Soft rope traction type vibration picking machine

Abstract

The soft rope traction type vibration picking machine of the present application utilizes the crank power assembly to exert a small vertical tension on the steel wire soft rope to make the steel wire soft rope obtain a larger tension, increase the traction force of the steel wire soft rope on the tree connecting steel rope, thereby increase the pulling force of the tree connecting steel rope on the branch, utilize the reciprocating motion of the crank power assembly to form the traction force of the tree connecting steel rope in a beat type change, make the branch effectively vibrate, improve the fruit drop rate, the steel wire soft rope passes through the crank power mechanism and the positioning pulley assembly, utilize the positioning pulley assembly to only change the tension direction of the steel wire soft rope without changing the tension size, make the tension on the steel wire soft rope in a V-shaped deformation change from an inclination to a horizontal, make the steel wire soft rope pull the tree connecting steel rope in a horizontal direction, realize the simultaneous picking of multiple branches, improve the picking efficiency, be suitable for the picking of the oil tea tree under the condition that the branch is seriously bifurcated and intersected, reduce the damage to the tree, and have high practicality.

Description

Technical Field

[0001] This invention relates to a cable-driven vibratory harvester, belonging to the field of automated fruit harvesting technology. Background Technology

[0002] A camellia oleifera harvester is a specialized piece of machinery used in the harvesting of camellia oleifera fruits. Common harvesting mechanisms include comb-type harvesting mechanisms, clamp-type vibrating harvesting mechanisms, and handheld vibrating harvesting mechanisms. The comb-type harvesting mechanism works by driving a comb head to perform a variable-interval combing motion, gliding across the camellia branches like a brush and pulling the fruits off the branches. The clamp-type and handheld vibrating harvesting mechanisms work by transmitting vibrations of a specific amplitude to the tree through a vibrator, subjecting the fruits to an inertial force greater than the bond between the fruit and the branch, thus shaking the fruits off. All three of these harvesting mechanisms have their shortcomings: 1. The clamping vibrating fruit-harvesting mechanism has relatively strict requirements on the main trunk of the tree during harvesting. It cannot operate when the main trunk of the tree is not obvious or the spread of the lower branches exceeds the maximum width of the clamping mechanism.

[0003] 2. The comb-type fruit-picking mechanism requires the combing rod to penetrate deep into the tree canopy. When encountering large-canopy camellia trees, the inside cannot be combed. Furthermore, because the combing rod will move vertically, swing horizontally, or rotate, or both, when encountering camellia trees with intricate branches, excessive combing force will damage the tree, while insufficient combing force will easily cause the combing rod to get stuck in the middle of the canopy.

[0004] 3. Handheld vibrating fruit harvesting mechanisms require manual hand-held operation to vibrate the tree. Holding the machine for extended periods is strenuous and can easily cause worker fatigue.

[0005] In actual operation, some camellia branches are severely forked and intersecting, with the lowest point of the fork close to the ground. Excessive force from a brush-type harvester can easily damage the branches, while insufficient force can cause the brush head to jam. Furthermore, the vibration efficiency transmitted by the vibratory harvesting mechanism is low, affecting the harvesting progress. Therefore, none of the above three harvesting mechanisms are suitable for harvesting camellia trees with severely forked and intersecting branches. Summary of the Invention

