A motorized main trunk vibrating fruit and forest tree picking vehicle and its usage method

Abstract

The present invention relates to the technical field of agricultural machinery, and discloses a motorized main trunk vibrating fruit and forest tree picking vehicle, which includes a vehicle frame. A front wheel is provided at the front end of the vehicle frame, and a rear wheel is provided at the rear end of the vehicle frame. At least one traveling power for driving the front wheel or the rear wheel to automatically travel is provided on the vehicle frame. A power assembly and a picking rod are fixedly provided at the front end of the vehicle frame. An eccentric excitation mechanism for driving the rear end of the picking rod to eccentrically rotate is provided between the output end of the power assembly and the rear end of the picking rod. A gripper for clamping the tree trunk is rotatably provided at the front end of the picking rod. When the gripper clamps the tree trunk and the power assembly drives the rear end of the picking rod to eccentrically rotate through the eccentric excitation mechanism, the vehicle frame swings and vibrates around the center of the front wheel, so that the fruits and forest trees on the tree trunk are shaken off. The structure of the present invention is ingenious and the cost is low. It is flexible to use and can adapt to hilly areas. When in use, it can generate sufficient reaction force on the tree trunk to shake off the fruits and forest trees on the tree trunk, greatly improving the fruit and forest tree picking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a motorized main trunk vibrating fruit and nut picking vehicle and a using method thereof. Background Art

[0002] Nuts have high nutritional value. Nuts are usually grown on relatively tall trees. After the nuts are ripe, they need to be picked manually, and the manual picking workload is very large. The existing methods usually rely on manpower to use bamboo poles to knock or vibrate the branches to knock down the nuts, and then pick up the nuts that fall on the ground. However, this method is very labor-consuming, and in many cases, it is necessary to work on the tree, which has relatively large safety hazards. At the same time, knocking on the branches will also damage the branches. The existing hand-held fruit and nut picking machine is heavier than the bamboo pole, and the power device has a small power. It completely uses the output power of the power device to vibrate the tree trunk, and the vibration acting force is small. It is usually only applicable to vibrate and pick the tree trunk with a diameter less than 20 cm. For some large fruit tree trunks with a diameter of about 25 cm, this kind of hand-held fruit and nut picking machine is completely inapplicable. At the same time, the hand-held operation has a large labor intensity and is not popular with growers and cannot be promoted. Some of the existing large fruit and nut picking machines are large in volume, high in cost, and have poor adaptability to terrain. They can only be used in relatively flat areas and are not suitable for use in mountainous and hilly areas. Therefore, it is very necessary to design a fruit and nut harvesting machine with sufficient power, low cost, flexible use and adaptable to hilly areas. Summary of the Invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a motorized main trunk vibrating fruit and nut picking vehicle and a using method thereof. This kind of fruit and nut picking vehicle has a low cost, is flexible in use, can adapt to hilly areas and can automatically walk. When in use, it can generate sufficient reaction force on the tree trunk to vibrate the fruits and nuts on the tree trunk, greatly improving the fruit and nut picking efficiency and effectively reducing the manual labor intensity.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A motorized main trunk vibrating fruit and nut picking vehicle, including a vehicle frame. The front end of the vehicle frame is provided with front wheels, and the rear end of the vehicle frame is provided with rear wheels. At least one traveling power for driving the front wheels or the rear wheels to automatically walk is provided on the vehicle frame;

[0006] The front end of the vehicle frame is fixedly provided with a power assembly and a picking rod. An eccentric excitation mechanism for driving the rear end of the picking rod to rotate eccentrically is arranged between the output end of the power assembly and the rear end of the picking rod. A gripper for clamping the tree trunk is rotatably arranged at the front end of the picking rod;

[0007] When the gripper clamps the tree trunk and the power assembly drives the rear end of the picking rod to rotate eccentrically through the eccentric excitation mechanism, the vehicle frame swings and vibrates around the center of the front wheel, causing the fruits and nuts on the tree trunk to be shaken off.

