CN110537418A - Inverted umbrella type red date harvesting machine and red date harvesting method - Google Patents
Inverted umbrella type red date harvesting machine and red date harvesting method Download PDFInfo
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- CN110537418A CN110537418A CN201910930359.1A CN201910930359A CN110537418A CN 110537418 A CN110537418 A CN 110537418A CN 201910930359 A CN201910930359 A CN 201910930359A CN 110537418 A CN110537418 A CN 110537418A
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- umbrella
- seat
- cylinder
- telescopic rod
- trunk
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- 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
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- 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
- A01D2046/262—Collecting surfaces extended around a tree in order to catch the fruit
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Abstract
an inverted umbrella type red date harvester and a red date harvesting method relate to the field of agricultural machinery. An inverted umbrella type red date harvester comprises a walking trolley, a trunk grabbing and shaking mechanism and an inverted umbrella type red date receiving mechanism; the inverted umbrella jujube receiving mechanism comprises an umbrella framework, an opening control assembly, a folding and unfolding driving assembly and umbrella cloth; the umbrella frame is a horn-shaped frame with an upward opening direction and comprises a central ring part and rib parts which are arranged outside the central ring part and are arranged in a radial mode, and one side of the central ring part is provided with an openable or closable trunk inlet; the opening control assembly is associated with the umbrella framework to drive the trunk entrance to be opened or closed; the folding and unfolding driving component is associated with the umbrella framework so as to drive the umbrella framework to fold upwards or unfold downwards; the umbrella cloth is connected on the rib part of the umbrella framework. A red date harvesting method, which is applied to the inverted umbrella type red date harvester. The invention has the advantages of convenient and rapid whole harvesting process, higher automation degree, lower manpower cost and no damage to the jujube trees.
Description
Technical Field
the invention relates to the field of agricultural machinery, in particular to an inverted umbrella type red date harvester and a red date harvesting method.
background
in recent years, the red date industry in China is developed rapidly, particularly, the planting scale and the yield of dwarf red dates are increased year by year, and the harvesting of the red dates is a key link in the red date planting process.
The traditional red date harvesting method comprises rod striking harvesting and semi-mechanized equipment harvesting. The rod striking harvesting has better continuity, but has higher manpower demand and lower harvesting efficiency, is easy to damage the branches of the jujube trees and the red jujubes, is not beneficial to the growth of the trees, and also influences the quality of the red jujubes. Semi-mechanized equipment is mainly used for picking manually by utilizing some semi-mechanized equipment, such as a lifter, a ladder and the like, so that the picking efficiency is low.
In order to solve the problem that the traditional red date harvesting mode is low in efficiency, a cover net shaking harvesting method is developed, the method is operated as shown in figure 1, when red dates are harvested, a net covers the whole crown of a red date tree, a net opening is tightly tied to the trunk of the red date tree, branches or trunks are shaken manually to enable the red dates to be separated from the branches and fall into a collecting net, and then a date leaking opening is formed in the lower end of the net to enable the red dates to be discharged.
Although the method is improved in the harvesting efficiency compared with the two traditional harvesting methods, the method still has the following defects: 1. the covering net, the taking net and the shaking of the trunk all need manual operation, and the installation and the disassembly of the collecting net are troublesome; 2. the branches are easy to hook the net opening, and the branches are easy to tear off and the collecting net is easy to tear off when the net is taken.
Therefore, the research and development of the red date harvesting machine which has low manpower requirement, rapid harvesting process and no damage to the branches and the trunks of the red dates has great significance for the red date industry in China.
disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an inverted umbrella type red date harvesting machine and a red date harvesting method, and solves the problems that the labor cost is high, the branches and the stems of a red date tree are easily damaged, and a harvesting tool (a collecting net) is easily damaged in the conventional red date harvesting method.
