CN106472009B - A kind of self-propelled jujube cropper - Google Patents
A kind of self-propelled jujube cropper Download PDFInfo
- Publication number
- CN106472009B CN106472009B CN201610883039.1A CN201610883039A CN106472009B CN 106472009 B CN106472009 B CN 106472009B CN 201610883039 A CN201610883039 A CN 201610883039A CN 106472009 B CN106472009 B CN 106472009B
- Authority
- CN
- China
- Prior art keywords
- rack
- jujube
- knuckle
- pivoted arm
- hinged
- 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.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Harvesting Machines For Root Crops (AREA)
Abstract
The present invention relates to agricultural machinery technological fields, and in particular to a kind of self-propelled jujube cropper.Main technical schemes are：A kind of self-propelled jujube cropper, including:Rack, picker system, transport system, implement porter, drive system and control system；The middle part of rack is inverted " u "-shaped channel, for passing through jujube tree；The front end of rack, which is provided with, helps a device；Picker system is arranged in rack；Transport system is for conveying and collecting jujube；Implement porter is arranged in rack；Implement porter includes：Running gear and timesharing four-wheel steering system；Drive system is arranged in rack, for driving picker system, transport system and implement porter；Set-up of control system is in rack, for controlling drive system, picker system, transport system and implement porter.The adaptability of jujube cropper can be enhanced using the present invention, improve harvest effect.
Description
Technical field
The present invention relates to agricultural machinery technological field more particularly to a kind of self-propelled jujube croppers.
Background technology
Jujube is the local special fruit tree that China is planted extensively, and cultivated area and yield account for global 99%.Contain in jujube
There are abundant rutin, cycli phosphate gland former times, can prevent and treat cardiovascular and cerebrovascular disease, there are anti-allergic effects, inhibits cancer cell
The function of growing and promote cancerous cell transformation into normal cell, economic value and medical value are high.Xinjiang is located in Eurasian big
Land innerland, drought, sunshine is long, and sunlight-heat reaources are abundant, and day and night temperature is big, the jujube that suitable cultivation is best in quality, yield is high.
In recent years, the cultivated area of Xinjiang red dates constantly increases, at present nearly 26.7 ten thousand hm2 of the cultivated area of Xinjiang red dates.Xinjiang red dates
Large area varieties of plant mainly based on fine horse jujube and the plantation of grey jujube.Because of sunshine abundance, to improve production capacity, Xinjiang red dates plantation is equal
Using large area Cold region apple pattern, the cropping pattern of 4X1.5m (line-spacing X spacing in the rows) is generally used, partly uses the plantation of 3X2m
Pattern, it is more intensive between jujube tree row compared with other common jujube tree plantations.In the Cold region apple production practices of jujube
Show that Cultivation With Dwarf Varieties And Close Spacing pattern yield can reach 2 tons or more, is 3 times or more of conventional thin planting jujube garden yield, economic benefit ten
Divide notable river.The effective ways that Cold region apple pattern can improve jujube garden coverage rate, increase yield and economic benefit, especially suitable for
The natural climate condition in Xinjiang.Currently, the harvest of jujube depends on manually, labor intensity is big, efficiency is low, of high cost, and
Harvest season mostly overlaps with other industrial crops harvest times such as cotton, causes hired laborer extremely difficult, cannot harvest, be caused not in due course
Necessary loss.With jujube scale, industrialized development, the need of red dates industry metaplasia production are had been unable to meet by artificial harvest
It asks, realizes that jujube mechanized harvest has been the inexorable trend of red dates industry development.
Current jujube cropper includes mainly rack and rack-mounted running gear, engine, driver's cabin, turns
To device, conveying device and picker etc.；Current jujube cropper turning radius is larger, and what is needed in harvest operation
Head space is larger, is in jujube garden operation by it, and the space of turning around of jujube garden is limited, and cropper difficulty is caused to influence harvest effect
Rate；Or jujube tree is rolled, it causes damages, increases harvest cost.Moreover, current jujube cropper enters picking dress to jujube tree
Gathering effect before setting is poor, and then influences harvesting effect.
Invention content
In view of this, the present invention provides a kind of self-propelled jujube cropper, main purpose is to enhance jujube cropper
Adaptability improves harvest effect.
In order to achieve the above objectives, present invention generally provides following technical solutions：
The embodiment of the present invention provides a kind of self-propelled jujube cropper comprising:Rack, picker system, transport system,
Implement porter, drive system and control system；
The rack has front-end and back-end, and the middle part of the rack is inverted " u "-shaped channel, for passing through jujube tree；It is described
The front end of rack, which is provided with, helps a device；
The picker system is arranged in the rack；The picker system is symmetrically dispersed in the inverted " u "-shaped channel
Both sides；
The transport system is for conveying and collecting jujube；The transport system includes：Collect fruit conveying device, the first chain type
Conveying device and the second chain conveyor；
The collection fruit conveying device is arranged in the rack, is located at the inside of first chain conveyor, is used for
It receives and is shaken the jujube fallen by the picker system, and jujube is oriented to first chain conveyor；
First chain conveyor is arranged in the lower end of the rack, is symmetrically dispersed in the inverted " u "-shaped channel
Both sides；It is shaken the jujube fallen by the picker system for receiving and conveying；
Second chain conveyor is arranged in the rack, for receiving the first chain conveyor conveying
Jujube, and jujube is continued to convey；
The implement porter is arranged in the rack；The implement porter includes：Running gear and timesharing four-wheel
Steering；
The running gear includes：Four running gears, two running gears are symmetrically disposed in the rack
Front end, other two running gear are symmetrically disposed in the rear end of the rack；
The running gear includes：Knuckle fixed seat, traveling wheel, traveling wheel supporting mechanism, knuckle one, knuckle two
And lifting cylinder；
The knuckle fixed seat is fixedly provided in the rack；
The knuckle two is rotatably arranged in the knuckle fixed seat；
The traveling wheel is rotatably arranged on the traveling wheel supporting mechanism；One end of the knuckle one and institute
It states traveling wheel supporting mechanism to be fixedly connected, the other end is hinged with the knuckle two；One end of the lifting cylinder and the row
It is hinged to walk to take turns supporting mechanism, the other end is hinged with the knuckle two；Traveling wheel branch described in the telescopic drive of the lifting cylinder
The relatively described knuckle fixed seat movement of support mechanism；
The drive system is arranged in the rack, for driving the picker system, the transport system and described
Implement porter；
The set-up of control system is in the rack, for controlling the drive system, picker system, described defeated
Send system and implement porter.
