CN105325122A - Fruit vibrating harvesting and vanning vehicle - Google Patents
Fruit vibrating harvesting and vanning vehicle Download PDFInfo
- Publication number
- CN105325122A CN105325122A CN201410388692.1A CN201410388692A CN105325122A CN 105325122 A CN105325122 A CN 105325122A CN 201410388692 A CN201410388692 A CN 201410388692A CN 105325122 A CN105325122 A CN 105325122A
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- CN
- China
- Prior art keywords
- suspension arm
- umbrella
- arm
- self
- fruit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 23
- 238000003306 harvesting Methods 0.000 title abstract description 7
- 239000000725 suspension Substances 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 210000000245 forearm Anatomy 0.000 claims description 11
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 6
- 210000003205 muscle Anatomy 0.000 claims description 6
- 238000007493 shaping process Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 241000167854 Bourreria succulenta Species 0.000 abstract description 2
- 241000675108 Citrus tangerina Species 0.000 abstract description 2
- 235000019693 cherries Nutrition 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 2
- 244000141359 Malus pumila Species 0.000 abstract 1
- 235000021016 apples Nutrition 0.000 abstract 1
- 238000013459 approach Methods 0.000 abstract 1
- 235000011869 dried fruits Nutrition 0.000 abstract 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 abstract 1
- 210000000056 organ Anatomy 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000006667 Aleurites moluccana Nutrition 0.000 description 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 240000004957 Castanea mollissima Species 0.000 description 1
- 235000018244 Castanea mollissima Nutrition 0.000 description 1
- 240000007049 Juglans regia Species 0.000 description 1
- 235000009496 Juglans regia Nutrition 0.000 description 1
- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 244000126002 Ziziphus vulgaris Species 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005089 fruit drop Effects 0.000 description 1
- 235000015203 fruit juice Nutrition 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000008638 plant developmental process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 235000020234 walnut Nutrition 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a fruit vibrating harvesting and vanning vehicle comprising a self-walking vehicle, a multi-section work arm, a work device suspension rack, a clamping vibration device, an automatic close-open collection umbrella, a temporary collection bunker, a transmission mechanism and a bearing trailer. The self-walking vehicle equipped with a navigation and image identifying system, the clamping vibration device containing a pressure sensor and a distance sensor and the automatic close-open collection umbrella guarantee that manual interference is avoided when the vehicle walks, approaches to fruit trees and vibrating harvesting; and with the cooperation of the temporary collection bunker and the transmission mechanism as well as the bearing trailer, fruits can be vibrated and automatic vanning can be finished. The fruit vibrating harvesting and vanning vehicle can be applied to automatic harvesting work for dried fruits, red dates, cherries, juice apples and organs and tangerines, so labor cost can be greatly reduced and the fruit vibrating harvesting and vanning vehicle is suitable for development demands of fruit production whole mechanization.
Description
Technical field
The present invention relates to agriculture and forestry machinery field, particularly, devise fruit vibration results and vanning car.
Background technology
There is fruit in current China as in the plant development process of the fruit such as apple, oranges and tangerines at the dry fruits such as Chinese chestnut, walnut, jujube, cherry and small berries and part producing fruit juice, fruit harvest is one always and manually has high input, the working link of wasting time and energy, for dry fruit, arrive collecting season every year, be all concentrate in 2-3 week to complete to gather, collecting time is concentrated, and hired laborer is not difficult to find.And specifically the form of gathering mostly is the hand-held long bamboo pole of peasant and hits fruit down, not only efficiency is low, and this operating type inevitably damages the tender shoots on branch, affects Second Year and bears fruit.And external oscillatory type collecting cart Jin Youzhenluo mechanism, still need people to pick up by hand after fruit drops, case, entrucking, fruit results entire mechanization cannot be realized.
Accelerate in Development of China's Urbanization, rural laborer accelerates to cities and towns transfer, and rural and agricultural rear personnel mostly is today of man at an advanced age, and the entire mechanization how realizing this cargo handling operation has become one needs the urgent problem solved.
