Multi-direction annular forest fruit harvesting vibration head and vibration method

Abstract

The invention discloses a multidirectional annular forest fruit harvesting vibration head and a vibration method. The multidirectional annular forest fruit harvesting vibration head comprises an encircling mechanism, a vibration excitation device and a walking mechanism, the encircling mechanism comprises two semicircular encircling hands, a soft cushion, a support frame and a telescopic driving mechanism; soft cushions are fixedly connected to the inner sides of the two embracing hands, one ends of the two embracing hands are rotationally connected, supporting frames are fixedly connected to the two embracing hands, and the supporting frames on the two embracing hands are rotationally connected through a telescopic driving mechanism; the vibration excitation device is provided with a walking mechanism, the walking mechanism is connected with one surrounding hand in a rolling mode, and the walking mechanism is used for driving the vibration excitation device to move on the surrounding hand. Multi-direction vibration can be achieved, the problem that the fruit recovery ratio is low due to the fact that an existing vibration head can only generate excitation force in a single direction is solved, and the fruit recovery ratio is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit harvesting, and specifically to a multi-directional annular fruit harvesting vibration head and a vibration method for forest fruits. Background Art

[0002] Common forest fruits in China include chestnuts, walnuts, pine nuts, cashew nuts, etc. As an important part of China's agricultural and forestry economic sources, the harvesting efficiency of forest fruits is crucial. The vibratory harvester is a common mechanized harvesting device for forest fruits. By mechanical vibration, the fruits are detached from the trees, greatly increasing the harvesting efficiency. Generally, the vibratory forest fruit harvester installs the vibration head on a vehicle. The driver controls the vehicle to move in front of the target tree, then manipulates the vibration head to clamp the main trunk or side branch of the tree, and then starts the high-frequency vibration of the vibration head. The vibration is transmitted to the fruits, causing the fruits to fall off. The excitation device on the vibration head is two eccentric wheels that rotate in a mirror image. As shown in (a) of Figure 1 , when the two eccentric wheels rotate at high speed, an excitation force in a single direction will be generated. In actual situations, due to the different distribution directions of the branches, as shown in (b) of Figure 1 , looking down at the tree crown from the air is not a circular contour, but the radii in each direction are significantly different. This results in different vibration amplitudes obtained by the fruits on the tree when applying excitation forces in different directions, and different fruit dropping rates on the branches with different extension directions. As shown in (c) of Figure 1 , (b) of Figure 1 is a region intercepted from the space around the branch to facilitate expressing the vibration direction. It demonstrates the vibration directions 2 and 1 that are approximately parallel and perpendicular to the branch axis. The fruits on this branch have different vibration amplitudes and different fruit dropping rates in the vibration directions 1 and 2 in the figure.

[0003] Therefore, due to the different extension directions of the branches and the significant differences in the radii in each direction of the tree crown, if the existing vibration head that can only generate an excitation force in a single direction is used to clamp the main trunk or side branch of the tree to harvest fruits, the fruit harvesting rate is low.

[0004] To solve the above problems, it is necessary to design a multi-directional annular fruit harvesting vibration head and a vibration method for forest fruits to solve the problem of low fruit harvesting rate caused by the existing vibration head that can only generate an excitation force in a single direction, thereby improving the fruit harvesting rate. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multi-directional annular fruit harvesting vibration head and a vibration method for forest fruits in view of the above-mentioned deficiencies of the existing technology. The multi-directional annular fruit harvesting vibration head and the vibration method can achieve multi-directional vibration, solve the problem of low fruit harvesting rate caused by the existing vibration head that can only generate an excitation force in a single direction, and increase the fruit harvesting rate.

[0006] To achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0007] A multi-directional annular fruit and forest harvesting vibration head, comprising an encircling mechanism, an excitation device, and a traveling mechanism;

[0008] The encircling mechanism includes two semi-circular encircling hands, a soft pad, a support frame, and a telescopic drive mechanism;

[0009] Soft pads are fixedly connected to the inner sides of both encircling hands. One end of the two encircling hands is rotatably connected. Support frames are fixedly connected to both encircling hands, and the support frames on the two encircling hands are rotatably connected through a telescopic drive mechanism;

[0010] The excitation device is provided with a traveling mechanism. The traveling mechanism is in rolling connection with one encircling hand, and the traveling mechanism is used to drive the excitation device to move on one encircling hand.

