Forest fruit picking device

Abstract

The invention provides a forest fruit picking device. The forest fruit picking device comprises a middle connecting assembly and a vibration clamping device, wherein the middle connecting assembly is used for connecting the picking device with other equipment; the middle connecting assembly comprises a connecting plate, fixing lug plates, chains and flexible cushion blocks, the multiple chains penetrate through the connecting plate and then are connected with the vibration clamping device, the other ends of the chains are used for being connected with other equipment, the multiple fixing lug plates are arranged on the upper surface of the connecting plate, and the fixing lug plates are used for being hinged to the other equipment; the flexible cushion block is arranged between the vibration clamping device and the connecting plate, one end of the flexible cushion block is fixedly arranged on the vibration clamping device or the connecting plate, and a gap is correspondingly reserved between the other end of the flexible cushion block and the connecting plate or the vibration clamping device. By means of the forest fruit picking device, tree trunks can be clamped from different angles, the clamping direction of the picking device is not limited to the horizontal direction any more, and the picking requirement under more complex conditions can be met.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting technology, specifically to a fruit harvesting device. Background Technology

[0002] Existing technologies mostly employ vibratory harvesting devices for fruit picking, specifically clamping the tree trunk and then vibrating to pluck the fruit. Chinese patent application CN202210342468.3 discloses an eccentric vibratory harvesting device for fruit picking operations. This device includes a clamping mechanism, a vibration mechanism, and a lifting mechanism. The lifting mechanism and the clamping mechanism are connected by a shock-absorbing mechanism. Because the shock-absorbing mechanism itself is a flexible structure, the clamping mechanism is only suitable for clamping the tree trunk horizontally. When the fruit tree is tilted, manual intervention is required to clamp the trunk, thus limiting the adaptability of the harvesting device.

[0003] In conclusion, there is an urgent need for a fruit harvesting device to solve the problems existing in the current technology. Summary of the Invention

[0004] The purpose of this invention is to provide a fruit harvesting device that solves the problem that existing harvesting devices can only clamp the tree trunk horizontally, requiring manual intervention when the fruit tree is tilted. The specific technical solution is as follows: A fruit harvesting device includes an intermediate connecting component for connecting the harvesting device to other equipment and a vibrating clamping device for harvesting. The intermediate connecting assembly includes a connecting plate, fixed lugs, chains, and flexible pads. Multiple chains pass through the connecting plate and are connected to the vibration clamping device. The other end of each chain is used to connect to other equipment. Multiple fixed lugs are provided on the upper surface of the connecting plate, and the fixed lugs are used to hinge with other equipment. The flexible pad is disposed between the vibration clamping device and the connecting plate. One end of the flexible pad is fixedly disposed on the vibration clamping device or the connecting plate, and the other end of the pad has a gap with the connecting plate or the vibration clamping device.

[0005] Preferably, the chain is fitted with a protective sleeve on the portion between the vibration clamping device and the connecting plate.

[0006] Preferably, the gap is 5-10 mm.

[0007] Preferably, the vibration clamping device includes a frame, a clamping assembly, and an oscillation assembly, both of which are mounted on the frame. The clamping assembly is used to clamp the tree trunk, and the oscillation assembly is used to drive the frame and the clamping assembly to vibrate together.

[0008] Preferably, the chain passes through the connecting plate and connects to the frame, one end of the flexible pad is fixedly mounted on the oscillation assembly, and the other end of the pad has a gap with the bottom surface of the connecting plate.

[0009] Preferably, the oscillation assembly includes a driving device, a housing, and an eccentric turntable. The housing is fixedly connected to the frame, and the eccentric turntable is rotatably disposed inside the housing and driven to rotate by the driving device.

[0010] Preferably, the eccentric turntable includes a gear disk and an eccentric block disposed on the gear disk, the driving device includes a driving gear and a rotary driving component, the two eccentric turntables are disposed on both sides of the driving gear and simultaneously mesh with the driving gear, and the output end of the rotary driving component is connected to the driving gear.

[0011] Preferably, the two eccentric turntables rotate in opposite directions, and the eccentric forces generated when the two eccentric blocks pass through the plane where the clamping assembly is located are in the same direction.

[0012] Preferably, the clamping assembly includes a gripper assembly and a telescopic drive component. Two gripper assemblies are symmetrically arranged on the frame and are hinged to the frame. Both gripper assemblies are hinged to the frame and a telescopic drive component is provided.

