A blueberry harvester with adjustable vibration mode amplitude

Abstract

The present invention provides a blueberry harvester with adjustable vibration mode and amplitude, belonging to the technical field of blueberry picking. The blueberry harvester includes a vehicle body, a fruit picking device, a fruit receiving device, a conveying device and a lifting device; the fruit picking device includes a fruit picking unit, a vibration mechanism and a shifting mechanism; two fruit picking units are arranged side by side inside the vehicle body; the fruit picking unit includes a transmission plate, a rotating shaft, a fixed ring and a picking rod; the vibration mechanism includes a vibration spring, a first guide rail, a first slider, a first bearing seat, a camshaft, a second guide rail, a second slider, a second bearing seat, a vibration motor, a gentle cam, a knocking vibration cam, a vibration reducer, a coupling, a limiting rod, a limiting rod mounting bracket, an amplitude modulation motor, an amplitude modulation motor mounting bracket, a direct connection lead screw, a connecting block and an amplitude modulation spring; the shifting mechanism includes a shifting motor, a screw rod, a shifting spring, a shifting rod and a shifting bracket. The vibration type, vibration amplitude and vibration frequency of the blueberry harvester of the present invention can all be adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly to a blueberry harvester with adjustable vibration shape and amplitude. Background Art

[0002] In the planting and production of blueberries, blueberry harvesting is the most time-consuming and laborious link in blueberry production. In China, blueberry harvesting is mainly manual, requiring a large amount of manpower for harvesting. The cost generated in this process accounts for 40% - 50% of the total cost of the blueberry production process, seriously restricting the large-scale promotion and planting of blueberries. Currently, the existing blueberry harvesting machines are mainly vibration-type harvesting machines. During the picking process, they cannot adjust the operating parameters such as the vibration shape and amplitude of the vibration harvesting device according to the growth characteristics of blueberries, resulting in low picking efficiency and easy damage to blueberry fruits. Therefore, there is an urgent need for a blueberry harvester with reliable operation, adjustable vibration parameters, and high picking efficiency.

[0003] For example, Chinese Patent Application CN201120080872 realizes transmission through a cam mechanism, but its picking method is a horizontal slapping type, with relatively poor stability, and it is difficult to adjust the amplitude and vibration mode. Another example is Chinese Patent Application CN201822207636, which realizes up-and-down vibration picking through a link mechanism, with good picking stability and adjustable amplitude, but still difficult to achieve real-time adjustment of the vibration mode during the picking process. Summary of the Invention

[0004] Aiming at the above technical problems, the purpose of the present invention is to provide a blueberry harvester with adjustable vibration shape and amplitude, which has reliable operation, good stability, and high picking efficiency.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A blueberry harvester with adjustable vibration shape and amplitude, comprising a vehicle body 1, a fruit picking device 2, a fruit receiving device 3, a conveying device 4, and a lifting device 5.

[0007] The vehicle body 1 is a gantry-type frame, comprising a top plate 101 and left and right side plates 102; a row of traveling wheels 103 are respectively installed at the bottoms of the left and right side plates.

[0008] The fruit picking device 2 comprises fruit picking units, a vibration mechanism, and a shifting mechanism; two fruit picking units are arranged side by side inside the vehicle body 1; each fruit picking unit comprises a transmission plate 201, a rotating shaft 202, a fixing ring 203, and a picking rod 204; the vertically arranged rotating shaft 202 passes through the top plate 101 of the vehicle body 1, and a sleeve 205 is provided at the upper part of the rotating shaft 202 through a bearing, and the transmission plate 201 is fixedly connected to the top of the sleeve 205; a plurality of fixing rings 203 are fixedly connected to the rotating shaft 202 at equal intervals along its axial direction, and a plurality of picking rods 204 are fixedly connected to each fixing ring 203 evenly and detachably along its circumferential direction.

[0009] The vibration mechanism includes a vibration spring 206, a first guide rail 207, a first slider 208, a first bearing block 209, a camshaft 210, a second guide rail 211, a second slider 212, a second bearing block 213, a vibration motor 214, a gentle cam 215, a knocking cam 216, a vibration reducer 217, a coupling 218, a limiting rod 219, a limiting rod mounting bracket 220, an amplitude modulation motor 221, an amplitude modulation motor mounting bracket 222, a direct connection lead screw 223, a connecting block 224, and an amplitude modulation spring 225.

[0010] The vibration spring 206 is sleeved outside the sleeve 205 of the rotating shaft 202, and is located between the transmission plate 201 and the top plate 101 of the vehicle body 1; the first guide rail 207 and the second guide rail 211 arranged along the axial direction of the harvester are respectively fixedly connected to the top plate 101 of the vehicle body 1 in front of and behind the transmission plate 201 through guide rail mounting brackets; the first slider 208 is slidably arranged on the first guide rail 207, and the second slider 212 is slidably arranged on the second guide rail 211; the first bearing block 209 is fixedly connected to the first slider 208, and the second bearing block 213, the vibration motor 214, and the vibration reducer 217 are fixedly connected to the second slider 212; the camshaft 210 is installed on the first bearing block 209 and the second bearing block 213, and is located above the transmission plate 201; the power output shaft of the vibration motor 214 is connected to the rear end of the camshaft 210 through the vibration reducer 217 and the coupling 218; the gentle cam 215 and the knocking cam 216 are fixedly connected to the camshaft 210 at a certain distance; the vibration frequency is adjusted by changing the rotation speed of the vibration motor 214.