Further, the timesharing four-wheel steering system includes：Front steering device and rear steering device；
The front steering device includes：Preceding Assembly of pin, preceding drive cylinder, preceding drag link and pivoted arm two；
The preceding Assembly of pin is two；Two preceding Assembly of pin are separately positioned on the left and right sides of the rack；
The preceding Assembly of pin is rotatably arranged in the rack；The lower end of the preceding Assembly of pin is fixedly set
It sets on the knuckle two；The upper end of the preceding Assembly of pin has been fixedly disposed pivoted arm one；
The both ends of the preceding drag link are hinged with two pivoted arms one respectively；
One end of the pivoted arm two is fixedly provided on the preceding Assembly of pin；
One end of the preceding drive cylinder is hinged with the other end of the pivoted arm two, and the other end is hinged with the rack；
The rear steering device includes：Rear pin shaft component, rear drive cylinder, telescopic oil cylinder one, telescopic oil cylinder two and pivoted arm
Five；
The rear pin shaft component is two；Two rear pin shaft components are separately positioned on the left and right sides of the rack；
The rear pin shaft component is rotatably arranged in the rack；The lower end of the rear pin shaft component is fixedly provided in described
On knuckle two；The upper end of the rear pin shaft component has been fixedly disposed pivoted arm three and pivoted arm four；
The both ends of the telescopic oil cylinder one are hinged with two pivoted arms three respectively；Distinguish at the both ends of the telescopic oil cylinder two
It is hinged with two pivoted arms four；The telescopic oil cylinder one and two alternating action of the telescopic oil cylinder；
One end of the pivoted arm five is fixedly provided on the rear pin shaft component；
One end of drive cylinder and the other end of the pivoted arm five are hinged after described, and the other end is hinged with the rack.
Further, it is provided with oil pipe between the oil inlet of the telescopic oil cylinder one and the oil outlet of the telescopic oil cylinder one
One, solenoid valve one is provided on the oil pipe one；The solenoid valve one is used to control the break-make of the oil pipe one；
Oil pipe two, the oil are provided between the oil inlet of the telescopic oil cylinder two and the oil outlet of the telescopic oil cylinder two
Solenoid valve two is provided on pipe two；The solenoid valve two controls the break-make of the oil pipe two；
The oil pipe one and the oil pipe two replace break-make.
Further, the solenoid valve one is two-position two-way solenoid valve；
The solenoid valve two is two-position two-way solenoid valve.
Further, the front end for helping a device to be fixedly provided in the rack；It is described to help a device for bell mouth shape；Institute
It states and helps the front end of a device that there is the opening being arc-shaped, rear end to have the opening being square；
It is described to help the device to include：First helps a part and second to help a part；Described first helps a part and described second to help a part
Structure is identical, is symmetrical arranged；Described first helps a part and described second to help between a part with gap, for passing through for jujube tree.
Further, described first the part is helped to include：Shrinking plate and slip jujube plate；
The front end of the shrinking plate is arc-shaped, and rear end is rectangular, and middle part is fillet surface；
The jujube plate that slips is arranged in the lower end of the shrinking plate, is fixedly connected with the shrinking plate；It is described that slip jujube plate inside
It is obliquely installed, for jujube to be imported first chain conveyor.
Further, first chain conveyor includes：Driving wheel, driven wheel, chain and striker plate；
The driving wheel is rotatably arranged in the rack, is driven and rotates by the drive system；
The driven wheel is rotatably arranged in the rack；
The chain is arranged on the driving wheel and the driven wheel, connects with the driving wheel and driven wheel transmission
It connects；
The striker plate is fixedly provided in perpendicular to the direction of motion of the chain on the chain.
Further, the collection fruit conveying device includes：Collect flitch and torsional spring reset unit；
The torsional spring reset unit is fixedly provided in the rack；The collection flitch is fixedly provided in the torsional spring
It, being capable of the relatively described torsional spring reset unit swing in reset unit；Multiple collection flitch are along first chain conveyor
The direction of motion be sequentially overlapped distribution；The collection flitch is obliquely installed to first chain conveyor；
The flitch that integrates is rubber material.
Further, the transport system further includes：Fruit-collecting box；
The fruit-collecting box is rectangular box container, is symmetrically disposed in the rack, for receiving and storing described the
The jujube of two chain conveyors conveying.
Further, further include：
Blower system is arranged in the rack, is driven by the drive system, and being used for will be from second chain conveying
Device falls the blowout of the impurity into the jujube of the fruit-collecting box.
By above-mentioned technical proposal, a kind of self-propelled jujube cropper of the present invention at least has following advantages：
The embodiment of the present invention provides a kind of self-propelled jujube cropper comprising:Rack, picker system, transport system,
Implement porter, drive system and control system；The middle part of rack is inverted " u "-shaped channel, for passing through jujube tree；The front end of rack
It is provided with and helps a device, the branch of jujube tree can be collapsed, harvested convenient for picker system, help the lower end of a device inwardly to collapse, make red
Jujube is easy to fall into transport system, avoids on the ground；Picker system is symmetrically dispersed in the both sides in inverted " u "-shaped channel, from jujube tree
Both sides jujube tree is vibrated, it is more abundant to the vibration of jujube tree, be more easy to that jujube is made to fall；Implement porter includes：Running System
System and timesharing four-wheel steering system；Running gear includes：Knuckle fixed seat, traveling wheel, traveling wheel supporting mechanism, knuckle
One, knuckle two and lifting cylinder；Knuckle fixed seat is fixedly provided in rack；Knuckle two is rotatably arranged
In knuckle fixed seat；Traveling wheel is rotatably arranged on traveling wheel supporting mechanism；One end of knuckle one and traveling wheel
Supporting mechanism is fixedly connected, and the other end is hinged with knuckle two；One end of lifting cylinder is hinged with traveling wheel supporting mechanism, another
End is hinged with knuckle two；The telescopic drive traveling wheel supporting mechanism of lifting cylinder is moved with respect to knuckle fixed seat, to realize
The height of rack is adjusted, can be used for controlling the height when picking operation of jujube cropper；Jujube cropper can also be
Rack increase laggard every trade into or four-wheel steering operation.Four-wheel steering operation can effectively save steering space, improve jujube receive
Obtain the adaptability of machine.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is a kind of axis side schematic diagram of self-propelled jujube cropper provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic front view of self-propelled jujube cropper provided in an embodiment of the present invention；
Fig. 3 is the axis side schematic diagram of rack in Fig. 1；
Fig. 4 is the schematic front view of rack in Fig. 1；
Fig. 5 is the schematic diagram in inverted " u "-shaped channel in Fig. 3；
Fig. 6 is the axis side schematic diagram of transport system in Fig. 1；
Fig. 7 is the schematic front view of transport system in Fig. 1；
Fig. 8 is the connection diagram of chain and striker plate in Fig. 6；
Fig. 9 is the schematic diagram for collecting fruit conveying device in Fig. 6；
Figure 10 is another schematic diagram for collecting fruit conveying device in Fig. 6；
Figure 11 is the combination diagram with running gear after rack is landed；
Figure 12 is the close-up schematic view of Figure 11；
Figure 13 is the combination diagram with running gear after rack increases；
Figure 14 is the close-up schematic view of Figure 13；
Figure 15 is the axis side schematic diagram of front steering device；
Figure 16 is the schematic top plan view of front steering device；
Figure 17 is the axis side schematic diagram of rear steering device；
Figure 18 is the schematic top plan view of rear steering device；
Figure 19 is the schematic diagram of telescopic oil cylinder one in Figure 18；
Figure 20 is the schematic diagram of telescopic oil cylinder two in Figure 18.
