A vibration-frequency adaptive exciter for fruit harvesting

Abstract

An amplitude-frequency adaptive vibrator for fruit tree vibration harvesting includes an outer casing, a vibration device, and an amplitude adjustment device. The vibration device includes a rotating shaft rotatably mounted inside the outer casing, an eccentric structure mounted on the rotating shaft, and a power mechanism for driving the rotating shaft to rotate. The amplitude adjustment device includes a linear motion mechanism and a sliding plate disposed inside the outer casing and driven by the linear motion mechanism to move axially along the rotating shaft. This invention allows for independent adjustment of the vibration frequency and vibration force of the vibrator, thereby adapting to different fruit trees and reducing damage to the fruit trees.

Description

Technical Field

[0001] This invention relates to the field of shaking-type fruit harvesting equipment, and in particular to an amplitude-frequency adaptive exciter for fruit vibration harvesting. Background Technology

[0002] Traditional eccentric block inertial vibrators often use fan-shaped eccentric blocks, which are directly mounted on the rotating shaft and rotate directly with it. Therefore, the higher the speed of the drive motor, the greater the excitation force. In this case, the vibration frequency and vibration amplitude are directly proportional. Although vibrators with this structure can shake fruit off the trees, different fruit varieties have different tolerances to vibration. Increasing the drive motor speed and the vibration frequency and amplitude can indeed improve the harvesting rate. However, indiscriminately increasing the vibration frequency and amplitude to improve the harvesting rate may damage the fruit trees, leading to a decrease in the fruit yield in the next season. Therefore, how to ensure that vibratory harvesting equipment can guarantee the harvesting rate while minimizing damage to the fruit trees during operation is a technical problem that urgently needs to be solved for existing vibratory harvesting equipment. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing an amplitude-frequency adaptive vibrator for fruit and forestry vibration harvesting that allows for independent adjustment of the excitation frequency and excitation force.

[0004] To achieve the above objectives, this invention first proposes an amplitude-frequency adaptive vibrator for fruit tree vibration harvesting, comprising an outer casing, an excitation device, and an amplitude adjustment device. The excitation device includes a rotating shaft rotatably mounted within the outer casing, an eccentric structure mounted on the rotating shaft, and a power mechanism for driving the rotating shaft to rotate. The amplitude adjustment device includes a linear motion mechanism and a sliding plate disposed within the outer casing and driven by the linear motion mechanism to move axially along the rotating shaft. The eccentric structure includes eccentric blocks arranged along the length of the rotating shaft, with each end of the eccentric block connected to the rotating shaft via a connecting rod. The eccentric block and rotating shaft are not hinged together. The eccentric block, rotating shaft, and connecting rods at both ends form a planar four-bar linkage. The rotating shaft has multiple guide keys evenly arranged along the axial direction with the rotating shaft as the center, which are fixed on the side near the slide plate. The rotating seat is fitted on the rotating shaft and cooperates with the guide keys to realize the key connection between the rotating seat and the rotating shaft. One end of the slide plate is connected to the movable end of the linear motion mechanism, and the other end is connected to the rotating seat through a bearing, so that the rotating seat can rotate around the rotating shaft. The slide plate can push the rotating seat to move on the rotating shaft. A push rod is hinged on the rotating seat, and the other end of the push rod is hinged to the eccentric block.

[0005] Using the above structure, the sliding plate is driven to move axially along the rotating shaft by a linear motion mechanism, causing the rotating seat to move on the rotating shaft. This, in turn, causes the push rod to move the eccentric block away from or closer to the rotating shaft, thereby achieving the purpose of adjusting the eccentricity. By adjusting the rotational speed of the rotating shaft and the eccentricity of the eccentric block, the excitation frequency and amplitude can be balanced. Using this device, when harvesting fruit trees in orchards, the magnitude of the excitation force can be adjusted at any time according to different fruit tree varieties and different trunk diameters to adapt to different fruit trees, thereby reducing damage to the fruit trees while ensuring the harvesting rate.

