Frequency-adjustable forest fruit vibration picking device

Abstract

The utility model discloses a frequency-adjustable forest fruit vibration picking device, which relates to the technical field of forest fruit picking and comprises a base, moving wheels are rotatably mounted on the outer side of the base, a hydraulic system is fixedly mounted at the top of the base, a power component is fixedly mounted at the top of the base, and a control cabinet is fixedly mounted at the top of the base. The frequency-adjustable forest fruit vibration picking device comprises a base, an arm frame assembly is arranged at the top of the base, a supporting cylinder is arranged on the outer side of the arm frame assembly, and a vibration excitation box is arranged on the outer side of the supporting cylinder, according to the frequency-adjustable forest fruit vibration picking device, through the arranged vibration excitation assembly, a first gear drives a second gear to rotate, and rotation of a first eccentric wheel and a second eccentric wheel can be achieved; one-dimensional vibration can be carried out on a tree body, the fruit drop rate of fruits on branches of more than two stages is increased, a second hydraulic motor of the vibration excitation assembly is controlled through a proportional speed regulating valve, accurate adjustment of the rotating speed of the hydraulic motor can be achieved, after a frequency signal of a camera is received, the rotating speed is adjusted to the inherent frequency to achieve resonance, and the picking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of forest fruit picking, in particular to a frequency-adjustable forest fruit vibration picking device. Background Art

[0002] Traditional fruit picking is done manually, which is inefficient, time-consuming and costly. Inefficient manual picking also directly affects the harvesting, storage, processing and sales of fruit. As the country increases its investment in science and technology and policy support for the fruit industry, the backward manual harvesting method can no longer meet the needs of fruit industrialization and large-scale production. People hope to have a fast and efficient mechanical equipment to complete the fruit picking work and free manpower from heavy work.

[0003] China Utility Model Patent Publication No.: CN 212520041 U3, discloses: a mechanical vibration picking device for fruit picking operations, the mechanical vibration picking device for fruit picking operations, the flip cylinder can control the picking head to swing up and down in the vertical plane, the vibration device can control the picking head to rotate, the picking arm works more flexibly and has stronger adaptability, but the mechanical vibration picking device for fruit picking operations, although it can achieve vibration adjustment, but the reciprocating linear motion through the telescopic rod has poor accuracy, affecting normal use, and the mechanical vibration picking device for fruit picking operations is not designed with a noise pollution prevention device, which is easy to cause noise pollution during the work process, affecting the normal work of the staff. Summary of the invention

[0004] The purpose of the utility model is to provide a frequency-adjustable vibration picking device for fruits and trees, which can solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a frequency-adjustable fruit vibration picking device, comprising a base, a movable wheel is rotatably installed on the outer side of the base, a hydraulic system is fixedly installed on the top of the base, a power assembly is fixedly installed on the top of the base, a control cabinet is fixedly installed on the top of the base, an arm assembly is arranged on the top of the base, a support tube is arranged on the outer side of the arm assembly, a vibration box is arranged on the outer side of the support tube, and a vibration assembly is fixedly installed inside the vibration box.

[0006] Preferably, a hydraulic motor 1 is fixedly mounted on the top of the base, an output shaft of the hydraulic motor 1 is threadedly connected to the boom assembly, and a rotation speed sensor is arranged on the outside of the hydraulic motor 1.

[0007] Preferably, the excitation component includes hydraulic motor 2, a driving shaft, eccentric wheel 1, gear 1, gear 2, eccentric wheel 2, and a driven shaft. The driving shaft is fixedly installed on the output shaft of the hydraulic motor 2, eccentric wheel 1 is fixedly installed on the outer side of the driving shaft, gear 1 is fixedly installed on the outer side of the driving shaft, gear 2 is arranged on the outer side of gear 1, eccentric wheel 2 is arranged on the top of gear 2, and the driven shaft is fixedly installed on the outer side of eccentric wheel 2, gear 1 and gear 2 are meshingly connected, and the hydraulic motor 2 is controlled by a proportional speed control valve.

[0008] Preferably, an oil tank is fixedly mounted on the top of the base, a binocular camera is arranged on the outside of the arm assembly, and the binocular camera is located at the bottom of the hanging frame.