[0011] As a further improved technical solution of the present invention, the soft pad is made of a rubber pad.

[0012] As a further improved technical solution of the present invention, hinge rods are fixedly connected to the inner sides of one ends of the two encircling hands, and the hinge rods are rotatably connected between them.

[0013] As a further improved technical solution of the present invention, the traveling mechanism includes a traveling bottom plate, a hydraulic motor, a driving wheel, and a plurality of driven wheels. The traveling bottom plate is fixedly connected to the excitation device. A hydraulic motor is connected to the traveling bottom plate. The output end of the hydraulic motor is connected to the driving wheel. A plurality of the driven wheels are rotatably connected to the traveling frame. The driving wheel and the driven wheels are all in rolling connection with one encircling hand.

[0014] As a further improved technical solution of the present invention, a strip-shaped wheel groove is provided on the outer wall of one encircling hand. A plurality of the driven wheels on the traveling bottom plate are in rolling connection with the wheel groove, and a plurality of other driven wheels and the driving wheel on the traveling bottom plate are in rolling connection with the edge position of the inner wall of the encircling hand.

[0015] As a further improved technical solution of the present invention, the telescopic drive mechanism adopts a hydraulic cylinder, and a pressure sensor is provided on the hydraulic cylinder.

[0016] As a further improved technical solution of the present invention, the pressure sensor is electrically connected to a controller. The controller is respectively electrically connected to a flow control valve, a hydraulic pump, and the excitation device. The controller, the fuel tank, the hydraulic pump, and the flow control valve are all arranged on the vehicle body. The fuel tank is connected to the hydraulic cylinder and the hydraulic motor through the hydraulic pump and the flow control valve.

[0017] To achieve the above technical objectives, another technical solution adopted by the present invention is as follows:

[0018] A vibration method for a multi-directional annular fruit and forest tree harvesting vibration head, comprising:

[0019] Step 1: The initial state of the two semi-circular clamping hands is the open state. Send the two semi-circular clamping hands near the tree trunk, with the tree trunk located between the two semi-circular clamping hands. Start the hydraulic pump, and the hydraulic pump delivers hydraulic oil to the hydraulic cylinder through a flow control valve. The hydraulic cylinder extends to make the two semi-circular clamping hands hold the tree trunk tightly. The pressure sensor collects the pressure information of the hydraulic oil in the hydraulic cylinder in real time and sends it to the controller. The controller judges whether the clamping hands hold the tree trunk tightly according to the pressure information. If it is judged that the clamping hands have held the tree trunk tightly, the controller controls the hydraulic cylinder to stop extending further;

[0020] Step 2: The controller controls the excitation device to act, and the excitation device vibrates to drive the tree trunk to vibrate, and the vibration is transmitted to the fruits to make the fruits fall off;

[0021] Step 3: The controller controls the hydraulic motor of the traveling mechanism to act, and the hydraulic motor drives the driving wheel to roll on one clamping hand so that the excitation device moves on the clamping hand. When the excitation device moves a preset angle, the hydraulic motor stops acting; the controller controls the excitation device to act, and the excitation device vibrates to drive the tree trunk to vibrate, and the vibration is transmitted to the fruits to make the fruits fall off;

[0022] Step 4: Repeat Step 3 until the traveling mechanism cannot continue to move forward on the clamping hand;

[0023] Step 5: The controller controls the traveling mechanism to move in the reverse direction to achieve reset;

[0024] Step 6: The controller controls the hydraulic cylinder to act through the flow control valve, so that the two semi-circular clamping hands open and release the tree trunk.

[0025] The beneficial effects of the present invention are as follows:

[0026] 1. The present invention can vibrate in multiple directions, avoiding different vibration effects caused by different directions of tree branch extension, and increasing the fruit harvesting rate.

