A vibration recovery device with real-time adjustable amplitude and frequency

Abstract

The present application relates to a kind of amplitude frequency real-time adjustable vibration recovery device, including clamping device, excitation box, gear box and servo motor.The excitation box is equipped with two identical eccentricity eccentric blocks, each eccentric block is equipped with adjusting slider, adjusting slider is controlled radial displacement by servo motor driven cylindrical cam mechanism, to change excitation amplitude by real-time adjustment of eccentricity;The gear box includes gear set and bevel gear, for ensuring that two eccentric blocks rotate with same speed and keep synchronization, maintain dynamic balance in excitation process;The clamping device is composed of clamping arm and rubber block driven by electric push rod, for fixing device on the surface of trunk during recovery process.By the first servo motor control adjusting slider displacement can adjust excitation amplitude, by the second servo motor control eccentric block rotation speed can adjust excitation frequency.The present application can realize the real-time continuous adjustment of amplitude and frequency without disassembly, improve recovery efficiency and reduce fruit damage.

Description

Technical Field

[0001] This invention relates to the technical field of agricultural machinery and equipment, and more particularly to an operation process adapted to harvesting ripe fruits, specifically a vibratory harvesting device with adjustable amplitude and frequency in real time. Background Technology

[0002] Among existing mechanized fruit harvesting methods, vibratory harvesting devices are widely used because they can separate fruit from branches through mechanical vibration. Common vibratory harvesting devices typically consist of an excitation mechanism, a transmission system, and a clamping mechanism. Their basic principle is to use the rotation of an eccentric block to generate excitation force, which is then transmitted to the trunk through the clamping mechanism, thus causing the fruit to fall off. However, existing vibratory harvesting devices generally have several shortcomings: Firstly, the eccentric block structure of most devices is fixed, and its eccentricity and rotation speed cannot be adjusted in real time, resulting in the excitation amplitude and frequency remaining at fixed values ​​during operation. This fixed-parameter operation makes it difficult to accommodate differences in tree species, tree age, and fruit maturity, easily leading to some fruits not falling off properly or damage to both fruit and branches. Secondly, although some devices can change vibration parameters by replacing the eccentric block or adjusting the gear ratio, the operation is complex and the adjustment process is time-consuming, making it difficult to meet the needs of rapid adjustment in orchard operations. Furthermore, existing devices are prone to generating additional vibration components due to high mechanical coupling during long-term use, leading to insufficient equipment stability.

[0003] Therefore, there is an urgent need in the existing technology for a vibration harvesting device that can achieve real-time adjustment of amplitude and frequency, strong adaptability and stable operation, in order to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to address the problems of existing fruit tree vibration harvesting devices, such as the inability to adjust amplitude and frequency in real time, poor adaptability, cumbersome adjustment process, and insufficient excitation stability, by providing a vibration harvesting device with adjustable amplitude and frequency in real time. This device can achieve efficient and low-damage fruit harvesting by adjusting the excitation parameters in real time under different fruit tree species, tree ages, and fruit maturity conditions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A vibration harvesting device with real-time adjustable amplitude and frequency includes an excitation box, a gearbox, and a clamping device. The excitation box contains a first eccentric block and a second eccentric block with the same eccentricity. Each eccentric block has an adjustable slider that can move radially. The radial displacement of the adjustable slider is controlled by a cylindrical cam mechanism driven by a servo motor, thereby achieving real-time adjustment of the eccentricity to change the excitation amplitude. The gearbox includes a first gear set to ensure the two eccentric blocks rotate at the same speed, and a second gear set to ensure the two eccentric blocks maintain the same eccentricity. The clamping device includes a clamping arm, a rubber seat disposed between the clamping arm and the box, and an electric push rod for driving the clamping arm to open and close. The clamping device is connected to the excitation box by bolts, and different types of clamping devices can be replaced as needed.

[0006] Preferably, the line connecting the centers of the first drive shaft and the second drive shaft is parallel to the reference plane of the side plate of the vibration box used to fix the electric push rod base, so as to ensure the stability of the excitation force direction during the excitation process and avoid generating unwanted additional vibration force.

[0007] Furthermore, the excitation box is provided with a gear protective cover, and a first servo motor support and a second servo motor support are installed on the protective cover for fixing and positioning the servo motor.