[0011] The limiting rod mounting bracket 220 and the amplitude modulation motor mounting bracket 222 are fixedly connected to the top plate 101 of the vehicle body 1 on the left and right sides of the transmission plate 201; the amplitude modulation motor 221 is installed on the amplitude modulation motor mounting bracket 222, and the amplitude modulation motor mounting bracket 222 has a horizontal portion, and the connecting block 224 can be freely slidably arranged in the connecting hole of the horizontal portion of the amplitude modulation motor mounting bracket 222 in the vertical direction; the power output shaft of the amplitude modulation motor 221 is fixedly connected to the direct connection lead screw 223, and the direct connection lead screw 223 is threadedly connected to the connecting block 224; the limiting rod 219 is arranged perpendicular to the camshaft 210 above the transmission plate 201, the end of the limiting rod 219 is hinged to the limiting rod mounting bracket 220, and the head end is located below the connecting block 224; one end of the amplitude modulation spring 225 is connected to the upper part of the amplitude modulation motor mounting bracket 222, and the other end is connected to the middle of the limiting rod 219, so that the head end of the limiting rod 219 contacts the connecting block 224; the height of the limiting rod 219 is adjusted by the amplitude modulation motor 221, the distance between the transmission plate 201 and the gentle cam 215 or the knocking cam 216 is adjusted, and thus the vibration amplitude of the vibration mechanism is adjusted.

[0012] The shift mechanism includes a shift motor 226, a screw rod 227, a shift spring 228, a shift lever 229, and a shift bracket 230; the shift bracket 230 is fixedly connected to the top plate 101 of the vehicle body 1 and is located behind the second guide rail 211; the front and rear parts of the shift lever 229 are smooth columns, and there are protrusions on the outer surface of the middle part; the diameters of the smooth columns at the front and rear parts of the shift lever 229 are smaller than the outer diameter of the middle part of the shift lever 229; the shift lever 229 is installed on the shift bracket 230 through the smooth columns at its front and rear parts and can slide freely along the axial direction of the camshaft 210; the front end of the shift lever 229 is fixedly connected to the rear end of the second slider 212; the shift spring 228 is sleeved on the smooth column at the rear part of the shift lever 229 and is located between the edge of the middle part of the shift lever 229 and the shift bracket 230; the shift motor 226 is fixedly connected to the shift bracket 230, and the power output shaft of the shift motor 226 is fixedly connected to the rotating shaft of the screw rod 227. The screw rod 227 is arranged parallel to the shift lever 229, and the rear surface of the spiral blade of the screw rod 227 contacts the protrusion in the middle of the shift lever 229. By adjusting the extension length of the shift lever 229 through the shift motor 226, the relative position between the camshaft 210 and the transmission plate 201 is adjusted, so that the flat cam 215 or the knocking vibration cam 216 is located directly above the transmission plate 201.

[0013] The fruit receiving device 3 includes a fruit receiving plate 301 and a fruit receiving mounting plate 302; two fruit receiving mounting plates 302 are fixedly connected inside the vehicle body 1 along the forward direction of the harvester and are respectively located below the two fruit picking units; the two fruit receiving mounting plates 302 are arranged obliquely in an "eight" shape; a plurality of fruit receiving plates 301 are movably connected to the opposite inner sides of the two fruit receiving mounting plates 302 through bolts; the fruit receiving plate 301 at the rear partially overlaps the fruit receiving plate 301 at the front; a return spring 303 is provided between the fruit receiving plate 301 and the fruit receiving mounting plate 302.

[0014] The conveying device 4 includes a conveyor belt 401, a baffle 402, and a conveying drive sprocket 403. Two conveyor belts 401 are respectively horizontally arranged outside the two fruit receiving mounting plates 302 for conveying blueberries backward; an inclined baffle 402 is arranged between the conveyor belt 401 and the side plate 102 of the vehicle body 1, and a conveying drive sprocket 403 is provided on the rotating roller of the conveyor belt 401.

[0015] Two elevating devices 5 are respectively arranged behind the two conveyor belts 401; the elevating device 5 includes an elevating housing 501, an elevating belt 502, a roller 503, a bucket 504, an elevating belt drive motor 505, an elevating speed reducer 506, and a cleaning fan 507.