[0008] This kind of picking vehicle has a clever overall structure and is convenient to use. Through the swinging vibration, the gripper generates a large impact force on the tree trunk, so that the fruits and nuts on the tree trunk are shaken off; there is no need to climb the tree for operation, and it is safer to use.

[0009] Preferably, the clamping frame is in an arch shape, U shape or C shape, the outer side of the rear end of the clamping frame is pivotally connected to the picking rod, and the pivot axis is perpendicular to the vertical plane; the fixed clamping block is fixedly arranged on the inner side of the rear end of the clamping frame, the front end of the movable clamping block is provided with a connecting rod, the connecting rod passes through the outer end of the clamping frame, and the connecting rod is configured to adjust the distance between the movable clamping block and the fixed clamping block and can be locked with the clamping frame when adjusted to a proper position.

[0010] Preferably, the clamping frame is in an arch shape, U shape or C shape, the outer side of the rear end of the clamping frame is pivotally connected to the picking rod, and the pivot axis is perpendicular to the vertical plane; the fixed clamping block is fixedly arranged on the inner side of the rear end of the clamping frame, the front end of the movable clamping block is provided with a screw rod, the front end of the clamping frame is provided with a threaded hole, the screw rod passes through the threaded hole to form a threaded connection, the inner end of the screw rod is rotatably connected to the movable clamping block, and a rotating handle is arranged at the outer end of the screw rod.

[0011] Preferably, the opposite side surfaces of the fixed clamping block and the movable clamping block are configured as arc-shaped surfaces or V-shaped surfaces adapted to the arc-shaped contour of the tree trunk; flexible gaskets are fixedly arranged on the opposite side surfaces of the fixed clamping block and the movable clamping block.

[0012] Preferably, the picking rod is a telescopic adjusting rod, the picking rod includes a plurality of connecting pipes that can be slidably sleeved along the axial direction, locking sleeves are fixedly arranged at the ends of the connecting pipes, and a plurality of locking bolts are arranged on the side surfaces of the locking sleeves.

[0013] Preferably, the power assembly includes a power body and a reducer connected to the output end of the power body, and the power body can be any one of a gasoline engine, a diesel engine and an electric motor; the traveling power is an electric motor, a controller for controlling the steering and speed of the electric motor is arranged on the vehicle frame, and a control handle for controlling the forward, backward and stop of the picking vehicle and connected to the controller is arranged at the rear end of the vehicle frame.

[0014] Preferably, the excitation mechanism includes an eccentric wheel and an eccentric shaft. One end of the eccentric shaft rotates eccentrically with the eccentric wheel, and the other end of the eccentric shaft is coaxially connected to the output shaft of the power assembly. A connecting arm is provided at the rear end of the picking rod. A connecting sleeve is fixedly provided at the rear end of the connecting arm. The connecting sleeve is rotatably connected to the eccentric wheel, and a bearing is provided between the connecting sleeve and the eccentric wheel. The front end of the connecting arm is detachably connected to the picking rod.

[0015] Preferably, the diameter of the front wheel is larger than that of the rear wheel. The eccentric excitation mechanism is distributed between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located. The distance between the eccentric excitation mechanism and the vertical plane where the axis of the front wheel is located is greater than or equal to 10 cm, and the distance between the eccentric excitation mechanism and the vertical plane where the axis of the rear wheel is located is greater than or equal to 30 cm. The center of gravity of the picking vehicle is distributed between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located. The distance between the output shaft of the power assembly and the center of the front wheel is R1, and the distance between the center of gravity of the picking vehicle and the center of the front wheel is R2. A counterweight is provided at the rear end of the vehicle frame, so that the value of R2 / R1 is 0.7 - 1. The distribution position of the eccentric excitation mechanism and the distribution position of the center of gravity are both set between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located, so that the picking vehicle is very stable whether it is walking or working. At the same time, the component force of the picking rod in the vertical direction is also located between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located. During the working process of the picking vehicle, the jumping of the picking vehicle in the vertical direction can be reduced, so that the picking vehicle rotates and vibrates around the center of the front wheel as much as possible during the working process and reduces the jumping in the vertical direction, so that the momentum generated by the mass and speed of the picking vehicle can act on the picking rod more. The front wheel is high and the rear wheel is low, so that R1 is reduced, and after counterweight with the counterweight, R2 is increased. Finally, the value of R2 / R1 is configured to be 0.7 - 1, so that R2 and R1 are closer. During the working process of the picking vehicle, the direction of the momentum generated at the center of gravity is more consistent with the direction of the force on the picking rod. On the one hand, the acting force on the picking vehicle body during the working process tends to be balanced, reducing the impact of external forces (or inner walls) on the picking vehicle body. On the other hand, when the length of the vehicle body is limited, the larger the value of R2 / R1, the greater the linear velocity at the center of gravity of the picking vehicle body, and the greater the reaction force generated by the swinging vibration of the picking vehicle on the picking rod, which can better shake off the fruits on the tree trunk.