[0008] Preferably, each eccentric block is provided with multiple radial slide rails to limit the adjustment slider to move only radially; the adjustment slider is matched with the shaft section length of the transmission shaft through the connecting rod to limit the limit displacement and prevent the adjustment slider from falling off or causing interference at the maximum or minimum eccentricity position.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 1. The eccentricity of the eccentric block can be adjusted in real time through a cylindrical cam-slider mechanism driven by a servo motor, so as to achieve continuous and controllable excitation amplitude; 2. Through the coordinated action of dual servo motors and gear sets, the excitation frequency can be quickly adjusted without replacing mechanical parts to meet the harvesting needs of different crops; 3. By rationally arranging the drive shaft and the side plates of the housing, the excitation direction is kept stable, effectively avoiding additional vibration force components and improving the smoothness of the device operation; 4. The clamping device can be quickly replaced to adapt to different fruit tree diameters and operating scenarios, improving the adaptability of the device; 5. Install gear protective covers and motor support bases to improve operational safety and equipment reliability; 6. The multi-rail and limit-positioning structure ensures the safe movement of the adjusting slider, prevents it from falling off or interfering, and extends the life of the device.

[0010] In summary, by introducing an adjustable slider and servo drive mechanism into the eccentric block structure, this invention achieves real-time adjustment of amplitude and frequency, significantly improving the adaptability, stability, and operational efficiency of the vibration harvesting device, and has significant application value. Attached Figure Description

[0011] Figure 1 An isometric view of the concealed rear cover plate of this invention; Figure 2 This is a front view of the present invention after the gear cover and rear cover plate are hidden. Figure 3 This is a side view of the concealed vibratory chamber side plate of the present invention; Figure 4 This is a top view of the entire machine of the present invention; Figure 5 This is a cross-sectional view of the axis of the first and second transmission shafts of the present invention.

[0012] As shown in the figure: 1. Clamping arm; 2. Vibration box; 3. First servo motor; 4. Gearbox; 5. Lifting ring; 6. Electric push rod; 7. Rubber block; 8. Second servo motor; 211. First eccentric block; 212. Second eccentric block; 22. Adjusting slider connecting rod; 231. First drive shaft; 232. Second drive shaft; 24. Upper connector; 25. Lower connector; 26. Cylindrical cam; 271. First thrust ball bearing; 272. Second thrust ball bearing; 28. Fixing nut; 29. ​​Adjusting slider; 41. First gear set; 42. Second gear set. Detailed Implementation

[0013] To enable those skilled in the art to better understand the technical solutions of the present invention, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0014] like Figures 1 to 3 As shown, this embodiment provides a vibration harvesting device with real-time adjustable amplitude and frequency, including a clamping device, a vibration box 2, a gearbox 4, and drive and transmission mechanisms installed in each part. The clamping device is used to clamp the branches or trunk of the fruit tree. The eccentric block mechanism set in the vibration box 2 is used to generate simple harmonic excitation force. The gearbox 4, the first servo motor 3, and the second servo motor 8 provide power and adjustment capability for the eccentric block mechanism. The entire device can realize real-time adjustment of the excitation amplitude and excitation frequency during the harvesting operation.

[0015] The clamping device mainly includes a clamping arm 1 and a rubber block 7 located inside the clamping arm 1 to reduce damage when clamping the target part of the fruit tree. The opening and closing of the clamping arm 1 is driven by an electric push rod 6, which is fixed to a support seat on the side plate of the vibration box 2. By controlling the extension and retraction stroke of the electric push rod 6, the opening and closing angle of the clamping arm 1 can be adjusted to accommodate branches or fruit trees of different diameters. The clamping device is connected to the vibration box 2 by bolts, allowing for quick replacement and disassembly according to different harvesting targets to meet the needs of different fruit tree varieties and operating conditions.