[0016] The elevating housing 501 is fixedly connected to the rear end of the vehicle body 1. At the front end below the elevating housing 501, there is a feed inlet corresponding to the conveyor belt 401, and at the rear end above the elevating housing 501, there is a discharge outlet. The elevating belt 502 is vertically arranged in the elevating housing 501 through two rollers 503. A plurality of buckets 504 are arranged at equal intervals on the elevating belt 502 for elevating the materials entering the elevating housing 501 to the discharge outlet. The elevating belt driving motor 505 is connected to the rotating shaft of the upper roller 503 through the elevating speed reducer 506. On the rotating shaft of the lower roller 503, there is a roller transmission sprocket, and the roller transmission sprocket is connected to the conveying transmission sprocket 403 through the transmission chain 404. The impurity removal fan 507 is fixedly connected to the upper part of the elevating housing 501, facing the discharge outlet 19, for removing the impurities mixed in the fruits.

[0017] At the bottom of one of the side plates 102, there is a drawbar 104 for connecting to the tractor; at the front end of the left and right side plates 102, a divider 105 is provided respectively.

[0018] The picking rods 204 on two adjacent fixing rings 203 are arranged staggeredly.

[0019] The rising edge 2151 and the falling edge 2152 of the contour of the gentle cam 215 are symmetrical. The cam radius has no drastic change. When the rising edge 2151 contacts the transmission plate 201, as the cam rotates, the distance between the cam rotation center and the contact point between the transmission plate 201 and the cam decreases, the cam radius gradually decreases, and the transmission plate 201 rises. When the falling edge 2152 contacts the transmission plate 201, as the cam rotates, the cam radius gradually increases, and the transmission plate 201 descends. The vibration generated by the gentle cam 215 is relatively gentle, the fruit picking rate is low, and the damage to the fruits is small, which is suitable for picking blueberries at the full-ripening stage.

[0020] The contour of the knocking and vibrating cam 216 is in the shape of an Archimedean spiral. Starting from the starting point 2161, the cam radius 2162 increases as the rotation angle increases. The difference between the maximum cam radius and the minimum cam radius of the knocking and vibrating cam 216 is 10 cm. After rotating one week, the cam radius 2162 quickly returns to the initial size. The vibration generated by the knocking and vibrating cam 216 is relatively intense, the fruit picking rate is higher, and the damage to the fruits is larger, which is suitable for picking blueberries at the initial-ripening stage.

[0021] On the outer surfaces of the left and right side plates 102 of the vehicle body 1, there are tray racks 106. Rollers 107 are installed on the tray racks 106, and the harvested blueberry fruits are placed on the tray racks 106 on both sides of the vehicle body 1.

[0022] At the rear part of the vehicle body 1, there is an operation platform 108. On the operation platform 108, there are guardrails 109 and seats 110.

[0023] On the outside of the vehicle body 1, there is a storage battery 111, which is used to supply power to the vibration motor 214, the amplitude modulation motor 22, the shift motor 226, the elevator belt drive motor 505, and the impurity removal fan 507.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. In the fruit picking device of the blueberry harvester provided by the present invention, the cam is divided into a gentle type and a knocking vibration type according to the vibration type. The cam is fixed on the camshaft through a retaining ring and can be simply replaced manually. By changing the cam type, the vibration type can be adjusted. The contour of the gentle type cam is smooth and the vibration is gentle. When picking blueberries in the full ripening period, the blueberry fruits have a high maturity, and the vibration required to pick the blueberry fruits is small. Selecting the gentle type cam can reduce the damage to the blueberry fruits; the knocking vibration type cam vibrates the blueberry plants by knocking vibration, generating a more intense vibration, which can quickly and effectively separate the blueberry fruits. When picking blueberries in the initial ripening period, the blueberry fruits have a low maturity, and the vibration required to pick the blueberry fruits is large. Selecting the knocking vibration type cam can improve the operation efficiency of the blueberry harvester.

[0026] 2. All devices of the blueberry harvester provided by the present invention are driven by electricity, and the vibration frequency can be adjusted by changing the rotation speed of the vibration motor.

[0027] 3. In the fruit picking device of the blueberry harvester provided by the present invention, the amplitude modulation motor adjusts the position of the limit rod through a direct connection screw rod. The limit rod is used to adjust the position of the transmission plate, and the vibration amplitude can be adjusted by the drive motor. Brief Description of the Drawings

[0028] Figure 1 is a three-dimensional structure schematic diagram of the blueberry harvester with adjustable vibration shape and amplitude of the present invention;

[0029] Figure 2 is a side view structure schematic diagram of the blueberry harvester with adjustable vibration shape and amplitude of the present invention;

[0030] Figure 3 is a schematic diagram of the tractor towing operation of the blueberry harvester with adjustable vibration shape and amplitude of the present invention;

[0031] Figure 4 is a structure schematic diagram of the fruit picking monomer of the fruit picking device 2 of the present invention;

[0032] Figure 5 is a three-dimensional structure schematic diagram of the vibration mechanism and the shift mechanism of the fruit picking device 2 of the present invention;

[0033] Figure 6 is a side view structure schematic diagram of the vibration mechanism and the shift mechanism of the fruit picking device 2 of the present invention;

[0034] Figure 7It is a schematic top view structure diagram of the vibration mechanism and the gear shifting mechanism of the fruit picking device 2 of the present invention;

[0035] Figure 8a It is a schematic structure diagram of the gentle cam 215 of the present invention;

[0036] Figure 8b It is a schematic structure diagram of the knocking vibration cam 216 of the present invention;

[0037] Figure 9 It is a schematic structure diagram of the fruit receiving device 3 and the conveying device 4 of the present invention.