As shown in the figure：
1 is transport system, and 1-1 is collection fruit conveying device, and 1-11 is collection flitch, and 1-12 is torsional spring reset unit, 1-2 the
One chain conveyor, 1-21 are driving wheel, and 1-22 is driven wheel, and 1-23 is chain, and 1-24 is striker plate, and 1-3 is the second chain
Formula conveying device, 1-4 are fruit-collecting box, and 2 be rack, and 2-1 is to help a device, and it is shrinking plate, 2- that 2-11 helps a part, 2-111 for first
112 is slip jujube plate, and 2-12 is second to help a part, and 2-2 is inverted " u "-shaped channel, and 3 systems in order to control, 4 be picker system, and 4-1 is to shake
Moving axis, 4-2 are vibrating arm, and 5 be implement porter, and 5-1 is running gear, and 5-11 is knuckle fixed seat, and 5-12 is knuckle
Two, 5-13 are lifting cylinder, and 5-14 is knuckle one, and 5-15 is traveling wheel supporting mechanism, and 5-16 is traveling wheel, and 5-2 is forward
To device, 5-21 is preceding drag link, and 5-22 is pivoted arm two, and 5-23 is pivoted arm one, and 5-24 is preceding Assembly of pin, and 5-25 is preceding driving
Oil cylinder, 5-3 are rear steering device, and 5-31 is telescopic oil cylinder one, and 5-311 is oil pipe one, and 5-312 is solenoid valve one, and 5-32 is to turn
Arm three, 5-33 are pivoted arm four, and 5-34 is rear pin shaft component, and 5-35 is telescopic oil cylinder two, and 5-351 is oil pipe two, and 5-352 is electromagnetism
Valve two, 5-36 are rear drive cylinder, and 5-37 is pivoted arm five, and 5-38 is photoelectric sensor, and 5-39 is induction rod, and 6 be blower system,
7 be drive system, and 8 be driver's cabin.
Specific implementation mode
It is of the invention to reach the technological means and effect that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Specific implementation mode, structure, feature and its effect applied according to the present invention is described in detail such as in attached drawing and preferred embodiment
Afterwards.In the following description, what different " embodiment " or " embodiment " referred to is not necessarily the same embodiment.In addition, one or more
Special characteristic, structure or feature in a embodiment can be combined by any suitable form.
As shown in Figure 1 to Figure 2, a kind of self-propelled jujube cropper that one embodiment of the present of invention proposes comprising:Machine
Frame 2, picker system 4, transport system 1, implement porter 5, drive system 7 and control system 3；
With reference to figure 5, rack 2 has front-end and back-end, and the middle part of rack 2 is inverted " u "-shaped channel 2-2, for passing through jujube tree；
Rack 2 is formed by molding welded steel.The front end of rack 2, which is provided with, helps a device 2-1, for collapsing the branch of jujube tree, just
Jujube tree is vibrated in picker system 4, the jujube fallen that makes to shake is each fallen in transport system 1, is avoided falling to the ground, is caused to damage
It loses；
Picker system 4 is arranged in rack 2；Picker system 4 is symmetrically dispersed in the both sides of inverted " u "-shaped channel 2-2, picking
System 4, which is shaken jujube by vibration, to be fallen；Picker system 4 includes being vertically arranged in vibrating shaft 4-1 and being radially arranged along vibrating shaft 4-1
Multiple vibrating arm 4-2；Vibrating arm 4-2 is fixed on vibrating shaft 4-1, is driven by vibrating shaft 4-1, and the branches and leaves of jujube tree are struck.It shakes
Moving axis 4-1 is driven by drive system 7 and rotates.
With reference to figure 6 to Fig. 7, transport system 1 is for conveying and collecting jujube；Transport system 1 includes：Collect fruit conveying device 1-
1, the first chain conveyor 1-2 and the second chain conveyor 1-3；Collect fruit conveying device 1-1 to be arranged in rack 2, be located at
The inside of first chain conveyor 1-2 is shaken the jujube fallen for receiving by picker system 4, and jujube is oriented to the first chain type
Conveying device 1-2；Collection fruit conveying device 1-1 is arranged in the lower section of the minimum branch of jujube tree.
First chain conveyor 1-2 is arranged in the lower end of rack 2, is symmetrically dispersed in the two of inverted " u "-shaped channel 2-2
Side；It is shaken the jujube fallen by picker system 4 for receiving and conveying；The present embodiment preferably the first chain conveyor 1-2 levels are set
It sets, in favor of receiving jujube.
Second chain conveyor 1-3 is arranged in rack 2, for receiving the red of the first chain conveyor 1-2 conveyings
Jujube, and jujube is continued to convey；The present embodiment preferably the second chain conveyor 1-3 is perpendicular to the first chain conveyor 1-2
Jujube, is delivered to the top of rack 2 by setting.Jujube can be delivered to fruit-collecting box 1-4 by the second chain conveyor 1-3
In, or jujube is delivered in external railway carriage.
With reference to figures 11 to Figure 18, implement porter 5 is arranged in rack 2；Implement porter 5 includes：Running gear and point
When four-wheel steering system；
Running gear includes：Four running gears 5-1, two running gear 5-1 are symmetrically disposed in the front end of rack 2,
Other two running gear 5-1 is symmetrically disposed in the rear end of rack 2；For reply Xinjiang red dates soft soil property and more complex
Landform use four-wheel drive, be respectively mounted hydraulic motor on four running gear 5-1.Walk motor with hydraulic pressure is by drive system 7
Driving rotation, and then drive running gear 5-1 walkings.