[0013] Preferably, the gripper assembly includes a gripper, an inner gripper arm, and an outer gripper arm. The length directions of the inner gripper arm and the outer gripper arm are parallel to each other, and both ends of the inner gripper arm and the outer gripper arm are respectively hinged to the gripper arm and the frame. One end of the telescopic drive member is hinged to the frame, and the other end is hinged to the outer gripper arm.

[0014] The application of the technical solution of the present invention has the following beneficial effects: The fruit harvesting device of the present invention can clamp the tree trunk from different angles. The clamping direction of the harvesting device is no longer limited to the horizontal direction, and can adapt to harvesting needs in more complex situations. Specifically: when the connecting plate is in a horizontal state, due to the existence of gaps, all chains are subjected to force to suspend the vibrating clamping device. At this time, the clamping direction of the vibrating clamping device is parallel to the Y-axis. When the connecting plate rotates around the X-axis under the drive of an external force (the external force is generally driven by other equipment), the gap is eliminated. The vibrating clamping device and the connecting plate are supported by a flexible pad. Only the front or rear chain is subjected to force to pull the vibrating clamping device. Correspondingly, the rear or front chain is not subjected to force and is in a relaxed state. The vibrating clamping device is forced to rotate around the X-axis, and the clamping direction of the vibrating clamping device makes an angle with the Y-axis to meet the clamping needs of the tree trunk from different angles.

[0015] The fruit picking device of the present invention uses a clamping and vibration method for picking. The vibration along the clamping direction can effectively stimulate the fruit trees to pick the fruit. The chain and flexible pad block enable the connection between the vibrating clamping device and other equipment, which can prevent the vibration generated by the vibrating clamping device from being transmitted to other equipment, affecting the normal operation of other equipment and the working comfort of the operator.

[0016] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is an isometric view of the fruit harvesting device of the present invention; Figure 2 yes Figure 1 Side view of the fruit picking device in Zhonglin; Figure 3 This is a schematic diagram of the structure of the fruit harvesting device of the present invention after the cover is hidden; Figure 4 yes Figure 3 A schematic diagram showing the fit between the intermediate gear disk and the drive gear; Among them, 1. frame, 2. clamping assembly, 3. intermediate connecting assembly, and 4. oscillation assembly; 21. Gripper assembly; 211. Clamping component; 212. Inner gripper arm; 213. Outer gripper arm; 22. Telescopic drive component; 31. Connecting plate; 32. Fixing ear plate; 33. Chain; 34. Sheath; 35. Flexible pad. 41. Rotary drive component; 42. Cover; 43. Gear disk; 44. Eccentric block; 45. Drive gear. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0020] Example: See Figures 1-4 This embodiment provides a fruit picking device, including an intermediate connecting component 3 for connecting the picking device with other equipment and a vibration clamping device for picking. The intermediate connecting assembly 3 includes a connecting plate 31, a fixed ear plate 32, a chain 33, and a flexible pad 35. Multiple chains 33 pass through the connecting plate 31 and are connected to the vibration clamping device. The other end of the chain 33 is used to connect with other equipment. Multiple fixed ear plates 32 are provided on the upper surface of the connecting plate 31. The fixed ear plates 32 are used to hinge with other equipment. The flexible pad 35 is disposed between the vibration clamping device and the connecting plate 31. One end of the flexible pad 35 is fixedly disposed on the vibration clamping device or the connecting plate 31, and the other end is provided with a gap between it and the connecting plate 31 or the vibration clamping device.

[0021] like Figure 1 The fixed ear plate 32, which is hinged to other equipment, has a rotation axis parallel to the X-axis. Chains 33 are provided on both the front and rear sides of the fixed ear plate 32. When the connecting plate 31 is horizontal, due to the gap, all chains 33 share the force to suspend the vibration clamping device. At this time, the clamping direction of the vibration clamping device is parallel to the Y-axis (i.e., the angle between them is 0). When the connecting plate 31 rotates around the X-axis under external force (generally from other equipment), the gap is eliminated. The vibration clamping device and the connecting plate 31 are held together by a flexible pad 35. Only the front or rear chain 33 is pulled by the vibration clamping device, while the rear or front chain 33 is relaxed and unloaded. The vibration clamping device is forced to rotate around the X-axis. At this time, the clamping direction of the vibration clamping device forms an angle with the Y-axis (this angle is not equal to 0), thus meeting the clamping requirements of the tree trunk from different angles.

[0022] Furthermore, whether clamping horizontally or at an angle, the weight of the vibratory clamping device is shared by the chain 33, and the flexible pad 35 only bears pressure when clamping at an angle, thus preventing the flexible pad from being damaged by tensile force.