[0038] The reference numerals therein are:

[0039] 1 vehicle body

[0040] 101 top plate, 102 side plate

[0041] 103 traveling wheel, 104 towing bar

[0042] 105 crop divider, 106 tray rack

[0043] 107 roller, 108 operating platform

[0044] 109 guardrail, 110 seat

[0045] 111 storage battery

[0046] 2 fruit picking device

[0047] 201 drive plate, 202 rotating shaft

[0048] 203 fixing ring, 204 picking rod

[0049] 205 sleeve, 206 vibration spring

[0050] 207 first guide rail, 208 first slider

[0051] 209 first bearing block, 210 camshaft

[0052] 211 second guide rail, 212 second slider

[0053] 213 second bearing block, 214 vibration motor

[0054] 215 gentle cam, 216 knocking vibration cam

[0055] 217 vibration reducer, 218 coupling

[0056] 219 limit rod, 220 limit rod mounting bracket

[0057] 221 amplitude modulation motor, 222 amplitude modulation motor mounting bracket

[0058] 223 direct connection lead screw, 224 connection block

[0059] 225 amplitude modulation spring, 226 shift motor

[0060] 227 screw rod, 228 shift spring

[0061] 229 shift lever, 230 shift frame

[0062] 2151 rising edge, 2152 falling edge

[0063] 2161 starting point, 2162 cam radial

[0064] 3 fruit receiving device

[0065] 301 fruit receiving plate, 302 fruit receiving mounting plate

[0066] 303 return spring

[0067] 4 conveying device

[0068] 401 conveyor belt, 402 baffle

[0069] 403 conveying drive sprocket, 404 drive chain

[0070] 5 elevating device

[0071] 501 elevating housing, 502 elevating belt

[0072] 503 drum, 504 bucket

[0073] 505 elevating belt drive motor, 506 elevating speed reducer

[0074] 507 impurity removal fan Specific embodiments

[0075] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] As shown in Figure 1 、 Figure 2 and Figure 3 A blueberry harvester with adjustable vibration shape and amplitude includes a vehicle body 1, a fruit picking device 2, a fruit receiving device 3, a conveying device 4 and an elevating device 5.

[0077] The vehicle body 1 is a gantry-type frame, including a top plate 101 and left and right side plates 102; a row of traveling wheels 103 are installed at the bottom of each of the left and right side plates, and a towing bar 104 for connecting to a tractor is provided at the bottom of one of the side plates 102; a dividing device 105 is provided at the front end of each of the left and right side plates.

[0078] As shown in Figure 4 、 Figure 5 andFigure 6 As shown, the fruit picking device 2 includes fruit picking units, a vibration mechanism and a gear shifting mechanism; two fruit picking units are arranged side by side inside the vehicle body 1; the fruit picking unit includes a transmission plate 201, a rotating shaft 202, a fixed ring 203 and a picking rod 204; the vertically arranged rotating shaft 202 passes through the top plate 101 of the vehicle body 1, and a sleeve 205 is provided on the upper part of the rotating shaft 202 through a bearing, and the transmission plate 201 is fixedly connected to the top of the sleeve 205; a plurality of fixed rings 203 are fixedly connected to the rotating shaft 202 at equal intervals along its axial direction, and a plurality of picking rods 204 are evenly and detachably fixedly connected to each fixed ring 203 along its circumferential direction; the picking rods 204 on two adjacent fixed rings 203 are arranged staggeredly.

[0079] As Figure 5 and Figure 6 shown, the vibration mechanism includes a vibration spring 206, a first guide rail 207, a first slider 208, a first bearing seat 209, a camshaft 210, a second guide rail 211, a second slider 212, a second bearing seat 213, a vibration motor 214, a gentle cam 215, a knocking cam 216, a vibration reducer 217, a coupling 218, a limiting rod 219, a limiting rod mounting bracket 220, an amplitude modulation motor 221, an amplitude modulation motor mounting bracket 222, a direct connection lead screw 223, a connecting block 224 and an amplitude modulation spring 225.

[0080] The vibration spring 206 is sleeved outside the sleeve 205 of the rotating shaft 202, and is located between the transmission plate 201 and the top plate 101 of the vehicle body 1; the first guide rail 207 and the second guide rail 211 arranged along the axial direction of the harvester are respectively fixedly connected to the top plate 101 of the vehicle body 1 in front of and behind the transmission plate 201 through a guide rail mounting bracket; the first slider 208 is slidably arranged on the first guide rail 207, and the second slider 212 is slidably arranged on the second guide rail 211; the first bearing seat 209 is fixedly connected to the first slider 208, and the second bearing seat 213, the vibration motor 214 and the vibration reducer 217 are fixedly connected to the second slider 212; the camshaft 210 is installed on the first bearing seat 209 and the second bearing seat 213, and is located above the transmission plate 201; the power output shaft of the vibration motor 214 is connected to the rear end of the camshaft 210 through the vibration reducer 217 and the coupling 218; the gentle cam 215 and the knocking cam 216 are fixedly connected to the camshaft 210 at a certain distance; the vibration frequency is adjusted by changing the rotation speed of the vibration motor 214.