[0009] Preferably, the arm assembly includes a positioning seat, a fixed frame, a movable arm 1, a hydraulic cylinder 1, a rotating arm 2, a hydraulic cylinder 2, a movable arm 3, and a lifting frame. The fixed frame is fixedly installed on the outer side of the positioning seat, the movable arm 1 is rotatably installed on the outer side of the fixed frame, the hydraulic cylinder 1 is fixedly installed on the outer side of the fixed frame, the rotating arm 2 is fixedly installed on the outer side of the hydraulic cylinder 1, and the hydraulic cylinder 2 is rotatably installed on the outer side of the rotating arm 2. The movable arm 3 is fixedly installed on the output shaft of the hydraulic cylinder 2, and a lifting frame is fixedly installed on the outer side of the movable arm 3. The hydraulic cylinder 1 and the hydraulic cylinder 2 are electrically connected to the control cabinet.

[0010] Preferably, a chain is provided on the outside of the arm assembly, the other end of the chain is fixedly mounted on the excitation box, the support tube is made of rubber material, and the interior of the excitation box is of conical design.

[0011] Preferably, a rotating column is rotatably installed on the outside of the excitation box, a hydraulic cylinder three is fixedly installed on the outside of the rotating column, a positioning clamp is fixedly installed on the output shaft of the hydraulic cylinder three, a rubber pad is fixedly installed on the outside of the positioning clamp, and the positioning clamp is located on both sides of the excitation box.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model provides an exciting component, through which gear one drives gear two to rotate, so that the rotation of eccentric wheel one and eccentric wheel two can be realized, and the one-dimensional vibration of the tree body can be achieved, so as to improve the fruit drop rate of branches and fruits above level two. In addition, the hydraulic motor two of the exciting component is controlled by a proportional speed regulating valve, so that the speed of the hydraulic motor can be accurately adjusted. After receiving the frequency signal of the camera, it is adjusted to the natural frequency to achieve resonance, so as to improve the picking efficiency. Through the provided positioning clamp, when the arm bracket assembly makes the positioning clamp reach the target position, the positioning clamp is fixed on both sides of the exciting box The clamping method is three-point clamping, which is more stable than the traditional two-point clamping, improves the firmness of the clamping, and the clamping force is more evenly distributed on the trunk, which can reduce damage to the tree. The design of the rubber pad can protect the vibration component while reducing damage to the trunk during clamping. The chain and support tube can not only reduce the impact of vibration on the arm assembly and the camera, but also reduce the shaking of the arm assembly and the camera. In order to avoid noise pollution caused by the vibration component during operation, a conical groove is designed in the vibration box to reduce noise and reduce noise pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the three-dimensional structure of the utility model;

[0016] Figure 3 This is a schematic diagram of the installation structure of the base and control cabinet of the utility model;

[0017] Figure 4 This is a schematic diagram of the three-dimensional structure of the excitation component of the utility model;

[0018] Figure 5 This is a schematic diagram of the three-dimensional structure of the arm support assembly of the utility model;

[0019] Figure 6 For this utility model Figure 2 A is an enlarged schematic diagram of the structure;

[0020] Among them: 1. Base; 2. Moving wheel; 3. Hydraulic system; 4. Power assembly; 5. Control cabinet; 6. Oil tank; 7. Hydraulic motor 1; 8. Boom assembly; 801. Positioning seat; 802. Fixed frame; 803. Moving arm 1; 804. Hydraulic cylinder 1; 805. Rotating arm 2; 806. Hydraulic cylinder 2; 807. Moving arm 3; 808. Lifting frame; 9. Chain; 10. Support cylinder; 11. Vibration box; 12. Rotating column; 13. Hydraulic cylinder 3; 14. Positioning clamp; 15. Rubber pad; 16. Vibration assembly; 1601. Hydraulic motor 2; 1602. Driving shaft; 1603. Eccentric wheel 1; 1604. Gear 1; 1605. Gear 2; 1606. Eccentric wheel 2; 1607. Driven shaft; 17. Binocular camera. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Example 1

[0022] See also Figure 1-6 The figure shows a frequency-adjustable vibration harvesting device for fruits and vegetables, including a base 1, a moving wheel 2 is rotatably installed on the outer side of the base 1, a hydraulic system 3 is fixedly installed on the top of the base 1, a power component 4 is fixedly installed on the top of the base 1, a control cabinet 5 is fixedly installed on the top of the base 1, a boom component 8 is arranged on the top of the base 1, a support tube 10 is arranged on the outer side of the boom component 8, an excitation box 11 is arranged on the outer side of the support tube 10, and an excitation component 16 is fixedly installed inside the excitation box 11.