Summary of the invention
The object of the invention is by full-automation complete in vehicle garden advance, fruit vibrating, collection vanning work in every, thoroughly solve the difficult problem that this cargo handling operation is badly in need of mechanization, automation.
Fruit vibration results of the present invention and vanning car, comprise self-propelled vehicle, multisection type work jibs, apparatus for work hanger bracket, clamping vibration device, automatic open-close collection umbrella, interim collection bucket, connecting gear and acknowledgement of consignment trailer:
Self-propelled vehicle is furnished with navigation and image recognition system and camera, can travel according to programme path, and confirms appropriate work parking spot according to actual scene scene;
Multisection type work jibs is made up of mounting base, large arm, forearm and mounting folder, preferably mounting base is a plank frame having central rotation axis hole, axis hole coordinates with the floor installation axle on self-propelled vehicle chassis to be installed, mounting base edge stretches into the chute on self-propelled vehicle base, between mounting base and self-propelled vehicle base, hydraulic cylinder is housed, mounting base can be horizontally rotated;
Between mounting base and large arm, between large arm and forearm, hydraulic cylinder is housed, to control the flexible of work jibs; Hydraulic cylinder between mounting folder and the suspension arm of clamping vibration device, controls the pitching upset tuning of suspension arm; The end of forearm is equipped with movable sleeve cartridge type joint, in-built hydraulic motor, supports the left and right upset tuning of the apparatus for work hanger bracket that forearm hangs;
The mounting folder that forearm front end is installed is connected respectively with the suspension arm both sides of clamping vibration device;
Clamping vibration device is made up of the holding hand of Semi surrounding type suspension arm, Driven by Hydraulic Cylinder, vibrating mechanism;
Range sensor is equipped with in centre position, suspension arm rear portion, and suspension arm upper and lower surface is provided with slide rail, collects umbrella slide block for automatic open-close, and the pull rope that suspension arm disposed inboard has multiple annulus to collect umbrella for automatic open-close passes through;
Suspension arm lower end mounts holding hand by chain;
Holding hand is made up of the principal arm of the curved boom form connected by movable joint and auxiliary, hydraulic cylinder is had to control its folding between principal arm and auxiliary, principal arm and auxiliary leading inside are all equipped with rubber blanket, and pressure sensor is equipped with in inside, principal arm front end, has the installing rack of vibrating mechanism outside principal arm;
Vibrating mechanism is made up of motor, installing rack and eccentric wheel, and eccentric hub is arranged on installing rack, and motor is arranged on installing rack by the flange on installing rack, and coaxial with the eccentric wheel be fixed in hub;
Automatic open-close is collected pack and is drawn together opening and closing umbrella motor, pull rope, slide block, shaping muscles and bones and brace rod, umbrella cloth and a pair, openend sheet rubber composition;
Motor is arranged on suspension arm, and its axle head is provided with a concave-concave sheave;
Shaping muscles and bones in umbrella cloth, U-shaped slide block is together connected to together with brace rod, the each own sister block coordinated with suspension arm upper and lower surface slide rail of the upper and lower inner surface of slide block, slide block inwall has can through the annulus of pull rope, slide block annulus system of umbrella mouth place has opens pull rope and closed draw rope, is back to the concave-concave sheave on motor inside its point of suspension arm with all the other slide block inwall two lines respectively;
Holding hand lower end hangs with interim collection bucket, and its inner bottom surface is tilted to the opening part of proceeds posterolateral, and front end is near treating that vibration trunk place is circular arc;
Mounting acknowledgement of consignment trailer after self-propelled vehicle, acknowledgement of consignment trailer lateral surface is equipped with conveyer belt, and conveyer belt bottom is near the opening part of interim collection bucket, and bottom, driving-belt top is the high outside and low outside material receiving port that acknowledgement of consignment trailer side walls leans out.
The hydraulic cylinder can supporting its lifting discharging is equipped with in acknowledgement of consignment trailer both sides.