[0016] Preferably, the eccentricity of the eccentric excitation mechanism is R, and R is configured to be 2 cm ≤ R ≤ 3 cm; the rotational speed n of the eccentric excitation mechanism is configured to be 5 r / s ≤ n ≤ 7 r / s, and the mass M of the picking vehicle is configured to be 150 kg ≤ M ≤ 200 kg; in the working state, the angle α between the picking rod and the support surfaces of the front and rear wheels is configured to be 15° ≤ α ≤ 25°. Theoretically, the larger the eccentricity R, the greater the force (or impact force) generated on the picking rod during operation. At the same time, the larger the eccentricity R, the greater the amplitude of the picking vehicle body. Too large an amplitude will cause damage to the picking vehicle body and pose a safety hazard. At the same time, too large an amplitude will also increase the load on the power component. Therefore, considering the combination of safety and usage requirements, R is configured to be 2 cm ≤ R ≤ 3 cm; similarly, the faster the rotational speed n, the shorter the action time between the gripper and the tree trunk, and the greater the force (momentum theorem). Too large a rotational speed n is likely to cause the picking vehicle to vibrate too fast and pose a safety hazard.

[0017] A method for using a motorized trunk vibration fruit and forest picking vehicle, which is applied to the picking vehicle described in any one of the above, includes the following steps:

[0018] Drive the picking vehicle to move within a range of 2 - 4 meters from the fruit tree to be picked;

[0019] Manually place the fruit collection net under the fruit tree for collecting fruits and forests;

[0020] Adjust the angle of the picking rod to an angle within the range of 15° - 25° with the ground, and clamp the gripper to the tree trunk;

[0021] Start the power component, so that the power component drives the rear end of the picking rod to rotate eccentrically through the excitation mechanism;

[0022] The picking vehicle swings and vibrates around the center point of the front wheel, and the force generated by the vibration drives the tree trunk to swing and vibrate reciprocally, so that the fruits and forests on the tree trunk are shaken off;

[0023] The fruits and forests are shaken off and fall onto the collection net, and the fruits and forests are collected manually.

[0024] Therefore, the structure of the present invention is ingenious and the cost is low. It is flexible to use, can adapt to hilly areas and can walk automatically. When in use, it can generate sufficient reaction force on the tree trunk to shake off the fruits and forests on the tree trunk, greatly improving the fruit and forest picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of the present invention.

[0026] Figure 2 For Figure 1 Another perspective view of

[0027] Figure 3It is a schematic structural diagram of a picking rod and a gripper.

[0028] Figure 4 It is a top view of the gripper.

[0029] Figure 5 It is a front view of the present invention.

[0030] Figure 6 It is a physical model constructed based on the structure of the invention. Detailed implementation manners

[0031] The present invention will be further described below in conjunction with the drawings and detailed implementation manners:

[0032] In order to make the technical problems to be solved, technical solutions and beneficial technical effects of the present invention clearer, the present invention will be further described in detail below in conjunction with the drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention.