[0027] 2. Compared with fixedly installing multiple excitation devices in multiple directions, the present invention adopts a movable excitation device, which saves costs and is lighter in weight. The present invention can improve the harvesting efficiency of fruits and forest trees. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the existing excitation device and the scenarios under different vibration directions.

[0029] Figure 1 In (a) is a diagram of the rotational states of two eccentric wheels rotating in mirror image in the existing excitation device.

[0030] Figure 1Among them, (b) is a schematic diagram of the scene of the fruits on the branches in different vibration directions.

[0031] Figure 1 Among them, (c) is a schematic diagram of the scene of looking down at the tree crown from the air in different vibration directions.

[0032] Figure 2 It is a schematic structural diagram of a multi-directional annular fruit and forest harvesting vibration head.

[0033] Figure 3 It is a schematic structural diagram of a multi-directional annular fruit and forest harvesting vibration head.

[0034] Figure 4 It is a schematic structural diagram of a multi-directional annular fruit and forest harvesting vibration head. Specific embodiments

[0035] The following further describes the specific embodiments of the present invention with reference to the accompanying drawings:

[0036] A multi-directional annular fruit and forest harvesting vibration head includes an embracing mechanism, an excitation device 5, and a traveling mechanism.

[0037] As Figures 2-4 shown, the embracing mechanism includes two semi-circular embracing hands 1, soft pads 2, a support frame 4, and a telescopic driving mechanism.

[0038] Soft pads 2 are fixedly connected to the inner sides of both embracing hands 1. One end of the two embracing hands 1 is rotatably connected. Support frames 4 are fixedly connected to both embracing hands 1, and the support frames 4 on the two embracing hands 1 are rotatably connected through a telescopic driving mechanism (not shown in the figure).

[0039] The traveling mechanism is arranged on the excitation device 5. The traveling mechanism is in rolling connection with one embracing hand 1, and the traveling mechanism is used to drive the excitation device 5 to move on one embracing hand 1.

[0040] The soft pad 2 is made of a rubber pad. A relatively thick rubber pad is fixed inside the embracing hand 1, which can adapt to tree trunks of different shapes and diameters.

[0041] Hinge rods 3 are fixedly connected to the inner sides of one end of both embracing hands 1, and the hinge rods 3 are rotatably connected between them.

[0042] The traveling mechanism includes a traveling bottom plate, a hydraulic motor 6, a driving wheel 7, and a plurality of driven wheels 8. The traveling bottom plate is fixedly connected to the excitation device 5. A hydraulic motor 6 is connected to the traveling bottom plate. The output end of the hydraulic motor 6 is connected to the driving wheel 7. A plurality of the driven wheels 8 are rotatably connected to the traveling frame. The driving wheel 7 and the driven wheels 8 are both in rolling connection with one embracing hand 1.

[0043] A strip-shaped wheel groove 9 is provided on the outer wall of one of the surrounding hands 1. A plurality of driven wheels 8 in the middle of the walking bottom plate are embedded in the wheel groove 9, and the driven wheels 8 are in rolling connection with the wheel groove 9. Another plurality of driven wheels 8 and the driving wheel 7 on the walking bottom plate are embedded in the position close to the edge of the inner wall of the surrounding hand 1, and the plurality of driven wheels 8 and the driving wheel 7 are in rolling connection with the position close to the edge of the inner wall of the surrounding hand 1. The driven wheels 8 and the driving wheel 7 can make the vibration excitation device 5 closely "walk" along the outside of the surrounding hand 1 to change the application direction of the vibration excitation force.

[0044] The telescopic driving mechanism adopts a bidirectional telescopic hydraulic cylinder. The bidirectional telescopic hydraulic cylinder can be hinged on the support frames 4 on both sides. The telescoping of the hydraulic cylinder can control the surrounding behavior of the two surrounding hands 1. A pressure sensor is installed on the hydraulic cylinder. When the pressure of the hydraulic cylinder reaches the threshold value, the application of the surrounding force is stopped.

[0045] The vibration excitation device 5 includes an eccentric wheel and the like. The eccentric wheel is composed of two mirror-symmetrical components with uneven mass distribution about the rotating shaft and is driven by a motor or a hydraulic motor 6 to rotate at a high speed, and can generate a vibration excitation force in one direction.

