CN107567819B - Flexible matrimony vine picking device of bionic structure - Google Patents

Abstract

The invention discloses a flexible picking device for Chinese wolfberry with a bionic structure, which includes a gull-wing door bracket and a vibrating picking unit, each vibrating picking unit includes a gull-wing door skeleton, a vibrating frame, and is fixedly arranged on each vibrating frame And the vibrating rod group perpendicular to the vibrating frame, the driving motor fixed on the gull-wing door frame, the cam mechanism connected with the driving motor, the driving motor and the cam mechanism form the vibration generating device. According to the characteristics of the growth structure pattern and fruit distribution pattern of wolfberry plants, the present invention designs a multi-faceted and multi-regional picking structure, and arranges flexible comb bars made of flexible materials that can be stretched and contracted on the vibrating bar group. The invention adopts the brush vibration method of the flexible contact brush to replace the traditional rigid contact operation method with the branches, and can complete the low-loss and high-efficiency harvesting operation of wolfberry, reducing the damage and damage to the branches, leaves, flowers and fruits of the wolfberry plant. The damage to the ripe fruit improves the fruit quality of the harvested fruit, and the present invention is also applicable to the harvesting of other shrub berries.

Description

A flexible harvesting device for wolfberry with bionic structure

technical field

The invention relates to the field of agricultural equipment, in particular to a flexible harvesting device for wolfberry with a bionic structure.

Background technique

Lycium barbarum belongs to the berry fruit with infinite inflorescences. The fruits of Lycium barbarum are harvested in multiple crops and harvested in batches. , fruit, and ripe fruit coexist, and it is very difficult to harvest.

Lycium barbarum is a berry. The water content of mature wolfberry is relatively high, and the fruit texture is soft. Conventional vibration methods are used for mechanized batch picking, which is easy to cause damage and hidden damage to ripe fruits, affecting picking efficiency and fruit quality after picking. Damaged and bruised fruits will turn black after drying, which will have a great impact on the nutritional and economic value of wolfberry.

The current wolfberry picking machinery is mainly designed for portable and miniaturized harvesting, which has low efficiency and cannot completely liberate the labor force. For large-scale mechanized operations, the devices designed based on the principle of mechanical vibration have problems such as low harvesting efficiency, high fruit damage rate, and damage to the later fruit of wolfberry fruit trees; while the picking machinery designed with the principle of airflow, because the branches of wolfberry are staggered and overlapped, The fruits are arranged in disorder, and it is difficult to control fruit picking through the airflow. There are also problems in the principle of mechanical vibration.

Contents of the invention

The technical problem to be solved by the present invention is to provide a flexible harvesting device for wolfberry with a bionic structure, which can solve the problems of difficult mechanized picking of wolfberry, low harvesting efficiency, high damage rate, and increasingly scarce labor force, and meet the national requirements for improving the technical level of agricultural equipment. urgent needs.

Technical scheme of the present invention is:

A flexible harvesting device for wolfberry with a bionic structure, including a gull-wing door bracket and two vibrating picking units connected to the gull-wing door bracket through the gull-wing door hydraulic support rod, each vibrating picking unit includes a gull-wing A door frame, a plurality of rectangular vibrating frames arranged above the gull-wing door frame, a vibrating bar set fixed on each vibrating frame and perpendicular to the vibrating frame, a driving motor fixed on the gull-wing door frame, and a driving motor The connected cam mechanism, the drive motor and the cam mechanism form a vibration generating device; each gull-wing door frame is provided with two sets of drive motors, each set of drive motors corresponds to a vibrating frame, and each set of drive motors is connected to a corresponding vibration frame. A group of cam mechanisms, the cam of the cam mechanism is fixedly connected to the output shaft of the corresponding drive motor, the driven wheel of the cam mechanism is fixedly connected to the corresponding vibration frame, and the output shaft of each group of drive motors is fixedly connected to the corresponding vibration frame. Parallel relationship; the vibrating bar group includes a plurality of driving cylinders fixed on the vibrating frame and a plurality of tubular vibrating units connected to the corresponding driving cylinders and perpendicular to the vibrating frame, and the tubular vibrating unit includes a tube, The push rod installed in the tube and connected to the piston rod of the drive cylinder, and the multi-turn flexible comb rod with the inner end fixed on the outer wall of the push rod and the outer end protruding out of the tube, the vibration direction of the tubular vibration unit Along the vertical axis, the flexible brush is in direct contact with plant branches, leaves, flowers, fruits, etc. for brushing and vibration operations.