[0023] Preferably, the other equipment in this embodiment is an excavator after removing the bucket, but it can also be other types of equipment; further, the flexible pad 35 is a rubber pad.

[0024] Furthermore, a protective sleeve 34 is fitted over the portion of the chain 33 between the vibration clamping device and the connecting plate 31. The protective sleeve 34 is made of flexible material, which will not affect the normal operation of the chain and can also protect the chain 33.

[0025] Preferably, the gap in this embodiment is 5-10mm. This gap can satisfy the requirement that when the connecting plate 31 is in a horizontal state, the vibration clamping device and the connecting plate 31 are held together by the flexible pad 35, and can also satisfy the requirement that the connecting plate 31 does not need to rotate too much around the X-axis to drive the vibration clamping device to rotate around the X-axis together, ensuring that there is no large play.

[0026] Specifically, the vibration clamping device in this embodiment includes a frame 1, a clamping component 2, and an oscillation component 4. The clamping component 2 and the oscillation component 4 are both disposed on the frame 1. The clamping component 2 is used to clamp the tree trunk, and the oscillation component 4 is used to drive the frame 1 and the clamping component 2 to vibrate together.

[0027] like Figure 1 and Figure 2 As shown, the chain 33 passes through the connecting plate 31 and connects to the frame 1. One end of the flexible pad 35 is fixed to the oscillation assembly 4, and the other end has a gap with the bottom surface of the connecting plate 31. The chain 33 and the flexible pad 35 enable a flexible connection between the vibration clamping device and other equipment, ensuring that the vibration of the vibration clamping device is not transmitted to other equipment or the connecting plate 31, thus preventing disruption to the normal operation of other equipment and the comfort of the operator.

[0028] like Figure 3 and Figure 4 As shown, the oscillation assembly 4 includes a driving device, a cover 42 and an eccentric turntable. The cover 42 is fixedly connected to the frame 1. The eccentric turntable is rotatably disposed inside the cover 42 and is driven to rotate by the driving device. The rotation of the eccentric turntable generates vibration, which in turn drives the frame 1 and the clamping assembly 2 to vibrate together.

[0029] Specifically, in this embodiment, the eccentric turntable includes a gear disk 43 and an eccentric block 44 disposed on the gear disk 43. The driving device includes a driving gear 45 and a rotary driving member 41. Two eccentric turntables are disposed on both sides of the driving gear 45 and mesh with the driving gear 45 simultaneously. The output end of the rotary driving member 41 is connected to the driving gear 45. The two gear disks 43 (i.e., eccentric turntables) rotate in opposite directions under the drive of the driving gear 45.

[0030] Furthermore, in this embodiment, the eccentric forces generated when the two eccentric blocks 44 pass through the plane where the clamping assembly 2 is located are in the same direction (i.e., the two eccentric blocks will overlap when they pass through the plane where the clamping assembly is located). Therefore, in this embodiment, the vibration clamping device will only vibrate in the clamping direction. When the two eccentric blocks 44 move together to the front side, the vibration clamping device vibrates to the front side. When the two eccentric blocks 44 move together to the rear side, the vibration clamping device vibrates to the rear side. As for when the two eccentric blocks are not on the plane where the clamping assembly 2 is located, since the two gear disks 43 are driven by a drive gear 45, the rotation of the two gear disks 43 is synchronous and opposite in direction. The eccentric forces generated by the two eccentric blocks on the non-clamping assembly plane will cancel each other out, so the vibration clamping device will not vibrate.

[0031] like Figures 1-3 As shown, in this embodiment, the clamping component 2 includes a gripper component 21 and a telescopic drive component 22. The two gripper components 21 are symmetrically arranged on the frame 1 and are hinged to the frame 1. The telescopic drive component 22 is hinged to both gripper components 21 and the frame 1.

[0032] Furthermore, the gripper assembly 21 includes a gripper 211, an inner gripper arm 212, and an outer gripper arm 213. The length directions of the inner gripper arm 212 and the outer gripper arm 213 are parallel to each other, and both ends of the inner gripper arm 212 and the outer gripper arm 213 are respectively hinged to the gripper 211 and the frame 1. One end of the telescopic drive member 22 is hinged to the frame 1, and the other end is hinged to the outer gripper arm 213.

[0033] Furthermore, in some embodiments, the gripper assembly 21 may only include a single clamping member 211. After the clamping member 211 is hinged to the frame 1, a telescopic drive member 22 is hinged between the clamping member 211 and the frame 1.