Running gear 5-1 includes：Knuckle fixed seat 5-11, traveling wheel 5-16, traveling wheel supporting mechanism 5-15, knuckle
One 5-14, knuckle two 5-12 and lifting cylinder 5-13；Knuckle fixed seat 5-11 is fixedly provided in rack 2, preferably logical
It crosses and is welded and fixed, naturally it is also possible to be locked by bolt；Two 5-12 of knuckle is rotatably arranged to be fixed in knuckle
On seat 5-11, preferred two 5-12 of knuckle of the present embodiment is connect by bearing with knuckle fixed seat 5-11；Traveling wheel 5-16 energy
It is enough rotatably arranged on traveling wheel supporting mechanism 5-15；Traveling wheel 5-16 is arranged on the hydraulic pressure of traveling wheel supporting mechanism 5-15
Motor drives；One end of one 5-14 of knuckle is fixedly connected with traveling wheel supporting mechanism 5-15, and preferred weld is fixed, and also may be used certainly
To be fixed by locking member；The other end is hinged with two 5-12 of knuckle, is preferably connected by axis pin；One end of lifting cylinder 5-13
Hinged with traveling wheel supporting mechanism 5-15, preferably axis pin connects；The other end is hinged with two 5-12 of knuckle, and preferably axis pin connects；
The telescopic drive traveling wheel supporting mechanism 5-15 of lifting cylinder 5-13 is moved with respect to knuckle fixed seat 5-11, and then drives rack
2 opposite knuckle fixed seat 5-11 move up and down, and realize the big minor adjustment of 2 road clearance of rack.
In field harvest operation, lifting cylinder 5-13 is shunk complete machine, and rack 2 is made to decline, the collection of collection fruit conveying device 1-1
Flitch 1-11 peaks are located at the lower section of the minimum bifurcated of jujube tree, in order to which picker system 4 vibrates jujube tree；Off working state
Under, rack 2 is increased, improves the road clearance of rack 2 and transport system 1, improve climbing for cropper by lifting cylinder 5-13 elongations
Slope property and passability.Only in field recovery operations, lifting cylinder 5-13 is shunk cropper, lifting cylinder 5- under other situations
13 elongations, to improve the road clearance of cropper, make cropper that can carry out four-wheel steering at any time.
It harvests under working condition, the lifting cylinder 5-13 being arranged on one 5-14 of knuckle is shunk, and rack 2 declines, and causes
Traveling wheel 5-16 and the space between a device 2-1 is helped to reduce, not sufficient steering space, so in operation, the row of front end
Walking to take turns 5-16 not allows to turn to, and the traveling wheel 5-16 of rear end can be turned to.Under non-harvesting working condition, it is arranged in knuckle one
Lifting cylinder 5-13 elongation on 5-14, rack 2 increase, and traveling wheel 5-16 and help between a device 2-1 at this time and have sufficient steering
The traveling wheel 5-16 in space, front end can be turned to, and certainly, the traveling wheel 5-16 of rear end can also be turned at this time.
Drive system 7 is arranged in rack 2, for driving picker system 4, transport system 1 and implement porter 5；
Control system 3 is arranged in rack 2, for controlling drive system 7, picker system 4, transport system 1 and self-propelled
Chassis 5.
The embodiment of the present invention provides a kind of self-propelled jujube cropper, and the middle part of rack 2 is inverted " u "-shaped channel 2-2, is used
In passing through jujube tree；The front end of rack 2, which is provided with, helps a device 2-1, can collapse the branch of jujube tree, is harvested convenient for picker system 4,
It helps a lower end of device 2-1 inwardly to collapse, makes jujube be easy to fall into transport system 1, avoid on the ground；Picker system 4 is symmetrically
The both sides of inverted " u "-shaped channel 2-2 are distributed in, jujube tree is vibrated from the both sides of jujube tree, it is more abundant to the vibration of jujube tree, it is more easy to
Jujube is set to fall；Implement porter 5 includes：Running gear and timesharing four-wheel steering system；Running gear 5-1 includes：Knuckle
Fixed seat 5-11, traveling wheel 5-16, traveling wheel supporting mechanism 5-15, one 5-14 of knuckle, two 5-12 of knuckle and lifting cylinder
5-13；Knuckle fixed seat 5-11 is fixedly provided in rack 2；Two 5-12 of knuckle is rotatably arranged solid in knuckle
On reservation 5-11；Traveling wheel 5-16 is rotatably arranged on traveling wheel supporting mechanism 5-15；One end of one 5-14 of knuckle
It is fixedly connected with traveling wheel supporting mechanism 5-15, the other end is hinged with two 5-12 of knuckle；One end of lifting cylinder 5-13 and row
It is hinged to walk to take turns supporting mechanism 5-15, the other end is hinged with two 5-12 of knuckle；The telescopic drive traveling wheel branch of lifting cylinder 5-13
Support mechanism 5-15 is moved with respect to knuckle fixed seat 5-11, to realize that the height to rack 2 is adjusted, be can be used for controlling jujube and is received
Obtain the height when picking operation of machine；Jujube cropper can also rack 2 increase laggard every trade into or four-wheel steering operation.Four
Take turns steering operation can effectively save steering space, improve jujube cropper adaptability.
A kind of self-propelled jujube harvest function that one embodiment of the present of invention proposes realizes that the serialization to jujube harvests
Operation.When work, complete machine rides on red jujube tree, and 2 front end of rack helps a device 2-1 that jujube tree branch is fed into picking system completely
In system 4, drive system 7 drives picker system 4 to generate certain exciting force by and to jujube tree branch along jujube tree both sides, and jujube is being set
Inertia force is generated under the exciting force effect that branch transmits, when inertia force is enough to overcome the carpopodium pull-off force of jujube, jujube is fallen
On first chain conveyor 1-2 or collection fruit conveying device 1-1, collect the jujube on fruit conveying device 1-1 in gravity and frictional force
Under the action of, it is rolled on the first chain conveyor 1-2, promotes jujube to machine using the second chain conveyor 1-3
In the railway carriage of the outsides fruit-collecting box 1-4 or other of frame 2, when jujube is transported to collection by the promotion of the second chain conveyor 1-3
When fruit case 1-4, be more than according to fruit density by blower system 6 and accidentally adopt the density of lower branches and leaves, the fruit that harvesting is arrived and with it is useless
Branches and leaves separation, make the cleaner free from admixture of the fruit of picking.Jujube cropper provided in an embodiment of the present invention harvests in field
When operation, wide-angle turning is not needed, using rear-axle steering；Four-wheel steering is used when reversing end for end to enter a new line, and greatly reduces turning half
Diameter, the adaptability for improving complete machine of conspicuousness turn to more flexible, time saving, laborsaving.