[0033] It should be understood that in this text, expressions such as "first", "second", etc. are only for descriptive purposes, and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly indicating the quantity of the indicated technical features. Features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0034] Such as Figures 1 - 5 As shown, a motorized main trunk vibrating fruit and forest picking vehicle includes a vehicle frame 1. A front wheel 2 is provided on the lower side of the front end of the vehicle frame 1, and a rear wheel 3 is provided at the rear end of the vehicle frame 1. At least one traveling power source 4 for driving the front wheel or the rear wheel to automatically travel is provided on the vehicle frame; the traveling power source in this embodiment is a motor. A controller 5 for controlling the steering and speed of the motor is provided on the vehicle frame 1, and a control handle 6 for controlling the forward, backward and stop of the picking vehicle is provided at the rear end of the vehicle frame 1 and is connected to the controller.

[0035] A power assembly 7 and a picking rod 8 are fixedly provided at the front end of the vehicle frame 1. The power assembly 7 includes a power body 70 and a speed reducer 71 connected to the output end of the power body. The power body can be any one of a gasoline engine, a diesel engine and an electric motor; in this embodiment, the power body uses a gasoline engine, the gasoline engine is installed at the middle position of the front end of the vehicle frame, the speed reducer 71 is installed on the upper side of the front end of the vehicle frame, and an excitation mechanism 9 for driving the rear end of the picking rod to eccentrically rotate is provided between the output end of the speed reducer and the rear end of the picking rod. The excitation mechanism drives the rear end of the picking rod to eccentrically rotate, and a gripper 10 for clamping the tree trunk is rotatably provided at the front end of the picking rod 8.

[0036] The gripper 10 includes a gripping frame 100, a fixed gripper block 101 fixedly provided at one end of the gripping frame, and a movable gripper block 102 disposed opposite to the fixed gripper block. The movable gripper block is configured to have a clamping state of approaching the fixed gripper block and a separating state of moving away from the fixed gripper block. The acting force directions of the movable gripper block 102 and the fixed gripper block 101 on the tree trunk are coplanar with the axis of the picking rod and are all located in a vertical plane; when the gripper clamps the tree trunk and the power assembly drives the rear end of the picking rod to eccentrically rotate through an eccentric excitation mechanism, the vehicle frame swings and vibrates around the center of the front wheel, so that the fruits on the tree trunk are shaken off.

[0037] As Figure 4 shown, the gripping frame 100 has an arch-shaped, U-shaped or C-shaped structure. The outer side of the rear end of the gripping frame 100 is pivotally connected to the picking rod, and the pivot axis is perpendicular to the vertical plane; the fixed gripper block 101 is fixedly provided on the inner side of the rear end of the gripping frame. A screw rod 103 is provided at the front end of the movable gripper block 102, and a threaded hole is provided at the front end of the gripping frame. The screw rod passes through the threaded hole to form a threaded connection. The inner end of the screw rod is rotatably connected to the movable gripper block, and a rotating handle 104 is provided at the outer end of the screw rod.

[0038] The opposite side surfaces of the fixed gripper block 101 and the movable gripper block 102 are configured as arc-shaped surfaces or V-shaped surfaces adapted to the arc-shaped contour of the tree trunk; flexible gaskets 107 are fixedly provided on the opposite side surfaces of the fixed gripper block and the movable gripper block. The flexible gaskets 107, on the one hand, play a protective role for the bark when the fixed gripper block and the movable gripper block hold the tree trunk and vibrate, preventing the bark from being damaged, and on the other hand, increase the static friction force between the fixed gripper block, the movable gripper block and the tree trunk, making the power transmission more stable.

[0039] The picking rod 8 is a telescopic adjusting rod. The picking rod includes a plurality of connecting pipes 80 that can be slidably sleeved along the axial direction. A locking sleeve 81 is fixedly provided at the end of the connecting pipe. A plurality of locking bolts are provided on the side surface of the locking sleeve (omitted in the figure, and the holes on the side surface of the locking sleeve are the connection positions of the locking bolts).