[0006] The flexible cable traction vibratory harvester provided by this invention utilizes a crank power assembly to apply a small vertical tension to the flexible steel cable, thereby increasing the tension of the flexible steel cable on the tree-connecting steel rope and thus increasing the pulling force of the tree-connecting steel rope on the branches. The reciprocating motion of the crank power assembly creates a rhythmic change in the traction force of the tree-connecting steel rope, effectively vibrating the branches and improving the fruit drop rate. The flexible steel cable passes through the crank power mechanism and the positioning pulley assembly. The fixed pulley assembly only changes the direction of the tension in the flexible steel cable without changing its magnitude, causing the tension on the deformed V-shaped flexible steel cable to change from inclined to horizontal. The steel wire rope pulls the tree-connecting steel rope horizontally, allowing the ropes in different directions to effectively pull on the branches. The tension of the steel wire rope is distributed among multiple tree-connecting steel ropes, enabling simultaneous harvesting of multiple branches and improving harvesting efficiency. Steel rings connect the steel wire rope and the tree-connecting steel rope, allowing multiple ropes to be effectively connected to the steel wire rope. The loops at the ends of the tree-connecting steel ropes connect the branches. This method has low requirements for branch shape, curvature, and position, and no requirements for the main trunk of the tree. It is suitable for harvesting camellia trees with severe branch forking and intersection, improving harvesting reliability and efficiency, reducing damage to the trees, and is highly practical.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A flexible cable traction vibrating harvester includes a tracked chassis, a frame mounted on the tracked chassis, a winch mounted on the frame, and a flexible steel cable wound around the winch. The frame is characterized by a crank-driven power mechanism that drives the flexible steel cable in reciprocating motion and a fixed pulley assembly that changes the tension direction of the flexible steel cable. The winch, crank-driven power mechanism, and fixed pulley assembly are arranged sequentially from back to front. The flexible steel cable passes through the crank-driven power mechanism and the fixed pulley assembly. The free end of the flexible steel cable is connected to a steel ring, and multiple tree-connecting steel ropes are connected to the steel ring. The front ends of the tree-connecting steel ropes are looped onto the branches of the fruit trees through loops. The flexible steel cable is horizontally straightened as the winch tightens, taut and sturdy, and is pulled by the up-and-down movement of the crank-driven power mechanism, causing the branches to vibrate with the movement of the tree-connecting steel ropes.

[0008] Preferably, the crank power mechanism includes a motor, a gear assembly connected to the output end of the motor, a crank-slider assembly coaxially connected to the gear assembly, and a guide cylinder that is vertically guided to the crank-slider assembly. A steel wire rope passes through the crank-slider assembly, and the crank-slider assembly drives the steel wire rope to move up and down as the motor runs.

[0009] Preferably, the gear assembly includes a housing mounted on the frame, a drive gear mounted in the housing and connected to the output end of the motor, a driven gear mounted in the housing and meshing with the main gear, a guide cylinder fixed to the top of the housing, and a crank-slider assembly including an eccentric disk coaxially connected to the driven gear, a crankshaft fixed at a non-center position of the eccentric disk, a connecting rod hinged to the crankshaft at its lower end, and a slider hinged to the upper end of the connecting rod. The slider is guided and fitted in the guide cylinder, and a steel wire rope passes through the slider.

[0010] Preferably, there are two eccentric discs, which are coaxially fixed together by a crankshaft. One eccentric disc is coaxially fixed to the driven gear, and a handwheel is coaxially fixed to the other eccentric disc. A circular opening with a radius larger than that of the eccentric disc is opened on the housing and the circular opening is closed with a cover plate. The handwheel extends outward from the center of the cover plate.

[0011] Preferably, a copper sleeve is fitted with the crankshaft with clearance fit, and a connecting seat is fitted with the copper sleeve with clearance fit, and the lower end of the connecting rod is threadedly connected to the connecting seat.

[0012] Preferably, the slider has an upper groove recessed downward from the top and a lower groove recessed upward from the bottom. The upper and lower grooves are not connected and their groove directions are perpendicular to each other. An upper pin is installed in the upper groove, and a lower pin is installed in the lower groove, which is perpendicular to the upper pin. A roller is mounted on the upper pin, and the upper end of the connecting rod is fitted onto the lower pin with a clearance fit. The roller is a V-shaped wheel with a V-groove on its outer circular surface. A steel wire rope passes through the upper groove from below the roller.

