.

[0047] As a preferred embodiment, such as Figure 4 As shown, both the hook fixing block 35 and the hanging ring fixing block 36 are fixed to the belt 37 through the U-shaped square groove 35-1.

[0048] As a preferred embodiment, such as Figure 6 As shown, both ends of the winding post 24 are provided with integrally formed circular burrs 24-2 for better storage of the belt 37.

[0049] As a preferred embodiment, such as Figure 9 As shown, a rubber pad 41 is fixed to the inner side of the impact plate 4, which can reduce damage to the trunk and bark of the fruit tree.

[0050] The present invention discloses a fruit tree clamping method using a fruit tree vibration clamping device, as detailed below:

[0051] First, fix the external connector 33 to the robotic arm, adjust the two tightening nuts 22 so that the static friction preload between the two pressure plates 23 and the corresponding winding post 24 reaches the preset value; control the servo motor 14 to rotate forward through the controller, which drives the belt positioning bracket 29 in the two belt clamping mechanisms 2 to rotate outward around the transmission shaft 26.

[0052] Next, the robotic arm drives the vibrating clamping device to move, causing the fruit tree 42 to enter the opening between the belt positioning bracket 2 (9) and belt positioning bracket 3 (12) of the two belt clamping mechanisms 2, as shown. Figure 9 As shown; the controller controls the servo motor 14 to reverse, which drives the belt positioning bracket 2 9 in the two belt clamping mechanisms 2 to rotate inward around the transmission shaft 2 16, so that the two hooks 35-3 are engaged in the corresponding hanging rings 36-1;

[0053] Then, the controller controls the motor 29 to rotate forward, and drives the drive shaft 28 to rotate through the meshing of the drive gear 27 and the driven gear 26, thereby driving the two winding posts 24 to rotate; the two winding posts 2 respectively wind and take in the corresponding belts 37, and the two belts 37 retract synchronously; at the same time, the two belts 37 respectively pull the ropes 34 of the corresponding rope tightening device 6, causing the corresponding rope drums 38 to rotate forward around the coil spring shaft 39, and driving the corresponding coil springs 40 to retract. When the upper belt 37 has tightened around the fruit tree, the belt 37 can no longer retract, that is, the external force on the corresponding winding post 24 is greater than the preset value of the static friction preload, the winding post 24 rotates freely around the drive shaft 28, and the lower belt 37 continues to retract until it tightens around the fruit tree, and then the controller controls the motor 29 to stop working, completing the tightening work, as follows. Figure 10 As shown;

[0054] After the fruit trees complete the vibration harvest, the controller controls the motor 29 to reverse and release the two belts 37; at the same time, under the restoring force of each coil spring 40, the corresponding rope drum 38 reverses around the corresponding coil spring shaft 39, and each rope 34 is rewound onto the corresponding rope drum 38, which drives the corresponding belt 37, hook device 10 and hanging ring device 11 to reset and re-attach to the inner side of the corresponding belt positioning frame.

[0055] Finally, the controller reverses the servo motor 14, causing the belt positioning brackets 2 and 3 of the two belt clamping mechanisms 2 to rotate outwards. The two hooks 35-3 disengage from their corresponding hanging rings 36-1. The robotic arm then moves the fruit tree vibration clamping device, causing the fruit tree to move out of the opening between the belt positioning brackets 2 and 3 of the two belt clamping mechanisms 2. During the process of moving the fruit tree vibration clamping device to another fruit tree, or after completing all operations, to avoid damage to the fruit tree vibration clamping device and to save storage space, the controller reverses the servo motor 14, causing the belt positioning brackets 2 and 3 of the two belt clamping mechanisms 2 to rotate inwards around the drive shaft 2 and 16, causing the two hooks 35-3 to engage with their corresponding hanging rings 36-1.

[0056] The above embodiments are only for illustrating the technical concept and features of the present invention and should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the present invention should be covered within the scope of protection of the present invention.