Each of the gull-wing door frames includes a gull-wing door-shaped frame and a plurality of sliding support frames of vibrating rod groups connected to the gull-wing door-shaped frame, and the sliding supporting frames of the vibrating rod group and the vibrating frame are both The grid-shaped rectangular plates overlap up and down; the multiple vibrating rod group sliding support frames form a multi-faced hoarding structure with an unclosed bottom end, and the multiple vibrating plates form a multi-faced hoarding structure overlapping up and down, satisfying Multi-angle vibration picking is required; each of the vibration rod group sliding support frames is fixedly equipped with a group of drive motors.

The set of drive motors includes two drive motors whose output shafts rotate in opposite directions, and the set of cam mechanisms includes two cam units, and the two drive motors are respectively located on the opposite sides of the sliding support frame of each vibration rod group In the middle part, the driven wheels of the two cam units are respectively fixedly connected to the middle parts of the opposite sides of each vibrating frame, and the cam of each cam unit is fixedly connected to the output shaft of the corresponding drive motor and is in frictional and rolling contact with the driven wheels.

The vibrating rod group sliding support frame is provided with a vibrating rod group positioning mounting hole, and each tubular vibration unit passes through the corresponding vibrating rod group positioning mounting hole.

The plurality of tubular vibration units are arranged in a matrix, and the corresponding lengths of the tubular vibration units are set according to the structural dimensions of different parts of the plant. According to the types of wolfberry plants and different picking periods, the push rod pushes out the stroke to set the corresponding adaptation length.

The tubular vibrating unit includes a multi-section threaded tube, each section of the tube is provided with a comb fixing ring, and a plurality of circularly distributed flexible comb rods are fixedly connected to the comb fixing ring. The push rod passes through the comb fixing ring of each tube tube in turn and is fixedly connected with the comb fixing ring.

The vibration generating device also includes a spring damper connected between the four corners of the vibrating frame and the corresponding gull-wing door skeleton, and the spring bottom end of each spring damper is against the gull-wing door The upper end of the skeleton.

The bottom edge of the gull-wing door bracket is provided with an electric lock for fixedly connecting the gull-wing door frame.

Advantages of the present invention:

(1), the present invention adopts the vibrating bar group with flexible comb bar to carry out large-area flexible comb contact with Lycium barbarum plant, the distance and quantity between the flexible comb bar of each circle, according to Lycium barbarum fruit, branch, branch etc. The structure is set, and the flexible comb rod can be set to different elongation lengths according to different wolfberry varieties and different harvest periods. Compared with the contact between the vibration rod and the branches in traditional vibration harvesting, a smaller amplitude can be achieved. The wolfberry fruit is driven to follow the vibration, and the vibration is directly transmitted to the fruit more accurately, so that the ripe fruit is picked with low damage and the flower and fruit are not damaged. At the same time, the flexible comb structure is a comb that can be extended and retracted. In the process, the damage to the plant is avoided, and the fruit is harvested with low loss and high efficiency, and at the same time, it has little impact on the flowering and fruiting of the Lycium barbarum plant in the later stage;

(2), the present invention adopts multi-sided multi-angle gull-wing door structure and multiple groups of vibrating picking units to regionally pick different parts of Lycium barbarum plants, different areas can control different vibration picking frequencies and amplitudes, and it is easy to realize the harvesting of Lycium barbarum fruit The heterogeneous control harvesting at different positions, the vibration generating device composed of spring dampers, multiple sets of drive motors and cam mechanisms can precisely control the triggering and transmission of vibration for the vibration operation of each vibrating rod group, reducing the vibration and complexity of the mechanism The influence of the environment on the vibration unit, it is easy to control the amplitude and frequency of the flexible comb rod to the plants, improve the picking effect and efficiency, and reduce the damage rate;

(3) The rotation direction of the vibration generating device of the present invention is opposite, and the tangential force generated by the vibration mechanism itself can be offset against each other during its movement, so that the vibration of the harvesting unit mechanism in different harvesting vibration directions can be controlled more accurately Frequency and amplitude, reducing the impact of some errors in the mechanism.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention in working state.

Fig. 2 is a schematic structural diagram of the present invention in a standby state.