[0013] Preferably, the upper pin is also equipped with rubber blocks, and the roller is positioned between the two rubber blocks.

[0014] Preferably, the fixed pulley assembly includes a pulley frame mounted on a bracket and two fixed pulleys mounted on the pulley frame. The two fixed pulleys are aligned vertically and in contact with each other. The fixed pulleys are V-shaped wheels with V-grooves on their outer surfaces, and a steel wire rope passes between the two fixed pulleys.

[0015] Preferably, the bracket has a horizontally forward-extending extension arm, and a pulley bracket is mounted on the extension arm, the mounting position of the pulley bracket on the extension arm being adjustable.

[0016] Preferably, the extended arm is hinged with a stop plate and a support ear plate that supports the stop plate horizontally. When the stop plate detaches from the support ear plate, it swings downward and contacts the ground. The ground end of the stop plate is serrated.

[0017] The beneficial effects of this invention are: The flexible cable traction vibrating harvester of this invention first tightens the winch to straighten the flexible steel cable horizontally during operation. The tree-connecting steel rope is taut and straightened by the flexible steel cable, and the branches are pulled by the tree-connecting steel rope to form a certain pre-tension force. Then, the crank power mechanism drives the flexible steel cable to move. The flexible steel cable is constrained by the winch and the fixed pulley assembly to deform into a V-shape. According to the principle of force composition and decomposition, when the angle between the flexible steel cable and the horizontal direction is less than 30 degrees, the tension of the flexible steel cable will be greater than the vertical pulling force of the crank power mechanism driving the flexible steel cable to move. The smaller the angle between the flexible steel cable and the horizontal direction, the greater the tension of the flexible steel cable, that is, the greater the traction force of the flexible steel cable on the tree-connecting steel rope. When the flexible steel cable forms a rapid reciprocating change from a straight line to a V-shape due to the reciprocating motion of the crank power mechanism, the traction force on the tree-connecting steel rope will change in a rhythmic manner, causing the branches connected by the tree-connecting steel rope to vibrate and shake the fruits off the branches. The harvesting machine described above utilizes a crank-driven power assembly to apply a small vertical tension to the steel wire rope, thereby increasing the tension in the steel wire rope and thus increasing the pulling force of the steel wire rope on the branches. The reciprocating motion of the crank-driven power assembly creates a rhythmic change in the traction force of the steel wire rope, effectively vibrating the branches and increasing the fruit drop rate. The steel wire rope passes through the crank-driven power mechanism and the positioning pulley assembly. The fixed pulley assembly only changes the direction of the tension in the steel wire rope without changing its magnitude, causing the tension on the deformed V-shaped steel wire rope to change from inclined to horizontal, thus improving the efficiency of fruit drop. The horizontally traction of the connecting steel ropes allows for effective pulling on the branches from different directions, distributing the tension of the steel wire ropes into the traction force of multiple connecting steel ropes. This enables simultaneous harvesting of multiple branches, improving harvesting efficiency. Steel rings connect the steel wire ropes to the connecting steel ropes, allowing multiple connecting steel ropes to be effectively connected to the steel wire ropes. The loops at the front of the connecting steel ropes connect the branches. This method has low requirements for the shape, curvature, and position of the branches, and has no requirements for the main trunk of the tree. It is suitable for harvesting camellia trees in cases where branches are severely forked and intersecting, improving harvesting reliability and efficiency, reducing damage to the trees, and is highly practical. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the cable-driven vibratory harvester of the present invention.

[0019] Figure 2 This is a schematic diagram of the combination of gear assembly, crank-slider assembly and guide cylinder.

[0020] Figure 3 This is a schematic diagram of the crank-slider assembly.

[0021] Figure 4 This is a side view showing the connection between the connecting rod and the slider.

[0022] Figure 5 This is an assembly diagram of the eccentric disc, handwheel, and driven gear.

[0023] Figure 6 This is a schematic diagram showing the rollers and rubber blocks mounted on the slider.

