Tree body automatic centering excitation device of forest fruit vibration harvesting device

Abstract

The utility model discloses an automatic tree body centering excitation device of a forest fruit vibration harvesting device. The automatic tree body centering excitation device comprises a base, a rotary driving device, a rotating shaft, a connecting rod, a pull rod, a clamping arm, a clamping head, an elastic belt and a roller, the rotating driving device is connected with the rotating shaft, the rotating shaft is connected with the connecting rod, the connecting rod is rotatably connected with a pull rod, the pull rod is rotatably connected with a sliding block at one end of the clamping arm, the sliding block is slidably connected with the base, the clamping arm is slidably connected with a clamping head, the clamping arm is elastically connected with the clamping head, the clamping head is elastically connected with rollers, and the rollers at the two ends of the clamping head are in transmission connection through an elastic belt. And a vibration excitation device is arranged in the clamping head. The clamping head can gradually reach the center position of a tree trunk through rotation of the two idler wheels of the elastic belt, the clamping point position of the clamping head is more accurate, after centering and clamping are completed, the tree body, the elastic belt and the arc clamping face are tightly attached, effective transmission of excitation energy is guaranteed when forest fruits are harvested in a vibration mode, and the vibration harvesting efficiency is improved. And the damage to the tree body is avoided.

Description

Technical Field

[0001] The utility model relates to the field of fruit picking, in particular to a tree body automatic centering and vibration excitation device of a fruit vibration harvesting device. Background Art

[0002] Forestry dried fruits generally refer to the fruits of dried fruit plants that grow naturally or are cultivated artificially in a forest environment. These dried fruits are not only an important part of forest food, but are also widely consumed for their high nutritional value and unique flavor. Due to the irregular growth of trees, the clamping head of current forest fruit harvesting devices usually only clamps one side or the head of the tree trunk when clamping, and cannot automatically align the clamping head with the center of the trunk. When the clamping head begins to vibrate, it cannot accurately vibrate and exert force at the center of the trunk, resulting in a certain amount of torque, which in turn loses some of the exciting force and causes some damage to the trunk's bark, making it impossible to achieve optimal harvesting results and a low clean harvest rate.

[0003] Based on the above problems, it is necessary to propose an automatic tree centering and vibration excitation device for a fruit vibration harvesting device. Summary of the Invention

[0004] The purpose of the utility model is to provide a tree body automatic centering vibration excitation device for a forest fruit vibration harvesting device, so as to solve the problems raised in the above background that the clamping head of the current forest fruit harvesting device cannot be aligned with the center of the trunk for clamping, cannot accurately vibrate and exert force in the center of the trunk, resulting in damage to the trunk skin during the picking process, failure to achieve the best picking effect, and low picking rate.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present utility model is:

[0006] A tree body automatic centering and vibration excitation device for a fruit vibration harvesting device comprises a base, a rotary drive device, a rotating shaft, a connecting rod, a pull rod, a clamping arm, a clamping head, an elastic belt and a roller;

[0007] The rotary drive device is connected to the base, and the output end of the rotary drive device is connected to the rotating shaft, which is rotatably connected to the center hole of the base. The rotating shaft passes through the center hole of the base and is connected to the middle of the connecting rod. The two ends of the connecting rod are respectively rotatably connected to one end of the pull rod, and the other ends of the two pull rods are rotatably connected to the slider at one end of the clamping arm. The two clamping arms are symmetrically arranged and the slider at one end of the clamping arm is slidably connected to the track on the base. Each clamping arm is slidably connected to a clamping head, and the clamping arm is elastically connected to the clamping head. Both ends of the clamping head are elastically connected to rollers, and the rollers at both ends of the clamping head are connected through an elastic belt transmission, and an excitation device is provided in the clamping head.

[0008] As a further improved technical solution of the present invention, the pull rod can control the movement of the clamping arm on the track to adjust the position of the clamping head.

[0009] As a further improved technical solution of the present invention, the rotary drive device adopts a hydraulic motor.