[0081] The limit rod mounting bracket 220 and the amplitude modulation motor mounting bracket 222 are fixedly connected to the top plate 101 of the vehicle body 1 on the left and right sides of the drive plate 201; the amplitude modulation motor 221 is mounted on the amplitude modulation motor mounting bracket 222, and the amplitude modulation motor mounting bracket 222 has a horizontal portion. The connecting block 224 is slidably arranged in the connecting hole of the horizontal portion of the amplitude modulation motor mounting bracket 222 in the vertical direction; the power output shaft of the amplitude modulation motor 221 is fixedly connected to the direct connection lead screw 223, and the direct connection lead screw 223 is threadedly connected to the connecting block 224; the limit rod 219 is arranged above the drive plate 201 perpendicular to the camshaft 210. The end of the limit rod 219 is hinged to the limit rod mounting bracket 220, and the head end is located below the connecting block 224; one end of the amplitude modulation spring 225 is connected to the upper part of the amplitude modulation motor mounting bracket 222, and the other end is connected to the middle part of the limit rod 219, so that the head end of the limit rod 219 contacts the connecting block 224. By adjusting the height of the limit rod 219 with the amplitude modulation motor 221, the distance between the drive plate 201 and the gentle cam 215 or the knocking vibration cam 216 is adjusted, and thus the vibration amplitude of the vibration mechanism is adjusted.

[0082] As Figure 5 , Figure 6 and Figure 7 shown, the shifting mechanism includes a shifting motor 226, a screw rod 227, a shifting spring 228, a shifting rod 229 and a shifting bracket 230.

[0083] The shift lever bracket 230 is fixedly connected to the top plate 101 of the vehicle body 1 and is located behind the second guide rail 211; the front and rear parts of the shift lever 229 are smooth columns, and the outer surface of the middle part is provided with a protrusion; the diameters of the smooth columns at the front and rear parts of the shift lever 229 are smaller than the outer diameter of the middle part of the shift lever 229; the shift lever 229 is installed on the shift lever bracket 230 through the smooth columns at its front and rear parts and can slide axially along the camshaft 210 freely; the front end of the shift lever 229 is fixedly connected to the rear end of the second slider 212; the shift spring 228 is sleeved on the smooth column at the rear part of the shift lever 229 and is located between the edge of the middle part of the shift lever 229 and the shift lever bracket 230; the shift motor 226 is fixedly connected to the shift lever bracket 230, and the power output shaft of the shift motor 226 is fixedly connected to the rotating shaft of the screw rod 227. The screw rod 227 is arranged in parallel with the shift lever 229, and the rear surface of the spiral blade of the screw rod 227 is in contact with the protrusion in the middle part of the shift lever 229. When the shift motor 226 rotates forward, the screw rod 227 rotates counterclockwise, and the shift lever 229 moves backward under the drive of the screw rod 227, and the shift spring 228 is compressed; when the shift motor 226 rotates reversely, the screw rod 227 rotates clockwise, and the shift lever 229 is released. The shift lever 229 moves forward under the action of the shift spring 228; by adjusting the extension length of the shift lever 229 through the shift motor 226, the relative position between the camshaft 210 and the drive plate 201 is adjusted, so that the flat cam 215 or the knocking vibration type cam 216 is located directly above the drive plate 201.

[0084] As Figure 8a shown, the rising edge 2151 and the falling edge 2152 of the contour of the flat cam 215 are symmetrical to each other, and the cam radius has no drastic change. When the rising edge 2151 contacts the drive plate 201, as the cam rotates, the distance between the center of rotation of the cam and the contact point between the drive plate 201 and the cam decreases, the cam radius gradually decreases, and the drive plate 201 rises. When the falling edge 2152 contacts the drive plate 201, as the cam rotates, the cam radius gradually increases, and the drive plate 201 descends; the vibration generated by the flat cam 215 is relatively gentle, the picking rate is relatively low, and the damage to the fruits is relatively small, which is suitable for picking blueberries at the full-ripening stage.

[0085] As Figure 8b shown, the contour of the knocking vibration type cam 216 is in the shape of an Archimedean spiral. Starting from the starting point 2161, the cam radius 2162 increases as the rotation angle increases. The difference between the maximum cam radius and the minimum cam radius of the knocking vibration type cam 216 is 10 cm; after rotating one week, the cam radius 2162 quickly returns to the initial size; the vibration generated by the knocking vibration type cam 216 is relatively intense, the picking rate is higher, and the damage to the fruits is relatively large, which is suitable for picking blueberries at the initial-ripening stage.