[0024] Figure 7 This is a schematic diagram of the slider.

[0025] Figure 8 This is an assembly perspective view of the slider, connecting rod, roller, and rubber plate.

[0026] Figure 9 This is a schematic diagram of a fixed pulley assembly.

[0027] Figure 10 This is a schematic diagram of a cable-driven vibratory harvester in harvesting mode.

[0028] Figure 11 This is a schematic diagram showing the forces acting on a steel wire rope as it deforms into a V-shape. Detailed Implementation

[0029] The following is combined Figures 1-11 The embodiments of the present invention will be described in detail below.

[0030] A flexible cable traction vibrating harvester includes a tracked chassis 1, a frame 2 mounted on the tracked chassis 1, a winch 3 mounted on the frame 2, and a flexible steel cable 4 wound on the winch 3. The frame 2 is characterized by having a crank power mechanism 5 that drives the flexible steel cable 4 to reciprocate up and down, and a fixed pulley assembly 6 that changes the tension direction of the flexible steel cable 4. The winch 3, crank power mechanism 5, and fixed pulley assembly 6 are arranged sequentially from back to front. The flexible steel cable 4 passes through the crank power mechanism and the fixed pulley assembly 6. The free end of the flexible steel cable 4 is connected to a steel ring 7. Multiple tree-connecting steel ropes 8 are connected to the steel ring 7. The front end of each tree-connecting steel rope 8 is looped onto the branches of the fruit tree through a collar 9. The flexible steel cable 4 is horizontally straightened as the winch 3 tightens, taut and straightening the tree-connecting steel ropes 8. The movement of the tree-connecting steel ropes 8 is pulled by the up and down movement of the crank power mechanism 5, causing the branches to vibrate with the movement of the tree-connecting steel ropes 8.

[0031] The above-described cable-driven vibrating harvester operates by first tightening the winch 3 to horizontally straighten the steel wire rope 4. The tree-connecting steel rope 8 is then taut and straightened by the cable, and the branches are pulled by the rope, creating a certain pre-tension. Next, the crank-driven power mechanism 5 drives the steel wire rope 4 to move. The steel wire rope 4, constrained by the winch 3 and the fixed pulley assembly 6, deforms into a V-shape, such as... Figure 11As shown, the steel wire rope 4 is driven by the crank power mechanism to form a V-shape. The tensions on both sides of the steel wire rope are S1 and S2, respectively. The vertical tension of the crank power mechanism 5 is S. α and β are the angles between the steel wire rope 4 on the left and right sides of the crank power mechanism and the horizontal direction, respectively. According to the principle of force composition and decomposition, S = S1sinα + S2sinβ. If the angles of α and β are less than 30 degrees, the values ​​of S1 and S2 will be greater than the value of S. The smaller the angles of α and β, the larger the value of S. That is to say, when the angles of α and β are less than 30 degrees, the value of S1 and S2 will be greater than the value of S. When the angle between the steel wire rope 4 and the horizontal direction is less than 30 degrees, the tension of the steel wire rope 4 will be greater than the vertical pulling force of the crank power mechanism 5 driving the steel wire rope 4 to move. The smaller the angle between the steel wire rope 4 and the horizontal direction, the greater the tension of the steel wire rope 4, that is, the greater the traction force of the steel wire rope 4 on the tree-connecting steel rope 8. When the steel wire rope 4 forms a rapid reciprocating change from a straight line to a V-shape due to the reciprocating motion of the crank power mechanism 5, the traction force on the tree-connecting steel rope 8 will change in a rhythmic manner, causing the branches connected by the tree-connecting steel rope 8 to vibrate and shake the fruits off the branches. The harvesting machine described above utilizes the crank power assembly 5 to apply a small vertical tension to the steel wire rope 4, thereby increasing the tension of the steel wire rope 4 and increasing the traction force of the steel wire rope 4 on the tree-connecting steel rope 8. This, in turn, increases the pulling force of the tree-connecting steel rope 8 on the branches. The reciprocating motion of the crank power assembly 5 creates a rhythmic change in the traction force of the tree-connecting steel rope 8, causing the branches to vibrate effectively and increasing the fruit drop rate. The steel wire rope 4 passes through the crank power mechanism 5 and the positioning pulley assembly 6. The positioning pulley assembly 6 only changes the direction of the tension in the steel wire rope without changing the magnitude of the tension, causing the tension on the deformed V-shaped steel wire rope 4 to change from inclined to horizontal, thus increasing the tension of the steel wire rope. The cable 4 pulls the tree-connecting steel rope 8 horizontally, allowing the tree-connecting steel rope 8 in different directions to effectively pull on the branches. The tension of the steel wire rope 4 is distributed to the traction force of multiple tree-connecting steel ropes 8, enabling simultaneous harvesting of multiple branches and improving harvesting efficiency. The steel ring 7 connects the steel wire rope 4 and the tree-connecting steel rope 8, allowing multiple tree-connecting steel ropes 8 to be effectively connected to the steel wire rope 4. The loop at the front end of the tree-connecting steel rope 8 connects the branches. It has low requirements for the shape, curvature, and position of the branches and no requirements for the main trunk of the tree. It is suitable for harvesting camellia trees in cases where the branches are severely forked and intersecting, improving harvesting reliability and efficiency, reducing damage to the trees, and has high practicality.