As the preferred of above-described embodiment, with reference to figure 15 to Figure 18, timesharing four-wheel steering system includes：Front steering device 5-
2 and rear steering device 5-3；
Front steering device 5-2 includes：Preceding Assembly of pin 5-24, preceding drive cylinder 5-25, preceding drag link 5-21 and pivoted arm two
5-22；
Preceding Assembly of pin 5-24 is two；Two preceding Assembly of pin 5-24 are separately positioned on the left and right sides of rack 2；
Preceding Assembly of pin 5-24 is rotatably arranged in rack 2；The lower end of preceding Assembly of pin 5-24 is fixedly disposed
On two 5-12 of knuckle；The upper end of preceding Assembly of pin 5-24 has been fixedly disposed one 5-23 of pivoted arm, preferably one 5-23 of pivoted arm sets
On preceding Assembly of pin 5-24, by key connection, to realize transmission, and it is easy to disassemble；
The both ends of preceding drag link 5-21 are hinged with two one 5-23 of pivoted arm respectively；
Before one end of two 5-22 of pivoted arm is fixedly provided on Assembly of pin 5-24, preferably two 5-22 of pivoted arm is sleeved on preceding pin
On shaft assembly 5-24, by key connection, to realize transmission, and it is easy to disassemble；
One end of preceding drive cylinder 5-25 is hinged with the other end of two 5-22 of pivoted arm, and the other end is hinged with rack 2；Preceding driving
The piston end of oil cylinder 5-25 is connect with rack 2 by axis pin, and piston cylinder end is connected to self-lubricating rod end joint shaft by external screw thread
In bearing sleeve, self-lubricating rod end spherical plain is hinged to by axis pin on two 5-22 of pivoted arm.
Rear steering device 5-3 includes：Rear pin shaft component 5-34, rear drive cylinder 5-36, one 5-31 of telescopic oil cylinder, flexible oil
Five 5-37 of two 5-35 of cylinder and pivoted arm；
Rear pin shaft component 5-34 is two；Two rear pin shaft component 5-34 respectively symmetrically are arranged in the left and right of rack 2 two
Side；Rear pin shaft component 5-34 is rotatably arranged in rack 2；The lower end of rear pin shaft component 5-34 is fixedly provided in steering
It saves on two 5-12；The upper end of rear pin shaft component 5-34 has been fixedly disposed four 5-33 of three 5-32 of pivoted arm and pivoted arm；It is preferred that pivoted arm three
5-32 and four 5-33 of pivoted arm are sleeved on rear pin shaft component 5-34, by key connection, to realize transmission, and it is easy to disassemble；Pivoted arm
Three 5-32 are different from the length of four 5-33 of pivoted arm, have angle between four 5-33 of three 5-32 of pivoted arm and pivoted arm, turned to for meeting
It is required that.
The both ends of one 5-31 of telescopic oil cylinder are hinged with two three 5-32 of pivoted arm respectively；Preferred one 5- of telescopic oil cylinder of the present embodiment
31 are connect with three 5-32 of pivoted arm by bulb spherical plain bearing rod end；The both ends of two 5-35 of telescopic oil cylinder respectively with two four 5- of pivoted arm
33 is hinged；Preferred two 5-35 of telescopic oil cylinder of the present embodiment is connect with four 5-33 of pivoted arm by bulb spherical plain bearing rod end；Certainly, it stretches
The both ends of one 5-31 of contracting oil cylinder can be respectively fixedly connected with pull rod, to lengthen oil cylinder, then in the end connected ball head rod of pull rod
Hold oscillating bearing；The connection of pull rod and one 5-31 of telescopic oil cylinder can be connected through a screw thread；Pull rod and bulb spherical plain bearing rod end
Connection can also be connected through a screw thread, facilitate adjustment length.The both ends of two 5-35 of telescopic oil cylinder may be used and telescopic oil cylinder
The identical connection types of one 5-31.One 5-31 of telescopic oil cylinder and two 5-35 alternating actions of telescopic oil cylinder；
One end of five 5-37 of pivoted arm is fixedly provided on rear pin shaft component 5-34, and preferred five 5-37 of pivoted arm of the present embodiment is logical
It crosses spline to be fixedly connected with rear pin shaft component 5-34, with driving torque；
One end of drive cylinder 5-36 and the other end of five 5-37 of pivoted arm are hinged afterwards, are preferably connected by axis pin；The other end
It is hinged with rack 2, preferably connected by axis pin.The piston end of drive cylinder 5-36 is connected to by axis pin in rack 2 afterwards, piston
Cylinder end is connected to by external screw thread in self-lubricating rod end spherical plain set, and self-lubricating rod end spherical plain is hinged to by axis pin to be turned
On five 5-37 of arm.
Detector is installed on preceding Assembly of pin 5-24 and rear pin shaft component 5-34, Assembly of pin 5-24 is with after before detecting
The corner of Assembly of pin 5-34；To carry out the switching of four-wheel steering in place.Detector by photoelectric sensor 5-38 and
Induction rod 5-39 compositions；Photoelectric sensor 5-38 is mounted in rack 2, and induction rod 5-39 is welded on rear pin shaft component 5-34,
It must assure that under traveling wheel 5-16 straight-going states, induction rod 5-39 shelters from photoelectric sensor 5-38 completely.
When jujube cropper rotate after use to when, turn to prolonging for the axis of the instantaneous traveling wheel 5-16 for intersecting at front end
On long line, the inside and outside lateral deviation corner of the traveling wheel 5-16 of rear end is realized by three 5-32 of pivoted arm and one 5-31 of telescopic oil cylinder；
When jujube cropper is when using four-wheel steering, the traveling wheel 5-16 of front end and the traveling wheel 5-16 of rear end are using inverse
Phase turns to, and the traveling wheel 5-16 of the front end and traveling wheel 5-16 of rear end is turned to using equal angle transmission ratio, passes through four 5- of pivoted arm
33 and two 5-35 of telescopic oil cylinder turns to realize, then the instantaneous center of rotation intersects at the traveling wheel 5-16 of front end and the traveling wheel 5- of rear end
On the center line of 16 axis.
It is turned to since the traveling wheel 5-16 of rear end had both participated in two-wheeled, four-wheel steering is participated in again, so trailing wheel is simutaneously arranged
Four 5-33 of three 5-32 of pivoted arm and pivoted arm, realizes timesharing four-wheel steering.