[0040] The excitation mechanism 9 includes an eccentric wheel 90 and an eccentric shaft 91. One end of the eccentric shaft rotates eccentrically with the eccentric wheel, and the other end of the eccentric shaft is coaxially connected to the output shaft of the reducer; a connecting arm 11 is provided at the rear end of the picking rod 8. A connecting sleeve 110 is fixedly provided at the rear end of the connecting arm 11. The connecting sleeve is rotatably connected to the eccentric wheel, and a bearing 111 is provided between the connecting sleeve and the eccentric wheel; the front end of the connecting arm is detachably connected to the picking rod. Specifically, the front end of the connecting arm is inserted into the rear end of the picking rod and is detachably connected through a pin shaft.

[0041] The diameter of the front wheel 2 is greater than that of the rear wheel 3, and the ratio of the diameter of the front wheel to that of the rear wheel is 2 - 3. The eccentric excitation mechanism is distributed between the vertical plane where the axis of the front wheel lies and the vertical plane where the axis of the rear wheel lies. The center of gravity of the picking vehicle is distributed between the vertical plane where the axis of the front wheel lies and the vertical plane where the axis of the rear wheel lies. The distance between the output shaft of the power assembly and the center of the front wheel is R1, and the distance between the center of gravity of the picking vehicle and the center of the front wheel is R2. A counterweight 12 is provided at the rear end of the vehicle frame, such that the value of R2 / R1 is 0.7 - 1. The eccentricity of the eccentric excitation mechanism is R, and R is configured to be 2 cm ≤ R ≤ 3 cm; the rotational speed n of the eccentric excitation mechanism is configured to be 5 r / s ≤ n ≤ 7 r / s, and the mass M of the picking vehicle is configured to be 150 kg ≤ M ≤ 200 kg; in the use state, the angle α between the picking rod and the supporting surface of the front and rear wheels is configured to be 15° ≤ α ≤ 25°.

[0042] A method for using a motorized trunk vibration fruit and forest picking vehicle includes the following steps:

[0043] Drive the picking vehicle to move within a range of 2 - 4 meters from the fruit tree to be picked;

[0044] Manually place the fruit collection net under the fruit tree for collecting fruits and forest products;

[0045] Adjust the angle of the picking rod to an angle with the ground within the range of 15° - 25°, and clamp the gripper to the tree trunk;

[0046] Start the power assembly, so that the power assembly drives the rear end of the picking rod to rotate eccentrically through the excitation mechanism;

[0047] The picking vehicle swings and vibrates around the center point of the front wheel, and the acting force generated by the vibration drives the tree trunk to swing and vibrate reciprocally, so that the fruits and forest products on the tree trunk are shaken off;

[0048] The fruits and forest products are shaken off and fall onto the collection net, and the fruits and forest products are collected manually.

[0049] Combined with the structure of the present invention and the action state during operation, construct the model of the force exerted by the picking rod on the tree trunk through the gripper when the eccentric excitation mechanism works as shown in Figure 6 shown, combined with Figure 6Physical model, analyze and calculate the force exerted by the picking vehicle on the tree trunk during operation: The center point of the large wheel is set as O1, the center point of the small wheel is set as O2, the center point of the output shaft of the reducer is set as point A, and the point where the center of gravity of the picking vehicle is located is set as point B. The distance from point A to O1 is R1, the distance from point B to O1 is R2. The angle between the picking rod and the support surfaces of the front and rear wheels is α. The rotational speed of the output shaft of the reducer is n, the mass of the picking vehicle is M, the angular velocity of the picking vehicle oscillating around O1 during operation is ω, the force on the picking rod during operation is F, the force exerted by the gripper on the tree trunk is Fα, the linear velocity of point A during the swinging process of the picking vehicle is V1, the linear velocity of point B during the swinging process of the picking vehicle is V2, and the eccentricity of the eccentric excitation mechanism is R;

[0050] Points A and B are both on the picking vehicle and there is no relative movement between them and the picking vehicle. Therefore, the angular velocities of points A and B are equal and both are ω. Since the swinging displacement of point A is very small, when the eccentric wheel rotates one week, the swinging arc distance of point A is approximately equal to 4R. The time for the eccentric wheel to rotate one week is 1 / n. Then V1 = 4Rn, ω = V1 / R1 = V2 / R2, and we get V2 = 4RnR2 / R1;