[0086] As Figure 9As shown in the figure, the fruit receiving device 3 includes a fruit receiving plate 301 and a fruit receiving mounting plate 302. The two fruit receiving mounting plates 302 are fixedly connected inside the vehicle body 1 along the advancing direction of the harvester and are respectively located below the two fruit picking units. The two fruit receiving mounting plates 302 are arranged obliquely in a "V" shape. A plurality of fruit receiving plates 301 are movably connected to the inner sides of the two fruit receiving mounting plates 302 opposite to each other by bolts. The fruit receiving plate 301 at the rear partially overlaps the fruit receiving plate 301 at the front. A return spring 303 is provided between the fruit receiving plate 301 and the fruit receiving mounting plate 302.

[0087] As Figure 2 and Figure 9 shown in the figure, the conveying device 4 includes a conveyor belt 401, a baffle 402 and a conveying drive sprocket 403. The two conveyor belts 401 are horizontally arranged on the outer sides of the two fruit receiving mounting plates 302 respectively for conveying blueberries backward. An inclined baffle 402 is arranged between the conveyor belt 401 and the side plate 102 of the vehicle body 1. A conveying drive sprocket 403 is provided on the rotating roller of the conveyor belt 401.

[0088] As Figure 2 shown in the figure, the two elevating devices 5 are respectively arranged behind the two conveyor belts 401. The elevating device 5 includes an elevating housing 501, an elevating belt 502, a roller 503, a bucket 504, an elevating belt drive motor 505, an elevating speed reducer 506 and a cleaning fan 507.

[0089] The elevating housing 501 is fixedly connected to the rear end of the vehicle body 1. An inlet corresponding to the conveyor belt 401 is provided at the front end below the elevating housing 501, and an outlet is provided at the rear end above the elevating housing 501. The elevating belt 502 is vertically arranged in the elevating housing 501 through two rollers 503. A plurality of buckets 504 are arranged at equal intervals on the elevating belt 502 for lifting the materials entering the elevating housing 501 to the outlet. The elevating belt drive motor 505 is connected to the rotating shaft of the upper roller 503 through the elevating speed reducer 506. A roller drive sprocket is provided on the rotating shaft of the lower roller 503, and the roller drive sprocket is connected to the conveying drive sprocket 403 through a transmission chain 404. The cleaning fan 507 is fixedly connected to the upper part of the elevating housing 501 and is facing the outlet 19 for removing sundries such as leaves mixed in the fruits.

[0090] The outer surfaces of the left and right side plates 102 of the vehicle body 1 are provided with tray racks 106. Rollers 107 are installed on the tray racks 106. The harvested blueberry fruits are placed on the tray racks 106 on both sides of the vehicle body 1.

[0091] An operation platform 108 is arranged at the rear of the vehicle body 1. A guardrail 109 and a seat 110 are provided on the operation platform 108 to facilitate the operation of the equipment by the staff.

[0092] On the outer side of the vehicle body 1, there is a storage battery 111, which is used to supply power to the vibration motor 214, the amplitude modulation motor 22, the shift motor 226, the elevator belt drive motor 505, and the impurity removal fan 507.

[0093] The working process of the present invention is as follows:

[0094] As Figure 3 shown, when picking blueberries, the blueberry harvester is connected to the tractor through the drawbar 104 and moves forward under the traction of the tractor. The blueberry plants are guided by the divider 105 and enter the vehicle body of the blueberry harvester. Under the action of the vibration device, the fruit picking device vibrates up and down, driving the blueberry plants to vibrate. Under the action of inertia, the blueberry fruits are separated from the plants.

[0095] After the blueberry fruits fall, they land on the fruit receiving plates 301 arranged symmetrically in a V shape. The fruit receiving plates 301 are inclined towards the conveyor belt and fall onto the conveyor belt 401 under the action of gravity, and are sent to the elevator device by the conveyor belt 401.

[0096] After the fruits enter the elevator device, they fall into the buckets 504, move to the top of the conveyor belt 502 with the buckets 504 and enter the discharge port. When the fruits pass through the discharge port, sundries such as leaves mixed in the fruits are separated under the action of the fan 507, and the fruits fall into the collection basket below the discharge port. After the collection basket is full, the staff place it on the tray racks 106 on both sides of the vehicle body 1.

[0097] When adjusting the vibration mode, the limit rod 219 is adjusted to the lowest point, the shift motor 226 is started, the screw rod 227 rotates, driving the shift lever 229 to move, thereby driving the entire camshaft 210 to move. If it is converted from the gentle cam 215 to the knocking vibration cam 216, the screw rod 227 rotates, forcing the shift lever 229 to move outwards, compressing the shift spring 228 to achieve shifting. When converting from the knocking vibration cam 216 to the gentle cam 215, the screw rod 227 rotates in reverse, and the shift lever 229 is reset under the action of the shift spring 228 to achieve shifting.