[0032] The crank power mechanism 5 includes a motor 51, a gear assembly 52 connected to the output end of the motor 51, a crank slider assembly 53 coaxially connected to the gear assembly 52, and a guide cylinder 54 that is vertically guided to the crank slider assembly 53. The steel wire rope 4 passes through the crank slider assembly 53, and the crank slider assembly 53 drives the steel wire rope 4 to move up and down as the motor runs. Motor 51 drives gear assembly 52 to rotate, and gear assembly 52 drives crank-slider assembly 53 to move up and down in the guide cylinder, thereby pulling the steel wire rope 4 from a straight line to a V-shape. The initial position of crank-slider assembly 53 in the guide cylinder is set to the highest position. At this time, the steel wire rope 4 is horizontally straightened. When crank-slider assembly 53 moves downward, the steel wire rope 4 is pulled into a V-shape. When crank-slider assembly 53 returns to its original position, the steel wire rope 4 returns to horizontal straightness. The vertical reciprocating motion of crank-slider assembly 53 causes the steel wire rope 4 to alternate between horizontal straightness and V-shape, so that the steel wire rope 4 forms a rhythmic traction force on the tree-connecting steel rope 8, causing the tree-connecting steel rope 8 to pull the branches to vibrate and shake the fruits off the branches.

[0033] The gear assembly 52 includes a housing 521 mounted on the frame 1, a drive gear 522 mounted in the housing 521 and connected to the output end of the motor 51, and a driven gear 523 mounted in the housing 521 and meshing with the main gear 522. A guide cylinder 54 is fixed to the top of the housing 521. The crank-slider assembly 53 includes an eccentric disk 531 coaxially connected to the driven gear 523, a crankshaft 532 fixed at a non-center position of the eccentric disk 531, a connecting rod 533 hinged to the crankshaft 532 at its lower end, and a slider 534 hinged to the upper end of the connecting rod 533. The slider 534 is guided and fitted in the guide cylinder 54, and a steel wire rope 4 passes through the slider 534. Motor 51 drives the drive gear 522, driven gear 523 and eccentric disk 531 to rotate. Crankshaft 532 rotates around the center of eccentric disk as eccentric disk 531 rotates, causing connecting rod 533 to pull slider 534 up and down in guide cylinder 54. Slider 534 pulls steel wire rope 4 up and down. The initial position of slider 534 in guide cylinder 54 is set to the highest position. At this time, steel wire rope 4 is horizontally taut. When slider 534 reciprocates vertically, steel wire rope 4 forms a horizontal tautness and V-shaped alternation, so that steel wire rope 4 forms a rhythmic traction force on the tree-connecting steel rope 8.

