SHAKING DEVICE AND HARVESTING APPARATUS INCLUDING A SHAKING DEVICE

Abstract

A shaking device for shaking a plant to harvest fruit carried by the plant. The shaking device includes a connecting frame for connecting the shaking device to a harvesting apparatus, a carrier for a shaker unit, displaceable in an oscillating manner, and a shaker unit connected to the carrier to engage with branches of the plant in order to shake the plant. The shaking device also includes a first mass driven by a first motor and a second mass driven by a second motor, and a transmission between the first and the second motor to couple the rotation of the first and the second motor. The first and the second motor are connected to the carrier, and the first and the second mass are eccentrically mounted on a respective axis of rotation to cause and transmit an oscillating movement upon rotation thereof. A harvesting apparatus including such a shaking device.

Claims

1-23. (canceled)

24. A shaking device for shaking a plant in order to harvest fruit hanging from the plant, wherein the shaking device comprises: a mounting frame for mounting the shaking device on a harvesting apparatus; a carrier for at least one shaking member, which is displaceable relative to the mounting frame in order to be able to perform a vibrating movement relative to the mounting frame, and at least one shaking member which is attached to the carrier and can be arranged alongside branches of the plant in order to shake the plant by transmitting the vibrating movement to the branches, characterized in that the shaking device comprises: a first motor and a first mass connected to the first motor, wherein the first motor is configured to drive the first mass rotatingly in a first rotation direction; a second motor and a second mass connected to the second motor, wherein the second motor is configured to drive the second mass rotatingly in a second rotation direction opposite to the first rotation direction; and a transmission between the first motor and the second motor for coupling rotation of the first motor to rotation of the second motor, wherein the first motor and the second motor are connected to the carrier and wherein the first and the second mass are each mounted eccentrically on a respective rotation shaft so as to cause during rotation a vibrating movement and transmit it to the carrier.

25. The shaking device according to claim 24, wherein the first motor and the second motor are mounted directly on the carrier.

26. The shaking device according to claim 24, wherein the rotation shafts of the first motor and the second motor are substantially parallel.

27. The shaking device according to claim 26, wherein the rotation shafts of the first motor and the second motor lie substantially at right angles to a longitudinal direction of the carrier.

28. The shaking device according to claim 24, wherein at least one of: the first mass and the second mass are arranged on either side of a centre of the carrier, as seen in a direction at right angles to the respective rotation shaft, the first mass and the second mass are arranged staggered relative to each other in the longitudinal direction of their respective rotation shaft, and the first and second motor are arranged at a substantially identical position, as seen in a longitudinal direction of the carrier.

29. The shaking device according to claim 24, wherein the rotation phases of the first mass and the second mass differ such that during rotation the first mass and the second mass perform an opposite movement along a first direction and perform the same movement along a second direction, this being perpendicular of the first direction.

30. The shaking device according to claim 24, wherein the at least one shaking member is rotatable about a longitudinal axis of the carrier.

31. The shaking device according to claim 30, provided with a plurality of said shaking members which are arranged at different angular positions about the longitudinal axis of the carrier.

32. The shaking device according to claim 24, provided with a plurality of said shaking members which are connected to the carrier at different positions in a longitudinal direction of the carrier.

33. The shaking device according to claim 24, wherein the carrier is suspended with one side from the mounting frame.

34. The shaking device according to claim 24, wherein the carrier is connected to the mounting frame by means of a spring.

35. The shaking device according to claim 34, wherein the spring is a compression spring and the carrier rests on the compression spring.

36. The shaking device according to claim 24, wherein at least one of; the carrier is bearing-mounted for rotation about a longitudinal axis of the carrier relative to the mounting frame, and the carrier is bearing-mounted for displacement in a longitudinal direction of the carrier relative to the mounting frame.

37. The shaking device according to claim 36, wherein the carrier is connected to the mounting frame by means of a ball-bearing cage which allows rotation about and displacement along the longitudinal axis of the carrier.

38. The shaking device according to claim 24, wherein the first and the second motor are arranged on a side of the carrier directed toward the mounting frame.

39. A harvesting apparatus for harvesting fruit hanging from a plant, comprising at least one shaking device according to claim 24 and a catching device for catching fruit falling from the plant due to shaking of the plant by means of the at least one shaking device.

40. The harvesting apparatus according to claim 39, comprising two of said shaking devices, the carriers of which are disposed substantially parallel to each other.

41. The harvesting apparatus according to claim 39, which is mobile in a direction of travel.

42. The harvesting apparatus according to claim 41, wherein the at least one shaking device is placed in the center of the harvesting apparatus, as seen in the direction of travel.

43. The harvesting apparatus according to claim 41, wherein the harvesting apparatus comprises a frame for mounting the shaking device thereon, and wherein the at least one shaking device is displaceable relative to the frame in a direction transversely of the direction of travel.

Description

[0065] The invention will be further elucidated hereinbelow with reference to the accompanying figures, in which:

[0066] FIG. 1 shows schematically a perspective view of a prior art harvesting apparatus, without shaking device;

[0067] FIGS. 2A and 2B each show schematically a different perspective view of a harvesting apparatus with two shaking devices;

[0068] FIG. 3 shows schematically a perspective view of a shaking device of FIGS. 2A and 2B;

[0069] FIG. 4 shows schematically a top view of the shaking device of FIG. 3;

[0070] FIG. 5 shows schematically a vertical cross-section of the shaking device of FIGS. 3 and 4; and

[0071] FIGS. 6A-6D show highly schematically how a vibration is generated by the shaking device of FIG. 3-5.

[0072] The same elements are designated in the figures with the same reference numerals.

[0073] FIG. 1 shows a per se known harvesting apparatus 1 for harvesting fruit hanging from a plant 2. The shown harvesting apparatus 1 can for instance be used to harvest berries. Berries grow on bushes 2 consisting of a number of stalks extending upward from the ground. The stalks are substantially vertical. Harvesting apparatus 1 has a gantry formed by a frame 3. Frame 3, and thereby harvesting apparatus 1, is mobile in that wheels 4 are arranged. Wheels 4 define a direction of travel R of harvesting apparatus 1. The plants 2 from which the fruit must be harvested are generally arranged in rows. A plurality of plants 2 can be reached in succession by harvesting apparatus 1 by displacing harvesting apparatus 1 over one of the plants 2 and then placing it with the direction of travel R corresponding to the longitudinal direction of a row of plants 2. Harvesting apparatus 1 can thus travel over each plant 2 in the row.

[0074] Harvesting apparatus 1 has a number of catchers 5 which are situated under plant 2 during harvesting. Harvesting apparatus 1 further provides space for workers 6. The workers 6 shake the plants 2 manually or with a stick intended for this purpose when they pass, whereby fruit detaches from the plant and falls onto catchers 5. Catchers 5 then carry the fruit away to a crate system 7.

[0075] FIGS. 2A and 2B show a similar harvesting apparatus 10. The harvesting apparatus also has a frame 11 which forms a gantry and can travel by means of wheels 12. Harvesting apparatus 10 further has catchers 13 for catching fruit and a crate system 14 for storing fruit after it has been caught. Harvesting system 10 of FIGS. 2A and 2B does not however provide any space for workers. Instead, harvesting apparatus 10 is provided with two shaking devices 15. Details of the shaking devices 15 are shown in FIGS. 3-5 Shaking devices 15 all take the same form, and are therefore discussed below in the singular.

[0076] Shaking device 15 has a mounting frame 16 whereby shaking device 15 can be mounted on frame 11 of harvesting apparatus 10 Shaking device 15 further has a carrier 17 with shaking members (beaters) 18 thereon. Shown shaking device 15 is provided with a so-called shaking tree, with a trunk formed by carrier 17 and branches formed by shaking members 18. Carrier 17 is embodied as a hollow tube Shaking members 18 extend radially from carrier 17 and are attached to carrier 17 at different heights and different angular positions. Carrier 17 is rotatable about its longitudinal axis relative to mounting frame 16. The longitudinal axis of the carrier corresponds to its central axis. When harvesting apparatus 10 travels over a row of plants 2, shaking members 18 thereby co-rotate with the displacement of plants 2 Shaking members 18 herein come into contact with plants 2, for instance the stalks thereof. Shaking members 18 are moved as described below, and impart here a vibrating movement to plants 2 Shaking members 18 thereby shake the plants 2, whereby fruit falls from the plants and can be caught Shaking device 10 is thereby a suitable replacement for workers 6. Mounting frame 16 has two extendable arms 35 which extend from mounting points 36 for frame 11 of harvesting apparatus 10. Carrier 17 is connected to arms 35 and is urged away from mounting points 36 by means of a spring 37. Carrier 17 can be placed closer to and/or further away from mounting points 36 by adjusting the length of arms 35 Shaking device 15 is hereby displaceable relative to frame 11 of harvesting apparatus 10 in a direction transversely of the direction of travel R.

[0077] In order to be able to set shaking members 18 into a vibrating movement the carrier is suspended displaceably relative to mounting frame 16. For this purpose mounting frame 16 comprises a rod 19 (see FIG. 5) which is disposed vertically during use. Rod 19 is provided at its end with a thickened head 20 on which a compression spring 21 rests. Compression spring 21 extends upward from the head 20 of rod 19, around rod 19. A flange 22 to which carrier 17 is attached rests on the upper end of spring 21. Carrier 17 can move up and downward over rod 19, and so along its own longitudinal axis, by compression and extension of spring 21. Spring 21 extends in carrier 17 and can therefore be relatively long without shaking device 15 having to take a particularly high form. Carrier 17 is bearing-mounted relative to the mounting frame using a ball-bearing cage which allows rotation about the longitudinal axis of carrier 17 but also allows the displacement in the longitudinal direction of carrier 17. The ball-bearing cage 23 has an outer sleeve 24 and an inner sleeve. The inner sleeve is formed by carrier 17. Balls 25, which guide the rotation and translation of carrier 17 relative to the outer sleeve 24, are arranged between the two sleeves 17, 24. Mounting frame 16 further has two hydraulic dampers 26, 27, each with a buffer head 28, 29 serving as stop for the flange 22 of carrier 17. The dampers 26, 27 bound the maximum displacement of carrier 17. An electricity line 30 runs from a sliding contact 31 downward through rod 19, and there exits through carrier 17. Electricity line 30 then runs to a first motor 31 and a second motor 32, which will be discussed further hereinbelow.

[0078] Motors 31, 32 are both mounted directly on carrier 17 and thus always co-displace with carrier 17, and vice versa. Each of the motors 31, 32 is an electric motor with a continuous shaft. Arranged on either side of each motor 31, 32 is a cover 33 (see FIG. 4). A mass part M1′, M2′ is in each case situated under the cover 33 (see FIGS. 6A-6D). Each mass part M1′, M2′ forms together with the mass part M1′, M2′ of the same motor 31, 32 a mass M1, M2 which is mounted eccentrically on rotation shaft 51, 52 of motor 31, 32. During use the motors 31, 32 rotate about their rotation shafts 51, 52, and thereby therefore the corresponding masses M1, M2. Because the masses M1, M2 are mounted eccentrically, this results in reactive vibrations which are transmitted via motors 31, 32 to carrier 17. Motors 31, 32 have opposite rotation directions and are mutually coupled by means of a transmission 34. The transmission 34 ensures that the first and second motor rotate at substantially the same speed and that any small variations are compensated for, whereby a first determined position of the first motor 31 always corresponds with the same second determined position of the second motor 32. Transmission 34 thus synchronizes the motors 31, 32.

[0079] Referring to FIGS. 6A-6D, it is explained how motors 31, 32 are used to achieve a vibrating movement of carrier 17. For this purpose the rotation shaft 51 of first motor 31 and the rotation shaft 52 of second motor 32 is in each case shown in both side view (top) and top view (bottom). A part of carrier 17 is shown schematically as a line. Each of the figures shows the first mass M1 and the second mass M2. The masses M1, M2 each consist of mass parts M1′, M2′. The first motor 31 rotates in clockwise direction and the second motor 32 rotates in counter-clockwise direction. FIGS. 6A-6D differ from each other only in that the masses M1, M2 are situated at a different point in a revolution.

[0080] In FIG. 6A the masses M1, M2 are directed toward each other. The two masses M1, M2 thereby move downward, whereby an inward-directed reaction force F is generated. No vertical or horizontal reaction force thereby results in the side view, because the displacements of the masses M1, M2 are opposite. In the top view a reaction force F, which is directed inward, is shown for each mass M1, M2. Because the masses M1, M2 are staggered relative to each other in longitudinal direction of their rotation shafts 51, 52, they each have an arm relative to carrier 17. Due to the reaction forces F, this results in a moment M about the longitudinal axis of carrier 17 which is directed counter-clockwise.

[0081] In FIG. 6B the masses M1, M2 are directed downward. The masses M1, M2 thereby move outward, which generates a vertically downward reaction force F.

[0082] In FIG. 6C the masses M1, M2 are directed away from each other. The two masses M1, M2 thereby move upward, whereby an outward-directed reaction force F is generated. No vertical or horizontal reaction force thereby results in the side view, because the displacements of the masses M1, M2 are opposite. In the top view a reaction force F, which is directed outward, is shown for each mass M1, M2. Because the masses M1, M2 are staggered relative to each other in longitudinal direction of their rotation shafts 51, 52, they each have an arm relative to carrier 17. Due to the reaction forces F, this results in a moment M about the longitudinal axis of carrier 17 which is directed clockwise.

[0083] When the masses rotate a vertically directed force is thus created, which acts alternatingly in upward and in downward direction, and a moment about the longitudinal axis of carrier 17 which acts alternatingly in clockwise and in counter-clockwise direction.

[0084] This force and this moment are transmitted by motors 31, 32 to carrier 17, whereby it is set both into vibration in the vertical direction along its longitudinal axis and in rotation about its longitudinal axis. The free ends of shaking members 18 thereby move in both vertical and horizontal direction relative to a plant 2, and thereby travel a substantially circular path.

[0085] Although the invention is elucidated above on the basis of a number of specific examples and embodiments, the invention is not limited thereto. The invention instead also covers the subject matter defined by the following claims.