[0006] In this embodiment, the eccentric block has a groove in the center of its side facing the rotation axis that matches the size of the rotation axis. Fixed shafts are fixed to both ends of the eccentric block within the grooves. The fixed shafts are perpendicular to the motion plane of the parallelogram mechanism. The push rod is rotatably assembled with the fixed shafts. A connecting rod is rotatably mounted on each side of the push rod on the fixed shafts. The other ends of the two connecting rods are respectively located on both sides of the rotation axis and hinged to the end of the rotation axis furthest from the eccentric block. In this embodiment, the groove on the eccentric block allows it to move closer to the rotation axis under the action of the push rod, further reducing the eccentricity and thus increasing the range of eccentricity adjustment.

[0007] In this embodiment, the cross-section of the rotating shaft at the position corresponding to the eccentric block groove is square. This square shape of the rotating shaft facilitates matching with the eccentric block groove and also facilitates the connection and arrangement of the connecting rod and the rotating shaft.

[0008] In this embodiment, the outer casing includes two parallel side panels and four cover plates fixed between the two side panels.

[0009] In this embodiment, the rotating shaft includes a driving shaft and a driven shaft arranged parallel to each other, with a gap between them. The two ends of the driving shaft and the driven shaft are respectively fixed to two side plates by bearings. The power mechanism includes a first servo motor and a gear mechanism. The first servo motor is fixed to one of the side plates, and the output end of the first servo motor is coaxially connected to the driving shaft. The gear mechanism includes a driving gear and a driven gear. The driving gear is fixed on the driving shaft, and the driven gear is fixed on the driven shaft. The driving gear meshes with the driven gear. An eccentric structure is installed on both the driving shaft and the driven shaft.

[0010] In this embodiment, the linear motion mechanism is an electric lead screw.

[0011] In this embodiment, the linear motion mechanism includes a second servo motor, a lead screw, and a nut. The second servo motor is fixed on another side plate. The lead screw is disposed between the drive shaft and the driven shaft. The output end of the second servo motor is coaxially connected to the lead screw. The nut is threaded onto the lead screw. The slide plate has three through holes. A nut is fixed in the through hole in the middle of the slide plate. The slide plate is fitted onto the drive shaft and the driven shaft through the through holes at both ends, respectively. Rotary seats are slidably connected to the drive shaft and the driven shaft at positions corresponding to the slide plate. Bearings are fixed in the through holes at both ends of the slide plate. The outer ring of the bearing is fixedly connected to the slide plate, and the inner hole is fixed to the rotary seat.

[0012] In this embodiment, the lead screw is a ball screw, and the nut is a ball nut. Using a ball nut can improve the smoothness and stability of the eccentricity adjustment process and prevent jamming; the ball screw model is SFU02004-4, which has a small lead, which can reduce the span of eccentricity adjustment, ensure the continuity of excitation force adjustment, prevent large fluctuations, and improve the stability of the device operation.

[0013] In this embodiment, the outer casing is also equipped with a fruit tree clamping device for connecting to the trunk of the fruit tree. After the device is fixed to the trunk of the fruit tree by the fruit tree clamping device, the device can be turned on to perform vibration harvesting of the fruit tree. By adjusting the amplitude adjustment device and the excitation device, the amplitude and vibration frequency can be adjusted to a suitable ratio, thereby ensuring the harvesting rate and reducing damage to the fruit tree.

[0014] In summary, this invention addresses the problem that existing inertial vibrators cannot independently adjust the excitation frequency and excitation force. By incorporating an amplitude adjustment device, a linear motion mechanism drives a sliding plate to move axially along the rotation axis, causing the rotating seat to move along the axis. A push rod drives an eccentric block to move away from or closer to the rotation axis, thereby adjusting the eccentricity. By adjusting the rotational speed of the rotation axis and the eccentricity of the eccentric block, the excitation frequency and amplitude are balanced. Using this device, the frequency and amplitude can be adjusted at any time during fruit harvesting in orchards. This allows for adjustment of the excitation force according to different fruit tree varieties and trunk diameters, adapting to different fruit trees and thus reducing damage to the fruit trees while ensuring a high harvest rate. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present invention.

[0016] Figure 2 This is a front view of the internal structure of the amplitude adjustment device and the excitation device of the present invention.

[0017] Figure 3 This is a schematic diagram of the outer casing of the present invention.