the technical scheme of the invention is as follows: an inverted umbrella type red date harvester comprises a walking trolley, a trunk grabbing and shaking mechanism and an inverted umbrella type red date receiving mechanism;
The walking trolley comprises a bearing plate, rollers arranged on the side edge or the lower part of the bearing plate and a driving device arranged on the bearing plate and used for driving the rollers to rotate;
The trunk grabbing and shaking mechanism comprises an adjustable mechanical arm arranged on the bearing plate, a clamping jaw body arranged at the tail end of the adjustable mechanical arm and a swinging driving assembly arranged between the adjustable mechanical arm and the clamping jaw body;
The inverted umbrella jujube receiving mechanism is arranged on the bearing plate and comprises an umbrella framework, an opening control assembly, a folding and unfolding driving assembly and umbrella cloth; the umbrella frame is a horn-shaped frame with an upward opening direction and comprises a central ring part and rib parts which are arranged on the outer side of the central ring part and are arranged in a radial mode, and one side of the central ring part is provided with a trunk inlet which can be opened or closed; the opening control assembly is associated with the umbrella framework to drive the trunk entrance to open or close; the folding and unfolding driving component is associated with the umbrella framework so as to drive the umbrella framework to fold upwards or unfold downwards; the umbrella cloth is connected on the rib part of the umbrella framework to form a conical ring surface for connecting the jujubes in an enclosing way, and the umbrella cloth is provided with a jujube arranging opening which is opened or closed through a sticky buckle tape.
The further technical scheme of the invention is as follows: the central ring part of the umbrella framework comprises an upper ring body and a lower ring body; the rib part of the umbrella framework comprises a rib and a short connecting rod;
The upper ring body is in a horizontally arranged ring shape and comprises an upper ring seat and two upper C-shaped arms which are hinged to two ends of the upper ring seat and are oppositely arranged, the two upper C-shaped arms and the upper ring seat are encircled to form an annular upper ring body, a plurality of hinge seats A are respectively arranged on the two upper C-shaped arms at intervals, when the two upper C-shaped arms are far away from each other around respective hinge points and rotate, the upper ring body forms a gradually enlarged opening A between the two upper C-shaped arms, and when the two upper C-shaped arms are close to each other around respective hinge points and rotate, the opening A of the upper ring body between the two upper C-shaped arms is gradually folded;
The lower ring body is in a horizontally arranged ring shape and is positioned under the upper ring body, the lower ring body comprises a lower ring seat and two lower C-shaped arms which are hinged at two ends of the lower ring seat and are oppositely arranged, the two lower C-shaped arms and the lower ring seat are encircled to form the annular lower ring body, a plurality of hinge seats B are respectively arranged on the two lower C-shaped arms at intervals, the hinge seats B correspond to the hinge seats A one by one, when the two lower C-shaped arms are far away from each other around respective hinge points to rotate, the lower ring body forms a gradually enlarged opening B between the two lower C-shaped arms, and when the two lower C-shaped arms are close to each other around respective hinge points to rotate, the opening B of the lower ring body between the two lower C-shaped arms is gradually folded;
One end of each bone strip is hinged on the hinge seat B, and the other end of each bone strip extends out of the upper part of the outer side of the lower ring body;
one end of the short connecting rod is hinged on the bone strip, and the other end of the short connecting rod is hinged on the hinge seat A;
The umbrella cloth is laid on all the ribs so as to form a conical ring surface for connecting the Chinese dates.
the invention further adopts the technical scheme that: the opening control assembly comprises a V-shaped movable frame, a first air cylinder and a hinge seat C; the V-shaped movable frame is formed by hinging two rods at the end parts and is provided with a hinged end and two free ends; the first cylinder is fixedly arranged on the bearing plate, and a telescopic rod of the first cylinder is movably connected with the hinged end of the V-shaped movable frame; two articulated seats C set firmly respectively under two on the C shape arm, and for lower ring seat symmetrical arrangement, every articulated seat C is articulated with a free end of V-arrangement adjustable shelf respectively.
the further technical scheme of the invention is as follows: the folding and unfolding driving assembly comprises a driving motor A, a screw rod seat A and a nut A; the driving motor A is fixedly arranged on the bearing plate, and a crankshaft of the driving motor A is associated with the screw rod A and drives the screw rod A to rotate; the screw A is vertically arranged, and two ends of the screw A are movably arranged on the screw seat A; the screw rod seat A is fixedly arranged on the bearing plate; the nut A is matched with the screw rod A in a rotating mode and is welded and fixed with the upper ring seat.