[0098] The above-mentioned drawings and embodiments are only used to illustrate the present invention and do not constitute any limitation to the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vibration mode amplitude adjustable blueberry harvester, characterized in that, The blueberry harvester includes a vehicle body (1), a fruit picking device (2), a fruit receiving device (3), a conveying device (4), and a lifting device (5); The vehicle body (1) is a gantry-type frame, including a top plate (101) and left and right side plates (102); a row of traveling wheels (103) are installed at the bottom of each of the left and right side plates; The fruit picking device (2) includes fruit picking units, a vibration mechanism, and a shifting mechanism; two fruit picking units are arranged side by side inside the vehicle body (1); each fruit picking unit includes a transmission plate (201), a rotating shaft (202), a fixing ring (203), and a picking rod (204); the vertically arranged rotating shaft (202) passes through the top plate (101) of the vehicle body (1), and a sleeve (205) is provided at the upper part of the rotating shaft (202) through a bearing, and the transmission plate (201) is fixedly connected to the top end of the sleeve (205); a plurality of fixing rings (203) are fixedly connected to the rotating shaft (202) at equal intervals along its axial direction, and a plurality of picking rods (204) are fixedly connected to each fixing ring (203) evenly and detachably along its circumferential direction; The vibration mechanism includes a vibration spring (206), a first guide rail (207), a first slider (208), a first bearing seat (209), a camshaft (210), a second guide rail (211), a second slider (212), a second bearing seat (213), a vibration motor (214), a gentle cam (215), a knocking vibration cam (216), a vibration reducer (217), a coupling (218), a limiting rod (219), a limiting rod mounting bracket (220), an amplitude modulation motor (221), an amplitude modulation motor mounting bracket (222), a direct connection lead screw (223), a connecting block (224), and an amplitude modulation spring (225); The vibration spring (206) is sleeved outside the sleeve (205) of the rotating shaft (202), and is located between the transmission plate (201) and the top plate (101) of the vehicle body (1); the first guide rail (207) and the second guide rail (211) arranged along the axial direction of the harvester are fixedly connected to the top plate (101) of the vehicle body (1) in front of and behind the transmission plate (201) respectively through guide rail mounting brackets; the first slider (208) is slidably arranged on the first guide rail (207), and the second slider (212) is slidably arranged on the second guide rail (211); the first bearing seat (209) is fixedly connected to the first slider (208), and the second bearing seat (213), the vibration motor (214), and the vibration reducer (217) are fixedly connected to the second slider (212); the camshaft (210) is installed on the first bearing seat (209) and the second bearing seat (213), and is located above the transmission plate (201); the power output shaft of the vibration motor (214) is connected to the rear end of the camshaft (210) through the vibration reducer (217) and the coupling (218); the gentle cam (215) and the knocking vibration cam (216) are fixedly connected to the camshaft (210) at a certain distance; the vibration frequency is adjusted by changing the rotation speed of the vibration motor (214); The limit rod mounting bracket (220) and the amplitude adjustment motor mounting bracket (222) are fixedly connected to the top plate (101) of the vehicle body (1) on the left and right sides of the transmission plate (201); the amplitude adjustment motor (221) is mounted on the amplitude adjustment motor mounting bracket (222), and the amplitude adjustment motor mounting bracket (222) has a horizontal portion, and the connecting block (224) is arranged in the connecting hole of the horizontal portion of the amplitude adjustment motor mounting bracket (222) so as to be able to slide freely in the vertical direction; the power output shaft of the amplitude adjustment motor (221) is fixedly connected to the direct connection lead screw (223), and the direct connection lead screw (223) is threadedly connected to the connecting block (224); the limit rod (219) is arranged above the transmission plate (201) perpendicular to the camshaft (210), the end of the limit rod (219) is hinged to the limit rod mounting bracket (220), and the head end is located below the connecting block (224); one end of the amplitude adjustment spring (225) is connected to the upper part of the amplitude adjustment motor mounting bracket (222), and the other end is connected to the middle part of the limit rod (219), so that the head end of the limit rod (219) contacts the connecting block (224); by adjusting the height of the limit rod (219) through the amplitude adjustment motor (221), the distance between the transmission plate (201) and the flat cam (215) or the knocking vibration type cam (216) is adjusted, and thus the vibration amplitude of the vibration mechanism is adjusted; The shifting mechanism includes a shifting motor (226), a screw rod (227), a shifting spring (228), a shifting rod (229) and a shifting bracket (230); the shifting bracket (230) is fixedly connected to the top plate (101) of the vehicle body (1) and is located behind the second guide rail (211); the front and rear parts of the shifting rod (229) are smooth columns, and the outer surface of the middle part is provided with a protrusion; the diameters of the smooth columns at the front and rear parts of the shifting rod (229) are smaller than the outer diameter of the middle part of the shifting rod (229); the shifting rod (229) is installed on the shifting bracket (230) through the smooth columns at its front and rear parts so as to be able to slide freely along the axial direction of the camshaft (210); the front end of the shifting rod (229) is fixedly connected to the rear end of the second slider (212); the shifting spring (228) is sleeved on the smooth column at the