[0018] Figure 4 This is a perspective view of the excitation device of the present invention.

[0019] Figure 5 This is a top view of the internal structure of the excitation device of the present invention.

[0020] Figure 6 This is a schematic diagram illustrating the usage state of the present invention.

[0021] In the attached diagram, 1. Vibration device; 11. First servo motor; 12. Rotating shaft; 13. Gear mechanism; 14. Eccentric block; 15. Connecting rod; 16. Push rod; 17. Fixed shaft; 2. Amplitude adjustment device; 21. Second servo motor; 22. Lead screw; 23. Nut; 24. Slide plate; 25. Bearing; 26. Rotating seat; 3. Outer housing; 31. Side plate; 32. Cover plate; 4. Fruit tree clamping device; 5. Fruit tree. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] Example 1:

[0025] like Figures 1 to 6As shown: A vibration harvesting amplitude-frequency adaptive vibrator for forest fruits includes an outer housing 3, a vibration device 1, and an amplitude adjustment device 2. The vibration device 1 includes a rotating shaft 12 rotatably mounted inside the outer housing 3, an eccentric structure mounted on the rotating shaft 12, and a power mechanism for driving the rotating shaft 12 to rotate. The amplitude adjustment device 2 includes a linear motion mechanism and a sliding plate 24 disposed inside the outer housing 3 and driven by the linear motion mechanism to move axially along the rotating shaft 12. The eccentric structure includes an eccentric block 14 arranged parallel to the rotating shaft 12. Both ends of the eccentric block 14 are respectively connected to the rotating shaft 12 through a set of connecting rods 15. Both ends of the connecting rods 15 are hinged to the eccentric block 14 and the rotating shaft 12, respectively. The eccentric block 14 and the rotating shaft... The rotating shaft 12 and the connecting rods 15 at both ends form a parallelogram mechanism. On the side of the rotating shaft 12 near the slide plate 24, there are a number of guide keys evenly arranged along the axis with the rotating shaft 12 as the center. The area on the rotating shaft 12 where the guide keys are arranged forms a moving area. A rotating seat 26 is slidably fitted on the moving area of ​​the rotating shaft 12. The rotating seat 26 cooperates with the guide keys in the moving area to realize the key connection between the rotating seat 26 and the rotating shaft 12. One end of the slide plate 24 is connected to the movable end of the linear moving mechanism, and the other end is mounted on the rotating seat 26 through the bearing 25. The slide plate 24 and the rotating seat 26 are axially linked. A push rod 16 is hinged on the rotating seat 26, and the other end of the push rod 16 is hinged to the eccentric block 14. The linear motion mechanism drives the slide plate 24 to move axially along the rotating shaft 12, causing the rotating seat 26 to move within the moving area. This allows the push rod 16 to move the eccentric block 14 away from or closer to the rotating shaft 12. Under the constraint of the parallelogram mechanism, the eccentric block 14 remains parallel to the rotating shaft 12, thereby achieving the purpose of adjusting the eccentricity. By adjusting the rotational speed of the rotating shaft 12 and the eccentricity of the eccentric block 14, the excitation frequency and amplitude are balanced, achieving the purpose of adapting to different fruit trees 5 and reducing damage to the fruit trees 5.

[0026] Furthermore, the outer casing 3 includes two parallel side plates 31 and four cover plates 32 fixed between the two side plates 31. The rotating shaft 12 includes a driving shaft and a driven shaft arranged in parallel with a gap between them. The two ends of the driving shaft and the driven shaft are respectively fixed to the two side plates 31 by bearings 25. The power mechanism includes a first servo motor 11 and a gear mechanism 13. The first servo motor 11 is fixed on one of the side plates 31, and the output end of the first servo motor 11 is coaxially connected to the driving shaft. The gear mechanism 13 includes a driving gear and a driven gear. The driving gear is fixed on the driving shaft, and the driven gear is fixed on the driven shaft. The driving gear meshes with the driven gear. Eccentric structures are installed on both the driving shaft and the driven shaft. The eccentric structures on the driving shaft and the driven shaft are mirror images of each other, forming a symmetrical double-eccentric vibration excitation. Through this structure, the maximum acceleration response of each level of tree branch after steady state can be consistent with the excitation position, thereby improving the harvesting rate.