the further technical scheme of the invention is as follows: the adjustable mechanical arm comprises an electric telescopic rod and a second cylinder; the end part of the cylinder body of the electric telescopic rod is hinged on the bearing plate, and the telescopic rod of the electric telescopic rod extends upwards; the end part of the cylinder body of the second cylinder is hinged on the bearing plate, the telescopic rod of the second cylinder is hinged on the cylinder body of the electric telescopic rod, and the telescopic rod of the second cylinder stretches and retracts to drive the electric telescopic rod to swing around the hinged point of the electric telescopic rod;
the clamping jaw body comprises a driving motor B, a screw rod seat B, a clamping jaw, a nut B and a connecting rod; the driving motor B is fixedly arranged on the screw rod seat B, and a crankshaft of the driving motor B is connected with the screw rod B so as to drive the screw rod B to rotate; the screw B is arranged on the screw base B; the screw rod seat B is movably connected to the upper end of a telescopic rod of the electric telescopic rod through a hinge; the two clamping jaws are oppositely arranged and are respectively hinged with the screw rod seat B at one end; the nut B is in threaded connection with the screw rod B and is positioned between the two clamping jaws; one ends of the two connecting rods are respectively hinged to two sides of the nut B, and the other ends of the two connecting rods are respectively hinged to the middle parts of the two clamping jaws;
the swing driving component comprises a driving motor C, an eccentric wheel and a rocker; the eccentric wheel is movably arranged on the telescopic rod of the electric telescopic rod; the driving motor C is fixedly arranged on the telescopic rod of the electric telescopic rod and is connected with the eccentric wheel to drive the eccentric wheel to rotate; one end of the rocker is movably connected to the eccentric wheel, and the other end of the rocker is movably connected to the screw rod seat B.
The further technical scheme of the invention is as follows: the tail ends of the two upper C-shaped arms of the upper ring body are respectively provided with a third cylinder and a butt joint seat body A, and the butt joint seat body A is provided with a conical tapered hole A for the telescopic rod of the third cylinder to extend into; the tail ends of the two lower C-shaped arms of the lower ring body are respectively provided with a fourth cylinder and a butt joint seat body B, and the butt joint seat body B is provided with a conical tapered hole B into which a telescopic rod of the fourth cylinder extends; when the trunk entrance is closed, the telescopic rod of the third cylinder is over against the conical tapered hole A of the butt joint seat body A, and the telescopic rod of the fourth cylinder is over against the conical tapered hole B of the butt joint seat body B.
the technical scheme of the invention is as follows: a red date harvesting method is applied to the inverted umbrella type red date harvester, before red dates are harvested, the inverted umbrella type red date harvester is in an initial state, and in the initial state:
a, folding an umbrella framework upwards;
b, opening the trunk inlet;
c, the clamping jaw body is at the position farthest away from the trunk entrance;
the harvesting steps are as follows:
S01, before the walking trolley is controlled to move to the jujube tree to be harvested, the jujube tree trunk is enabled to enter the central ring part through the trunk inlet, and then the following control items are carried out in sequence:
a, driving a trunk inlet to be closed through an opening control assembly, so that the jujube tree trunk is surrounded in a central ring part;
b, driving the umbrella framework to unfold downwards through the unfolding driving component, so that the umbrella cloth can receive the jujube falling from the crown of the whole jujube tree;
c, controlling the two clamping jaws to clamp the jujube tree trunk;
s02, starting the third cylinder and the fourth cylinder at the same time, and respectively extending the telescopic rod of the third cylinder and the telescopic rod of the fourth cylinder into the conical tapered hole A of the butt joint seat body A and the conical tapered hole B of the butt joint seat body B, so as to completely close the trunk inlet and enable the umbrella cloth closed into the annular conical surface to be in a stable state; then the gap between the umbrella cloth and the jujube tree trunk is stuffed by cloth strips or sealed by plastic cloth;
s03, driving motor C starts, and power loops through eccentric wheel and rocker and transmits to the lead screw seat B of the clamping jaw body, and then drives the clamping jaw body around the regular swing of its pin joint to the messenger is by the regular rocking of jujube tree trunk of two clamping jaw centre grippings, makes the jujube on the jujube tree crown drop to the umbrella cloth, then will fall on the jujube derivation on the umbrella cloth and accomplish the gathering of red date promptly.
compared with the prior art, the invention has the following advantages: when the red dates are not harvested, the umbrella frame is folded upwards to save space, so that the inverted umbrella type red date harvesting machine can smoothly pass through the densely planted date trees; when gathering the red date, in bringing the trunk into central ring portion through open closed trunk entry, expand umbrella frame downwards again to make umbrella cloth open into a awl donut shaped surface that is equivalent with whole crown scope, then grab through the clamping jaw and shake the trunk and can make the red date fall on umbrella cloth, discharge the red date through the row's of predetermineeing jujube mouth on the umbrella cloth at last, accomplish promptly and gather. The whole harvesting process is convenient and fast, and the automation degree is higher.