[0010] As a further improved technical solution of the present invention, the clamping arm and the clamping head are elastically connected by a first spring. The first spring can control the clamping head to extend and retract on the clamping arm. When the device completes its work, the clamping head will return to its original position due to the elastic force of the first spring.

[0011] As a further improved technical solution of the present invention, a sliding groove is provided on the clamping head, and the clamping arm passes through the sliding groove and can slide along the sliding groove.

[0012] As a further improvement to the present invention, the clamping head is fixedly connected to an outer rod at each end, and an inner rod is slidably connected to the inner wall of the outer rod. One end of the inner rod is connected to the inner wall of the outer rod via a second spring, and the other end of the inner rod extends outside the outer rod and is rotatably connected to a roller. The rotation of the rollers at both ends of the clamping head gradually allows the clamping head to reach the center of the tree trunk and begin operation, making the clamping direction more precise.

[0013] As a further improved technical solution of the present invention, the excitation device includes a first eccentric wheel, a first gear, a second eccentric wheel, a second gear, and a motor. The motor is connected to the clamping head, the output end of the motor is connected to the first gear, the first gear is connected to the first eccentric wheel via a first gear shaft, the first gear is meshed with a second gear, the second gear is connected to the second eccentric wheel via a second gear shaft, and the first gear shaft and the second gear shaft are both rotatably connected to the inner wall of the clamping head. The first eccentric wheel and the second eccentric wheel rotate simultaneously, doubling the excitation force and improving the fruit picking efficiency.

[0014] As a further improved technical solution of the present invention, a depth camera 2 is installed on the clamping head, and the central axis of the lens of the depth camera 2 is circumscribed with the roller located on the outside. The depth camera 2 is connected to an external control system, and the control system is used to control the start and stop of the rotation drive device and the vibration device.

[0015] The beneficial effects of the utility model are:

[0016] When the utility model is working, the relative position of the roller and the trunk of the tree is identified by the second depth camera. When the preset point is reached, the hydraulic motor is started, the hydraulic motor drives the rotating shaft to rotate, the rotating shaft drives the connecting rod to rotate, the connecting rod drives the two pull rods to move, and the two pull rods respectively drive the sliders of the two clamping arms to slide face to face on the track on the base, close to each other and clamp. After the roller on the outside touches the trunk of the tree, the roller will roll along the surface of the trunk of the tree (abbreviated as trunk or tree body) during the continuous clamping process, that is, the roller The clamping head moves relative to the tree trunk, causing it to slide on the clamping arm until the most prominent point on the tree trunk, on the side closest to the elastic band, reaches the centerline between the two rollers on the clamping head, or the axis of the tree trunk aligns with the center of the elastic band, completing the centering. The two clamping heads then move closer together and clamp until each roller is in close contact with the surface of the tree trunk, and the arc-shaped clamping surface of the clamping head and the elastic band are in close contact with the surface of the tree trunk, completing the centering clamping and maintaining the clamped state. At this point, the motor is started, driving the first gear to rotate, which in turn drives the first eccentric, the second gear, and the second eccentric to rotate. The first and second eccentrics rotate simultaneously, doubling the excitation force and improving the clean fruit harvesting rate. Because the center of the tree trunk is located midway between the multiple rollers on the two clamping heads, the excitation force generated within the clamping head can precisely vibrate and exert force at the center of the tree, achieving optimal harvesting results and significantly improving the clean fruit harvesting rate. The utility model rotates the rollers at both ends of the clamping heads so that the two clamping heads gradually reach the center of the tree trunk and clamp the trunk, and then starts vibrating, making the clamping direction of the two clamping heads more precise. The first spring can control the clamping head to extend and retract on the clamping arm. When the device completes its work, the clamping head will return to its original position due to the elastic force of the first spring. The elastic belt is an elastic belt. After clamping is completed, the elastic belts are close together. The tree surface, the elastic belt and the arc clamping surface of the clamping head are tightly attached, which is conducive to the transmission of the exciting force to the tree body. The tight contact between the elastic belt and the tree surface also minimizes the damage to the tree body during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the present utility model.

