Automatic berry picking vehicle

Abstract

The invention provides an automatic berry picking vehicle which is characterized in that an opening is formed in the middle of a vehicle body, two picking units are installed in the opening and are parallel to each other, a fruit tree to be picked is located between the two picking units, a conveying unit is arranged below each picking unit, and the two conveying units are oppositely arranged; one sides of the two oppositely-arranged conveying units are used for righting and clamping a to-be-picked fruit tree, the picking units can vibrate transversely or longitudinally, berries on the to-be-picked fruit tree can fall onto the upper surfaces of the conveying units, one end of each conveying unit is provided with a material box, and the conveying units are used for conveying the berries to the material boxes. According to the automatic berry picking vehicle, fruit trees are straightened and clamped through the conveying unit, the picking unit conducts blanking on the fruit trees through vibration, then berries are conveyed into the material box through the conveying unit, picking can be completed in the vehicle body walking process, the working efficiency is high, the labor intensity is low, and the overall cost of the berries can be reduced.

Description

Technical Field

[0001] The invention belongs to the field of berry picking, and in particular relates to an automatic berry picking vehicle. Background Art

[0002] Berry picking is a highly seasonal and labor-intensive job. The traditional picking method is manual picking, which is slow, inefficient, and requires a huge amount of labor. If the fruit cannot be harvested in time, it will rot, causing serious economic losses to the farmers.

[0003] The efficiency of berry picking is low and the picking process is difficult. Due to the small size of the fruit and the high water content of about 70-80%, the peel is delicate and easily damaged. If damaged, the juice will flow out and turn black after drying. For example, the growth of wolfberry has the characteristics of "disordered inflorescence and continuous flowers and fruits", that is, flowering, fruiting, and maturation are carried out at the same time, which makes the harvesting work difficult. The picking cycle is about 7 days, and it is basically picked manually in China. Traditional manual picking requires a large number of people to carry out long-term and high-intensity operations. It is now increasingly difficult to meet the picking needs of wolfberries, resulting in 40% of wolfberries being unable to be picked each year, causing a large number of wolfberries to rot in the fields. According to statistics, picking fees account for 68.5% of the total cost. . Summary of the invention

[0004] In view of this, the present invention aims to provide an automatic berry picking vehicle to solve the problem of low efficiency of manual berry picking in the prior art.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] An automatic berry picking vehicle comprises a vehicle body and picking units, a conveying unit and a material box respectively installed thereon, and an opening is provided in the middle of the vehicle body, in which two picking units are installed, and the two picking units are arranged parallel to each other, a fruit tree to be picked is located between the two picking units, a conveying unit is arranged below each picking unit, and the two conveying units are arranged opposite to each other, one side of the two conveying units arranged opposite to each other is used for straightening and clamping the fruit tree to be picked, and the picking units can vibrate laterally or longitudinally, and the berries on the fruit tree to be picked can fall onto the upper surface of the conveying unit, a material box is arranged at one end of each conveying unit, and the conveying unit is used to convey the berries to the material box.

[0007] Furthermore, the vehicle body includes a frame, and the frame is a frame structure, on which a driving wheel, a driving source and a plurality of driven wheels are arranged, and the driving source can drive the driving wheel and each driven wheel to rotate respectively.

[0008] Furthermore, the picking unit includes a vibration shaft, a picking brush, a floating assembly and a vibration assembly, and the vibration assembly is arranged on a fourth frame, the fourth frame is installed on the vehicle body, the vibration shaft is installed at the output end of the vibration assembly, and multiple picking brushes are arranged axially around the vibration shaft. The vibration assembly can drive the vibration shaft and multiple picking brushes to vibrate horizontally or longitudinally, and the picking brushes are used to vibrate to screen the fallen berries. The periphery of the vibration shaft is connected to the fourth frame through a floating assembly.

[0009] Furthermore, the vibration component includes a first motor, and the periphery of the first motor is fixedly mounted on a fourth frame, and an axle seat is arranged at one end of the fourth frame, and the first power shaft is sleeved in the axle seat, one end of the first power shaft is fixedly connected to the output shaft of the first motor, the periphery of the first power shaft is fixedly sleeved with a first synchronous wheel, the periphery of the first power shaft is rotatably sleeved with a shaft sleeve, and a box is arranged around the shaft sleeve, the first driven shaft is rotatably sleeved on the box, a first vibration hammer is fixedly arranged on the periphery of the first driven shaft, a second synchronous wheel is installed at one end of the first driven shaft, and the first synchronous wheel and the second synchronous wheel rotate synchronously through a first synchronous belt.