[0034] The eccentric discs 531 are two in number and are coaxially fixed to each other via a crankshaft 532. One eccentric disc 531 is coaxially fixed to a driven gear 523, and a handwheel 55 is coaxially fixed to the other eccentric disc 531. A circular opening with a radius larger than that of the eccentric disc 531 is opened on the housing 521 and closed by a cover plate 56. The handwheel 55 extends outward from the center of the cover plate 56. The two eccentric discs 531 simultaneously bear the torque transmitted by the driven gear 523, improving the torque carrying capacity. One eccentric disc is supported by the driven gear 523, and the other eccentric disc is supported by the handwheel 55, preventing excessive torque from affecting the normal operation of the crank-slider assembly 53, improving the structural reliability and stability of the crank-slider assembly 53, and thus improving the overall reliability of the harvester. During the installation of the steel wire rope 4, the eccentric disk 531 is rotated by the handwheel 55 to adjust the position of the slider 534 in the guide cylinder 54, so that the steel wire rope 4 can pass through the slider 534. After the steel wire rope 4 is installed in place, the height of the slider 534 is adjusted so that the initial position of the slider 534 is adjusted to the top of the guide cylinder 54, so that the height of the steel wire rope 4 passing through the slider 534 and the fixed pulley assembly 6 is basically the same. The cover plate 56 is used to open the cover body 521 to facilitate the disassembly and assembly of the eccentric disk 531, the driving gear 522 and the driven gear 523, and improve the convenience of maintenance.

[0035] The crankshaft 532 is fitted with a copper sleeve 57 with a clearance fit, and a connecting seat 58 is fitted onto the copper sleeve 57 with a clearance fit. The lower end of the connecting rod 533 is threadedly connected to the connecting seat 58. The copper sleeve 57 is a wear-resistant part that separates the crankshaft 532 and the connecting seat 58, preventing the rotation of the connecting seat 58 from directly causing wear on the crankshaft 532 and extending the service life of the crankshaft 532. The lower end of the connecting rod 533 is threadedly fastened to the connecting seat 58 for easy disassembly. The connecting seat 58 is fitted onto the copper sleeve 57, and the copper sleeve 57 is fitted onto the crankshaft 532, forming a hinge connection between the connecting rod 533 and the crankshaft 532.

[0036] The slider 534 has an upper groove A recessed downwards from the top and a lower groove B recessed upwards from the bottom. The upper and lower grooves are not connected and their groove directions are perpendicular to each other. An upper pin 10 is installed in the upper groove A, and a lower pin 11, perpendicular to the upper pin 10, is installed in the lower groove B. A roller 12 is mounted on the upper pin 10. The upper end of the connecting rod 533 is fitted onto the lower pin 11 with a clearance fit. The roller 12 is a V-shaped wheel with a V-groove on its outer surface. A steel wire rope 4 passes through the upper groove A from below the roller 12. Figure 7As shown, the top and bottom surfaces of the slider 534 are respectively provided with an upper groove A and a lower groove B. An upper pin 10 is installed in the upper groove A, and a roller 12 is sleeved on the upper pin 10. A lower pin 11 is installed in the lower groove B. The upper end of the connecting rod 533 is sleeved on the lower pin 11. The steel wire rope 4 passes through the upper groove A below the roller 12. The roller 12 moves synchronously with the slider 534, causing the steel wire rope 4 to deform into a V-shape. The V-shaped groove of the roller 12 can limit the position of the steel wire rope 4 in the upper groove A, reduce the left and right swing amplitude of the steel wire rope 4 in the upper groove A, and ensure that the steel wire rope 4 forms an effective vertical movement with the slider 534.