[0034] Furthermore, in this embodiment, the telescopic drive component 22 is one of a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder, the rotary drive component 41 is one of a hydraulic motor or an electric motor, and the drive gear 45 and the gear disk 43 are both bevel gears.

[0035] The fruit picking device in this embodiment can clamp the tree trunk from different angles. The clamping direction of the picking device is no longer limited to the horizontal direction, and it can adapt to the clamping of tree trunks in more complex environments, making it more adaptable.

[0036] Meanwhile, the fruit picking device in this embodiment uses a clamping and vibration method for picking. The vibration along the clamping direction can effectively stimulate the fruit trees to pick the fruit, avoiding damage to the fruit trees. The chain and flexible pads enable the connection between the vibration clamping device and other equipment, which can prevent the vibration generated by the vibration clamping device from being transmitted to other equipment, affecting the normal operation of other equipment and the working comfort of the operators.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fruit picking device, characterized in that, The picking device comprises an intermediate connecting component (3) for connecting the picking device with other devices and a vibrating clamping device for picking; The intermediate connecting component (3) comprises a connecting plate (31), fixing lugs (32), chains (33) and flexible pads (35), the chains (33) are connected to the vibrating clamping device after penetrating through the connecting plate (31), the other ends of the chains (33) are used for connecting with other devices, the upper surface of the connecting plate (31) is provided with the fixing lugs (32) which are used for hingedly connecting with other devices; The flexible pads (35) are arranged between the vibrating clamping device and the connecting plate (31), one end of the flexible pads (35) is fixedly arranged on the vibrating clamping device or the connecting plate (31), and the other end of the flexible pads (35) leaves a gap corresponding to the connecting plate (31) or the vibrating clamping device.

2. The fruit picking device according to claim 1, characterized in that The chains (33) are sleeved with sheaths (34) between the vibrating clamping device and the connecting plate (31).

3. The fruit picking device according to claim 1, characterized in that, The gap is 5-10 mm.

4. The fruit picking device according to any one of claims 1 to 3, characterized in that The vibrating clamping device comprises a frame (1), a clamping component (2) and an oscillating component (4), the clamping component (2) and the oscillating component (4) are arranged on the frame (1), wherein the clamping component (2) is used for clamping a tree trunk, and the oscillating component (4) is used for driving the frame (1) and the clamping component (2) to vibrate together.

5. The fruit picking device according to claim 4, characterized in that The chains (33) are connected to the frame (1) after penetrating through the connecting plate (31), one end of the flexible pads (35) is fixedly arranged on the oscillating component (4), and the other end of the flexible pads (35) leaves a gap with the bottom surface of the connecting plate (31).

6. The fruit picking device according to claim 4, wherein The oscillating component (4) comprises a driving device, a cover (42) and an eccentric rotating disc, the cover (42) is fixedly connected between the frame (1), and the eccentric rotating disc is rotationally arranged in the cover (42) and is driven to rotate by the driving device.

7. The fruit picking device according to claim 6, characterized in that The eccentric rotating disc comprises a gear disc (43) and eccentric blocks (44) arranged on the gear disc (43), the driving device comprises a driving gear (45) and a rotating driving member (41), two eccentric rotating discs are arranged on the two sides of the driving gear (45) and are in meshing connection with the driving gear (45), and the output end of the rotating driving member (41) is connected with the driving gear (45).

8. The fruit picking device according to claim 7, characterized in that The rotating directions of the two eccentric rotating discs are opposite, and the eccentric forces generated by the two eccentric blocks (44) when the two eccentric blocks (44) pass through the plane where the clamping component (2) is located at the same time are in the same direction.

9. The fruit picking device according to claim 4, wherein The clamping component (2) comprises clamping jaw components (21) and telescopic driving members (22), two clamping jaw components (21) are symmetrically arranged on the frame (1) and are hingedly arranged between the clamping jaw components (21) and the frame (1), and the telescopic driving members (22) are hingedly arranged between the two clamping jaw components (21) and the frame (1).

10. The fruit picking device according to claim 9, characterized in that The clamping jaw assembly (21) comprises a clamping piece (211), an inner clamping arm (212) and an outer clamping arm (213), the length directions of the inner clamping arm (212) and the outer clamping arm (213) are parallel to each other, and both ends of the inner clamping arm (212) and the outer clamping arm (213) are respectively hinged to the clamping piece (211) and the frame body (1), one end of the telescopic driving member (22) is hinged to the frame body (1), and the other end is hinged to the outer clamping arm (213).

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