[0010] Furthermore, the vibration component includes a second motor, one end of the outer periphery of the second motor is connected to the fourth frame through a tension spring, the other end of the outer periphery of the second motor is fixedly connected to the connecting seat, and the connecting seat is hinged with a connecting plate, the connecting plate is fixedly connected to the fourth frame, the lower end of the connecting seat is connected to the vibration shaft through a vibration box, and a second power shaft is rotatably mounted in the vibration box, the second power shaft can drive the third vibration hammer to rotate, and the third vibration hammer is used to drive the vibration box and the vibration shaft to vibrate longitudinally.

[0011] Furthermore, each conveying unit includes a conveying line body, and a plurality of closing leaves are evenly distributed on one side of the conveying line body along the conveying direction, and the closing leaves are overlapped with each other. The closing leaves of the two conveying units correspond one to one and overlap with each other. Each closing leaf is rotated and sleeved to one side of the conveying line body through a pin shaft, and a torsion spring is arranged on the pin shaft, which is used for elastic reset of the closing leaf.

[0012] Compared with the prior art, the automatic berry picking vehicle of the present invention has the following beneficial effects:

[0013] (1) The automatic berry picking vehicle described in the present invention allows workers to control the vehicle body to move and place the fruit trees to be picked into the opening, and to straighten and clamp the fruit trees through the conveying unit. The picking unit vibrates to drop the fruit trees, and then the berries are transported to the material box through the conveying unit. The picking can be completed during the movement of the vehicle body. The work efficiency is high, the labor intensity is low, and the overall cost of berries can be reduced.

[0014] (2) In the automatic berry picking vehicle described in the present invention, the turning bracket assembly can drive the active running wheels to turn and rise and fall relative to the frame, and the lifting bracket can drive the driven running wheels to rise and fall relative to the frame. The active running wheels and driven running wheels that can rise and fall can adapt to a variety of operating conditions so as to adapt to different terrains.

[0015] (3) In the automatic berry picking vehicle described in the present invention, the picking unit and the conveying unit are both located inside a baffle plate, and the baffle plate is used to block the berries that bounce off and guide the berries to the conveying unit to prevent the berries from falling outside the vehicle frame due to the vibration of the picking unit, thereby improving the fruit picking efficiency and quality.

[0016] (4) The automatic berry picking vehicle described in the present invention has two guide plates for gathering the trunks of the fruit trees and guiding the trunks of the fruit trees to the conveying units to ensure that the conveying units can clamp the fruit trees and keep the main bodies of the fruit trees within the two picking units, thereby improving the picking efficiency, facilitating collection, and preventing the vehicle frame from crushing the fruit trees.

[0017] (5) In the automatic berry picking vehicle described in the present invention, the vibration shaft is used to transmit the vibration force of the vibration component, so that the picking brush arranged on the periphery of the vibration shaft is excited to act on the fruit tree and its branches, thereby picking the berries without squeezing the berries in the process, so as to ensure the quality of the berries. The floating component is adapted to the periphery of the vibration shaft and is used to locate the relative position of the vibration shaft to prevent the vibration shaft from falling or displacement caused by long-term vibration.

[0018] (6) The automatic berry picking vehicle described in the present invention has a plurality of support rods arranged circumferentially around the outer periphery of the collar, each support rod being used to transmit vibration to the tree trunk and branches, and the support rods are rotatably connected to the outer periphery of the vibration shaft through the collar. When the support rods touch the branches, they can rotate relative to the vibration shaft, thereby preventing the support rods from rigidly contacting the fruit trees and causing damage to the fruit trees.

[0019] (7) In the automatic berry picking vehicle described in the present invention, the belt can be flexibly connected to the periphery of the vibration shaft, the bolt rod can be detachably connected to the fourth frame, and the bolt rod can slide axially on the fourth frame to adjust its relative position, and the bolt rod is connected to the periphery of the belt through a floating spring so as to limit the relative position of the vibration shaft without interfering with the vibration of the vibration shaft.

[0020] (8) In the automatic berry picking vehicle described in the present invention, the first synchronous wheel and the second synchronous wheel rotate synchronously through the first synchronous belt, and the rotation of the first power shaft synchronously drives the first driven shaft and the first vibrating hammer to rotate, and the rotating first vibrating hammer can drive the vibration box and the vibration shaft to vibrate, and the shaft seat and the first motor are fixedly installed on the fourth frame, the first power shaft is connected to the transmission shaft of the first motor, so that the first power shaft and the first motor can maintain a relative position, and the outer periphery of the first power shaft is rotatably connected to the vibration box through a shaft sleeve, so that the vibration box and the vibration shaft can rotate relative to the fourth bracket, and as the first vibrating hammer rotates, the vibration box and the vibration shaft vibrate with the central axis of the first power shaft as the guide, thereby realizing lateral vibration of the vibration shaft.