[0018] Figure 2 This is a structural diagram of an embodiment of the present invention.

[0019] Figure 3 for Figure 2 Schematic diagram of the internal structure of the AA section of the middle clamping head.

[0020] Figure 4 This is a diagram of the conveyor belt status when the clamping head is working.

[0021] Figure 5This is a state diagram of the depth camera 2 on the clamping head of the device of the present invention when it just recognizes the trunk information of the tree trunk.

[0022] Figure 6 This is a diagram showing the state when the central axis of the second lens of the depth camera on the clamping head of the device of the present invention is aligned with the center of the tree trunk.

[0023] Figure 7 This is a schematic diagram of the rolling direction of the roller when the clamping head of the device of the utility model clamps the trunk of the tree.

[0024] In the picture:

[0025] 1. Rotary drive device; 2. Base; 3. Rotating shaft; 4. Connecting rod; 5. Pull rod; 6. Track; 7. Slider; 8. Clamping arm; 9. First spring; 10. Clamping head; 11. Roller; 12. Elastic band; 13. First gear; 14. First gear shaft; 15. First eccentric wheel; 16. Second gear; 17. Second eccentric wheel; 18. Second gear shaft; 19. Outer rod; 20. Second spring; 21. Inner rod; 22. Second depth camera; 23. Tree trunk. DETAILED DESCRIPTION

[0026] The specific embodiments of the present invention are further described below with reference to the accompanying drawings:

[0027] like Figure 1-2 As shown, a tree-body automatic centering and vibration excitation device for a fruit vibratory harvesting device includes a base 2, a rotary drive device 1, a rotating shaft 3, a connecting rod 4, a pull rod 5, a clamping arm 8, a clamping head 10, an elastic band 12, and a roller 11. The clamping arm 8, clamping head 10, elastic band 12, and roller 11 are collectively referred to as a clamping adaptive mechanism.

[0028] The rotary drive device 1 of this embodiment is fixedly connected to the base 2, and the output end of the rotary drive device 1 is connected to the rotating shaft 3, and the rotating shaft 3 is rotatably connected to the center hole of the base 2 through a bearing. The rotating shaft 3 passes through the center hole of the base 2 and is connected to the middle of the connecting rod 4. The two ends of the connecting rod 4 are respectively rotatably connected to one end of the pull rod 5, and the other ends of the two pull rods 5 are rotatably connected to the slider 7 at one end of the clamping arm 8. The slider 7 is fixedly connected to one end of the clamping arm 8. The two clamping arms 8 are symmetrically arranged and the slider 7 at one end of the clamping arm 8 slides with the track 6 on the base 2. Connection, tracks 6 are provided on both sides of the center hole of the base 2, two sliders 7 are respectively slidably connected in the two tracks 6, and a clamping head 10 is slidably connected to each clamping arm 8. The slider 7 at one end of the clamping arm 8 is elastically connected to the clamping head 10, and rollers 11 are elastically connected to both ends of the clamping head 10. The rollers 11 at both ends of the clamping head 10 are connected by transmission through an elastic belt 12. Specifically, a groove is provided on the surface of the roller 11, and the elastic belt 12 is embedded in the groove of the roller 11. There is a certain gap between the elastic belt 12 and the clamping surface of the clamping head 10. The center line of the rollers 11 at both ends of the clamping head 10 is parallel to the sliding direction between the clamping head 10 and the clamping arm 8. An excitation device is provided in one or two of the clamping heads 10. The two clamping heads 10 in this embodiment are symmetrically arranged, and the rollers 11 on the two clamping heads 10 are also symmetrically arranged.

[0029] The rotary drive device 1 of this embodiment adopts a hydraulic motor, and the start and stop control method of the hydraulic motor adopts the existing technology.

[0030] The slider 7 of the clamping arm 8 of this embodiment is elastically connected to the clamping head 10 via a first spring 9. The first spring 9 can control the extension and contraction of the clamping head 10. When the device completes its work, the clamping head 10 will return to its original position due to the elastic force of the first spring 9.