[0023] See also Figure 1-3 In the figure, a hydraulic motor 7 is fixedly installed on the top of the base 1, the output shaft of the hydraulic motor 7 is threadedly connected to the arm assembly 8, and a speed sensor is arranged on the outside of the hydraulic motor 7.

[0024] In this embodiment: by setting up a hydraulic motor 7 and a boom assembly 8, the direction of the boom assembly 8 can be adjusted before use, and the speed sensor and the hydraulic system 3 on the outside of the hydraulic motor 7 can be used to send a signal to the control cabinet 5. The hydraulic motor 7 adopts a valve-controlled method, and then the control cabinet 5 sends a command to the electrical signal to control the speed of the hydraulic motor 7. Both local control and remote dual control can be achieved, thereby improving the practicality of the overall device.

[0025] Working principle: Through the positioning clamp 14, when the arm assembly 8 makes the positioning clamp 14 reach the target position, the positioning clamp 14 is fixed on both sides of the vibration box 11, and is controlled by a pair of hydraulic cylinders 13 to complete the clamping, and the clamping method is three-point clamping. Compared with the traditional two-point clamping, it is more stable, improves the firmness of the clamping, and the clamping force is more evenly distributed on the trunk, which can reduce the damage to the tree body. The design of the rubber pad 15 can protect the vibration assembly 16 while reducing the damage to the trunk during clamping. Through the hydraulic motor 7 and the arm assembly 8, the arm assembly 8 can be tested before use. The adjustment of direction can be coordinated with the speed sensor and hydraulic system 3 on the outside of the hydraulic motor 7 to send the signal to the control cabinet 5, and the hydraulic motor 7 adopts the valve control method, and then the control cabinet 5 sends a command to the electrical signal to control the speed of the hydraulic motor 7, which can realize both local control and remote dual control, thereby improving the practicality of the overall device. Through the vibration component 16, when picking, the hydraulic motor 2 1601 can be turned on through the control cabinet 5, which can drive the gear 1 1604 to rotate, and the gear 1 1604 drives the gear 2 1605 to rotate, which can realize the eccentric wheel 1603 The rotation of the eccentric wheel 1606 can realize one-dimensional vibration of the tree body, improve the fruit drop rate of branches above the second level, and the hydraulic motor 1601 of the excitation component 16 is controlled by a proportional speed regulating valve, which can realize the precise adjustment of the speed of the hydraulic motor. After receiving the frequency signal of the camera, it is adjusted to the natural frequency to achieve resonance, thereby improving the picking efficiency. The binocular camera 17 can locate the position of the trunk, and can realize automatic clamping in conjunction with the hydraulic cylinder 13, and can also realize contactless frequency scanning of the tree body. The natural frequency of the vibrating trunk is obtained through the camera and sent to the control cabinet 5. , realize the frequency modulation of hydraulic motor 2 1601, and can be started and stopped through control cabinet 5 through hydraulic cylinder 1 804 and hydraulic cylinder 2 806, and can adjust the arm assembly 8 with the design of movable arm 1 803, rotating arm 2 805 and movable arm 3 807, and can be suitable for different working conditions, and can reduce the influence of vibration on arm assembly 8 and camera, reduce the shaking of arm assembly 8 and camera, and in order to avoid noise pollution caused by exciting assembly 16 during operation, a conical groove is designed in exciting box 11 to reduce noise and reduce noise pollution. Example 2

[0026] See also Figure 1 , Figure 2 and Figure 4, this embodiment further explains Example 1. In the figure, the excitation component 16 includes a hydraulic motor 2 1601, a driving shaft 1602, an eccentric wheel 1603, a gear 1604, a gear 2 1605, an eccentric wheel 2 1606, and a driven shaft 1607. The driving shaft 1602 is fixedly installed on the output shaft of the hydraulic motor 2 1601, the eccentric wheel 1603 is fixedly installed on the outer side of the driving shaft 1602, the gear 1 1604 is fixedly installed on the outer side of the driving shaft 1602, the gear 2 1605 is arranged on the outer side of the gear 1 1604, the eccentric wheel 2 1606 is arranged on the top of the gear 2 1605, the driven shaft 1607 is fixedly installed on the outer side of the eccentric wheel 2 1606, the gear 1 1604 and the gear 2 1605 are meshingly connected, and the hydraulic motor 2 1601 is controlled by a proportional speed control valve.

[0027] In this embodiment: through the setting of the vibration component 16, when picking, the hydraulic motor 2 1601 can be turned on through the control cabinet 5, which can drive the gear 1 1604 to rotate, and the gear 1 1604 can drive the gear 2 1605 to rotate, so that the rotation of the eccentric wheel 1 1603 and the eccentric wheel 2 1606 can be realized, and the one-dimensional vibration of the tree body can be realized, thereby increasing the fruit drop rate of branches and fruits above the second level. In addition, the hydraulic motor 2 1601 of the vibration component 16 is controlled by a proportional speed control valve, which can realize the precise adjustment of the speed of the hydraulic motor. After receiving the frequency signal of the camera, it is adjusted to the natural frequency to achieve resonance, thereby improving the picking efficiency.

[0028] See also Figure 1-6 An oil tank 6 is fixedly installed on the top of the base 1, and a binocular camera 17 is arranged on the outside of the arm assembly 8, and the binocular camera 17 is located at the bottom of the hanging frame 808.

[0029] In this embodiment: the binocular camera 17 can be set to locate the position of the tree trunk, and can realize automatic clamping in conjunction with the hydraulic cylinder three 13, and can also realize contactless frequency scanning of the tree body. The natural frequency of the vibrating trunk is obtained through the camera, and the frequency is sent to the control cabinet 5 to realize the frequency modulation of the hydraulic motor two 1601.

[0030] See also Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6In the figure, the arm assembly 8 includes a positioning seat 801, a fixed frame 802, a movable arm 1 803, a hydraulic cylinder 1 804, a rotating arm 2 805, a hydraulic cylinder 2 806, a movable arm 3 807, and a lifting frame 808. The fixed frame 802 is fixedly installed on the outer side of the positioning seat 801, the movable arm 1 803 is rotatably installed on the outer side of the fixed frame 802, the hydraulic cylinder 1 804 is fixedly installed on the outer side of the fixed frame 802, the rotating arm 2 805 is fixedly installed on the outer side of the hydraulic cylinder 1 804, the hydraulic cylinder 2 806 is rotatably installed on the outer side of the rotating arm 2 805, the movable arm 3 807 is fixedly installed on the output shaft of the hydraulic cylinder 2 806, the lifting frame 808 is fixedly installed on the outer side of the movable arm 3 807, and the hydraulic cylinder 1 804 and the hydraulic cylinder 2 806 are electrically connected to the control cabinet 5.

[0031] In this embodiment: through the provision of hydraulic cylinder 1 804 and hydraulic cylinder 2 806, the control cabinet 5 can be used to start and stop, and in combination with the design of movable arm 1 803, rotating arm 2 805 and movable arm 3 807, the arm assembly 8 can be adjusted to suit different working conditions.

[0032] See also Figure 1 , Figure 2 and Figure 4 As shown in the figure, a chain 9 is arranged on the outside of the boom assembly 8, and the other end of the chain 9 is fixedly installed with the excitation box 11. The support tube 10 is made of rubber material, and the interior of the excitation box 11 is of a conical design.

[0033] In this embodiment: the chain 9 and the support tube 10 are set, which can not only reduce the impact of vibration on the arm assembly 8 and the camera, reduce the shaking of the arm assembly 8 and the camera, but also, in order to avoid noise pollution caused by the excitation assembly 16 during operation, a conical groove is designed in the excitation box 11 to reduce noise and reduce noise pollution.

[0034] See also Figure 1 , Figure 2 and Figure 5 In the figure, a rotating column 12 is rotatably installed on the outside of the excitation box 11, a hydraulic cylinder 13 is fixedly installed on the outside of the rotating column 12, a positioning clamp 14 is fixedly installed on the output shaft of the hydraulic cylinder 13, a rubber pad 15 is fixedly installed on the outside of the positioning clamp 14, and the positioning clamp 14 is located on both sides of the excitation box 11.