the invention is further described below with reference to the figures and examples.
drawings
FIG. 1 is a perspective view of the present invention from a first perspective;
FIG. 2 is a perspective view of the present invention from a second perspective;
FIG. 3 is a perspective view of the present invention from a third perspective;
FIG. 4 is a schematic structural view of the umbrella cloth;
Description of the drawings: the umbrella cloth is not shown in fig. 1-3 for the purpose of showing the internal structure of the present invention.
Illustration of the drawings: a walking trolley 1; a carrier plate 11; a roller 12; an adjustable mechanical arm 21; an electric telescopic rod 211; a second cylinder 212; a jaw body 22; a drive motor B221; a lead screw B222; a screw base B223; a clamping jaw 224; an arc-shaped slot 2241; a nut B225; a connecting rod 226; a swing drive assembly 23; an eccentric wheel 231; a drive motor C232; a rocker 233; an umbrella frame 31; a central ring portion 311; an upper ring body 3111; an upper ring seat 31111; an upper C-arm 31112; hinge mount a 31113; opening a 31114; a lower ring body 3112; a lower ring seat 31121; a lower C-arm 31122; a hinge base B31123; an opening B31124; the bone portion 312; a bone strip 3121; a short link 3122; an opening control assembly 32; a V-shaped movable frame 321; a hinged end 3211; a first cylinder 322; a hinge base C323; a deployment drive assembly 33; a drive motor A331; a lead screw A332; a screw base A333; a nut A334; an umbrella cloth 34; a jujube discharge opening 341; a nylon hook tape 342; nylon velvet 343; a trunk entrance 4; a third cylinder 51; a butt joint seat body A52; the fourth cylinder 53; and (4) butting against the seat body B54.
Detailed Description
Example 1:
as shown in fig. 1-4, the inverted umbrella type red date harvester comprises a walking trolley 1, a trunk grabbing and shaking mechanism and an inverted umbrella type red date receiving mechanism.
The walking trolley 1 comprises a bearing plate 11, rollers 12 arranged at the side or below the bearing plate 11, and a driving device (not shown in the figure) arranged on the bearing plate 11 for driving the rollers 12 to run.
The trunk grabbing and shaking mechanism comprises an adjustable mechanical arm 21 arranged on the bearing plate 11, a clamping jaw body 22 arranged at the tail end of the adjustable mechanical arm 21 and a swinging driving assembly 23 arranged between the adjustable mechanical arm 21 and the clamping jaw body 22.
the adjustable mechanical arm 21 comprises an electric telescopic rod 211 and a second air cylinder 212. The end of the cylinder body of the electric telescopic rod 211 is hinged on the bearing plate 11, and the telescopic rod thereof extends upwards. The cylinder body tip of second cylinder 212 articulates on loading board 11, and its telescopic link articulates on electric telescopic handle 211's cylinder body, and second cylinder 212 then drives electric telescopic handle 211 around its pin joint swing through the concertina movement of its telescopic link.
The jaw body 22 includes a driving motor B221, a lead screw B222, a lead screw base B223, a jaw 224, a nut B225, and a connecting rod 226. The driving motor B221 is fixedly installed on the lead screw base B223, and a crankshaft thereof is connected with the lead screw B222 to drive the lead screw B222 to rotate. The lead screw B222 is mounted on the lead screw base B223. The screw base B223 is movably connected with the upper end of the telescopic rod of the electric telescopic rod 211 through a hinge. The two clamping jaws 224 are arranged opposite each other and are each hinged at one end to a spindle base B223. A nut B225 is threaded on the lead screw B223 and is located between the two jaws 224. One ends of the two connecting rods 226 are respectively hinged on two sides of the nut B225, and the other ends of the two connecting rods 226 are respectively hinged in the middle of the two clamping jaws 224.