Accompanying drawing explanation
Complete machine stereogram when Fig. 1 is operation of the present invention;
Fig. 2 be of the present invention when operation rear perspective view;
Fig. 3 is of the present invention not containing acknowledgement of consignment trailer and the rear perspective view of collecting umbrella;
Fig. 4 is of the present invention not containing acknowledgement of consignment trailer and the vertical view collecting umbrella;
Fig. 5 is of the present invention not containing the top perspective view collecting umbrella;
Fig. 6 is the top perspective view of suspension arm of the present invention, holding hand and vibrating mechanism;
Fig. 7 is the top perspective view of holding hand of the present invention and vibrating mechanism;
Fig. 8 is slide block stereogram of the present invention.
Embodiment
Below in conjunction with example, substantive distinguishing features of the present invention and advantage are further described, but the present invention is not limited to listed embodiment.
Self-navigation and image recognition system 2 and roof camera head 3 self-propelled vehicle 1 of fruit of the present invention vibration results and vanning car be equipped with shown in Fig. 1 ~ 8.
The mounting base 4 of multisection type work jibs 59 is arranged on the base 60 on self-propelled vehicle inner chassis 6 by central shaft hole 5, the edge 7 of mounting base both sides stretches in the chute formed between 2 steel pipes 8 and base 60 that base 60 is installed, is provided with hydraulic cylinder 9 between mounting base 4 and base 60; Large arm 10 is connected with mounting base 4 by movable joint 11, and between large arm 10 and mounting base 4, hydraulic cylinder 12 is housed; Large arm 10 is connected by movable joint 61 with forearm 13, and hydraulic cylinder 14 is housed between; Forearm 13 end is equipped with movable sleeve cartridge type joint 62, in-built hydraulic motor; Movable sleeve cartridge type joint 62 other end connects mounting folder 15, and mounting folder 15 is connected with suspension arm 16 both sides, between mounting folder 15 and suspension arm 16, hydraulic cylinder 17 is housed.
Range sensor 18 is equipped with in centre position, suspension arm 16 rear portion, suspension arm 16 upper and lower surface is provided with slide rail 19, collect the slide block 21 of umbrella 20 for automatic open-close, the closed draw rope 23 that suspension arm 16 disposed inboard has multiple annulus 22 to collect umbrella 20 for automatic open-close passes through; Suspension arm 16 lower end mounts holding hand 25 by chain 24.
The principal arm 26 of holding hand 25 is connected by movable joint 28 with auxiliary 27; Hydraulic cylinder 29 is had between principal arm 26 and auxiliary 27, principal arm 26 and auxiliary 27 leading inside are all equipped with rubber blanket 30, during operation, rubber blanket 30 clamps the trunk of fruit tree 58, and pressure sensor 31 is equipped with in inside, principal arm 26 front end, has the installing rack 33 of vibrating mechanism 32 outside principal arm 26.
The eccentric wheel hub 36 of vibrating mechanism 32 is arranged on installing rack 33, and motor 34 is arranged on installing rack 33 by flange 35, and is connected with eccentric wheel hub 36.
The opening and closing umbrella motor 38 that automatic open-close collects umbrella 20 is arranged on suspension arm 16, and axle head 39 is provided with a concave-concave sheave 40.
Shaping muscles and bones 42 in umbrella cloth 41, is together connected to U-shaped slide block 21 together with brace rod 43, and brace rod 43 is also directly connected on shaping muscles and bones 42 simultaneously; The each own sister block 44 coordinated with suspension arm 16 upper and lower surface slide rail 19 of slide block about 21 inner surface, slide block 21 inwall has can through the annulus 46 opening pull rope 45, the annulus 46 of umbrella mouth place slide block 37 is have to open pull rope 45 and closed draw rope 23, and two-way pull rope is back to the concave-concave sheave 40 of opening and closing umbrella motor 38 respectively; Respectively there is a slice sheet rubber 47 at the umbrella two ends of umbrella cloth openend.