[0046] The pressure sensor is electrically connected to the controller. The controller is respectively electrically connected to the flow control valve, the hydraulic pump and the vibration excitation device 5. The power supply, the controller, the fuel tank, the hydraulic pump and the flow control valve are all arranged on the vehicle body. The fuel tank is connected to the hydraulic cylinder and the hydraulic motor 6 through the hydraulic pump and the flow control valve. The power supply supplies power to the controller, the hydraulic pump, the flow control valve, the pressure sensor, etc. The vehicle body can also send the multi-directional annular fruit and nut harvesting vibration head to near the tree trunk through the existing manipulator and shock absorption device. The connection method between the manipulator and the multi-directional annular fruit and nut harvesting vibration head adopts the existing technology and is not within the protection scope of the present invention.

[0047] Now it is necessary to harvest walnuts in a walnut grove and use this vibration head for vibration harvesting. First, move this vibration head in front of the main trunk (or larger side branch) of the walnut tree, control the hydraulic cylinder to act to make the surrounding device hold the tree tightly, and then start the vibration excitation device 5 to make the whole tree vibrate. After the walnuts are vibrated, they fall off. After the number of vibrated walnuts does not increase significantly, stop the vibration, start the hydraulic motor 6, make the vibration excitation device 5 closely walk along the outside of the surrounding hand 1, and after reaching the next specified position, apply the vibration excitation force to the tree again, and repeat the above work until the vast majority of walnuts are vibrated off.

[0048] This embodiment also provides a vibration method for the above-mentioned multi-directional annular fruit and nut harvesting vibration head, including:

[0049] Step 1: The initial state of the two semi-circular clamping hands 1 is open. Send the two semi-circular clamping hands 1 near the tree trunk, with the tree trunk located between the two semi-circular clamping hands 1. Start the hydraulic pump, and the hydraulic pump delivers hydraulic oil to the hydraulic cylinder through the flow control valve. The hydraulic cylinder extends to make the two semi-circular clamping hands 1 clamp the tree trunk. The pressure sensor continuously collects the pressure information of the hydraulic oil in the hydraulic cylinder and sends it to the controller. The controller determines whether the clamping hands 1 have clamped the tree trunk based on the pressure information. If it is determined that the clamping hands 1 have clamped the tree trunk, the controller controls the hydraulic cylinder to stop further extension;

[0050] Step 2: The controller controls the vibration excitation device 5 to act. The vibration excitation device 5 vibrates and then drives the tree trunk to vibrate, and the vibration is transmitted to the fruits, causing the fruits to fall off;

[0051] Step 3: The controller controls the hydraulic motor 6 of the traveling mechanism to act. The hydraulic motor 6 drives the driving wheel 7 to roll on one clamping hand 1, so that the vibration excitation device 5 moves on the clamping hand 1. When the vibration excitation device 5 moves a preset angle, the hydraulic motor 6 stops acting; The controller controls the vibration excitation device 5 to act. The vibration excitation device 5 vibrates and then drives the tree trunk to vibrate, and the vibration is transmitted to the fruits, causing the fruits to fall off;

[0052] Step 4: Repeat Step 3 until the traveling mechanism can no longer move forward on the clamping hand 1;

[0053] Step 5: The controller controls the traveling mechanism to move in the reverse direction to achieve reset;

[0054] Step 6: The controller controls the hydraulic cylinder to act through the flow control valve, so that the two semi-circular clamping hands 1 open and release the tree trunk, completing the harvesting.

[0055] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is subject to the claims. Any replacement, deformation, and improvement that are easily conceivable by those skilled in the art to this technology fall within the protection scope of the present invention.

Claims

1. A multi-directional annular fruit and forestry harvesting vibration head, characterized in that: It includes a surrounding mechanism, a vibration excitation device, and a traveling mechanism; The surrounding mechanism includes two semi-circular surrounding hands, a soft pad, a support frame, and a telescopic drive mechanism; Soft pads are fixedly connected to the inner sides of both surrounding hands. One end of the two surrounding hands is rotatably connected. Support frames are fixedly connected to both surrounding hands, and the support frames on the two surrounding hands are rotatably connected through a telescopic drive mechanism; A traveling mechanism is arranged on the vibration excitation device. The traveling mechanism is in rolling connection with one surrounding hand and is used to drive the vibration excitation device to move on one surrounding hand.