[0016] The excitation housing 2 contains a symmetrically arranged first eccentric block 211 and a second eccentric block 212, both with the same eccentricity and driven synchronously by a second servo motor 8 via a first transmission shaft 231 and a second transmission shaft 232. Their rotational speed determines the excitation frequency. Each eccentric block is equipped with an adjusting slider 29, which is radially arranged and can slide relative to the eccentric block. Its radial position is adjusted by a cylindrical cam 26. The cylindrical cam 26 is connected to the output shaft of the first servo motor 3. Driven by the first servo motor 3, the cam can drive the adjusting slider 29 to achieve radial displacement, thereby changing the eccentricity of the eccentric block and thus adjusting the excitation amplitude in real time. To ensure the motion stability of the adjusting slider 29, each slider is constrained by an upper connecting member 24 and a lower connecting member 25, and decoupled from the eccentric block by a first thrust ball bearing 271 and a second thrust ball bearing 272, thus separating the rotational motion from the radial translation and avoiding the influence of friction or interference on the adjustment accuracy.

[0017] The first drive shaft 231 and the second drive shaft 232 are arranged such that the line connecting their axes is parallel to the reference plane of the side plate of the vibrating box 2 used to fix the base of the electric push rod 6, thereby ensuring that the direction of the excitation force is symmetrical with the box structure and avoiding the shaking of the vibrating box 2 caused by unexpected lateral force components. The first drive shaft 231 and the second drive shaft 232 are connected to the servo motors through a gearbox 4. The gearbox 4 includes a first gear set 41 to ensure that the two eccentric blocks rotate at the same speed; it also includes a second gear set 42 to ensure that the eccentric blocks maintain the same eccentricity and adjust synchronously. The gearbox 4 meshes with the output shafts of the first servo motor 3 and the second servo motor 8 through a pair of bevel gears, which can realize the reasonable conversion of power input and transmission direction.

[0018] The vibratory housing 2 is equipped with a gear protective cover, which is fixed to the outer wall of the housing with bolts. This cover protects the gear meshing area and prevents foreign objects from entering and causing gear jamming. The protective cover is equipped with a first servo motor support and a second servo motor support, which are used to fix the first servo motor 3 and the second servo motor 8, respectively, to ensure that their meshing position with the gearbox 4 is accurate and stable.

[0019] To ensure reliability during adjustment, multiple slide rails are arranged radially on each eccentric block. The adjusting slider 29 can only move along the slide rails, avoiding any deviation beyond the radial direction. The limit displacement of the slider is limited by the length of the shaft segments of the connecting rod and the first drive shaft 231 and the second drive shaft 232, thereby preventing the slider from falling off or interfering when reaching the maximum or minimum eccentricity position, thus improving the safety and durability of the system.

[0020] In practical applications, the device is used as follows: First, the second servo motor 8 drives the first eccentric block 211 and the second eccentric block 212 to rotate. The first gear set 41 of the gearbox 4 ensures that the two eccentric blocks rotate at the same speed, and the second gear set 42 ensures that their eccentricity is the same. Simultaneously, the first servo motor 3 drives the cylindrical cam 26 to adjust the position of the adjusting slider 29, thereby changing the eccentricity in real time to adjust the excitation amplitude. Second, the excitation frequency is adjusted in real time by controlling the rotation speed of the second servo motor 8. Third, the electric push rod 6 drives the clamping device to clamp the target fruit tree part. The rubber block 7 can buffer and reduce damage to the branches and trunks of the fruit tree during clamping. Throughout the harvesting process, the rotation speed of the second servo motor 8 and the rotation angle of the cylindrical cam 26 can be adjusted in real time by the control system according to the canopy structure and fruit distribution of the fruit tree, thereby achieving dynamic optimization of the amplitude and frequency during the harvesting process, improving harvesting efficiency and operational adaptability.

[0021] This invention, by incorporating a real-time adjustable eccentric block mechanism within the vibration chamber 2, and coordinating the clamping device, electric push rod 6, gearbox 4, and the first servo motor 3 and the second servo motor 8, enables online adjustment of the amplitude and frequency of the vibratory harvesting device without disassembling the vibration chamber 2. It is suitable for different types of fruit trees and various harvesting conditions. Due to its compact structure and light weight, the device is easy to transport and use in complex terrains such as hills and mountains, and has broad application prospects.