[0027] The linear motion mechanism is an electric lead screw, including a second servo motor 21, a lead screw 22, and a nut 23. The second servo motor 21 is fixed on another side plate 31. The lead screw 22 is disposed between the drive shaft and the driven shaft. The output end of the second servo motor 21 is coaxially connected to the lead screw. The nut 23 is threaded onto the lead screw 22. The slide plate 24 has three through holes. The nut 23 is fixed in the through hole in the middle of the slide plate 24. The slide plate 24 is respectively fitted onto the drive shaft and the driven shaft through the through holes at both ends. Rotary seats 26 are slidably connected to the drive shaft and the driven shaft at positions corresponding to the slide plate 24 via guide keys. The slide plate 24 has through holes at both ends. A bearing 25 is fixed inside the hole. The bearing 25 is a deep groove ball bearing. The outer ring of the deep groove ball bearing is fixedly connected to the slide plate 24, and the inner hole is fixed on the rotating seat 26. With the support of the slide plate 24, the rotating seat 26 rotates with the rotating shaft 12. Furthermore, the lead screw 22 is a ball screw 22, and the nut 23 is a ball nut 23. Using a ball nut 23 can improve the smoothness and stability of the eccentricity adjustment process and prevent jamming. The ball screw 22 is model SFU02004-4. Its lead is small, which can reduce the span of eccentricity adjustment, ensure the continuity of excitation force adjustment, prevent large fluctuations, and improve the stability of the device operation.

[0028] like Figure 6 As shown, the outer box 3 is also equipped with a fruit tree clamping device 4 for connecting with the trunk of the fruit tree 5. After the device is fixed to the trunk of the fruit tree 5 by the fruit tree clamping device 4, the device can be turned on to harvest the fruit tree 5 by vibration. By adjusting the amplitude adjustment device 2 and the excitation device 1, the amplitude and vibration frequency can be adjusted to a suitable ratio to ensure the harvesting rate and reduce damage to the fruit tree 5.

[0029] Specifically, the device is first clamped onto the trunk of the fruit tree using the fruit tree clamping device 4. Then, the frequency corresponding to the maximum acceleration of the fruit tree trunk is found by the rapid frequency sweep method. The rotation speed of the rotating shaft 12 of the device is set to this frequency. Then, the second servo motor 21 is adjusted to gradually increase the eccentricity of the eccentric block until the harvesting rate reaches the standard, thus completing the adjustment and achieving the best harvesting effect.

[0030] Example 2:

[0031] The difference between this embodiment and Embodiment 1 is that, in this embodiment, the eccentric block 14 has a groove in the middle of the side facing the rotation axis that matches the size of the rotation axis. Fixed shafts 17 are fixed at both ends of the eccentric block 14 within the grooves. The fixed shafts 17 are perpendicular to the motion plane of the parallelogram mechanism. The push rod 16 is rotatably assembled with the fixed shafts 17. A connecting rod 15 is rotatably mounted on the fixed shaft 17 on both sides of the push rod 16. The other ends of the two connecting rods 15 are respectively located on both sides of the rotation axis and hinged to the end of the rotation axis away from the eccentric block 14. Preferably, the cross-section of the section corresponding to the position of the rotation axis and the eccentric block 14 is square. In this embodiment, through the groove on the eccentric block 14, the eccentric block 14 can move closer to the rotation axis under the action of the push rod 16, further reducing the eccentricity and thus increasing the range of eccentricity adjustment.