[0021] (9) In the automatic berry picking vehicle described in the present invention, the first vibrating hammer and the second vibrating hammer are arranged parallel to each other, the fourth synchronous wheel is arranged on the second driven shaft, the third synchronous wheel is fixedly sleeved on the outer periphery of the first power shaft, the third synchronous wheel and the fourth synchronous wheel rotate synchronously through the second synchronous belt, and the arrangement of the second vibrating hammer and the first vibrating hammer can make the vibration box and the vibration shaft rotate forward and reversely with the central axis of the first power shaft as the guide, thereby realizing the vibration of the vibration shaft, and the vibration shaft will not rotate continuously.

[0022] (10) The automatic berry picking vehicle described in the present invention has a plurality of slide grooves arranged circumferentially on the outer periphery of the adapter shaft, a positioning bolt is arranged on the vibration shaft, one end of the positioning bolt is clamped into the slide groove, and the vibration shaft will move up and down when vibrating. The slide groove is used to release the up and down movement of the vibration shaft, the limit sleeve has the same function as the slide groove, and the limit groove and the slide plate are also floating structures of the vibration shaft.

[0023] (11) In the automatic berry picking vehicle described in the present invention, the rotation of the third vibration hammer can drive the second motor, the vibration box and the vibration shaft to vibrate synchronously, the connecting seat is hinged to the fourth frame through the connecting plate, the vibration direction of the vibration shaft is limited, and the second motor is connected to the fourth frame through the tension spring, so that the relative position of the second motor can be assisted in positioning without interfering with the vibration of the second motor and the vibration shaft.

[0024] (12) In the automatic berry picking vehicle described in the present invention, a torsion spring is used for elastic resetting of the closing leaves. The main body of the closing leaves is made of materials such as PC and PVC. The tree trunk to be picked can be clamped and straightened by two closing leaves. The closing leaves are made of flexible material and have a certain rebound clamping force through the torsion spring, which can prevent the tree trunk from breaking and improve the reliability of the device.

[0025] (13) The automatic berry picking vehicle described in the present invention has a conveyor belt with a certain tensile elasticity when in use. The conveyor belt can be tensioned by a tensioning bolt to prevent the conveyor belt from being weak and causing poor berry transportation. In addition, material troughs are evenly distributed along the traveling direction of the conveyor belt. The berries can fall into the material troughs after falling, preventing the berries from rolling disorderly on the conveyor belt and causing damage to the berries.

[0026] (14) In the automatic berry picking vehicle described in the present invention, the torsion spring is used for elastic reset of the mounting sleeve, a pin is installed at one end of the closing leaf, and the pin can be plugged into the inner ring of the mounting sleeve. The closing leaf can be quickly disassembled and assembled by plugging the pin into the mounting sleeve, so as to facilitate the disassembly and assembly and maintenance of the closing leaf;

[0027] The guide rod can slide along the track of the closing limit groove. The cooperation between the guide rod and the closing limit groove facilitates limiting the rotation track and rotation opening of the closing leaf, preventing the closing leaf from rotating disorderly and improving the reliability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 This is a schematic structural diagram of an automatic berry picking vehicle according to an embodiment of the present invention;

[0030] Figure 2 It is a structural schematic diagram of a turning bracket assembly according to an embodiment of the present invention;

[0031] Figure 3 It is a structural schematic diagram of the lifting bracket according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the vibration assembly in the first embodiment of the present invention in conjunction with the vibration shaft and the picking brush;

[0033] Figure 5 It is a structural schematic diagram of a vibration assembly of a first embodiment of the present invention;

[0034] Figure 6 It is a front view schematic diagram of a vibration assembly of a first embodiment of the present invention;

[0035] Figure 7 It is a structural schematic diagram of a first power shaft sleeve provided with a shaft sleeve according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of the vibration shaft and floating assembly according to an embodiment of the present invention;

[0037] Fig. 9A schematic structural diagram of a vibration assembly according to a second embodiment of the present invention;

[0038] Fig.10 A schematic diagram of the internal structure of a vibration assembly according to a second embodiment of the present invention;

[0039] Fig.11 is a structural schematic diagram of a fourth frame according to an embodiment of the present invention;

[0040] Fig.12 This is a schematic diagram of the structure of two conveying units arranged opposite to each other according to an embodiment of the present invention;

[0041] Fig.13 It is a top view schematic diagram of a conveying unit according to an embodiment of the present invention;

[0042] Fig.14 A schematic side view of a conveying unit according to an embodiment of the present invention;

[0043] Fig.15 It is a structural schematic diagram of a conveyor line body according to an embodiment of the present invention;

[0044] Fig.16 It is a structural schematic diagram of a closing plate according to an embodiment of the present invention;

[0045] Fig.17 It is a schematic structural diagram of the closed leaf according to an embodiment of the present invention.