As the preferred of above-described embodiment, referring to figures 19 through Figure 20, the oil inlet and telescopic oil cylinder of one 5-31 of telescopic oil cylinder
It is provided with one 5-311 of oil pipe between the oil outlet of one 5-31, one 5-312 of solenoid valve is provided on one 5-311 of oil pipe；Solenoid valve one
5-312 is used for the break-make of one 5-311 of control oil pipe, realizes that the length of one 5-31 of telescopic oil cylinder is variable or locks.
It is provided with two 5-351 of oil pipe between the oil outlet of two 5-35 of oil inlet and telescopic oil cylinder of two 5-35 of telescopic oil cylinder,
Two 5-352 of solenoid valve is provided on two 5-351 of oil pipe；The break-make of two 5-352 control oil pipes of solenoid valve, two 5-351；It realizes flexible
The length of two 5-35 of oil cylinder is variable or locks.
One 5-311 of oil pipe and two 5-351 of oil pipe replace break-make.
As the preferred of above-described embodiment, one 5-312 of solenoid valve is two-position two-way solenoid valve；
Two 5-352 of solenoid valve is two-position two-way solenoid valve.
As the preferred of above-described embodiment, with reference to figure 3 to Fig. 4, the rack 2 of jujube cropper provided in an embodiment of the present invention
Front end is equipped with and helps a device 2-1；A device 2-1 is helped to be fixedly provided in the front end of rack 2；It is bell mouth shape to help a device 2-1, in order to
Jujube tree branch is fed into completely in picker system 4；Help a front end of device 2-1 that there is the opening being arc-shaped, jujube tree branch is complete
Full access；A width for the front end of device 2-1 is helped to be not more than the maximum width of cropper complete machine；Rear end has the opening being square,
Its width is not more than the inboard width of rack 2；
The device 2-1 is helped to include：First helps a part 2-11 and second to help a part 2-12；First helps a part 2-11 and second to help branch
Part 2-12 structures are identical, are symmetrical arranged；First help a part 2-11 and second to help a part 2-12 between there is gap, for jujube tree
Pass through.
As the preferred of above-described embodiment, first helps the part 2-11 to include：Shrinking plate 2-111 and slip jujube plate 2-112；
The front end of shrinking plate 2-111 is arc-shaped, and rear end is rectangular, and middle part is fillet surface；It is fixed on shrinking plate 2-111
There is reinforcing rib, prevents shrinking plate 2-111 from deforming；
It slips jujube plate 2-112 to be arranged in the lower end of shrinking plate 2-111, be fixedly connected with shrinking plate 2-111；Slip jujube plate 2-112
Slope inwardly setting, for jujube to be imported the first chain conveyor 1-2.The present embodiment preferably first helps a part 2-11 to use
Hemispherical dome sheet metal structural makes.The present embodiment preferably second helps a part 2-12 to be made of hemispherical dome sheet metal structural.
As the preferred of above-described embodiment, with reference to figure 6 to Fig. 8, the first chain conveyor 1-2 includes：Driving wheel 1-21,
Driven wheel 1-22, chain 1-23 and striker plate 1-24；
Driving wheel 1-21 is rotatably arranged in rack 2, is driven and rotates by drive system 7；
Driven wheel 1-22 is rotatably arranged in rack 2；
Chain 1-23 is arranged on driving wheel 1-21 and driven wheel 1-22, connects with driving wheel 1-21 and driven wheel 1-22 transmissions
It connects；According to the diameter of jujube, the pitch of suitable chain 1-23 is selected, determines the concrete model of chain 1-23.
Striker plate 1-24 is fixedly provided in perpendicular to the direction of motion of chain 1-23 on chain 1-23.First chain type is defeated
Send the structure of device 1-2 and the second chain conveyor 1-3 identical；Chain 1-23 uses the roller chain structure of specific customization.The
The striker plate 1-24 of one chain conveyor 1-2 and the second chain conveyor 1-3 and the both side plate being fixed in rack 2 are formed
Multiple moveable hoppers, realize the conveying of jujube.
As the preferred of above-described embodiment, with reference to figure 9 to Figure 10, collection fruit conveying device 1-1 includes：Collect flitch 1-11 and torsion
Spring reset unit 1-12；
Torsional spring reset unit 1-12 is fixedly provided in rack 2；Collection flitch 1-11 is fixedly provided in torsional spring and resets list
It on first 1-12, can be swung with respect to torsional spring reset unit 1-12, collection flitch 1-11, which encounters barrier, can swing simultaneously self-aligning；
Multiple collection flitch 1-11 are sequentially overlapped distribution along the direction of motion of the first chain conveyor 1-2, are arranged using fish scale chip, collection
Fruit plate is ranked sequentially in rack 2 by certain angle, and interlaced arrangement is at fish scale-shaped.Collection fruit is better, leakage fruit rate is lower, obstacle
Performance is more preferable；Collection flitch 1-11 is obliquely installed to the first chain conveyor 1-2；Tumble injury and receipts when to avoid jujube fruit from falling
Damage of the collection fruit plate to fruit tree when machine advances is obtained, collection flitch 1-11 is preferably rubber material, and rubber material structure is reliable, resistance to
It grinds, is flexible, not leakiness jujube.The tilt adjustable for collecting flitch 1-11, is adjusted so that fall and gathering materials by its hold-down support
On the smooth skid of jujube to the first chain conveyor 1-2 on plate 1-11, then it is promoted to by the second chain conveyor 1-3
In fruit-collecting box 1-4.Jujube cropper provided in this embodiment is to ride on jujube tree, is harvested to jujube.Due to agronomy
The deficiency of technology and the upgrowth situation difference of crop, cause jujube tree trunk straightness error larger, it is desirable that the collection fruit of both sides conveys
The collection flitch 1-11 of device 1-1 not only accomplishes the avoidance to jujube tree trunk, but also to ensure when encountering jujube tree trunk so that phase
Enough small in gap between adjacent collection flitch 1-11, is unlikely to that the jujube under picking is made to fall on the ground.When encountering jujube tree
When trunk, under the action of torsional spring reset unit 1-12, collection flitch 1-11 is swung, and avoids jujube tree trunk.After jujube tree trunk,
Under the action of torsional spring reset unit 1-12, position state during collection flitch 1-11 restores.