[0022] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A vibration harvesting device with real-time adjustable amplitude and frequency, comprising an excitation box (2), a gearbox (4), and a clamping device (1), characterized in that: The excitation box (2) is equipped with a first eccentric block (211) and a second eccentric block (212). The first eccentric block (211) and the second eccentric block (212) have the same eccentricity and are driven synchronously by a second servo motor (8) through a first transmission shaft (231) and a second transmission shaft (232). Their rotation speed is used to adjust the excitation frequency in real time. The first eccentric block (211) and the second eccentric block (212) are each equipped with an adjusting slider (29) that can move radially. Each eccentric block is equipped with multiple slide rails along the radial direction to limit the adjusting slider (29) to move only radially. The radial displacement of the adjusting slider (29) is controlled by a cylindrical cam (26) mechanism driven by the first servo motor (3) to adjust the eccentricity of the first eccentric block (211) and the second eccentric block (212), thereby changing the excitation amplitude in real time. The adjusting slider (29) is supported by the upper connector (24) and the lower connector (25), and is decoupled from its corresponding first eccentric block (211) and second eccentric block (212) by the first thrust ball bearing (271) and the second thrust ball bearing (272) to achieve separation of rotation and translation. The limit displacement of the adjusting slider (29) is limited by the shaft length of the connecting rod and the first transmission shaft (231) and the second transmission shaft (232) to prevent the adjusting slider (29) from falling off or interfering at the maximum or minimum eccentricity position. The gearbox (4) includes a first gear set (41) to ensure that the first eccentric block (211) and the second eccentric block (212) rotate at the same speed, and a second gear set (42) to ensure that the first eccentric block (211) and the second eccentric block (212) maintain the same eccentricity.

2. The vibratory harvesting device according to claim 1, characterized in that: The line connecting the axes of the first drive shaft (231) and the second drive shaft (232) is parallel to the reference plane of the side plate of the vibration box (2) used to fix the base of the electric push rod (6).

3. The vibratory harvesting device according to claim 1, characterized in that: The clamping device (1) includes a clamping arm, an electric push rod (6), and a rubber block (7) located between the clamping arm and the box (2). The electric push rod (6) controls the opening and closing of the clamping arm. The clamping device (1) is connected to the vibration box (2) by bolts and can be replaced with different types of clamping devices to adapt to different fruit trees.

4. The vibratory harvesting device according to claim 1, characterized in that: The gearbox (4) is connected to the output shafts of the first servo motor (3) and the second servo motor (8) via a pair of bevel gears.

5. The vibratory harvesting device according to claim 1, characterized in that: The excitation box (2) is provided with a gear protective cover, and the protective cover is equipped with a first servo motor support and a second servo motor support.

6. A method for harvesting fruit trees using the vibratory harvesting device as described in any one of claims 1 to 5, characterized in that, The process includes the following steps: (a) Starting the second servo motor (8), which drives the first transmission shaft (231) and the second transmission shaft (232) through the gearbox (4), thereby driving the first eccentric block (211) and the second eccentric block (212) to rotate synchronously, generating an excitation force parallel to the plane of the excitation box (2); (b) Controlling the first servo motor (3) to drive the cylindrical cam (26) to rotate, and adjusting the eccentricity of the first eccentric block (211) and the second eccentric block (212) by adjusting the slider (29) to adjust the excitation amplitude; (c) Controlling the rotation speed of the second servo motor (8) to change the rotation frequency of the first eccentric block (211) and the second eccentric block (212) to adjust the excitation frequency; (d) Controlling the electric push rod (6) to drive the clamping device (1) to open and close, so that the clamping arm clamps the target part of the fruit tree, and reducing clamping damage by using the rubber block (7); (e) Based on the harvesting results, the outputs of the first servo motor (3) and the second servo motor (8) are coordinated and controlled to achieve stepless adjustment of the excitation amplitude and excitation frequency.

7. The method according to claim 6, characterized in that: In step (b), the radial displacement of the adjusting slider (29) is supported by the upper connector (24), the lower connector (25), the first thrust ball bearing (271), and the second thrust ball bearing (272) to achieve decoupling of rotational and translational motion.

8. The method according to claim 6, characterized in that: In step (c), the axis connecting the first drive shaft (231) and the second drive shaft (232) is kept parallel to the reference plane of the side plate of the excitation box (2) used to fix the electric push rod (6) base, so as to avoid generating unexpected excitation force components.

9. The method according to claim 6, characterized in that: In step (d), the clamping device (1) can be replaced according to different fruit trees or operational needs to adapt to different diameter ranges and clamping positions.

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