Claims

1. A vibratory clamping device for fruit trees, comprising an external connection device and an impact plate, characterized in that: It also includes a servo drive assembly, a belt clamping mechanism, and a belt tightening mechanism; the belt clamping mechanism includes a rope tightening device, a belt positioning frame, a hook device, a hanging ring device, and a belt; the belt positioning frame includes a belt positioning bracket one, a U-shaped groove bracket, a belt positioning bracket two, and a belt positioning bracket three; one end of the belt positioning bracket one is fixed to one end of the U-shaped groove bracket; the other end of the U-shaped groove bracket is fixed to one end of the belt positioning bracket three; the belt positioning bracket one, belt positioning bracket two, and belt positioning bracket three are all U-shaped groove structures, and several rope tightening devices are spaced apart inside; among them, one rope tightening device at one end of the belt positioning bracket two is connected to the hook device, and one rope tightening device at the other end of the belt positioning bracket three is connected to the hanging ring device; when the hook device and the hanging ring device are connected, the belt positioning frame is a closed ring; The cord tightening device includes a cord, a cord drum, a spring shaft, and a spring. Both ends of the spring shaft are fixed to the inner walls of the two sides of belt positioning bracket one, belt positioning bracket two, or belt positioning bracket three, respectively. The spring is sleeved on the spring shaft, and the inner hook of the spring is embedded in a square groove on the spring shaft. The cord drum is sleeved on the outside of the spring, and the outer hook of the spring is embedded in a square hole on the inner wall of the cord drum. One end of the cord is fixed to the outer hook of the spring, and the cord is wound around an annular groove on the outside of the cord drum. The other end of the cords of all cord tightening devices on belt positioning bracket one is connected to the belt. On belt positioning bracket two, except for the cord tightening device connected to the hook device, the other end of the cords of all cord tightening devices is connected to the belt. On belt positioning bracket three, except for the cord tightening device connected to the hanging ring device, the other end of the cords of all cord tightening devices is connected to the belt. In the initial state, the belt, hook device, and hanging ring device are close to the inner side of the belt positioning bracket. The hook device includes a hook fixing block and a hook, and the ring device includes a ring fixing block and a ring; one end of the hook fixing block and one end of the ring fixing block are respectively fixed to both ends of the belt; both the hook fixing block and the ring fixing block are provided with an integrally formed boss; the boss of the hook fixing block is fixed to the other end of the rope of the rope tightening device at both ends of the belt positioning bracket, and the boss of the ring fixing block is fixed to the other end of the rope tightening device at three ends of the belt positioning bracket; the other end of the hook fixing block and the other end of the ring fixing block are respectively fixed with a hook and a ring; The belt clamping mechanism is provided in two and is connected at intervals. The other end of the belt positioning bracket of the two belt clamping mechanisms is connected to the other end of the belt positioning bracket of the second belt clamping mechanism through a servo motor transmission assembly. The impact plate is fixed to the inner side of the U-shaped groove bracket of the two belt clamping mechanisms. The belt tightening mechanism includes a support plate 1, a nut pressure plate pre-tightening mechanism, a winding post, a position fixing ring, a driven gear, a driving gear, a transmission shaft 1, a motor, and a support plate 2. The nut pressure plate pre-tightening mechanism includes a tightening nut and a spherical pressure plate. The support plates 1 and 2 are spaced vertically and are both fixed to the impact plate. The two ends of the transmission shaft 1 form a rotating pair with two bearing seats, which are respectively fixed to the support plates 1 and 2. Pressure plates are fitted onto the threaded sections at both ends of the transmission shaft 1 and connected to tightening nuts. Two position fixing rings are fixed on the middle section of the transmission shaft 1. Winding posts are fitted onto both ends of the transmission shaft 1, and each winding post... The two ends of the winding column are axially limited by pressure plates and position fixing rings at corresponding ends of the drive shaft; the pressure plates at both ends of the drive shaft are tightened by tightening nuts at corresponding ends of the drive shaft; the convex surface of the pressure plate faces the winding column; the winding column has a vertical square slot through hole, and the belts of the two belt clamping mechanisms pass through the square slot through holes of the two winding columns respectively; the motor housing is fixed to the impact plate through the motor bracket; a driving gear is fixed on the output shaft of the motor, and the driving gear meshes with the driven gear fixed on the optical shaft section of the drive shaft; the external connection device includes a connecting plate and an external connector; the external connector is fixed to the impact plate through the connecting plate and is located between the U-shaped slot brackets of the two belt clamping mechanisms.