The swing driving assembly 23 includes an eccentric wheel 231, a driving motor C232, and a rocker 233. The eccentric wheel 231 is movably mounted on the telescopic rod of the electric telescopic rod 211. The driving motor C232 is fixedly installed on the telescopic rod of the electric telescopic rod 211 and is associated with the eccentric wheel 231 to drive the eccentric wheel 231 to rotate. One end of the rocker 233 is movably connected to the eccentric wheel 231, and the other end is movably connected to the screw base B223.
the inverted umbrella jujube-receiving mechanism comprises an umbrella framework 31, an opening control component 32, a folding and unfolding driving component 33 and umbrella cloth 34.
the umbrella frame 31 is a horn-shaped frame with an upward opening, and includes a central ring portion 311 and rib portions 312 arranged outside the central ring portion 311 in a radial arrangement, and one side of the central ring portion 311 is provided with an openable or closable trunk inlet 4. The central ring portion 311 of the umbrella frame 31 includes an upper ring portion 3111 and a lower ring portion 3112. The rib portion 312 of the umbrella frame 31 includes a rib 3121 and a short link 3122. The upper ring 3111 is in a horizontally disposed ring shape, and includes an upper ring seat 31111 and two upper C-shaped arms 31112 hinged to two ends of the upper ring seat 31111 and disposed oppositely, the two upper C-shaped arms 31112 and the upper ring seat 31111 enclose a ring-shaped upper ring 3111, a plurality of hinge seats a31113 are disposed on the two upper C-shaped arms 31112 at intervals, when the two upper C-shaped arms 31112 rotate away from each other around respective hinge points, the upper ring 3111 forms a gradually enlarged opening a31114 between the two upper C-shaped arms 31112, and when the two upper C-shaped arms 31112 rotate close to each other around respective hinge points, the opening a31114 of the upper ring 3111 between the two upper C-shaped arms 31112 gradually converges. The lower ring 3112 is horizontally disposed in a ring shape and is located right below the upper ring 3111, the lower ring 3112 includes a lower ring seat 31121 and two lower C-shaped arms 31122 hinged to two ends of the lower ring seat 31121 and disposed oppositely, the two lower C-shaped arms 31122 and the lower ring seat 31121 surround to form a ring-shaped lower ring 3112, a plurality of hinge seats B31123 are disposed on the two lower C-shaped arms 31122 at intervals, the hinge seats B31123 correspond to the hinge seats a31113 one by one, when the two lower C-shaped arms 31122 rotate around respective hinge points away from each other, the lower ring 3112 forms a gradually enlarged opening B31124 between the two lower C-shaped arms 31122, and when the two lower C-shaped arms 31122 rotate around respective hinge points close to each other, the opening B31124 of the lower ring 3112 between the two lower C-shaped arms 31122 gradually converges, and the opening B31124 communicates with the opening a31114 to form the trunk entrance 4. One end of the bone strip 3121 is hinged to the hinge seat B31123, and the other end extends out of and above the outer side of the lower ring body 3112. The short link 3122 is hinged to the bone strip 3121 at one end and hinged to the hinge seat a31113 at the other end.
An opening control assembly 32 is associated with the umbrella frame 31 to actuate opening or closing of the trunk access opening 4. The opening control assembly 32 includes a V-shaped movable frame 321, a first cylinder 322, and a hinge base C323. The V-shaped movable frame 321 is formed by two bars hinged at the ends, which have a hinged end 3211 and two free ends. The first cylinder 322 is fixedly installed on the bearing plate 11, and the telescopic rod thereof is movably connected with the hinged end of the V-shaped movable frame 321. Two hinged seats C323 are respectively fixed on the two lower C-shaped arms 31122 and symmetrically arranged with respect to the lower ring seat 31121, and each hinged seat C323 is hinged to a free end of the V-shaped movable frame 321.
the folding and unfolding driving component 33 is associated with the umbrella frame 31 so as to drive the umbrella frame 31 to fold upwards or unfold downwards. The folding and unfolding drive assembly 33 includes a drive motor a331, a lead screw a332, a lead screw base a333 and a nut a 334. The driving motor A331 is fixedly installed on the bearing plate 11, and the crankshaft thereof is associated with the lead screw A332 to drive the lead screw A332 to rotate. The screw A332 is vertically arranged, and two ends of the screw A are movably arranged on a screw seat A333. The screw base A333 is fixedly mounted on the bearing plate 11. The nut a334 is screwed with the lead screw a332 and is welded with the upper ring seat 31111.
the umbrella cloth 34 is laid on all the ribs 3121 of the rib part 312 of the umbrella frame 31, thereby enclosing a conical ring surface for receiving the Chinese dates. The umbrella cloth 34 is provided with a jujube row opening which is opened or closed through a magic tape.