Fig. 3 is a structural schematic diagram of the bracket for the gull-wing door of the present invention.

Fig. 4 is a structural schematic diagram of the vibrating picking unit of the present invention.

Fig. 5 is a partially enlarged structural schematic diagram of the vibration generating device of the present invention.

Fig. 6 is a schematic side view of the cam mechanism of the present invention.

Fig. 7 is a structural schematic diagram of the tubular vibration unit and the driving cylinder of the present invention.

Fig. 8 is a schematic diagram of the working mechanism and vibration direction of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

See Fig. 1-Fig. 4, a kind of wolfberry flexible picking device of bionic structure, comprises gull-wing door bracket 1 and two vibrating picking units that are all connected to the gull-wing door bracket by gull-wing door hydraulic support bar 2, each Each vibration picking unit includes a gull-wing door-shaped frame 3, two vibrating rod group sliding support frames 4 connected to the two obtuse surfaces of the gull-wing door-shaped frame 3, and two vibrating rod group sliding support frames 4 respectively arranged on the top of the vibrating rod group sliding support frame 4. And the rectangular vibrating frame 5 that overlaps up and down with the vibrating rod group sliding support frame 4, the vibrating rod group 6 that is fixedly arranged on each vibrating frame 5 and perpendicular to the vibrating frame, and the drive that is fixed on the vibrating rod group sliding supporting frame 4 Motor 7, cam mechanism 8 and spring damper 10 connected with driving motor 7, driving motor 7, cam mechanism 8 and spring damper 10 form vibration generating device, and spring damper 10 is connected to four corners of each vibrating frame 5 and the corresponding vibrating rod group sliding support frame 4; the bottom edge of the gull-wing door bracket 1 is provided with an electric lock 9 for fixedly connecting the gull-wing door frame 3 (see Figure 3); the vibrating rod group sliding supporting frame 4 and vibrating frame 5 are grid-shaped rectangular plates, and overlap up and down; see Fig. 5-Fig. 6, a drive motor 7 is fixedly arranged on the middle part of the opposite sides of each vibrating rod group sliding support frame 4, The rotation directions of the output shafts of the two driving motors 7 are opposite, and one set of cam mechanisms 8 includes two cam units, and the driven wheels 82 of the two cam units are respectively fixedly connected to the middle parts of the opposite sides of each vibrating frame 5, each The cam 81 of each cam unit is fixedly connected to the output shaft of the corresponding driving motor 7 and is in frictional rolling contact with the driven wheel 82, and the output shaft of the driving motor 7 is in parallel relationship with the corresponding vibrating frame 5; see Fig. 7, the vibrating rod group 6 It includes a plurality of driving cylinders 61 fixed on the vibrating frame 5 and a plurality of tubular vibration units connected to the corresponding driving cylinders 61. The plurality of tubular vibration units are arranged in a matrix and are perpendicular to the vibrating frame 5. The frame 4 is provided with a vibrating rod group positioning hole, and each tubular vibrating unit passes through the corresponding vibrating rod group positioning hole. The tubular vibrating unit includes a tube 62 with six threaded connections, is arranged in the tube 62 and is connected to the drive The push rod 63 connected to the piston rod of the cylinder 61 and the flexible comb rod 65 whose inner end is fixed on the outer wall of the push rod 63 through the fixing ring 64 and whose outer end stretches out of the tube 62, each round of the flexible comb rod 65 Both form a downwardly extending conical structure; wherein, the driving cylinder 61 is a hydraulic cylinder, and the driving motor 7 is a hydraulic motor.