[0037] The upper pin 10 is also equipped with rubber blocks 13, and the roller 12 is positioned between the two rubber blocks 13. The rubber blocks 13 separate the steel wire rope 4 from the slider 534, preventing the steel wire rope 4 from wearing down the slider 534. At the same time, the rubber blocks 13 reduce the movement of the roller 12 on the upper pin 10, thereby improving the stability of the roller 12.

[0038] The fixed pulley assembly 6 includes a pulley frame 61 mounted on a bracket and two fixed pulleys 62 rotatably mounted on the pulley frame 61. The two fixed pulleys 62 are aligned vertically and in contact with each other. Each fixed pulley 62 is a V-shaped wheel with a V-groove on its outer surface. The steel wire rope 4 passes between the two fixed pulleys 62. The pulley frame 61 is equipped with two fixed pulleys 62. The V-grooves of the two fixed pulleys 62 are joined together to form a diamond-shaped opening for the steel wire rope 4 to pass through. This diamond-shaped opening defines the direction of the steel wire rope 4. Figure 11 As shown, when the steel wire rope 4 deforms into a V-shape with the movement of the slider 534, the tensions S1 and S2 on the left and right sides of the steel wire rope 4 are inclined. When the steel wire rope 4 passes between the two fixed pulleys 62, the tension S1 on its left side is changed from inclined to horizontal. Therefore, passing the steel wire rope 4 through the diamond-shaped opening 4 formed by the two fixed pulleys 62 not only ensures that the steel wire rope 4 can deform from a straight line into a V-shape when the slider 534 moves downward, but also changes the tension of the steel wire rope 4 from inclined to horizontal. Only the direction of the force is changed, not the magnitude of the force, so that the tree-connecting steel rope 8 is tightened by a horizontal traction force. This ensures that the tree-connecting steel rope 8 in different directions can effectively pull the branches, realize the simultaneous harvesting of multiple branches, and improve harvesting efficiency.

[0039] The bracket 2 has a horizontally extending forward arm 14, on which a pulley bracket 61 is mounted. The installation position of the pulley bracket 61 on the extension arm 14 is adjustable. The pulley bracket 61 is mounted on the extension arm 14, and its installation position can be adjusted along the extension arm 14 to adjust the horizontal distance between the fixed pulley assembly 6 and the crank power assembly 5. This adjusts the tension of the steel wire rope 4 when the crank power assembly 5 drives it to deform, allowing for adjustment of the pulling force of the tree-connecting steel rope 8 according to the thickness, position, and tilt angle of the fruit tree branches.

[0040] The extended arm 14 is hinged with a stop plate 15 and a support ear plate 16 that supports the stop plate 15 horizontally. When the stop plate 15 detaches from the support ear plate 16, it swings downwards and contacts the ground. The grounding end of the stop plate 15 is serrated. When the harvester moves, the stop plate 15 is supported on the support ear plate 16 and does not contact the ground, ensuring the normal movement of the harvester. After the harvester moves to its position, the support ear plate 16 is manually rotated outwards to detach the stop plate 16 from the support ear plate 16. The stop plate 16 will then swing downwards and contact the ground. The serrated grounding end increases the friction between the stop plate 16 and the ground, preventing the harvester from vibrating on the ground due to the reciprocating motion of the steel wire rope 4 during harvesting. This forms a stop and positioning for the harvester, ensuring that the steel wire rope 4 and the tree-connecting steel rope 8 remain taut and taut during harvesting, thus improving harvesting reliability.