Preferably, the two clamping jaws 224 are provided with arc-shaped grooves 2241 which are oppositely arranged, and the arc-shaped grooves 2241 are used for positioning the jujube tree trunk.
Preferably, the clamping jaw body 22 is located directly above the central ring 311, and the clamping jaw body 22 can swing along an arc-shaped trajectory in a vertical plane under the driving of the second cylinder 214, and is respectively closest to or farthest from the trunk entrance 4 when the clamping jaw body 22 is located at two ends of the moving path.
preferably, the ends of the two upper C-shaped arms 31112 of the upper ring 3111 are respectively provided with a third cylinder 51 and a docking seat a52, and the docking seat a52 is provided with a tapered hole a for the telescopic rod of the third cylinder 51 to extend into. The tail ends of the two lower C-shaped arms 31122 of the lower ring body 3112 are respectively provided with a fourth cylinder 53 and a docking seat body B54, and a tapered hole B for the telescopic rod of the fourth cylinder 53 to extend into is arranged on the docking seat body B54; when the trunk entrance 4 is closed, the telescopic rod of the third cylinder 51 faces the tapered hole a of the docking seat a52, and the telescopic rod of the fourth cylinder 53 faces the tapered hole B of the docking seat B54.
preferably, the umbrella cloth 34 is bound on the rib 3121 through a tether, that is, the connection mode of the umbrella cloth and the umbrella frame is the same as that of the existing umbrella, and correspondingly, the rib 3121 is provided with a threading hole.
Preferably, two sides of the umbrella cloth 34 are movably adhered by a hook and loop fastener, that is, a nylon hook tape 342 is disposed on one side, and a nylon velvet tape 343 is disposed on the other side.
briefly describing the use of the invention: before the red dates are harvested, the inverted umbrella type red date harvesting machine is in an initial state, and in the initial state:
a, the umbrella frame 31 is folded upwards so as to facilitate the walking trolley 1 to pass between the jujube trees;
b, opening a trunk inlet 4 so as to accommodate the jujube tree trunk into the central ring part 311 when picking up red dates;
c, the clamping jaw body 22 is located at the farthest position from the trunk entrance 4, so as to avoid the clamping jaw 224 from interfering with the jujube tree trunk and colliding against the jujube tree trunk while the jujube tree trunk is accommodated in the central ring portion 311.
S01, before the walking trolley 1 is controlled to move to the jujube tree to be harvested, the jujube tree trunk is enabled to enter the central ring part 311 through the trunk inlet 4, and then the following control items are carried out in sequence:
a, driving the trunk entrance 4 to close through the opening control component 32, so as to enclose the jujube tree trunk in the central ring part 311; the specific process is as follows: when the first cylinder 322 is started, the piston rod thereof retracts to drive the V-shaped movable frame 321 to reduce the angle, and further drive the two lower C-shaped arms 31122 to rotate around respective hinge points, because the upper ring 3111 and the lower ring 3112 are indirectly connected into a whole through the rib 3121 and the short connecting rod 3122, the two upper C-shaped arms 31112 also rotate around respective hinge points to close each other, so that the trunk entrance 4 is gradually closed, when the two upper C-shaped arms 31112 and the two lower C-shaped arms 31122 move to the extreme positions at the same time, the trunk entrance 4 is closed to the minimum, and at this time, the umbrella cloth 34 is closed to form an annular conical surface;
b, the umbrella framework 31 is driven to be unfolded downwards by the unfolding and unfolding driving component 33, so that the umbrella cloth 34 can receive the jujube falling from the crown of the whole jujube tree; the specific process is as follows: the driving motor a331 is started to drive the screw rod a332 to rotate, the nut a334 is driven to move downwards along the screw rod a332 by the rotation of the screw rod a332, so that the upper ring body 3111 is driven to move downwards to be close to the lower ring body 3112, and all the ribs 3121 are driven to rotate downwards by the short connecting rods 3122, so that the whole umbrella framework 31 is unfolded downwards;
c, controlling the two clamping jaws 224 to clamp the jujube tree trunk; the specific process is as follows: the driving motor B221 is started, power is transmitted to the two clamping jaws 224 through the screw rod B222, the nut B225 and the connecting rod 226 in sequence, and the two clamping jaws 224 are driven to synchronously rotate in the direction away from each other to be opened; then the second cylinder 212 is started, the piston rod of the second cylinder extends out to push the electric telescopic rod 211 to rotate around the hinged point of the electric telescopic rod, so that the clamping jaw body 22 is integrally close to the jujube tree trunk, and when the jujube tree trunk enters between the two clamping jaws 224, the second cylinder 212 is closed; finally, the driving motor B221 is started, power is transmitted to the two clamping jaws 224 through the screw rod B222, the nut B225 and the connecting rod 226 in sequence, the two clamping jaws 224 are driven to rotate in the mutually approaching direction synchronously to be closed, and therefore the jujube tree trunk is firmly clamped between the two clamping jaws 224.