rear part of the shifting rod (229) and is located between the edge of the middle part of the shifting rod (229) and the shifting bracket (230); the shifting motor (226) is fixedly connected to the shifting bracket (230), the power output shaft of the shifting motor (226) is fixedly connected to the rotating shaft of the screw rod (227), the screw rod (227) is arranged parallel to the shifting rod (229), and the rear surface of the spiral blade of the screw rod (227) contacts the protrusion in the middle part of the shifting rod (229); by adjusting the extending length of the shifting rod (229) through the shifting motor (226), the relative position between the camshaft (210) and the transmission plate (201) is adjusted, and thus the flat cam (215) or the knocking vibration type cam (216) is located directly above the transmission plate (201); The fruit receiving device (3) includes a fruit receiving plate (301) and a fruit receiving mounting plate (302); two fruit receiving mounting plates (302) are fixedly connected inside the vehicle body (1) along the forward direction of the harvester, and are respectively located below the two fruit picking units; the two fruit receiving mounting plates (302) are arranged in an inclined "eight" shape; a plurality of fruit receiving plates (301) are movably connected by bolts on the inner sides of the two relatively fruit receiving mounting plates (302); the fruit receiving plate (301) at the rear partially overlaps the fruit receiving plate (301) at the front; a return spring (303) is provided between the fruit receiving plate (301) and the fruit receiving mounting plate (302); The conveying device (4) includes a conveyor belt (401), a baffle (402) and a conveying drive sprocket (403). Two conveyor belts (401) are horizontally arranged on the outer sides of the two fruit receiving mounting plates (302) respectively for conveying blueberries backward; an inclined baffle (402) is arranged between the conveyor belt (401) and the side plate (102) of the vehicle body (1), and a conveying drive sprocket (403) is provided on the rotating roller of the conveyor belt (401); Two elevating devices (5) are respectively arranged behind the two conveyor belts (401); the elevating device (5) includes an elevating housing (501), an elevating belt (502), a roller (503), a bucket (504), an elevating belt drive motor (505), an elevating speed reducer (506) and a cleaning fan (507); The elevating housing (501) is fixedly connected to the rear end of the vehicle body (1). An inlet corresponding to the conveyor belt (401) is provided at the front end below the elevating housing (501), and an outlet is provided at the rear end above the elevating housing (501); the elevating belt (502) is vertically arranged in the elevating housing (501) through two rollers (503), and a plurality of buckets (504) are arranged at equal intervals on the elevating belt (502) for lifting the materials entering the elevating housing (501) to the outlet; the elevating belt drive motor (505) is connected to the rotating shaft of the upper roller (503) through the elevating speed reducer (506); a roller drive sprocket is provided on the rotating shaft of the lower roller (503), and the roller drive sprocket is connected to the conveying drive sprocket (403) through a transmission chain (404); the cleaning fan (507) is fixedly connected to the upper part of the elevating housing (501) and is facing the outlet (19) for removing the sundries mixed in the fruits; The contour rising edge (2151) and the falling edge (2152) of the gentle cam (215) are symmetrical, and the cam radius has no drastic change. When the rising edge (2151) contacts the transmission plate (201), as the cam rotates, the distance between the cam rotation center and the contact point between the transmission plate (201) and the cam decreases, the cam radius gradually decreases, and the transmission plate (201) rises. When the falling edge (2152) contacts the transmission plate (201), as the cam rotates, the cam radius gradually increases, and the transmission plate (201) descends; the gentle cam (215) is applicable to the picking of fully ripe blueberries; The profile of the knocking and vibrating cam (216) is in the shape of an Archimedean spiral. Starting from the starting point (2161), the cam radius (2162) increases as the rotation angle increases. The difference between the maximum cam radius and the minimum cam radius of the knocking and vibrating cam (216) is 10 cm. After one full rotation, the cam radius (2162) quickly returns to its initial size. The knocking and vibrating cam (216) is suitable for blueberry picking in the initial ripening period.

2. The vibration amplitude adjustable blueberry harvester according to claim 1, wherein At the bottom of the side plate (102) on one side, there is a drawbar (104) for connecting to a tractor. At the front end of the left and right side plates (102), there is a divider (105) respectively.

3. The vibration amplitude adjustable blueberry harvester according to claim 1, characterized in that, The picking rods (204) on two adjacent fixing rings (203) are arranged staggeredly.

4. The vibration amplitude adjustable blueberry harvester according to claim 1, characterized in that, On the outer surfaces of the left and right side plates (102) of the vehicle body (1), there are tray racks (106). Rollers (107) are installed on the tray racks (106). The harvested blueberry fruits are placed on the tray racks (106) on both sides of the vehicle body (1).

5. The vibration mode amplitude adjustable blueberry harvester according to claim 1, characterized in that, At the rear of the vehicle body (1), there is an operating platform (108). On the operating platform (108), there are guardrails (109) and seats (110).

6. The vibration amplitude adjustable blueberry harvester according to claim 1, characterized in that, A storage battery (111) is provided outside the vehicle body (1) to supply power to the vibration motor (214), amplitude modulation motor (221), shift motor (226), elevator belt drive motor (505), and impurity removal fan (507).

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