[0051] During the reciprocating swinging process of the picking vehicle, the time of one cycle is extremely short. The momentum theorem is satisfied throughout the swinging process: MV2 = F·△t. At the moment of swinging commutation, since the direction of the velocity V2 changes, according to the momentum theorem:

[0052] M V2 - (-MV2) = F·△t; We obtain F = 2M V2 / △t = 2M(4RnR2 / R1) / △t = 8nMR·R2 / (R1·△t);

[0053] △t is the action time of the gripper on the tree trunk when the velocity direction changes. △t is affected by factors such as the rotational speed n, the tightness between the gripper and the tree trunk, and material deformation. In this application, △t is approximately 1 / (10n);

[0054] Therefore, F = 80M R·R2·n² / R1; where Fα is the component of F in the horizontal direction, that is

[0055] Fα = Fcosα = (80M R·R2·n² / R1)cosα.

[0056] The force exerted by the picking vehicle on the tree trunk during the swinging process (when not commuting) is:

[0057] Fα / 2 = (40M R·R2·n² / R1)cosα;

[0058] That is, during the operation of the picking vehicle, theoretically, the force exerted by the gripper on the tree trunk is between (40M R.R2.n² / R1)cosα - (80M R.R2.n² / R1)cosα. Due to mechanical vibration, bouncing, and swinging back and forth, there will inevitably be momentum loss, and the momentum utilization rate η is about 75%. Finally, the force exerted by the gripper on the tree trunk is between (30M R.R2.n² / R1)cosα - (60M R.R2.n² / R1)cosα. It can be seen that the larger n, the larger M, the larger the ratio of R2 / R1, and the smaller α, the greater the force exerted by the gripper on the tree trunk. At the same time, as α decreases, the component force Fβ of the picking rod in the vertical direction decreases (as Figure 6 shown), thereby reducing the bouncing of the picking vehicle in the vertical direction during operation. At the same time, since Fβ is on the right side of O1 and there is a lever arm with O1, it can promote the swinging vibration of the picking vehicle body while reducing the vertical bouncing, thereby minimizing the momentum loss.

[0059] For example, in some embodiments, M = 90 kg, R = 2.5 cm = 0.025 m, n = 5.5 r / s, R1 = 0.9 m, R2 = 0.75 m, the radius of the large wheel is 0.34 m, the radius of the small wheel is 0.13 m, and α = 20°. According to the above formula, the force exerted by the gripper on the tree trunk is calculated to be approximately 1600 N - 3200 N. That is, during the operation of the picking vehicle, the tree trunk is repeatedly subjected to a varying force between 1600 N - 3200 N, and this force is sufficient to shake the forest fruits off. The force of 1600 N - 3200 N is the force of 300 catties - 600 catties as mentioned in daily life. This type of picking vehicle can shake the forest fruits off the tree trunks with a diameter of about 25 cm - 30 cm.