[0041] The technical solutions of the embodiments of the present invention have been fully described above 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A flexible cable traction vibrating harvester, comprising a tracked chassis, a frame mounted on the tracked chassis, a winch mounted on the frame, and a flexible steel wire cable wound around the winch, characterized in that: The frame is equipped with a crank power mechanism that drives the steel wire rope to reciprocate up and down, and a fixed pulley assembly that changes the tension direction of the steel wire rope. The winch, crank power mechanism, and fixed pulley assembly are arranged in sequence from back to front. The steel wire rope passes through the crank power mechanism and the fixed pulley assembly. The free end of the steel wire rope is connected to a steel ring. Multiple tree-connecting steel ropes are connected to the steel ring. The front end of the tree-connecting steel rope is looped onto the branches of the fruit tree through a collar. The steel wire rope is horizontally straightened as the winch tightens, which tauts the tree-connecting steel rope. The tree-connecting steel rope is pulled to move as the crank power mechanism moves up and down, causing the branches to vibrate with the movement of the tree-connecting steel rope. The crank power mechanism includes a motor, a gear assembly connected to the output end of the motor, a crank-slider assembly coaxially connected to the gear assembly, and a guide cylinder that is vertically guided to the crank-slider assembly. A steel wire rope passes through the crank-slider assembly, and the crank-slider assembly drives the steel wire rope to move up and down as the motor runs. The gear assembly includes a housing mounted on the frame, a drive gear mounted in the housing and connected to the output end of the motor, a driven gear mounted in the housing and meshing with the main gear, and a guide cylinder fixed to the top of the housing. The crank-slider assembly includes an eccentric disk coaxially connected to the driven gear, a crankshaft fixed at a non-center position of the eccentric disk, a connecting rod hinged to the crankshaft at its lower end, and a slider hinged to the upper end of the connecting rod. The slider is guided and fitted in the guide cylinder, and a steel wire rope passes through the slider. The slider has an upper groove that is recessed downward from the top and a lower groove that is recessed upward from the bottom. The upper and lower grooves are not connected and their groove directions are perpendicular to each other. An upper pin is installed in the upper groove, and a lower pin is installed in the lower groove, which is perpendicular to the upper pin. A roller is mounted on the upper pin. The upper end of the connecting rod is fitted onto the lower pin with a clearance fit. The roller is a V-shaped wheel with a V-groove on its outer circular surface. A steel wire rope passes through the upper groove from below the roller.

2. The cable-traction vibratory harvester according to claim 1, characterized in that: The number of eccentric discs is two. The two eccentric discs are coaxially fixed to each other through a crankshaft. One eccentric disc is coaxially fixed to the driven gear, and the other eccentric disc is coaxially fixed to a handwheel. A circular opening with a radius larger than that of the eccentric disc is opened on the housing and the circular opening is closed with a cover plate. The handwheel extends outward from the center of the cover plate.

3. The cable-traction vibratory harvester according to claim 2, characterized in that: The crankshaft is fitted with a copper sleeve with clearance fit, and a connecting seat is fitted with the copper sleeve with clearance fit. The lower end of the connecting rod is threadedly connected to the connecting seat.

4. The cable-traction vibratory harvester according to claim 1, characterized in that: The upper pin is also equipped with rubber blocks, and the roller is positioned between the two rubber blocks.

5. The cable-traction vibratory harvester according to claim 1, characterized in that: The fixed pulley assembly includes a pulley frame mounted on a bracket and two rotatable fixed pulleys mounted on the pulley frame. The two fixed pulleys are aligned vertically and in contact with each other. The fixed pulleys are V-shaped wheels with V-grooves on their outer surfaces. A steel wire rope passes between the two fixed pulleys.

6. The cable-traction vibratory harvester according to claim 5, characterized in that: The bracket has a horizontally forward-extending extension arm, and a pulley bracket is mounted on the extension arm. The mounting position of the pulley bracket on the extension arm is adjustable.

7. The cable-traction vibratory harvester according to claim 6, characterized in that: The extended arm is hinged with a stop plate and a support ear plate that supports the stop plate horizontally. When the stop plate is detached from the support ear plate, it swings downward and contacts the ground. The ground end of the stop plate is serrated.

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