As the preferred of above-described embodiment, transport system 1 further includes：Fruit-collecting box 1-4；
Fruit-collecting box 1-4 is rectangular box container, is symmetrically disposed in rack 2, defeated for receiving and storing the second chain type
Send the device 1-3 jujubes conveyed.Second chain conveyor 1-3 is through in the inner cavities fruit-collecting box 1-4, with fruit-collecting box 1-4 partition boards
The hopper for forming multiple sealings, to complete the conveying of jujube.
As the preferred of above-described embodiment, further include：
Blower system 6 being arranged in rack 2, being driven by drive system 7, for will be fallen from the second chain conveyor 1-3
Impurity blowout into the jujube of fruit-collecting box 1-4.
As the preferred of above-described embodiment, further include：Driver's cabin 8；Driver's cabin 8 is fixedly connected on the front end of rack 2, convenient
Cropper is operated.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, according to
According to the technical spirit of the present invention to any simple modification, equivalent change and modification made by above example, this hair is still fallen within
In the range of bright technical solution.
Claims (9)
1. a kind of self-propelled jujube cropper, which is characterized in that including:Rack, picker system, transport system, implement porter,
Drive system and control system；
The rack has front-end and back-end, and the middle part of the rack is inverted " u "-shaped channel, for passing through jujube tree；The rack
Front end be provided with and help a device；The front end for helping a device to be fixedly provided in the rack；It is described to help a device for bell mouth shape；
It is described to help the front end of a device that there is the opening being arc-shaped, rear end to have the opening being square；
The picker system is arranged in the rack；The picker system is symmetrically dispersed in the two of the inverted " u "-shaped channel
Side；
The transport system is for conveying and collecting jujube；The transport system includes：Collect fruit conveying device, the first chain conveying
Device and the second chain conveyor；
The collection fruit conveying device is arranged in the rack, is located at the inside of first chain conveyor, for receiving
It is shaken the jujube fallen by the picker system, and jujube is oriented to first chain conveyor；
First chain conveyor is arranged in the lower end of the rack, is symmetrically dispersed in the two of the inverted " u "-shaped channel
Side；It is shaken the jujube fallen by the picker system for receiving and conveying；
Second chain conveyor is arranged in the rack, for receiving the red of the first chain conveyor conveying
Jujube, and jujube is continued to convey；
The implement porter is arranged in the rack；The implement porter includes：Running gear and timesharing four-wheel steering
System；
The running gear includes：Four running gears, two running gears are symmetrically disposed in the front end of the rack,
Other two running gear is symmetrically disposed in the rear end of the rack；
The running gear includes：Knuckle fixed seat, traveling wheel, traveling wheel supporting mechanism, knuckle one, knuckle two and liter
Oil cylinder drops；
The knuckle fixed seat is fixedly provided in the rack；
The knuckle two is rotatably arranged in the knuckle fixed seat；
The traveling wheel is rotatably arranged on the traveling wheel supporting mechanism；One end of the knuckle one and the row
It walks to take turns supporting mechanism and be fixedly connected, the other end is hinged with the knuckle two；One end of the lifting cylinder and the traveling wheel
Supporting mechanism is hinged, and the other end is hinged with the knuckle two；Traveling wheel described in the telescopic drive of the lifting cylinder supports machine
The relatively described knuckle fixed seat movement of structure；
The timesharing four-wheel steering system includes：Front steering device and rear steering device；
The front steering device includes：Preceding Assembly of pin, preceding drive cylinder, preceding drag link and pivoted arm two；
The preceding Assembly of pin is two；Two preceding Assembly of pin are separately positioned on the left and right sides of the rack；
The preceding Assembly of pin is rotatably arranged in the rack；The lower end of the preceding Assembly of pin is fixedly provided in
On the knuckle two；The upper end of the preceding Assembly of pin has been fixedly disposed pivoted arm one；
The both ends of the preceding drag link are hinged with two pivoted arms one respectively；
One end of the pivoted arm two is fixedly provided on the preceding Assembly of pin；
One end of the preceding drive cylinder is hinged with the other end of the pivoted arm two, and the other end is hinged with the rack；
The rear steering device includes：Rear pin shaft component, rear drive cylinder, telescopic oil cylinder one, telescopic oil cylinder two and pivoted arm five；
The rear pin shaft component is two；Two rear pin shaft components are separately positioned on the left and right sides of the rack；It is described
Rear pin shaft component is rotatably arranged in the rack；The lower end of the rear pin shaft component is fixedly provided in the steering
On section two；The upper end of the rear pin shaft component has been fixedly disposed pivoted arm three and pivoted arm four；
The both ends of the telescopic oil cylinder one are hinged with two pivoted arms three respectively；The both ends of the telescopic oil cylinder two are respectively with two
A pivoted arm four is hinged；The telescopic oil cylinder one and two alternating action of the telescopic oil cylinder；
One end of the pivoted arm five is fixedly provided on the rear pin shaft component；
One end of drive cylinder and the other end of the pivoted arm five are hinged after described, and the other end is hinged with the rack；
The drive system is arranged in the rack, for driving the picker system, the transport system and described from walking
Formula chassis；
The set-up of control system is in the rack, for controlling the drive system, the picker system, the delivery system
System and implement porter.
2. self-propelled jujube cropper according to claim 1, which is characterized in that
Oil pipe one, the oil pipe one are provided between the oil inlet of the telescopic oil cylinder one and the oil outlet of the telescopic oil cylinder one
On be provided with solenoid valve one；The solenoid valve one is used to control the break-make of the oil pipe one；
Oil pipe two, the oil pipe two are provided between the oil inlet of the telescopic oil cylinder two and the oil outlet of the telescopic oil cylinder two
On be provided with solenoid valve two；The solenoid valve two controls the break-make of the oil pipe two；
The oil pipe one and the oil pipe two replace break-make.
3. self-propelled jujube cropper according to claim 2, which is characterized in that
The solenoid valve one is two-position two-way solenoid valve；
The solenoid valve two is two-position two-way solenoid valve.
4. self-propelled jujube cropper according to claim 1, which is characterized in that
It is described to help the device to include：First helps a part and second to help a part；Described first helps a part and described second to help a part structure
It is identical, it is symmetrical arranged；Described first helps a part and described second to help between a part with gap, for passing through for jujube tree.
5. self-propelled jujube cropper according to claim 4, which is characterized in that
Described first helps the part to include：Shrinking plate and slip jujube plate；
The front end of the shrinking plate is arc-shaped, and rear end is rectangular, and middle part is fillet surface；
The jujube plate that slips is arranged in the lower end of the shrinking plate, is fixedly connected with the shrinking plate；It is described to slip the inward slant of jujube plate
Setting, for jujube to be imported first chain conveyor.