[0035] In this embodiment: through the positioning clamp 14, when the arm assembly 8 makes the positioning clamp 14 reach the target position, the positioning clamp 14 is fixed on both sides of the vibration box 11, and is controlled by a pair of hydraulic cylinders 13 to complete the clamping, and the clamping method is three-point clamping. Compared with the traditional two-point clamping, it is more stable, improves the firmness of the clamping, and the clamping force is more evenly distributed on the trunk, which can reduce the damage to the tree body. The design of the rubber pad 15 can protect the vibration assembly 16 while reducing the damage to the trunk during clamping.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include"-"comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process-method-article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process-method-article or device.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frequency-adjustable vibration picking device for fruits and trees, comprising a base (1), characterized in that: A moving wheel (2) is rotatably mounted on the outer side of the base (1), a hydraulic system (3) is fixedly mounted on the top of the base (1), a power assembly (4) is fixedly mounted on the top of the base (1), a control cabinet (5) is fixedly mounted on the top of the base (1), a boom assembly (8) is arranged on the top of the base (1), a support cylinder (10) is arranged on the outer side of the boom assembly (8), an excitation box (11) is arranged on the outer side of the support cylinder (10), and an excitation assembly (16) is fixedly mounted inside the excitation box (11).

2. The frequency-adjustable vibration picking device for fruits and trees according to claim 1, characterized in that: A hydraulic motor 1 (7) is fixedly mounted on the top of the base (1); an output shaft of the hydraulic motor 1 (7) is threadedly connected to the arm support assembly (8); and a rotation speed sensor is arranged on the outside of the hydraulic motor 1 (7).

3. The frequency-adjustable vibration picking device for fruits and trees according to claim 1 is characterized in that: The excitation component (16) comprises a hydraulic motor 2 (1601), a driving shaft (1602), an eccentric wheel 1 (1603), a gear 1 (1604), a gear 2 (1605), an eccentric wheel 2 (1606), and a driven shaft (1607). The driving shaft (1602) is fixedly mounted on the output shaft of the hydraulic motor 2 (1601), the eccentric wheel 1 (1603) is fixedly mounted on the outer side of the driving shaft (1602), the gear 1 (1604) is fixedly mounted on the outer side of the driving shaft (1602), the gear 2 (1605) is arranged on the outer side of the gear 1 (1604), the eccentric wheel 2 (1606) is arranged on the top of the gear 2 (1605), the driven shaft (1607) is fixedly mounted on the outer side of the eccentric wheel 2 (1606), the gear 1 (1604) and the gear 2 (1605) are meshingly connected, and the hydraulic motor 2 (1601) is controlled by a proportional speed control valve.

4. The frequency-adjustable vibration picking device for fruits and trees according to claim 1 is characterized in that: An oil tank (6) is fixedly mounted on the top of the base (1), a binocular camera (17) is arranged on the outside of the arm assembly (8), and the binocular camera (17) is located at the bottom of the hanging frame (808).

5. The frequency-adjustable vibration picking device for fruits and trees according to claim 1 is characterized in that: The arm support assembly (8) comprises a positioning seat (801), a fixed frame (802), a movable arm one (803), a hydraulic cylinder one (804), a rotating arm two (805), a hydraulic cylinder two (806), a movable arm three (807), and a hanging frame (808); the fixed frame (802) is fixedly mounted on the outer side of the positioning seat (801); the movable arm one (803) is rotatably mounted on the outer side of the fixed frame (802); the hydraulic cylinder one (804) is fixedly mounted on the outer side of the fixed frame (802); the rotating arm two (805) is fixedly mounted on the outer side of the hydraulic cylinder one (804); the rotating arm two (806) is rotatably mounted on the outer side of the rotating arm two (805); the movable arm three (807) is fixedly mounted on the output shaft of the hydraulic cylinder two (806); the hanging frame (808) is fixedly mounted on the outer side of the movable arm three (807); the hydraulic cylinder one (804) and the hydraulic cylinder two (806) are electrically connected to the control cabinet (5).

6. The frequency-adjustable vibration picking device for fruits and trees according to claim 1, characterized in that: A chain (9) is arranged on the outside of the arm assembly (8), and the other end of the chain (9) is fixedly mounted on the excitation box (11). The support tube (10) is made of rubber material, and the interior of the excitation box (11) is of conical design.

7. The frequency-adjustable vibration picking device for fruits and trees according to claim 1, characterized in that: A rotating column (12) is rotatably mounted on the outside of the vibration box (11), a hydraulic cylinder three (13) is fixedly mounted on the outside of the rotating column (12), a positioning clamp (14) is fixedly mounted on the output shaft of the hydraulic cylinder three (13), a rubber pad (15) is fixedly mounted on the outside of the positioning clamp (14), and the positioning clamp (14) is located on both sides of the vibration box (11).

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