[0032] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A vibration-frequency adaptive exciter for fruit harvesting, characterized in that: The device includes an outer housing (3), an excitation device (1), and an amplitude adjustment device (2). The excitation device (1) includes a rotating shaft (12) rotatably mounted inside the outer housing (3), an eccentric structure mounted on the rotating shaft (12), and a power mechanism for driving the rotating shaft (12) to rotate. The amplitude adjustment device (2) includes a linear motion mechanism and a sliding plate (24) disposed inside the outer housing (3) and driven by the linear motion mechanism to move axially along the rotating shaft (12). The eccentric structure includes an eccentric block (14) arranged along the length direction of the rotating shaft (12), and the two ends of the eccentric block (14) are respectively connected to... A connecting rod (15) is connected to a rotating shaft (12). The two ends of the connecting rod (15) are respectively hinged to an eccentric block (14) and a rotating shaft (12). The eccentric block (14), the rotating shaft (12), and the connecting rods (15) at both ends form a planar four-bar linkage. A rotating seat is mounted on the rotating shaft (12) and connected to the rotating shaft (12) via a guide key. One end of the sliding plate (24) is connected to the movable end of the linear motion mechanism, and the other end is connected to the rotating seat via a bearing (25). A push rod (16) is hinged on the rotating seat, and the other end of the push rod (16) is hinged to the eccentric block (14).

2. The vibration-frequency adaptive exciter for fruit and forestry harvesting according to claim 1, characterized in that: The eccentric block (14) has a groove in the middle of the side facing the rotating shaft (12) that matches the size of the rotating shaft (12). The two ends of the eccentric block (14) are fixed with a fixed shaft (17) in the groove. The fixed shaft (17) is perpendicular to the motion plane of the parallelogram mechanism. The push rod (16) and the fixed shaft (17) are rotatably assembled. A connecting rod (15) is rotatably assembled on the fixed shaft (17) and on both sides of the push rod (16). The other ends of the two connecting rods (15) are respectively arranged on both sides of the rotating shaft (12) and hinged to the end of the rotating shaft (12) away from the eccentric block (14).

3. The vibration-frequency adaptive exciter for fruit harvesting according to claim 2, characterized in that: The cross-section of the rotating shaft (12) at the position corresponding to the groove of the eccentric block (14) is square.

4. The vibration-frequency adaptive exciter for fruit harvesting according to claim 1, characterized in that: The outer casing (3) includes two parallel side panels (31) and four cover plates (32) fixed between the two side panels (31).

5. The vibration-frequency adaptive exciter for fruit harvesting according to claim 1, characterized in that: The rotating shaft (12) includes a driving shaft and a driven shaft arranged in parallel to each other, with a gap between the driving shaft and the driven shaft. The two ends of the driving shaft and the driven shaft are respectively fixed to two side plates (31) by bearings (25). The power mechanism includes a first servo motor (11) and a gear mechanism (13). The first servo motor (11) is fixed on one of the side plates (31), and the output end of the first servo motor (11) is coaxially connected to the driving shaft. The gear mechanism (13) includes a driving gear and a driven gear. The driving gear is fixed on the driving shaft, and the driven gear is fixed on the driven shaft. The driving gear meshes with the driven gear. An eccentric structure is installed on both the driving shaft and the driven shaft.

6. The vibration-frequency adaptive exciter for fruit harvesting according to claim 5, characterized in that: The linear motion mechanism is an electric lead screw.

7. The vibration-frequency adaptive exciter for fruit and forestry harvesting according to claim 6, characterized in that: The linear motion mechanism includes a second servo motor (21), a lead screw (22), and a nut (23). The second servo motor (21) is fixed on another side plate (31). The lead screw (22) is located between the drive shaft and the driven shaft. The output end of the second servo motor (21) is coaxially connected to the lead screw. The nut (23) is threaded onto the lead screw (22). The slide plate (24) has three through holes. The nut (23) is fixed in the through hole in the middle of the slide plate (24). The slide plate (24) is fitted onto the drive shaft and the driven shaft through the through holes at both ends, respectively. Rotary seats are slidably connected to the drive shaft and the driven shaft at positions corresponding to the slide plate (24). Bearings (25) are fixed in the through holes at both ends of the slide plate (24). The outer ring of the bearing (25) is fixedly connected to the slide plate (24), and the inner hole is fixedly connected to the rotary seat.

8. The vibration-frequency adaptive exciter for fruit harvesting according to claim 7, characterized in that: The lead screw (22) is a ball screw (22), and the nut (23) is a ball nut (23).

9. The vibration-frequency adaptive exciter for fruit harvesting according to claim 1, characterized in that: The outer casing (3) is also equipped with a fruit tree clamping device (4) for connecting with the trunk of the fruit tree.

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