[0060] This application is the improved second-generation product of the applicant. The applicant submitted a patent application for the first-generation picking vehicle (three types of picking vehicles) developed previously half a year ago. Among the three picking vehicles in the first-generation product, the first one adopts a frame-fixed type, the second one adopts a front-back translation and vibration type, and the third one adopts a swing type. During subsequent use, it was found that the gripper structure in the three picking vehicles is unreasonable, and the clamping between the gripper and the tree trunk is unstable. With the vibration of the picking vehicle, the gripper is prone to looseness. On the one hand, after loosening, the acting force cannot be stably transmitted to the tree trunk, and on the other hand, the looseness also causes large-area damage to the bark of the tree trunk. The acting force of the frame-fixed picking vehicle on the tree trunk completely depends on the output power, with extremely high requirements for power load, high energy consumption, and unsatisfactory vibration effect of fruits and trees. During the working process of the translation and vibration type picking vehicle, it mainly generates momentum through horizontal movement, and then generates a reaction force on the tree trunk. However, on the one hand, the horizontal movement will generate a large frictional resistance, which causes momentum loss, and on the other hand, the horizontal movement direction of the picking vehicle is inconsistent with the direction of the tree trunk to be picked, which will also cause momentum loss (the velocity direction is decomposed and reduced). Finally, the acting force transmitted by the picking rod to the tree trunk is decomposed into a horizontal component and reduced again. Therefore, the final acting force on the tree trunk is small, and it can only pick fruits and trees with a diameter of less than 15 cm directly on the tree trunk, and the energy consumption is high. Although the third picking vehicle also adopts a swing type, the setting methods of the front wheels and the rear wheels are different. During use, the rear wheels are in a floating state, and the front wheels adopt an arc-shaped support seat, which causes the position of the swing center to change during the working process, that is, the picking vehicle body will move to a large extent in the horizontal direction during swinging, which belongs to a combined vibration of swinging and translation, resulting in increased vibration of the picking vehicle body, too large amplitude, damage to the picking vehicle body, and easy to cause great potential safety hazards. The severe vibration of the picking vehicle body causes momentum loss, and finally leads to a decrease in the acting force on the picking rod. To solve the above various problems in the first-generation picking vehicle, the R & D team of the applicant obtained the solution of this application after more than half a year of re-design, debugging, improvement, and perfection. This solution re-designs the structure of the gripper and re-layouts the picking vehicle body, so that the main vibration of the picking vehicle during the working process is the swing vibration around point O1, and the overall amplitude is small. From the outside, the user can only observe the jitter of the picking vehicle body. During the working process, the velocity direction of the center of gravity always remains basically on the same straight line as the force-receiving direction of the picking rod, maximizing the conversion of the momentum of the picking vehicle body into the acting force of the picking rod on the tree trunk. Under the condition of the same power output of the power component and the same mass of the picking vehicle (compared with the first-generation picking vehicle), the acting force of the picking rod of this application on the tree trunk is increased by about 1.5 - 2 times, so as to effectively shake off the fruits and trees on the tree trunk.

[0061] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve substantially the same technical problems and achieve substantially the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A motorized main trunk vibrating fruit and forestry picking vehicle, including a vehicle frame, characterized in that, The front end of the frame is provided with a front wheel, and the rear end of the frame is provided with a rear wheel. At least one traveling power for driving the front wheel or the rear wheel to automatically travel is provided on the frame. A power assembly and a picking rod are fixedly arranged at the front end of the frame. An eccentric excitation mechanism for driving the rear end of the picking rod to rotate eccentrically is arranged between the output end of the power assembly and the rear end of the picking rod. A gripper for clamping the tree trunk is rotatably arranged at the front end of the picking rod. When the gripper clamps the tree trunk and the power assembly drives the rear end of the picking rod to rotate eccentrically through the eccentric excitation mechanism, the frame swings and vibrates around the center of the front wheel, so that the fruits and nuts on the tree trunk are shaken off. The gripper includes a clamping frame, a fixed clamping block fixedly arranged at one end of the clamping frame, and a movable clamping block arranged opposite to the fixed clamping block. The movable clamping block is configured to have a clamping state of approaching the fixed clamping block and a separating state of moving away from the fixed clamping block. The acting force directions of the movable clamping block and the fixed clamping block on the tree trunk are coplanar with the axis of the picking rod and are both located in a vertical plane. The diameter of the front wheel is larger than that of the rear wheel. The eccentric excitation mechanism is distributed between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located. The distance between the eccentric excitation mechanism and the vertical plane where the axis of the front wheel is located is greater than or equal to 10 cm, and the distance between the eccentric excitation mechanism and the vertical plane where the axis of the rear wheel is located is greater than or equal to 30 cm. The center of gravity of the picking vehicle is distributed between the vertical plane where the axis of the front wheel is located and the vertical plane where the axis of the rear wheel is located. The distance between the output shaft of the power assembly and the center of the front wheel is R1, and the distance between the center of gravity of the picking vehicle and the center of the front wheel is R2. A counterweight block is arranged at the rear end of the frame, so that the value of R2 / R1 is 0.7 - 1. The eccentricity of the eccentric excitation mechanism is R, and R is configured to be 2 cm ≤ R ≤ 3 cm; the rotation speed n of the eccentric excitation mechanism is configured to be 5 r / s ≤ n ≤ 7 r / s, and the mass M of the picking vehicle is configured to be 150 kg ≤ M ≤ 200 kg; in the use state, the included angle α between the picking rod and the supporting surfaces of the front wheel and the rear wheel is configured to be 15° ≤ α ≤ 25°.