[0046] Description of reference numerals:

[0047] 1-body; 11-frame; 12-active walking wheel; 121-walking motor; 13-driven walking wheel; 14-driving source; 15-turning bracket assembly; 151-first frame; 152-axle rod; 153-wheel disc; 154-second frame; 155-first linear drive module; 16-lifting bracket; 161-third frame; 162-second linear drive module; 17-guide plate; 2-picking unit; 21-vibration shaft; 211-bolt hole; 22-picking brush; 221-ring; 222-support rod; 23-floating assembly; 231-bolt rod; 232-belt; 24-vibration assembly; 241-first motor; 242-axle seat; 243-first power shaft; 244-first synchronous wheel; 245-axle sleeve; 246-box; 247-first driven shaft; 248-first vibration Hammer; 249-second synchronous wheel; 2410-first synchronous belt; 2411-second driven shaft; 2412-adapter shaft; 2413-slideway; 2414-slide plate; 2415-connecting seat; 2416-connecting plate; 2417-vibration box; 2418-second power shaft; 2419-third vibration hammer; 2420-reduction box; 2421-support plate; 2422-limiting sleeve; 25- The fourth frame; 3-conveying unit; 31-conveying line body; 311-fifth frame; 312-first sprocket; 313-tensioning shaft; 314-conveyor belt; 315-tensioning bolt; 316-tensioning plate; 317-material trough; 32-closing leaf; 33-pin shaft; 34-guide rod; 35-closing box; 36-closing plate; 37-installing sleeve; 38-torsion spring; 39-closing limit slot; 4-material box. DETAILED DESCRIPTION

[0048] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0051] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0052] like Figure 1-Figure 17 As shown, an automatic berry picking vehicle comprises a vehicle body 1 and picking units 2, a conveying unit 3 and a material box 4 respectively mounted thereon, and an opening is provided in the middle of the vehicle body 1, in which two picking units 2 are mounted, and the two picking units 2 are arranged parallel to each other, and the fruit trees to be picked are located between the two picking units 2, a conveying unit 3 is arranged under each picking unit 2, and the two conveying units 3 are arranged opposite to each other, and one side of the two conveying units 3 arranged opposite to each other is used for straightening and clamping the fruit trees to be picked, and the picking units 2 can vibrate laterally or longitudinally, The berries on the fruit trees to be picked can fall onto the upper surface of the conveying unit 3. A material box 4 is set at one end of each conveying unit 3, and the conveying unit 3 is used to convey the berries to the material box 4. The staff can control the vehicle body 1 to move and put the fruit trees to be picked into the opening, and use the conveying unit 3 to straighten and clamp the fruit trees. The picking unit 2 vibrates to drop the fruit trees, and then the conveying unit 3 conveys the berries to the material box 4. The picking can be completed during the walking process of the vehicle body 1. It has high work efficiency and low labor intensity, and can reduce the overall cost of berries.

[0053] The vehicle body 1 includes a frame 11, and the frame 11 is a frame structure. A driving wheel 12, a driving source 14 and a plurality of driven wheels 13 are arranged on the frame 11, and the driving source 14 can drive the driving wheel 12 and each driven wheel 13 to rotate respectively. The driving source 14 is a driving mechanism of the prior art. The driving source 14 can convert mechanical energy into hydraulic pressure, and the hydraulic pressure is passed into the driving wheel 12 and each driven wheel 13 to rotate, and then converted into mechanical energy through the hydraulic pressure, so as to realize the rotation of the driving wheel 12 and each driven wheel 13, increase the power of the vehicle body 1, and at the same time each wheel has a driving force, so as to improve the driving on the sand.

[0054] A driving wheel 12 and two driven wheels 13 are arranged on the frame 11, and one driving wheel 12 and one driven wheel 13 are located on one side of the opening, and the other driven wheel 13 is located on the other side of the opening. A turning bracket assembly 15 is arranged on the driving wheel 12, and a lifting bracket 16 is arranged on each driven wheel 13. The turning bracket assembly 15 can drive the driving wheel 12 to turn and lift relative to the frame 11, and the lifting bracket 16 can drive the driven wheel 13 to lift relative to the frame 11. The driving wheel 12 and the driven wheel 13 that can be lifted and lowered can adapt to a variety of operating conditions so as to adapt to different terrains.

[0055] The turning bracket includes a first frame 151, one end of the first frame 151 is provided with an axle 152, and the outer periphery of the axle 152 is rotatably sleeved on the frame 11, one end of the axle 152 is installed with a wheel 153, the other end of the first frame 151 is hinged to one end of the second frame 154, and the other end of the second frame 154 is installed with an active walking wheel 12, a first linear drive module 155 is provided on the first frame 151, and the movable end of the first linear drive module 155 is hinged to one side of the second frame 154, and the lifting bracket 16 includes a third frame 161, one end of the third frame 161 is hinged to the frame 11 The other end of the third frame 161 is installed with a driven walking wheel 13, and the second linear drive module 162 is installed on the frame 11. The movable end of the second linear drive module 162 is hinged to one side of the third frame 161. The first linear drive module 155 and the second linear drive module 162 are cylinders, hydraulic cylinders or linear motors in the prior art. The movable ends of the first linear drive module 155 and the second linear drive module 162 are used to drive the active walking wheel 12 and the driven walking wheel 13 to approach and move away from the frame 11, thereby adjusting the relative height of the walking wheels so as to adjust the height of the frame 11 to adapt to different terrains.

[0056] The frame 11 is covered with a baffle plate, and the picking unit 2 and the conveying unit 3 are both located inside the baffle plate. The baffle plate is used to block the falling berries and guide the berries to the conveying unit 3 to prevent the berries from falling outside the frame 11 due to the vibration of the picking unit 2, thereby improving the fruit picking efficiency and quality.

[0057] A guide plate 17 is respectively arranged on both sides of the opening of the vehicle body 1, and the two guide plates 17 are arranged opposite to each other. The lower end and the inner side of each guide plate 17 are respectively provided with a guide slope, and each guide plate 17 is located at one end of the conveying unit 3, and the material box 4 is located at the other end of the conveying unit 3. The two guide plates 17 are used to gather the trunks of the fruit trees and guide the trunks of the fruit trees to the conveying unit 3 to ensure that the conveying unit 3 can clamp the fruit trees and make the main body of the fruit trees in the two picking units 2, thereby improving the picking efficiency, facilitating collection, and preventing the frame 11 from crushing the fruit trees.

[0058] The active walking wheel 12 and the driven walking wheel 13 have the same structure. The active walking wheel 12 includes a wheel hub, and a walking motor 121 is installed on the wheel hub. The walking motor 121 is sleeved on the second frame 154, and the walking motor 121 pipeline is connected to the driving source 14. A wheel body is sleeved on the outer periphery of the wheel hub. The walking motor 121 is a hydraulic walking motor 121 in the prior art, and suitable specifications can be selected according to the working conditions. It will not be repeated here, and a wheel hub and an inflatable tire wheel body are sleeved on the walking motor 121.

[0059] The picking unit 2 includes a vibration shaft 21, a picking brush 22, a floating component 23 and a vibration component 24, and the vibration component 24 is arranged on a fourth frame 25, and the fourth frame 25 is installed on the vehicle body 1. The vibration shaft 21 is installed at the output end of the vibration component 24, and multiple picking brushes 22 are arranged axially around the vibration shaft 21. The vibration component 24 can drive the vibration shaft 21 and the multiple picking brushes 22 to vibrate horizontally or vertically. The picking brushes 22 are used to vibrate and sieve the fallen berries. The periphery of the vibration shaft 21 is connected to the fourth frame 25 through the floating component 23. The vibration shaft 21 is used to conduct the vibration force of the vibration component 24, so that the picking brushes 22 arranged around the vibration shaft 21 are vibrated and act on the fruit trees and their branches, thereby picking the berries, and the berries will not be squeezed during the process, so as to ensure the quality of the berries. The floating component 23 is adapted to the periphery of the vibration shaft 21, and is used to locate the relative position of the vibration shaft 21 to prevent the vibration shaft 21 from falling or displacement caused by long-term vibration.

[0060] The picking brush 22 includes a ring 221, and the inner ring of the ring 221 is rotatably connected to the outer periphery of the vibration shaft 21. A plurality of support rods 222 are circumferentially arranged around the outer periphery of the ring 221. Each support rod 222 is used to transmit vibration to the trunk and branches, and the support rod 222 is rotatably connected to the outer periphery of the vibration shaft 21 through the ring 221. When the support rod 222 touches the branch, it can rotate relative to the vibration shaft 21, thereby preventing the support rod 222 from hard contact with the fruit tree to avoid damage to the fruit tree.

[0061] The floating assembly 23 includes a bolt rod 231, and the bolt rod 231 is fixedly mounted on the fourth frame 25. One end of the bolt rod 231 is connected to a floating spring. The periphery of the vibration shaft 21 is wrapped with a belt 232, and both ends of the belt 232 are connected to one end of the floating spring. The belt 232 can be flexibly connected to the periphery of the vibration shaft 21. The bolt rod 231 is detachably connected to the fourth frame 25, and the bolt rod 231 can slide axially on the fourth frame 25 to adjust its relative position. The bolt rod 231 is connected to the periphery of the belt 232 through a floating spring so as to limit the relative position of the vibration shaft 21 without interfering with the vibration of the vibration shaft 21.

[0062] In practice, the vibration assembly 24 has a variety of implementation structures, and different types of berries require different structures of the vibration assembly 24. For example, when picking wolfberries, a horizontal vibration assembly 24 is required, such as Figure 4-Figure 7 As shown, a first embodiment of the vibration component 24 includes a first motor 241, and the periphery of the first motor 241 is fixedly mounted on the fourth frame 25, and a shaft seat 242 is arranged at one end of the fourth frame 25, and a first power shaft 243 is sleeved in the shaft seat 242, one end of the first power shaft 243 is fixedly connected to the output shaft of the first motor 241, the periphery of the first power shaft 243 is fixedly sleeved with a first synchronous wheel 244, the periphery of the first power shaft 243 is rotatably sleeved with a shaft sleeve 245, and a box body 246 is arranged at the periphery of the shaft sleeve 245, a first driven shaft 247 is rotatably sleeved on the box body 246, a first vibration hammer 248 is fixedly arranged at the periphery of the first driven shaft 247, a second synchronous wheel 249 is installed at one end of the first driven shaft 247, and the first synchronous wheel 244 and the second synchronous wheel 249 are synchronously connected through a first synchronous belt 2410 The first power shaft 243 rotates step by step, and the rotation of the first driven shaft 247 and the first vibration hammer 248 synchronously drives the rotation of the first vibration hammer 248. The rotating first vibration hammer 248 can drive the vibration box 2417 and the vibration shaft 21 to vibrate, and the shaft seat 242 and the first motor 241 are fixedly installed on the fourth frame 25. The first power shaft 243 is connected to the transmission shaft of the first motor 241, so that the first power shaft 243 and the first motor 241 can maintain a relative position. The outer periphery of the first power shaft 243 is rotatably sleeved on the vibration box 2417 through the shaft sleeve 245, so that the vibration box 2417 and the vibration shaft 21 can rotate relative to the fourth bracket. As the first vibration hammer 248 rotates, the vibration box 2417 and the vibration shaft 21 vibrate with the central axis of the first power shaft 243 as the guide, thereby realizing the lateral vibration of the vibration shaft 21.

[0063] The second driven shaft 2411 is rotatably sleeved on the box body 246, and the second vibrating hammer is fixedly sleeved on the outer periphery of the second driven shaft 2411. The first vibrating hammer 248 and the second vibrating hammer are arranged parallel to each other. The fourth synchronous wheel is arranged on the second driven shaft 2411, and the third synchronous wheel is fixedly sleeved on the outer periphery of the first power shaft 243. The third synchronous wheel and the fourth synchronous wheel rotate synchronously through the second synchronous belt. The arrangement of the second vibrating hammer and the first vibrating hammer 248 can make the vibration box 2417 and the vibration shaft 21 rotate forward and reversely with the central axis of the first power shaft 243 as the guide, thereby realizing the vibration of the vibration shaft 21, and the vibration shaft 21 will not rotate continuously.

[0064] An adapter shaft 2412 is arranged below the box body 246, and a plurality of slide grooves 392413 are arranged circumferentially on the outer periphery of the adapter shaft 2412. The inner ring of the vibration shaft 21 is sleeved on the outer periphery of the adapter shaft 2412, and a plurality of bolting holes 211 are arranged circumferentially on the side wall of the vibration shaft 21. A positioning bolt is arranged in each bolting hole 211, and one end of the positioning bolt is clamped into the slide groove 392413. When the vibration shaft 21 vibrates, it will move up and down, and the slide groove 392413 is used to release the up and down movement of the vibration shaft 21.

[0065] A support plate 2421 is set on the fourth frame 25, and a limiting groove is set on the support plate 2421. The lower end of the vibration shaft 21 is rotatably sleeved on the slide plate 2414, and the outer periphery of the slide plate 2414 is slidably connected to the limiting groove. One end of the slide plate 2414 is rotatably sleeved on the limiting sleeve 2422, and the outer periphery of the limiting sleeve 2422 is slidably connected to the inner ring of the vibration shaft 21. The limiting sleeve 2422 has the same function as the slide groove 392413, and the limiting groove and the slide plate 2414 are also floating structures of the vibration shaft 21.

[0066] When picking blueberries, a longitudinal vibration assembly 24 is used, such as Figure 9-10 As shown, the second embodiment of the vibration assembly 24 includes a second motor, one end of the second motor periphery is connected to the fourth frame 25 through a tension spring, the other end of the second motor periphery is fixedly connected to the connecting seat 2415, and the connecting seat 2415 is hinged with a connecting plate 2416, the connecting plate 2416 is fixedly connected to the fourth frame 25, the lower end of the connecting seat 2415 is connected to the vibration shaft 21 through a vibration box 2417, and a second power shaft 2418 is rotatably sleeved in the vibration box 2417, and the second power shaft 2418 can drive the third vibration The hammer 2419 rotates, and the rotation of the third vibration hammer 2419 is used to drive the vibration box 2417 and the vibration shaft 21 to vibrate longitudinally. The rotation of the third vibration hammer 2419 can drive the second motor, the vibration box 2417 and the vibration shaft 21 to vibrate synchronously. The connecting seat 2415 is hinged to the fourth frame 25 through the connecting plate 2416, which limits the vibration direction of the vibration shaft 21, and the second motor is connected to the fourth frame 25 through a tension spring, so that it can assist in positioning the relative position of the second motor without interfering with the vibration of the second motor and the vibration shaft 21.

[0067] A reduction box 2420 is arranged in the vibration box 2417. The reduction box 2420 is equipped with two output shafts, and the input end of the reduction box 2420 is connected to one end of the second power shaft 2418. The two output shafts are respectively rotatably sleeved on the side walls of the vibration box 2417. A third vibration hammer 2419 is fixedly sleeved on each output shaft, and the output shaft and the second power shaft 2418 are arranged perpendicular to each other. The reduction box 2420 is a prior art. The reduction box 2420 is used to change the output direction of the second power shaft 2418, and the reduction box 2420 can divide more output ends so that it can be matched with two third vibration hammers 2419.

[0068] Each conveying unit 3 includes a conveying line body 31, and a plurality of closing leaves 32 are evenly distributed on one side of the conveying line body 31 along the conveying direction. The closing leaves 32 are overlapped with each other. The closing leaves 32 of the two conveying units 3 correspond to each other and overlap each other. Each closing leaf 32 is rotated to be sleeved on one side of the conveying line body 31 through a pin shaft 33, and a torsion spring 38 is arranged on the pin shaft 33. The torsion spring 38 is used for elastic reset of the closing leaf 32. The main body of the closing leaf 32 is made of PC, PVC and other materials. The tree trunk to be picked can be clamped and straightened by the two closing leaves 32. The closing leaf 32 is made of flexible material and has a certain rebound clamping force through the torsion spring 38, which can prevent the tree trunk from being broken and improve the reliability of the device.

[0069] The conveyor line body 31 includes a fifth frame 311, and the fifth frame 311 is installed on the frame 11. The first sprocket 312 and the second sprocket are rotatably sleeved on the fifth frame 311 respectively. The first sprocket 312 and the second chain rotate synchronously through the chain, and a conveyor belt 314 is arranged on one side of the chain. A third motor is arranged on the fifth frame 311, and a transmission shaft of the third motor is fixedly connected to one end of the first sprocket 312. The third motor is used to drive the first sprocket 312 to rotate, and the first sprocket 312 rotates synchronously with the second sprocket through the conveyor belt 314. The picked berries fall onto the conveyor belt 314, and the berries are transported to the material box 4 through the moving conveyor belt 314.

[0070] The second sprocket is rotatably sleeved on the fifth frame 311 through the tensioning shaft 313, and threaded holes are respectively provided at both ends of the tensioning shaft 313. A tensioning plate 316 is respectively provided on both sides of the fifth frame 311, and a tensioning bolt 315 is installed on each tensioning plate 316. Each tensioning bolt 315 is threadedly connected to a threaded hole. The conveyor belt 314 of this embodiment is an elastic rubber belt. When in use, the conveyor belt 314 has a certain tensile elasticity. The tensioning bolt 315 can be used to tension the conveyor belt 314 to prevent the conveyor belt 314 from being weak and causing poor berry transportation. In addition, material troughs are evenly distributed on the conveyor belt 314 along the traveling direction. The berries can fall into the material troughs after falling, preventing the berries from rolling disorderly on the conveyor belt 314 and causing damage to the berries.

[0071] A closing box 35 is fixedly arranged on one side of the fifth frame 311, a floating plate is installed on the closing box 35, and an angle is arranged between the floating plate, the closing box 35 and the fifth frame 311, a plurality of closing leaves 32 are rotatably sleeved on the floating plate, a plurality of mounting holes are arranged on the closing plate 36, a mounting sleeve 37 is arranged on each mounting hole, and a torsion spring 38 is arranged on the periphery of the mounting sleeve 37, the mounting sleeve 37 can rotate in the mounting hole, and the torsion spring 38 is used for elastic reset of the mounting sleeve 37, a pin shaft 33 is installed on one end of the closing leaf 32, the pin shaft 33 can be plugged into the inner ring of the mounting sleeve 37, and the pin shaft 33 is inserted into the inner ring of the mounting sleeve 37. The closing leaf 32 can be quickly disassembled and assembled by inserting it into the mounting sleeve 37. During implementation, the closing leaf 32 is a wearing part, so as to facilitate the disassembly and assembly and maintenance of the closing leaf 32. A plurality of closing limit grooves are provided on the closing plate 36, and each closing leaf 32 corresponds to a closing limit groove. A guide rod 34 is installed on the closing leaf 32, and the outer periphery of the guide rod 34 is located in the closing limit groove, and the guide rod 34 can slide along the track of the closing limit groove. The cooperation between the guide rod 34 and the closing limit groove facilitates limiting the rotation track and rotation opening of the closing leaf 32, thereby preventing the closing leaf 32 from rotating disorderly and improving the reliability of the device.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic berry picking vehicle, characterized in that: The invention comprises a vehicle body (1) and picking units (2), a conveying unit (3) and a material box (4) respectively mounted thereon, and an opening is provided in the middle of the vehicle body (1), two picking units (2) are mounted in the opening, and the two picking units (2) are arranged parallel to each other, a fruit tree to be picked is located between the two picking units (2), a conveying unit (3) is arranged below each picking unit (2), and the two conveying units (3) are arranged opposite to each other, one side of the two conveying units (3) arranged opposite to each other is used for straightening and clamping the fruit tree to be picked, and the picking unit (2) can vibrate horizontally or vertically, and the berries on the fruit tree to be picked can fall onto the upper surface of the conveying unit (3), a material box (4) is arranged at one end of each conveying unit (3), and the conveying unit (3) is used to convey the berries to the material box (4).

2. The automatic berry picking vehicle according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle frame (11), and the vehicle frame (11) is a frame structure. A driving wheel (12), a driving source (14) and a plurality of driven wheels (13) are arranged on the vehicle frame (11), and the driving source (14) can drive the driving wheel (12) and each driven wheel (13) to rotate.

3. The automatic berry picking vehicle according to claim 1, characterized in that: The picking unit (2) comprises a vibration shaft (21), a picking brush (22), a floating assembly (23) and a vibration assembly (24), wherein the vibration assembly (24) is arranged on a fourth frame (25), the fourth frame (25) is mounted on a vehicle body (1), the vibration shaft (21) is mounted on the output end of the vibration assembly (24), a plurality of picking brushes (22) are arranged axially around the periphery of the vibration shaft (21), the vibration assembly (24) can drive the vibration shaft (21) and the plurality of picking brushes (22) to vibrate horizontally or vertically, the picking brushes (22) are used to vibrate and sieve fallen berries, and the periphery of the vibration shaft (21) is connected to the fourth frame (25) via the floating assembly (23).

4. The automatic berry picking vehicle according to claim 3, characterized in that: The vibration assembly (24) includes a first motor (241), and the periphery of the first motor (241) is fixedly mounted on the fourth frame (25), and an axle seat (242) is provided at one end of the fourth frame (25), and a first power shaft (243) is sleeved in the axle seat (242), one end of the first power shaft (243) is fixedly connected to the output shaft of the first motor (241), and the periphery of the first power shaft (243) is fixedly sleeved with a first synchronous wheel (244), and the first power The outer periphery of the shaft (243) is rotatably sleeved with a shaft sleeve (245), and a box body (246) is arranged on the outer periphery of the shaft sleeve (245), and a first driven shaft (247) is rotatably sleeved on the box body (246), and a first vibrating hammer (248) is fixedly arranged on the outer periphery of the first driven shaft (247), and a second synchronous wheel (249) is installed on one end of the first driven shaft (247), and the first synchronous wheel (244) and the second synchronous wheel (249) rotate synchronously through a first synchronous belt (2410).

5. The automatic berry picking vehicle according to claim 3, characterized in that: The vibration assembly (24) includes a second motor, one end of the second motor is connected to the fourth frame (25) through a tension spring, the other end of the second motor is fixedly connected to the connecting seat (2415), and the connecting seat (2415) is hinged with a connecting plate (2416), the connecting plate (2416) is fixedly connected to the fourth frame (25), the lower end of the connecting seat (2415) is connected to the vibration shaft (21) through a vibration box (2417), and a second power shaft (2418) is rotatably mounted in the vibration box (2417), the second power shaft (2418) can drive the third vibration hammer (2419) to rotate, and the third vibration hammer (2419) is used to drive the vibration box (2417) and the vibration shaft (21) to vibrate longitudinally.

6. The automatic berry picking vehicle according to claim 1, characterized in that: Each conveying unit (3) comprises a conveying line body (31), and a plurality of closing leaves (32) are evenly distributed on one side of the conveying line body (31) along the conveying direction, and the closing leaves (32) are arranged to overlap each other. The closing leaves (32) of the two conveying units (3) correspond to each other and overlap each other. Each closing leaf (32) is rotated to be sleeved on one side of the conveying line body (31) through a pin shaft (33), and a torsion spring (38) is arranged on the pin shaft (33), and the torsion spring (38) is used for elastic reset of the closing leaf (32).

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