2. The multi-directional annular fruit and forest harvesting vibration head according to claim 1, characterized in that: The soft pad is made of a rubber pad.

3. The multi-directional annular fruit and forest harvesting vibration head according to claim 1, wherein: Hinge rods are fixedly connected to the inner sides of one ends of the two surrounding hands, and the hinge rods are rotatably connected between them.

4. The multi-directional annular fruit and forest harvesting vibration head according to claim 1, characterized in that: The traveling mechanism includes a traveling bottom plate, a hydraulic motor, a driving wheel, and a plurality of driven wheels. The traveling bottom plate is fixedly connected to the vibration excitation device. A hydraulic motor is connected to the traveling bottom plate. The output end of the hydraulic motor is connected to the driving wheel. The plurality of driven wheels are rotatably connected to the traveling frame. The driving wheel and the driven wheels are all in rolling connection with one surrounding hand.

5. The multi-directional annular fruit and forest harvesting vibration head according to claim 4, characterized in that: A strip-shaped wheel groove is arranged on the outer wall of one surrounding hand. The plurality of driven wheels on the traveling bottom plate are in rolling connection with the wheel groove. The other plurality of driven wheels and the driving wheel on the traveling bottom plate are in rolling connection with the edge position of the inner wall of the surrounding hand.

6. The multi-directional annular fruit and forest harvesting vibration head according to claim 4, wherein: The telescopic drive mechanism uses a hydraulic cylinder, and a pressure sensor is arranged on the hydraulic cylinder.

7. The multi-directional annular fruit and forest harvesting vibration head according to claim 6, characterized in that: The pressure sensor is electrically connected to a controller. The controller is respectively electrically connected to a flow control valve, a hydraulic pump, and the vibration excitation device. The controller, the fuel tank, the hydraulic pump, and the flow control valve are all arranged on the vehicle body. The fuel tank is connected to the hydraulic cylinder and the hydraulic motor through the hydraulic pump and the flow control valve.

8. A vibration method for a multi-directional annular fruit and forest harvesting vibrating head according to claim 7, characterized in that: It includes: Step 1: The initial state of the two semi-circular surrounding hands is the open state. Send the two semi-circular surrounding hands to near the tree trunk. The tree trunk is located between the two semi-circular surrounding hands. Start the hydraulic pump. The hydraulic pump transports hydraulic oil to the hydraulic cylinder through the flow control valve. The hydraulic cylinder extends to make the two semi-circular surrounding hands hold the tree trunk tightly. The pressure sensor collects the pressure information of the hydraulic oil in the hydraulic cylinder in real time and sends it to the controller. The controller judges whether the surrounding hands hold the tree trunk tightly according to the pressure information. If it is judged that the surrounding hands have held the tree trunk tightly, the controller controls the hydraulic cylinder to stop extending; Step 2: The controller controls the vibration excitation device to act. The vibration excitation device vibrates and then drives the tree trunk to vibrate. The vibration is transmitted to the fruits, causing the fruits to fall off; Step 3: The controller controls the hydraulic motor of the traveling mechanism to act. The hydraulic motor drives the driving wheel to roll on one surrounding hand, so that the vibration excitation device moves on the surrounding hand. When the vibration excitation device moves a preset angle, the hydraulic motor stops acting; The controller controls the vibration excitation device to act. The vibration excitation device vibrates and then drives the tree trunk to vibrate. The vibration is transmitted to the fruits, causing the fruits to fall off; Step 4: Repeat Step 3 until the traveling mechanism cannot continue to move forward on the surrounding hand; Step 5: The controller controls the traveling mechanism to move backward to achieve reset; Step 6: The controller controls the hydraulic cylinder to act through the flow control valve, so that the two semi-circular surrounding hands open and release the tree trunk.

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