Holding hand 25 lower end hangs with interim collection bucket 48, and its inner bottom surface 49 is tilted to the opening part 50 of proceeds posterolateral, and front end is near treating that vibration trunk place is circular arc 51;
Mounting acknowledgement of consignment trailer 52 after self-propelled vehicle 1, acknowledgement of consignment trailer lateral surface is equipped with conveyer belt 53, and conveyer belt bottom 54 is near the opening part 50 of interim collection bucket 48, and bottom, driving-belt top 55 carries the high outside and low outside material receiving port 56 dragging 52 car sidewalls to lean out.The hydraulic cylinder 57 can supporting its lifting discharging is equipped with in acknowledgement of consignment trailer 52 both sides.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (2)
1. fruit vibration results and vanning car, comprises self-propelled vehicle, multisection type work jibs, apparatus for work hanger bracket, clamping vibration device, automatic open-close collection umbrella, interim collection bucket, connecting gear and acknowledgement of consignment trailer, it is characterized in that:
Self-propelled vehicle is furnished with navigation and image recognition system and camera;
Multisection type work jibs is made up of mounting base, large arm, forearm and mounting folder, mounting base is a plank frame having central rotation axis hole, axis hole coordinates with the floor installation axle on self-propelled vehicle chassis to be installed, mounting base edge stretches into the chute on self-propelled vehicle base, between mounting base and self-propelled vehicle base, hydraulic cylinder is housed, mounting base can be horizontally rotated;
Between mounting base and large arm, between large arm and forearm, hydraulic cylinder is housed, to control the flexible of work jibs; Hydraulic cylinder between mounting folder and the suspension arm of clamping vibration device, controls the pitching upset tuning of suspension arm;
The end of forearm is equipped with movable sleeve cartridge type joint, in-built hydraulic motor, supports the left and right upset tuning of the apparatus for work hanger bracket that forearm hangs;
Mounting folder is connected respectively with the suspension arm both sides of clamping vibration device;
Clamping vibration device is made up of the holding hand of Semi surrounding type suspension arm, Driven by Hydraulic Cylinder, vibrating mechanism;
Range sensor is equipped with in centre position, suspension arm rear portion, and suspension arm upper and lower surface is provided with slide rail, collects umbrella slide block for automatic open-close, and the pull rope that suspension arm disposed inboard has multiple annulus to collect umbrella for automatic open-close passes through;
Suspension arm lower end mounts holding hand by chain;
Holding hand is made up of the principal arm of the curved boom form connected by movable joint and auxiliary, hydraulic cylinder is had to control its folding between principal arm and auxiliary, principal arm and auxiliary leading inside are all equipped with rubber blanket, and pressure sensor is equipped with in inside, principal arm front end, has the installing rack of vibrating mechanism outside principal arm;
Vibrating mechanism is made up of motor, installing rack and eccentric wheel, and eccentric hub is arranged on installing rack, and motor is arranged on installing rack by the flange on installing rack, and coaxial with the eccentric wheel be fixed in hub;
Automatic open-close is collected pack and is drawn together opening and closing umbrella motor, pull rope, slide block, shaping muscles and bones and brace rod, umbrella cloth and a pair, openend sheet rubber composition;
Motor is arranged on suspension arm, and its axle head is provided with a concave-concave sheave;
Shaping muscles and bones in umbrella cloth, U-shaped slide block is together connected to together with brace rod, the each own sister block coordinated with suspension arm upper and lower surface slide rail of the upper and lower inner surface of slide block, slide block inwall has can through the annulus of pull rope, slide block annulus system of umbrella mouth place has opens pull rope and closed draw rope, is back to the concave-concave sheave on motor inside its point of suspension arm with all the other slide block inwall two lines respectively;
Holding hand lower end hangs with interim collection bucket, and its inner bottom surface is tilted to the opening part of proceeds posterolateral, and front end is near treating that vibration trunk place is circular arc;
Mounting acknowledgement of consignment trailer after self-propelled vehicle, acknowledgement of consignment trailer lateral surface is equipped with conveyer belt, and conveyer belt bottom is near the opening part of interim collection bucket, and bottom, driving-belt top is the high outside and low outside material receiving port that acknowledgement of consignment trailer side walls leans out.