2. The motorized main trunk vibrating fruit picking vehicle according to claim 1, characterized in that, The clamping frame is in an arch shape, U shape or C shape structure. The outer side of the rear end of the clamping frame is pivotally connected to the picking rod, and the pivot axis is perpendicular to the vertical plane; the fixed clamping block is fixedly arranged on the inner side of the rear end of the clamping frame. A screw rod is arranged at the front end of the movable clamping block, and a threaded hole is arranged at the front end of the clamping frame. The screw rod passes through the threaded hole to form a threaded connection. The inner end of the screw rod is rotatably connected to the movable clamping block, and a rotating handle is arranged at the outer end of the screw rod.

3. A motorized main trunk vibrating fruit picking vehicle according to claim 1 or 2, characterized in that, The opposite side surfaces of the fixed clamping block and the movable clamping block are configured to be arc-shaped surfaces or V-shaped surfaces adapted to the arc-shaped contour of the tree trunk; flexible gaskets are fixedly arranged on the opposite side surfaces of the fixed clamping block and the movable clamping block.

4. A motorized main trunk vibrating fruit picking vehicle according to claim 1, characterized in that, The picking rod is a telescopic adjusting rod, and the picking rod includes several connecting pipes that can be slidably sleeved along the axial direction. A locking sleeve is fixedly arranged at the end of the connecting pipe, and several locking bolts are arranged on the side surface of the locking sleeve.

5. A motorized trunk vibration fruit picking vehicle according to claim 1, characterized in that, The described power assembly includes a power body and a speed reducer connected to the output end of the power body. The power body can be any one of a gasoline engine, a diesel engine, and an electric motor. The traveling power is an electric motor. A controller for controlling the steering and speed of the electric motor is provided on the vehicle frame. A control handle for controlling the forward movement, backward movement, and stop of the picking vehicle is provided at the rear end of the vehicle frame and is connected to the controller.

6. A motorized main trunk vibrating fruit picking vehicle according to claim 1, characterized in that, The described eccentric excitation mechanism includes an eccentric wheel and an eccentric shaft. One end of the eccentric shaft rotates eccentrically with the eccentric wheel, and the other end of the eccentric shaft is coaxially connected to the output shaft of the power assembly. A connecting arm is provided at the rear end of the picking rod. A connecting sleeve is fixedly provided at the rear end of the connecting arm. The connecting sleeve is rotatably connected to the eccentric wheel, and a bearing is provided between the connecting sleeve and the eccentric wheel. The front end of the connecting arm is detachably connected to the picking rod.

7. A method for using a motorized trunk vibration fruit and forest picking vehicle, applicable to the picking vehicle described in any one of claims 1-6, characterized in that, It includes the following steps: Drive the picking vehicle to move within a range of 2-4 meters from the fruit tree to be picked; Manually place the fruit collection net under the fruit tree to collect forest fruits; Adjust the angle of the picking rod so that the angle between the picking rod and the ground is within the range of 18°-25°, and clamp the gripper to the tree trunk; Start the power assembly so that the power assembly drives the rear end of the picking rod to rotate eccentrically through the eccentric excitation mechanism; The picking vehicle swings and vibrates around the center point of the front wheel. The acting force generated by the vibration drives the tree trunk to swing and vibrate reciprocally, so that the forest fruits on the tree trunk are shaken off; The forest fruits are shaken off and fall onto the collection net, and the forest fruits are collected manually.

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