6. self-propelled jujube cropper according to claim 1, which is characterized in that
First chain conveyor includes：Driving wheel, driven wheel, chain and striker plate；
The driving wheel is rotatably arranged in the rack, is driven and rotates by the drive system；
The driven wheel is rotatably arranged in the rack；
The chain is arranged on the driving wheel and the driven wheel, is sequentially connected with the driving wheel and the driven wheel；
The striker plate is fixedly provided in perpendicular to the direction of motion of the chain on the chain.
7. self-propelled jujube cropper according to claim 1, which is characterized in that
The collection fruit conveying device includes：Collect flitch and torsional spring reset unit；
The torsional spring reset unit is fixedly provided in the rack；The collection flitch is fixedly provided in the torsional spring and resets
It, being capable of the relatively described torsional spring reset unit swing on unit；Fortune of multiple collection flitch along first chain conveyor
Dynamic direction is sequentially overlapped distribution；The collection flitch is obliquely installed to first chain conveyor；
The flitch that integrates is rubber material.
8. self-propelled jujube cropper according to claim 1, which is characterized in that
The transport system further includes：Fruit-collecting box；
The fruit-collecting box is rectangular box container, is symmetrically disposed in the rack, for receiving and storing second chain
The jujube of formula conveying device conveying.
9. self-propelled jujube cropper according to claim 8, which is characterized in that further include：
Blower system is arranged in the rack, is driven by the drive system, and being used for will be from second chain conveyor
Fall the impurity blowout into the jujube of the fruit-collecting box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610883039.1A CN106472009B (en) | 2016-10-08 | 2016-10-08 | A kind of self-propelled jujube cropper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610883039.1A CN106472009B (en) | 2016-10-08 | 2016-10-08 | A kind of self-propelled jujube cropper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106472009A CN106472009A (en) | 2017-03-08 |
| CN106472009B true CN106472009B (en) | 2018-11-06 |
Family
ID=58270654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610883039.1A Active CN106472009B (en) | 2016-10-08 | 2016-10-08 | A kind of self-propelled jujube cropper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106472009B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107114070A (en) * | 2017-05-24 | 2017-09-01 | 哈尔滨理工大学 | A kind of Novel connecting fruit panel assembly for mechanical harvest small berries |
| CN107493830A (en) * | 2017-09-30 | 2017-12-22 | 山东农业大学 | A kind of blueberry for blueberry cropper is collected and conveying device |
| CN107466602A (en) * | 2017-09-30 | 2017-12-15 | 山东农业大学 | A kind of self-propelled blueberry combined harvester |
| CN108934467B (en) * | 2018-09-14 | 2023-10-03 | 福建工程学院 | Agricultural fruit picking harvester |
| CN109429721A (en) * | 2018-12-26 | 2019-03-08 | 杭州电子科技大学 | A kind of semi-automation jujube slave recovery integration apparatus |
| CN110073813A (en) * | 2019-06-18 | 2019-08-02 | 南京林业大学 | One kind currying excitation type jujube harvester |
| CN110692364A (en) * | 2019-11-19 | 2020-01-17 | 山东交通学院 | Crawler-type winter jujube swing harvester |
| CN110692363A (en) * | 2019-11-19 | 2020-01-17 | 山东交通学院 | Crawler-type winter jujube excitation harvester |
| CN111247961A (en) * | 2020-04-09 | 2020-06-09 | 刘旭亮 | Medlar picking and collecting impurity removing vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8276356B2 (en) * | 2010-02-26 | 2012-10-02 | Deere & Company | Tractor mounted cotton harvester |
| CN102369812B (en) * | 2010-08-13 | 2013-06-19 | 河南农业大学 | Tobacco harvesting machine with ratchet wheel and pawl |
| CN103563562A (en) * | 2012-07-20 | 2014-02-12 | 陈绍勇 | Electric self-propelled self-charged cotton harvester system device |
| CN102771257B (en) * | 2012-07-27 | 2015-02-25 | 石河子大学 | Whole structure of self-propelled wine grape harvesting machine |
| CN202979679U (en) * | 2012-12-31 | 2013-06-12 | 常蓬彬 | Self-propelled cornstalk or yellow corn silage harvester |
| CN203283281U (en) * | 2013-05-15 | 2013-11-13 | 南宁南机动力有限公司 | Electro-mobile direction machine mechanism |
| CN104737713B (en) * | 2015-03-28 | 2017-03-01 | 武汉威明德科技股份有限公司 | A kind of self-propelled all-hydraulic Fructus Jujubae cropper |
| CN206061561U (en) * | 2016-10-08 | 2017-04-05 | 石河子大学 | A kind of self-propelled Fructus Jujubae cropper |
-
2016
- 2016-10-08 CN CN201610883039.1A patent/CN106472009B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106472009A (en) | 2017-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106472009B (en) | A kind of self-propelled jujube cropper | |
| CN101731058B (en) | Straw chopping and returning self-propelled corn combine harvester | |
| CN104255185B (en) | Crawler type rape cutter-rower | |
| CN206879437U (en) | The caterpillar band self-propelled efficiently selected cropper of medicinal material | |
| CN201294760Y (en) | Stalk crushing and returning type self-walking type corn combine harvester | |
| DE3006871A1 (en) | SELF-DRIVING COMBINATION | |
| EP1685755B1 (en) | Self-propelled harvester | |
| CN206061561U (en) | A kind of self-propelled Fructus Jujubae cropper | |
| US6070402A (en) | Harvesting systems and methods | |
| CN203435361U (en) | Traction type potato multifunctional combine harvester | |
| CN108718670A (en) | A kind of vibration picking formula castor harvester | |
| JP5329314B2 (en) | Traveling vehicle | |
| CN103354714B (en) | Normal-type combine | |
| CN109769476A (en) | A kind of self-propelled jujube cropper | |
| CN105792632B (en) | Combine harvester | |
| DE2144813A1 (en) | Mower reel | |
| US4332128A (en) | Pull type automatic tobacco harvester | |
| CN103260392B (en) | United reaper | |
| CN207766923U (en) | Towed bale automatic picking carloader | |
| CN208850178U (en) | Self-propelled garlic digging harvester | |
| CN104823608A (en) | Self-propelled stacked beet purifier machine | |
| CN204408975U (en) | Self-propelled beet stows impurity eliminating machine | |
| CN104394682A (en) | Combine harvester | |
| CN102935967B (en) | Drip irrigation hose storing machine | |
| Boast | Progress report on the SASABY whole stalk cane harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |