Meshing clamping type vibration forest fruit picking device

Abstract

The invention discloses a meshing type vibration forest fruit picking device which is mainly composed of a clamping mechanism, a handle mechanism, a vibration excitation mechanism and the like. The clamping mechanism comprises a support, a cover plate, an upper pull rope, a clamping spring, a compression spring, a right clamping jaw and a left clamping jaw; the right clamping jaw and the left clamping jaw which are meshed with each other clamp or loosen fruit branches under the mutual cooperation of the clamping spring, the wedge, the upper pull rope and the lower pull rope; the handle mechanism comprises a handheld rod, a lower pull rope, a ratchet wheel, an upper rod sleeve, a lower rod sleeve, a ratchet wheel feeding mechanism and a ratchet wheel non-return mechanism, one end of the lower pull rope is connected with the tail end of the wedge, the other end of the lower pull rope is wound and fixed on a cylinder in the middle of the ratchet wheel, and the ratchet wheel feeding mechanism comprises a driving pawl, a sliding block, a handle and the like; the ratchet wheel non-return mechanism comprises a pawl switch and a non-return pawl; the vibration excitation mechanism comprises a vibration excitation frame, a spring, a motor support, a connecting rod, a crank, a motor and the like. The spring is connected between the vibration excitation frame and the motor support. In the working process, the motor drives the crank to rotate, the fruit branches are driven to vibrate in a reciprocating mode through the connecting rod, the handheld rod and the clamping mechanism, so that walnuts fall off from the fruit branches, the amplitude is large, the exciting force and the frequency are adjustable, and the walnut picker is very suitable for application scenes needing low-frequency and large-exciting-force vibration such as vibration picking and the like. The labor intensity is reduced, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The invention relates to agricultural and forestry machinery and equipment, and in particular to a vibration-type fruit picking device. Background Art

[0002] my country has become one of the countries with the largest walnut production in the world. Walnut kernels are rich in protein and unsaturated fatty acids as well as a variety of essential amino acids and mineral elements for the human body. They are rich in nutrition and have high economic value. In the entire walnut production operation, the timely and efficient harvesting of mature walnuts is the key, which directly affects the subsequent links such as walnut storage, transportation, processing and sales. Walnut picking is currently mainly done by manual bamboo pole beating, which is time-consuming, laborious and dangerous. The picking cost accounts for about 35% to 45% of the total cost. Therefore, the mechanized picking of walnuts is of great significance to the walnut industry.

[0003] Most existing vibrating harvesting machines for fruit trees often have a series of problems, such as being too large in size, too complicated to operate, inconvenient to maintain, large vibration losses, and damage to tree roots due to excessive vibration. For example, in a patent for a pecan picking robot (CN201811432163.1), the hammering mechanism is installed on a crawler vehicle, the machine body is too large, and it is extremely inconvenient to use and transport, especially difficult to adapt to the slope of mountainous and hilly orchards. In the main walnut producing area of ​​Yunnan, steep slope walnut orchards account for more than 60%; there is also a pecan fruit harvester (CN201710197989.3) that squeezes the walnut fruits off the branches by squeezing, which is too inefficient and will cause great damage to the branches; therefore, the current mountain walnut picking equipment is difficult to adapt to the use environment of steep mountain walnut picking. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a meshing clamping type vibration forest fruit picking device in view of the deficiencies of the above-mentioned prior art. The meshing clamping type vibration forest fruit picking device has a simple structure and a small device volume, which solves the problems of heavy weight, complicated operation, and difficulty in entering steep mountainous areas for walnut picking equipment. The walnut branches are clamped by a clamping mechanism and then vibrated by an exciting mechanism, which drives the vibration of the walnut branches to cause the walnut tree fruits to fall off. The meshing type clamping claws can adapt to clamping walnut branches of different thicknesses, and the clamping range is wider (the clamping range of the fruit branches is 1.8cm to 16cm). Compared with the manual picking method, the labor intensity is reduced, and the safety factor and work efficiency are greatly improved.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A meshing clamping type vibration forest fruit picking device, mainly composed of a clamping mechanism, a handle mechanism and an exciting mechanism; the clamping mechanism includes a bracket, a cover plate, an upper pull rope, a clamping spring, a compression spring, and a right clamping jaw and a left clamping jaw; the bracket includes a clamping jaw positioning shaft perpendicular to the bracket plane, a wedge stopper and a harness through hole; the right clamping jaw and the left clamping jaw that mesh with each other can clamp or release the fruit branches under the cooperation of the clamping spring, the wedge, the upper pull rope and the lower pull rope; the two The tail end of the clamping claw has gear teeth that can mesh with each other, and the clamping claw is rotatably connected to the clamping claw positioning shaft of the bracket; the handle mechanism includes a hand-held rod, a lower pull rope, a ratchet, an upper rod sleeve, a lower rod sleeve, a ratchet feeding mechanism and a ratchet non-return mechanism, the ratchet is a pair of single ratchets with a cylinder in the middle, the ratchet has a through hole in the axial direction, the ratchet is connected to the hand-held rod through a cylindrical pin, the upper rod sleeve and the lower rod sleeve are respectively sleeved on the hand-held rod, and can slide a small distance along the hand-held rod, and the ratchet feeding mechanism includes an active ratchet , pressure cap, sliding block, handle connecting rod, handle and handle bracket, the active pawl is rotatably connected to the center hole of the sliding block through a cylindrical pin, and horizontal sliding grooves are provided on both sides of the sliding block, and the horizontal sliding grooves are stuck in the waist-shaped hole at the bottom of the hand-held rod. The sliding block can drive the active pawl to slide back and forth along the waist-shaped hole at the bottom of the hand-held rod, and the handle bracket is sleeved on the outside of the hand-held rod, the handle is arc-shaped, and grooves and through holes are opened in the middle and the head. The handle is hinged at the bottom of the handle bracket, one end of the handle connecting rod is rotatably connected to the sliding block, and the other end is rotatably connected to the handle, the ratchet check mechanism includes a pawl switch and a check pawl, and the pawl switch is rotatably connected to the hand-held rod; the excitation mechanism includes an excitation frame, a spring, a motor bracket, a connecting rod, a crank, a positioning sleeve and a motor, the excitation frame is fixedly connected to the tail end of the hand-held rod and both ends are hinged to the connecting rod, the other end of the connecting rod is connected to the crank, and the two cranks are fixedly connected to the two output shafts of the motor through the positioning sleeve, and the spring is connected between the excitation frame and the motor bracket.

[0007] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the right jaw and the left jaw are rotatably connected to the jaw positioning shaft on the bracket, the gear teeth at the tail ends are meshed with each other, and the right jaw and the left jaw can open and close symmetrically and synchronously, and the movement trajectory is an arc.

[0008] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the head of the pull-down rope is fixed to the through hole at the bottom of the wedge, and the other end is wrapped and fixed on the middle cylinder of the ratchet. The pull-down rope drives the ratchet and the cylinder therebetween to rotate via the handle and the active pawl to pull the wedge downward and drive the clamp to open. Conversely, when the pawl switch opens the check pawl and the active pawl, the clamp is allowed to close.

[0009] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the two ends of the upper pull rope are respectively fixedly connected to the right clamping jaw and the left clamping jaw, and the middle passes through the wire harness through hole and the bottom through hole of the wedge. When the wedge slides downward under the pull of the lower pull rope, it can pull the upper pull rope, and then pull the right clamping jaw and the left clamping jaw to open. Conversely, the right clamping jaw and the left clamping jaw are closed under the action of the clamping spring. At the same time, the wedge is stuck in the middle of the gear teeth at the tail ends of the two clamping jaws to prevent the clamping jaws from loosening the fruit branches during vibration. The wire harness through hole is provided with rollers to reduce the friction and wear of the upper pull rope passing through the wire harness through hole.

[0010] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the hand-held rod is a hollow structure with a plurality of through holes at both ends and both sides. Two groups of slope protrusions are respectively arranged around the lower and middle parts of the hand-held rod. The upper rod sleeve and the lower rod sleeve are respectively placed in each group of slope protrusions, which are used to limit the up and down sliding distances of the upper rod sleeve and the lower rod sleeve. The two ends of the hand-held rod are respectively fixedly connected to the bracket of the clamping part and the vibration frame of the vibration mechanism part. The two sides of the lower and middle part of the hand-held frame are hollowed out and there are waist-shaped holes at the bottom, which are convenient for installing components placed inside it or observing the working status of the internal ratchet and pawl, and at the same time provide guidance for the forward and backward sliding of the sliding block.

[0011] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the motor is a double-shaft motor, and the output shafts are respectively connected to two positioning sleeves and a crank. In the working state, the motor itself participates in the vibration, and its mass is the main component for generating the exciting force.

[0012] The above-mentioned meshing clamping type vibration fruit picking device is characterized in that the motor bracket and the vibration exciting frame are connected by a pair of springs, and the springs play a buffering and supporting role.

[0013] The beneficial effects of the present invention are:

[0014] (1) The present invention uses meshing type clamps as clamping elements, which have fast clamping action and can adapt to fruit branches of different thicknesses, thus improving efficiency and reducing the overall weight of the device. In addition, the clamping mechanism uses ropes and ratchets to complete the opening action of the clamps, and the opening and closing of the clamps have locking functions to avoid fatigue caused by holding the handle for a long time. The structure is simple and the error rate is low. Compared with traditional manual picking, it saves time and effort and reduces labor intensity.

[0015] (2) The excitation mechanism of the present invention adopts a crank-connecting rod vibration mechanism with large amplitude and adjustable excitation force and frequency. It is very suitable for application scenarios of low-frequency and large excitation force vibration such as vibration picking. The excitation mechanism is located at one end close to the operator's body, and the clamping mechanism is at the far end of the hand-held rod. The weight distribution conforms to the principle of ergonomics, which is conducive to the operator's long-term operation.

[0016] (3) When picking walnuts, the meshing clamping type vibration forest fruit picking device of the present invention acts on the side branches or fruiting branches of the walnuts with exciting force, thereby avoiding the problem of huge loss of vibration energy in the process of transmission from the trunk to the walnut fruiting branches faced by traditional large-scale vibration equipment that shakes the main trunk of the fruit tree for picking. At the same time, walnuts on the vibrating fruit branches and multiple fruiting branches attached to them can be picked at one time, taking into account the two functional requirements of efficiency and portability, and are particularly suitable for picking mountain walnuts in mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the meshing clamping type vibration fruit picking device;

[0018] Figure 2 It is a structural schematic diagram of the initial state of the clamping mechanism;

[0019] Figure 3 It is the axonometric view of the clamping mechanism;

[0020] Figure 4 It is a schematic diagram of the clamping mechanism clamping the fruit branch;

[0021] Figure 5 It is a schematic diagram of the structure of the clamping mechanism in the open state;

[0022] Figure 6 It is a schematic diagram of the handle mechanism structure;

[0023] Figure 7 This is a detailed diagram of the handle mechanism.

[0024] Among them, the bracket 1, the clamping jaw positioning shaft 1-1, the wedge block 1-2, the wiring harness through hole 1-3, the upper pull rope 2, the roller 3, the right clamping jaw 4, the left clamping jaw 5, the cover plate 6, the hand-held rod 7, the handle bracket 8, the ratchet switch 9, the vibration frame 10, the spring 11, the motor 12, the motor bracket 13, the crank 14, the handle connecting rod 15, the pressure cap 16, the handle 17, the ratchet 18, the cylinder 18-1, the compression spring 19, the wedge 20, the lower pull rope 21, the non-return ratchet 22, the active ratchet 23, the sliding block 24, the horizontal slide 24-1, the tension spring 25, the reset spring 26, the positioning sleeve 27, the connecting rod 28, the upper rod sleeve 29 and the lower rod sleeve 30, the clamping spring 31, and the fruit branch 40. DETAILED DESCRIPTION

[0025] According to the following Figures 1 to 4 The specific implementation mode of the present invention is further described:

[0026] A meshing clamping type vibration fruit picking device mainly consists of a clamping mechanism, a handle mechanism and an exciting mechanism. Figure 1 , Figure 2 and Figure 3As shown, the clamping mechanism includes a bracket 1, a cover plate 6, an upper pull rope 2, a clamping spring 31, a compression spring 19, and two clamping jaws that can cross-engage with each other, namely a right clamping jaw 4 and a left clamping jaw 5; Figure 2 and Figure 3 The transmission principle of the clamp is shown. The process of the clamp action involves the right clamp 4 and the left clamp 5, the clamp spring 31, the upper pull rope 2, the lower pull rope 21, the roller 3, the wedge 20, the compression spring 19 and the wedge stopper (1-2). The right clamp 4 and the left clamp 5 are rotatably connected to the clamp positioning shaft (1-1) corresponding to the bracket 1. The teeth at the tail ends of the right clamp 4 and the left clamp 5 are meshed with each other, and the middle part is connected with the clamp spring 31. The lower surface of the wedge 20 is flat against the inner side of the bracket 1, and the tail end is cylindrical and is covered with a compression spring 19. Under the tension of the compression spring 19, its head is against the middle of the teeth meshed with each other at the tail ends of the right clamp 4 and the left clamp 5. The other end of the compression spring 19 is against the wedge stopper (1-2). The end of the cylindrical tail end of the wedge 20 has a through hole, and the upper pull rope 2 passes through this hole, and the two ends are connected to the right clamp 4 and the left clamp 5. This through hole is also connected to the lower pull rope 21. like Figure 4 As shown, when the right clamping jaw 4 and the left clamping jaw 5 clamp the fruit branch 40 under the action of the clamping spring 31, the fruit branch 40 is within the envelope formed by the right clamping jaw 4 and the left clamping jaw 5 and the upper edges of the bracket 1 and the cover plate 6, and the parts in contact with the fruit branch 40 are all made of flexible materials.

[0027] like Figure 5 , Figure 6 and Figure 7As shown, the handle mechanism includes a hand-held rod 7, a lower pull rope 21, a ratchet 18, an upper rod sleeve 29, a lower rod sleeve 30, a ratchet feeding mechanism and a ratchet non-return mechanism. The hand-held rod 7 has a plurality of through holes at both ends and on both sides. The lower side of the hand-held rod 7 has two groups of slope protrusions around it, which are used to limit the distance that the upper rod sleeve 29 and the lower rod sleeve 30 can slide up and down along the hand-held rod 7. The two ends of the hand-held rod 7 are respectively fixedly connected to the bracket 1 of the clamping part and the excitation frame 10 of the excitation mechanism part. The lower and middle sides of the hand-held frame are hollowed out and have waist-shaped holes at the bottom, which are convenient for installing components placed inside it or observing the working state of the internal ratchet pawl. The ratchet 18 is a pair of ratchets with a cylinder (18-1) in the middle. The ratchet 18 is connected to the through hole in the middle of the hand-held rod 7 through a cylindrical pin. The upper rod sleeve 29 and the lower rod sleeve 30 made of soft material are respectively sleeved on the hand-held rod 7 and can slide along the hand-held rod 7 for a small distance. The ratchet feeding mechanism includes an active pawl 23, a pressure cap 16, a sliding block 24, a handle connecting rod 15, a handle 17 and a handle bracket 8. Horizontal sliding grooves are provided on both sides of the sliding block 24. The sliding block 24 slides on the waist-shaped hole at the bottom of the hand-held rod 7. The active pawl 23 is rotatably connected to the center hole of the sliding block 24 through a cylindrical pin. The handle bracket 8 is sleeved on the outer periphery of the hand-held rod 7. The handle 17 is arc-shaped, with grooves and through holes in the middle and the head. The handle 17 is hinged to the bottom of the handle bracket 8 through a pin shaft. One end of the handle connecting rod 15 is rotatably connected to the sliding block, and the other end is rotatably connected to the handle 17. The ratchet non-return mechanism includes a pawl switch 9 and a non-return pawl 22. The pawl switch 9 is rotatably connected to the hand-held rod 7 through a cylindrical pin.

[0028] like Figure 1 and Figure 5 As shown, the vibration mechanism includes a vibration frame 10, a spring 11, a motor bracket 13, a connecting rod 28, a crank 14, a positioning sleeve 27 and a motor 12. One side of the vibration frame 10 is fixedly connected to the hand-held rod 7, and the other side is rotatably connected to the connecting rod 28. The spring 11 is connected between the vibration frame 10 and the motor bracket 13. Two groups of cranks 14 and positioning sleeves 27 are fixed at both ends of the motor 12. One end of the connecting rod 28 is connected to the crank 14, and the other end is connected to both ends of the vibration frame 10.

[0029] The working process of this embodiment is as follows: in the initial state, the right clamping jaw 4 and the left clamping jaw 5 are kept in a closed state under the action of the clamping spring 31. Figure 2As shown, and when the wedge 20 acts on the middle of the gear teeth at the tail ends of the two clamping claws, the claws remain closed and in a locked state; when working, first hold the hand-held frame 7 with both hands, one hand is placed on the upper rod sleeve 29 in front, and the other hand is held on the lower rod sleeve 30. When the gripping force is applied to the handle 17, the sliding block 24 is driven by the handle connecting rod 15 to slide forward along the bottom slide groove of the hand-held frame 7, driving the active ratchet 23 to move forward, prompting the ratchet 18 to rotate clockwise, pulling the lower pull rope 21, and then pulling the wedge 20 and the upper pull rope 2 to move downward along the direction of the hand-held frame 7, so that the right clamping claw 4 and the left clamping claw 5 are opened to a certain arc, as shown in FIG. Figure 5 As shown; when the device is close to the fruit branch 40 to be picked, the pawl switch 9 and the pressure cap 16 can be pressed down by hand to complete the action of disengaging the non-return pawl 22 and the active pawl 23 from the ratchet 18, and the ratchet 18 is in a state of free reverse rotation. At this time, the right clamping jaw 4 and the left clamping jaw 5 are closed under the action of the clamping spring 31. When the right clamping jaw 4 and the left clamping jaw 5 are closed, the wedge 20 clamps the bottom gear teeth of the clamping jaw upward under the tension of the compression spring 19 to prevent the clamping jaw from rotating in the opposite direction, thereby causing the clamping jaw to loosen, thereby keeping the fruit branch 40 clamped. When the hands that pressed the pawl switch 9 and the pressure cap 16 are released, the non-return pawl 22 and the active pawl 23 are reset under the action of the tension spring 25 and the reset spring 26, and then the motor 12 of the vibration mechanism can be started to drive the crank 14 to rotate, causing the connecting rod 28 to reciprocate and shorten the distance between the motor 12 and the vibration frame 10, and the tension of a pair of springs 11 between the vibration frame 10 and the motor bracket 13, to form a crank-connecting rod vibration mechanism system, under the action of this vibration, the fruit branch 40 is vibrated, so that the walnuts fall off, and the walnuts are picked.

[0030] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the present invention that can be easily thought of by those skilled in the art shall fall within the protection scope of the present invention.

Claims

1. A meshing clamping vibration fruit picking device, mainly composed of a clamping mechanism, a handle mechanism and an exciting mechanism; the clamping mechanism comprises a bracket, a cover plate, an upper pull rope, a clamping spring, a compression spring and a right clamping jaw and a left clamping jaw, the bracket comprises a clamping jaw positioning shaft perpendicular to the bracket plane, a wedge block and a harness through hole, the right clamping jaw and the left clamping jaw that engage with each other can clamp or release the fruit branch under the mutual cooperation of the clamping spring, the wedge, the upper pull rope and the lower pull rope, the tail ends of the two clamping jaws have gear teeth that can mesh with each other, and the clamping jaws are rotatably connected to the clamping jaw positioning shaft of the bracket; the handle mechanism comprises a hand-held rod, a lower pull rope, a ratchet, an upper rod sleeve, a lower rod sleeve, a ratchet feeding mechanism and a ratchet non-return mechanism, the ratchet is a pair of single ratchets with a cylinder in the middle, the ratchet axial direction has a through hole, the ratchet is connected to the hand-held rod through a cylindrical pin, the upper rod sleeve and the lower rod sleeve are respectively sleeved on the hand-held rod, and can slide a small distance along the hand-held rod, so The ratchet feeding mechanism includes an active pawl, a pressure cap, a sliding block, a handle connecting rod, a handle and a handle bracket, the active pawl is rotatably connected to the center hole of the sliding block through a cylindrical pin, horizontal sliding grooves are provided on both sides of the sliding block, the horizontal sliding grooves are stuck in the waist-shaped holes on the lower bottom edge of the hand-held rod, and the handle bracket is sleeved on the outside of the hand-held rod, the handle is arc-shaped, and grooves and through holes are opened in the middle and the head, the handle is hinged at the bottom of the handle bracket, one end of the handle connecting rod is rotatably connected to the sliding block, and the other end is rotatably connected to the handle, the ratchet check mechanism includes a pawl switch and a check pawl, and the pawl switch is rotatably connected to the hand-held rod; the vibration mechanism includes an vibration frame, a spring, a motor bracket, a connecting rod, a crank, a positioning sleeve and a motor, the vibration frame is fixedly connected to the tail end of the hand-held rod and both ends are hinged to the connecting rod, the other end of the connecting rod is connected to the crank, the two cranks are fixedly connected to the two output shafts of the motor through the positioning sleeve, and the spring is connected between the vibration frame and the motor bracket.

2. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The right clamping jaw and the left clamping jaw are rotatably connected to the clamping jaw positioning shaft on the bracket, and the gear teeth at the tail ends thereof are meshed with each other. The right clamping jaw and the left clamping jaw can perform opening and closing motion symmetrically and synchronously, and the motion trajectory is an arc.

3. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The head of the pull-down rope is fixed to the through hole at the bottom of the wedge, and the other end is wound and fixed on the middle cylinder of the ratchet. The pull-down rope drives the ratchet and the cylinder therebetween to rotate via the handle and the active pawl to pull the wedge downward and drive the clamping claw to open. Conversely, when the pawl switch opens the check pawl and the active pawl, the clamping claw is allowed to close.

4. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The two ends of the upper pull rope are respectively fixedly connected to the right clamping jaw and the left clamping jaw, and the middle passes through the wire harness through hole and the bottom through hole of the wedge. When the wedge slides downward under the pull of the lower pull rope, it can pull the upper pull rope, and then pull the right clamping jaw and the left clamping jaw to open. Conversely, the right clamping jaw and the left clamping jaw are closed under the action of the clamping spring. At the same time, the wedge is stuck in the middle of the gear teeth at the tail ends of the two clamping jaws to prevent the clamping jaws from loosening the fruit branches during vibration.

5. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The hand-held rod is a hollow structure with a plurality of through holes at both ends and on both sides. Two groups of sloped protrusions are respectively arranged around the lower and middle parts of the hand-held rod, and the upper rod sleeve and the lower rod sleeve are respectively placed in each group of sloped protrusions. The two ends of the hand-held rod are respectively fixedly connected to the bracket of the clamping part and the vibration frame of the vibration mechanism part. The two sides of the lower and middle part of the hand-held frame are hollowed out and there is a waist-shaped hole at the bottom.

6. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The motor is a double-output shaft motor, and the output shafts are respectively connected with two positioning sleeves and a crank.

7. The meshing clamping vibration fruit picking device according to claim 1, characterized in that: The motor bracket is connected to the vibration exciting frame via a pair of springs.

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