[0031] In this embodiment, a sliding groove is provided on the clamping head 10 , and the clamping arm 8 passes through the sliding groove and can slide along the sliding groove.

[0032] like Figure 4 As shown, both ends of the clamping head 10 of this embodiment are fixedly connected to an outer rod 19, and an inner rod 21 is slidably connected inside the outer rod 19. One end of the inner rod 21 is connected to the inner wall of the outer rod 19 through a second spring 20, and the other end of the inner rod 21 extends out of the outer rod 19 and is rotatably connected to the roller 11.

[0033] The elastic band 12 of this embodiment is an elastic belt. The elastic band 12 is close together after clamping the tree trunk 23. Figure 4As shown, the tree surface, the elastic belt 12 and the arc clamping surface of the clamping head 10 are in close contact, which is conducive to the transmission of the exciting force to the tree body, and the elastic belt is in close contact with the tree surface, which can also minimize the damage to the tree body during picking. During the clamping process, the roller 11 located on the outside first touches the tree trunk 23, and under the action of the clamping force, the roller 11 rolls along the surface of the tree trunk 23 (at the same time, the clamping head 10 slides on the clamping arm 8), so that the most convex point of the tree trunk 23 on the side of the elastic belt 12 reaches the center line position between the two rollers 11 on the clamping head 10, and the centering of the tree trunk 23 is achieved. The outer rods 19 at both ends of the clamping head 10 are elastically connected to the rollers 11. When the two clamping heads 10 continue to approach each other for clamping, the roller 11 compresses the second spring 20 until the surface of the tree trunk 23, the elastic belt 12 and the arc clamping surface of the clamping head 10 are in close contact with each other. At this time, as shown in FIG. Figure 4 When the outer roller 11 rotates, the inner roller 11 is also driven to rotate through the elastic band.

[0034] like Figure 3 As shown, the excitation device of this embodiment includes a first eccentric wheel 15, a first gear 13, a second eccentric wheel 18, a second gear 16 and a motor. The motor is connected to the inside of the clamping head 10 in a side-lying manner. The output end of the motor is connected to the first gear 13. The first gear 13 is connected to the first eccentric wheel 15 through the first gear shaft 14. The first gear 13 is meshed with the second gear 16. The second gear 16 is connected to the second eccentric wheel 17 through the second gear shaft 18. The first gear shaft 14 and the second gear shaft 18 are both rotatably connected to the inner wall of the clamping head 10. After the motor is started, it drives the first gear 13 to rotate, and the first gear 13 drives the first eccentric wheel 15, the second gear 16 and the second eccentric wheel 17 to rotate. The first eccentric wheel 15 and the second eccentric wheel 18 rotate at the same time, so that the excitation force is doubled and the fruit picking rate is improved.

[0035] The clamping head 10 of this embodiment is equipped with a second depth camera 22. The central axis of the lens of the second depth camera 22 is tangential to the roller 11 located on the outside. Figure 2 or Figure 4 The depth camera 22 is connected to an external control system, which is used to control the start and stop of the rotation drive device 1 and the excitation device. The control system uses existing technology to control the start and stop of the rotation drive device 1 and the excitation device.

[0036] The fruit vibration harvesting device of this embodiment includes a tree body automatic centering vibration excitation device, a body, a multi-degree-of-freedom joint, a depth camera, a control system, etc. The control system, the vibration excitation device, etc. are also connected to a power supply.