The working principle of the present invention: according to the growth structure pattern of wolfberry plants and the distribution pattern of wolfberry fruit, a plurality of vibratory harvesting operation surfaces are set up to carry out multi-faceted and multi-regional vibratory picking, and the vibrating rod group 6 is provided with a flexible vibrating rod group that can be stretched out and retracted. Comb rod 65, when picking, is contracted by the gull-wing door hydraulic rod 2, and the vibrating rod group 6 is inserted into the Lycium barbarum plant, and the small hydraulic cylinder 61 at the upper end of the vibrating rod group 6 pushes the push rod 63 in the tube 62 to move, and the flexible The comb bar 65 is pushed out from the tube tube 62 and radiated, and the flexible comb bar 65 is in contact with the branches, leaves, flowers, raw fruits, ripe fruits, etc. of the Lycium barbarum plant; The generating device drives the vibration rod group 6 to vibrate along the tube axis of the tubular vibration unit (see Figure 8). By controlling the amplitude and frequency of the vibration, the flexible comb rod 65 transmits specific vibration to the Lycium barbarum plant, and the mature Lycium barbarum is flexibly vibrated. And other parts of Chinese wolfberry have no damage or low damage, so that the low-loss and high-efficiency picking of Chinese wolfberry is realized; after picking, the small hydraulic cylinder 61 at the upper end of the vibrating rod group 6 pulls the push rod 63 in the tube tube 62 to recover, and the flexible comb bar 65 is retracted to In the tube tube 62, the hydraulic rod 2 of the gull-wing door is lifted again, and the vibrating rod group 6 is extracted from the wolfberry plant, ready for the picking of the next wolfberry.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. A flexible picking device for Chinese wolfberry of bionic structure, characterized in that: it includes a gull-wing door support and two vibration picking units that are connected to the gull-wing door support by the gull-wing door hydraulic support bar, each vibration picking Each unit includes a gull-wing door frame, a plurality of rectangular vibrating frames arranged above the gull-wing door frame, a vibrating bar set fixed on each vibrating frame and perpendicular to the vibrating frame, and a Drive motor, cam mechanism connected with drive motor, described drive motor and cam mechanism form vibration generating device; The sliding support frame of the rod group, the sliding support frame of the vibrating rod group and the vibrating frame are grid-shaped rectangular plates, and overlap up and down; each group of vibrating rod group sliding supporting frames is fixedly equipped with a set of drive motors, and each group The motors correspond to a vibrating frame respectively, and each group of driving motors is connected to a group of cam mechanisms. The cam of the cam mechanism is fixedly connected to the output shaft of the corresponding driving motor, and the driven wheel of the cam mechanism is fixedly connected to the corresponding vibrating frame. The output shaft of each group of driving motors is parallel to the corresponding vibrating frame; the vibrating rod group includes a plurality of driving cylinders fixed on the vibrating frame and a plurality of tubular tubes connected to the corresponding driving cylinders and perpendicular to the vibrating frame The vibration unit, the tubular vibration unit includes a tube, a push rod arranged in the tube and connected to the piston rod of the drive cylinder, and the inner end is fixed on the outer wall of the push rod and the outer end protrudes out of the tube Multi-turn flexible comb rod. 2. The flexible picking device of Chinese wolfberry of a kind of bionic structure according to claim 1, it is characterized in that: described one group of drive motors comprises the drive motors that two output shafts rotate in opposite directions, one group of cam mechanism comprises Two cam units and two driving motors are respectively located in the middle of the opposite sides of the sliding support frame of each vibrating rod group, and the driven wheels of the two cam units are respectively fixedly connected to the middle of the opposite sides of each vibrating frame, The cam of each cam unit is fixedly connected with the output shaft of the corresponding driving motor and is in friction rolling contact with the driven wheel. 3. The flexible picking device of wolfberry with a bionic structure according to claim 1, characterized in that: the sliding support frame of the vibration rod group is provided with a positioning mounting hole for the vibration rod group, and each tubular vibration unit passes through the Locate the mounting holes through the corresponding vibrator set. 4. A bionic structure flexible wolfberry picking device according to claim 1, characterized in that: said plurality of tubular vibration units are arranged in a matrix. 5. The flexible picking device of Chinese wolfberry of a kind of bionic structure according to claim 1, is characterized in that: described tubular vibrating unit comprises the tubular barrel that has multi-section screw connection, and comb brush is all arranged in every joint tubular barrel The fixing ring is fixedly connected with a plurality of circularly distributed flexible comb rods on the comb fixing ring, and the push rods pass through the comb fixing rings of each tube in turn and are fixedly connected with the comb fixing rings. 6. A flexible picking device for Chinese wolfberry with bionic structure according to claim 1, characterized in that: said vibration generating device also includes four corners connected to the vibrating frame and the corresponding gull-wing door frame. Between the spring dampers, the spring bottom end of each spring damper is against the upper end surface of the gull-wing door frame. 7. A bionic structure flexible wolfberry picking device according to claim 1, characterized in that: the bottom edge of the gull-wing door bracket is provided with an electric lock for fixedly connecting the gull-wing door frame.

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