2. fruit vibration is gathered in the crops and vanning car according to claim 1, and it is characterized in that, described acknowledgement of consignment trailer is equipped with the hydraulic cylinder can supporting its lifting discharging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410388692.1A CN105325122A (en) | 2014-08-09 | 2014-08-09 | Fruit vibrating harvesting and vanning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410388692.1A CN105325122A (en) | 2014-08-09 | 2014-08-09 | Fruit vibrating harvesting and vanning vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105325122A true CN105325122A (en) | 2016-02-17 |
Family
ID=55276113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410388692.1A Pending CN105325122A (en) | 2014-08-09 | 2014-08-09 | Fruit vibrating harvesting and vanning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105325122A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105850373A (en) * | 2016-04-13 | 2016-08-17 | 中国农业大学 | Electromagnetic pulse impact type forest fruit harvester |
| CN107416264A (en) * | 2016-05-23 | 2017-12-01 | 西北农林科技大学 | A kind of fruit boxing apparatus |
| CN108040607A (en) * | 2017-12-21 | 2018-05-18 | 扬州大学 | One planting fruit-trees recovering device |
| CN110972712A (en) * | 2020-01-19 | 2020-04-10 | 中南林业科技大学 | Forest fruit vibration picking and collecting vehicle |
| CN111108915A (en) * | 2020-01-19 | 2020-05-08 | 岭南生态文旅股份有限公司 | A kind of trees and shrubs snow resources and yellow leaves collection equipment |
| CN112790004A (en) * | 2021-03-09 | 2021-05-14 | 西京学院 | High-frequency vibration type walnut picking system carried by unmanned aerial vehicle |
| CN113906905A (en) * | 2021-11-17 | 2022-01-11 | 西北农林科技大学 | A clamping mechanism for fruit vibration picking machine and its working method |
| CN115088503A (en) * | 2022-07-05 | 2022-09-23 | 山西工程职业学院 | A dead leaf removal and collection robot for agricultural garden production |
| CN116420508A (en) * | 2023-04-12 | 2023-07-14 | 国家林业和草原局哈尔滨林业机械研究所 | Vibration type forest fruit harvesting system and method |
| CN117441489A (en) * | 2023-12-21 | 2024-01-26 | 内蒙古工业大学 | A fruit collection device |
-
2014
- 2014-08-09 CN CN201410388692.1A patent/CN105325122A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105850373A (en) * | 2016-04-13 | 2016-08-17 | 中国农业大学 | Electromagnetic pulse impact type forest fruit harvester |
| CN107416264A (en) * | 2016-05-23 | 2017-12-01 | 西北农林科技大学 | A kind of fruit boxing apparatus |
| CN108040607A (en) * | 2017-12-21 | 2018-05-18 | 扬州大学 | One planting fruit-trees recovering device |
| CN110972712B (en) * | 2020-01-19 | 2021-09-17 | 中南林业科技大学 | Forest fruit vibration picking and collecting vehicle |
| CN111108915A (en) * | 2020-01-19 | 2020-05-08 | 岭南生态文旅股份有限公司 | A kind of trees and shrubs snow resources and yellow leaves collection equipment |
| CN110972712A (en) * | 2020-01-19 | 2020-04-10 | 中南林业科技大学 | Forest fruit vibration picking and collecting vehicle |
| CN112790004A (en) * | 2021-03-09 | 2021-05-14 | 西京学院 | High-frequency vibration type walnut picking system carried by unmanned aerial vehicle |
| CN112790004B (en) * | 2021-03-09 | 2023-04-25 | 西京学院 | High-frequency vibration type walnut picking system carried by unmanned aerial vehicle |
| CN113906905A (en) * | 2021-11-17 | 2022-01-11 | 西北农林科技大学 | A clamping mechanism for fruit vibration picking machine and its working method |
| CN115088503A (en) * | 2022-07-05 | 2022-09-23 | 山西工程职业学院 | A dead leaf removal and collection robot for agricultural garden production |
| CN116420508A (en) * | 2023-04-12 | 2023-07-14 | 国家林业和草原局哈尔滨林业机械研究所 | Vibration type forest fruit harvesting system and method |
| CN117441489A (en) * | 2023-12-21 | 2024-01-26 | 内蒙古工业大学 | A fruit collection device |
| CN117441489B (en) * | 2023-12-21 | 2024-02-23 | 内蒙古工业大学 | Fruit collection device |
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| C06 | Publication | ||
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Application publication date: 20160217 |