[0037] The tree automatic centering and vibration device of the present embodiment can be connected to an existing multi-degree-of-freedom joint, or can be connected to other devices (such as electric push rods, hydraulic cylinders, etc.) for use. The overall structure can be installed on a vehicle body, and the vehicle body can be moved to reach the destination where the tree trunk 23 is located. A depth camera 1 can be installed in the middle of the vehicle body, and the tree automatic centering and vibration device is also located in the middle of the vehicle body. The lens of the depth camera 1 faces the front of the vehicle body. The vehicle body continues to adjust its position until the lens of the depth camera 1 faces the tree trunk 23 and the depth camera 1 can recognize the diameter D of the tree trunk 23 in front. When the depth camera 1 transmits the diameter D to the control system installed on the vehicle body, the control system can control the multi-degree-of-freedom joint or electric push rod or hydraulic cylinder to drive the tree automatic centering and vibration device of the present embodiment to advance (move) forward. When advancing forward, when the depth camera 2 22 on the clamping head 10 of the tree automatic centering and vibration device has just recognized the trunk information of the tree trunk 23 (that is, Figure 5 As shown, when the center axis of the depth camera 22 lens just touches the edge of the tree trunk 23, the advancement distance of the depth camera 22 is counted as L=0. When L=D / 2, that is, Figure 6 As shown (if the cross section of the tree trunk 23 at the clamped position is regarded as a regular circle, the central axis of the depth camera 22 lens is almost aligned with the center of the tree trunk 23). At this time, at least half of the structure on the tree trunk 23 has entered between the two clamping heads 10 (that is, half of the structure has entered the inner side of the roller 11 at one end of the outer side of the two clamping heads 10). The control system controls the control valve and then adjusts the flow and pressure of the liquid, thereby realizing the control of the hydraulic motor. The hydraulic motor is started, and the hydraulic motor drives the rotating shaft 3 to rotate. The rotating shaft 3 drives the connecting rod 4 to rotate. The connecting rod 4 drives the two pull rods 5 to move. The two pull rods 5 respectively drive the sliders 7 of the two clamping arms 8 to slide face to face on the track 6 on the base 2, and clamp each other. During the clamping process, as shown in FIG. Figure 7 As shown, first the roller 11 on the outside touches the tree trunk 23, and in the process of continuous clamping, the roller 11 rolls along the surface of the tree trunk 23, that is, the roller 11 and the tree trunk 23 undergo relative movement, and this relative movement drives the clamping head 10 to slide on the clamping arm 8 until the most convex point of the tree trunk 23 on the side of the elastic band 12 reaches the center line position between the two rollers 11 on the clamping head 10, or until the axis of the tree trunk 23 is aligned with the center position of the elastic band 12, completing the centering. After that, the two clamping heads 10 continue to move closer to each other for clamping, and the roller 11 compresses the second spring 20 until each roller 11 is in close contact with the surface of the tree trunk 23 and the arc-shaped clamping surfaces of the two clamping heads 10, the elastic band 12 and the surface of the tree trunk 23 are in close contact in turn, that is, the centering clamping is completed and the clamping state is maintained.

[0038] At this point, the control system activates the motor within the excitation device, which drives the first gear 13 to rotate. The first gear 13 then drives the first eccentric 15, the second gear 16, and the second eccentric 17 to rotate. The first eccentric 15 and the second eccentric 18 rotate simultaneously, doubling the excitation force and improving the fruit picking efficiency. Because the center of the tree trunk 23 is located in the middle of the multiple rollers 11 on the two clamping heads 10, the excitation force generated within the clamping heads 10 can precisely vibrate and exert force at the center of the tree, achieving optimal picking results and greatly improving the picking efficiency.

[0039] After the excitation is completed, the hydraulic motor drives the rotating shaft 3 to reverse, so that the two clamping heads 10 move away from each other and leave the tree trunk 23. At this time, under the action of the restoring force of the first spring 9 and the second spring 20, the clamping head 10 slides to the initial position on the clamping arm 8, and the roller 11 also returns to its initial position.

[0040] The present invention can use the clamping adaptive mechanism to gradually make the clamping head reach the center of the tree trunk under the action of the clamping force, so that the clamping point of the clamping head 10 is more accurate. After centering and clamping, the tree trunk 23, the elastic band 12 and the arc clamping surface are tightly attached to each other, which ensures the effective transmission of the exciting energy when the fruit is harvested by vibration, and avoids damage to the tree.

[0041] It should be noted that the strokes of the two clamping heads 10 of the present invention are the same. If the tree trunk 23 leans toward one of the clamping heads 10, the following situation will occur: Since the tree has a certain elasticity, when one clamping head 10 is already in close contact with the tree trunk 23 and the other has not yet, the two clamping heads 10 need to continue to move closer. When both clamping heads 10 are in close contact with the tree trunk 23, vibration will begin. At this time, the tree will bend, which is normal.

[0042] It should be noted that the present invention only protects the automatic centering and vibration device for trees. The automatic centering and vibration device for trees can ensure that the tree is automatically centered (i.e., clamped in alignment with the center of the tree). The centering of the tree trunk 23 is also conducive to the effective transmission of the exciting force, which solves the problem that the existing ordinary clamping heads usually only clamp one side or the head of the tree trunk and cannot automatically clamp in alignment with the center of the tree trunk. In addition, how the clamping head 10 of the automatic centering and vibration device for trees reaches the vicinity of the tree trunk 23 is not within the scope of protection of the present invention, that is, the structural information such as the vehicle body, depth camera 1 and multi-degree-of-freedom joints, and the data processing process of the control system all use existing technologies. In addition, the tree diameter targeted by the device of this embodiment needs to be within a certain range to be suitable for the clamping of this device.

[0043] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field fall within the protection scope of the present invention.

Claims

1. A tree body automatic centering and vibration excitation device for a fruit vibration harvesting device, characterized in that: It comprises a base (2), a rotary drive device (1), a rotating shaft (3), a connecting rod (4), a pull rod (5), a clamping arm (8), a clamping head (10), an elastic band (12) and a roller (11); The rotary drive device (1) is connected to the base (2), the output end of the rotary drive device (1) is connected to the rotating shaft (3), the rotating shaft (3) is rotatably connected to the center hole of the base (2), the rotating shaft (3) passes through the center hole of the base (2) and is connected to the middle of the connecting rod (4), the two ends of the connecting rod (4) are respectively rotatably connected to one end of the pull rod (5), and the other ends of the two pull rods (5) are rotatably connected to the slider (7) at one end of the clamping arm (8), and the two The clamping arms (8) are symmetrically arranged and the slider (7) at one end of the clamping arm (8) is slidably connected to the track (6) on the base (2). A clamping head (10) is slidably connected to each clamping arm (8). The clamping arm (8) is elastically connected to the clamping head (10). Both ends of the clamping head (10) are elastically connected to rollers (11). The rollers at both ends of the clamping head (10) are connected by transmission through an elastic belt (12). An excitation device is provided in the clamping head (10).

2. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: The rotary drive device (1) adopts a hydraulic motor.

3. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: The clamping arm (8) and the clamping head (10) are elastically connected via a first spring (9).

4. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: The clamping head (10) is provided with a slide groove, and the clamping arm (8) passes through the slide groove and can slide along the slide groove.

5. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: Both ends of the clamping head (10) are fixedly connected to an outer rod (19), and an inner rod (21) is slidably connected inside the outer rod (19). One end of the inner rod (21) is connected to the inner wall of the outer rod (19) through a second spring (20), and the other end of the inner rod (21) extends outside the outer rod (19) and is rotatably connected to the roller (11).

6. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: The excitation device comprises a first eccentric wheel (15), a first gear (13), a second eccentric wheel (17), a second gear (16) and a motor, wherein the motor is connected to the clamping head (10), the output end of the motor is connected to the first gear (13), the first gear (13) and the first eccentric wheel (15) are connected via a first gear shaft (14), the first gear (13) is meshed with a second gear (16), the second gear (16) and the second eccentric wheel (17) are connected via a second gear shaft (18), and the first gear shaft (14) and the second gear shaft (18) are both rotatably connected to the inner wall of the clamping head (10).

7. The tree body automatic centering and vibration excitation device of the fruit vibration harvesting device according to claim 1 is characterized in that: The clamping head (10) is equipped with a second depth camera (22), the central axis of the lens of the second depth camera (22) is tangent to the roller (11) located on the outside, and the second depth camera (22) is connected to an external control system, which is used to control the start and stop of the rotary drive device (1) and the excitation device.

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