2. The fruit tree vibration clamping device according to claim 1, characterized in that: The servo drive assembly includes a U-shaped connecting frame 1, a servo motor, a servo disc, a drive shaft 2, a U-shaped connecting frame 2, a U-shaped connector 1, a U-shaped connector 2, and a U-shaped connector 3. The servo motor housing is fixed to the U-shaped connecting frame 1, and the servo motor's output shaft is fixed to one end of the U-shaped connector 1 via the servo disc. The other end of the U-shaped connector 1 is hinged to the U-shaped connecting frame 1. One end of the drive shaft 2 is fixed to one end of the U-shaped connector 1, and the other end is fixed to one end of the U-shaped connector 3. Both ends of the U-shaped connector 3 are hinged to the U-shaped connecting frame 2. The hinge shafts of component one and U-shaped connecting frame one, the hinge shafts of both ends of U-shaped connector three and U-shaped connecting frame two, and transmission shaft two are coaxially arranged; U-shaped connector two is fixed on both U-shaped connector one and U-shaped connector three; in one belt clamping mechanism, belt positioning bracket one is fixed to U-shaped connecting frame one, and belt positioning bracket two is fixed to U-shaped connector two fixed on U-shaped connecting frame one; in the other belt clamping mechanism, belt positioning bracket one is fixed to U-shaped connecting frame two, and belt positioning bracket two is fixed to U-shaped connector two fixed on U-shaped connecting frame three.

3. The fruit tree vibration clamping device according to claim 1, characterized in that: The belt positioning bracket one of the two belt clamping mechanisms is fixed by multiple support columns spaced at intervals, the belt positioning bracket two of the two belt clamping mechanisms is fixed by multiple support columns spaced at intervals, and the belt positioning bracket three of the two belt clamping mechanisms is fixed by multiple support columns spaced at intervals.

4. The fruit tree vibration clamping device according to claim 1, characterized in that: The coil spring shaft has two cylindrical holes, and each cylindrical hole is connected to the corresponding cylindrical holes on the inner walls of belt positioning bracket one, belt positioning bracket two, or belt positioning bracket three by bolts and nuts.

5. A fruit tree vibration clamping device according to claim 1, characterized in that: Both the hook fixing block and the hanging ring fixing block are fixed to the belt through the U-shaped square groove.

6. The fruit tree vibration clamping device according to claim 1, characterized in that: Both ends of the winding post are provided with integrally formed circular flash.

7. The fruit tree vibration clamping device according to claim 1, characterized in that: A rubber pad is fixed to the inside of the impact plate.

8. A method for clamping fruit trees using a vibratory clamping device according to any one of claims 1 to 7, characterized in that: Specifically as follows: First, fix the external connector to the robotic arm, adjust the two tightening nuts so that the static friction preload between the two pressure plates and the corresponding winding post reaches the preset value; control the servo motor to rotate forward through the controller, which drives the belt positioning brackets in the two belt clamping mechanisms to rotate outward around the transmission shaft. Next, the robotic arm drives the fruit tree vibration clamping device to move, so that the fruit tree enters the opening between the belt positioning bracket 2 and belt positioning bracket 3 of the two belt clamping mechanisms; the controller controls the servo motor to reverse, so that the belt positioning bracket 2 in the two belt clamping mechanisms rotates inward around the transmission shaft 2, so that the two hooks are engaged in the corresponding hanging rings. Then, the controller controls the motor to rotate forward, and drives the drive shaft to rotate through the meshing of the drive gear and driven gear, which in turn drives the two winding columns to rotate; the two winding columns respectively wind and take in the corresponding belts, and the two belts retract synchronously; at the same time, the two belts respectively pull the ropes of the corresponding rope tightening devices, causing the corresponding rope drums to rotate forward around the coil spring shaft, and driving the corresponding coil springs to retract; when the upper belt tightens the fruit tree, the belt can no longer retract, and the external force on the corresponding winding column is greater than the preset value of the static friction preload, so the winding column rotates around the drive shaft, and the lower belt continues to retract until it tightens the fruit tree, and then the controller controls the motor to stop working, completing the tightening work; After the fruit trees have completed the vibration harvest, the controller controls the motor to reverse and release the two belts; at the same time, under the restoring force of each coil spring, the corresponding rope drum reverses around the corresponding coil spring shaft, and each rope is rewound onto the corresponding rope drum, which drives the corresponding belt, hook device and hanging ring device to reset and re-attach to the inner side of the corresponding belt positioning frame. Finally, the controller reverses the servo motor, causing the belt positioning brackets of the two belt clamping mechanisms to rotate outwards. The two hooks disengage from their corresponding hanging rings, and the robotic arm moves the fruit tree vibration clamping device, causing the fruit tree to move out of the opening between the belt positioning brackets of the two belt clamping mechanisms.

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