S02, then the third cylinder 51 and the fourth cylinder 53 are started simultaneously, the expansion link of the third cylinder 51 and the expansion link of the fourth cylinder 53 extend into the tapered hole A of the docking seat A52 and the tapered hole B of the docking seat B54, respectively, so as to completely close the trunk entrance 4, and the umbrella cloth 34 closed into the annular conical surface is in a stable state; then the gap between the umbrella cloth 34 and the jujube tree trunk is stuffed by cloth strips or sealed by plastic cloth.
s03, driving motor C232 starts, and power loops through eccentric wheel 231 and rocker 233 and transmits to the lead screw seat B223 of clamping jaw body 22, and then drives clamping jaw body 22 around the regular (small-amplitude) swing of its pin joint to make the regular (small-amplitude) rocking of jujube tree trunk that is held by two clamping jaws 224, make the jujube on the jujube tree crown drop to umbrella cloth 34, then will fall the jujube derivation on umbrella cloth 34 (open the jujube mouth through the zip fastener) and accomplish the harvesting of red date promptly.
Claims (7)
1. Inverted umbrella formula red date harvester, characterized by: comprises a walking trolley (1), a trunk grabbing and shaking mechanism and an inverted umbrella jujube receiving mechanism;
The walking trolley (1) comprises a bearing plate (11), a roller (12) arranged on the side edge or the lower part of the bearing plate (11) and a driving device arranged on the bearing plate (11) and used for driving the roller (12) to run;
the trunk grabbing and shaking mechanism comprises a shakable base (21) arranged on the bearing plate (11) and a clamping jaw body (22) arranged at the upper end of the shakable base (21);
the trunk grabbing and shaking mechanism comprises an adjustable mechanical arm (21) arranged on the bearing plate (11), a jaw body (22) arranged at the tail end of the adjustable mechanical arm (21) and a swinging driving component (23) arranged between the adjustable mechanical arm (21) and the jaw body (22);
the inverted umbrella jujube-receiving mechanism is arranged on the bearing plate (11) and comprises an umbrella framework (31), an opening control component (32), a folding and unfolding driving component (33) and umbrella cloth (34); the umbrella framework (31) is a horn-shaped framework with an upward opening direction and comprises a central ring part (311) and rib parts (312) which are arranged on the outer side of the central ring part (311) in a radial arrangement mode, and one side of the central ring part (311) is provided with a trunk inlet (4) which can be opened or closed; the opening control component (32) is associated with the umbrella framework (31) to drive the trunk entrance (4) to open or close; the folding and unfolding driving component (33) is associated with the umbrella framework (31) to drive the umbrella framework (31) to fold upwards or unfold downwards; the umbrella cloth (34) is connected to the rib part (312) of the umbrella framework (31) to form a conical ring surface for connecting the jujubes, and the umbrella cloth (34) is provided with a jujube row opening which is opened or closed through a magic tape.
2. The inverted umbrella type red date harvester according to claim 1, characterized in that: the central ring part (311) of the umbrella framework (31) comprises an upper ring body (3111) and a lower ring body (3112); the rib part (312) of the umbrella framework (31) comprises a rib (3121) and a short connecting rod (3122);
the upper ring body (3111) is in a horizontally arranged ring shape, and comprises an upper ring seat (31111) and two upper C-shaped arms (31112) which are hinged to two ends of the upper ring seat (31111) and are oppositely arranged, the two upper C-shaped arms (31112) and the upper ring seat (31111) are encircled to form a ring-shaped upper ring body (3111), a plurality of hinge seats A (31113) are respectively arranged on the two upper C-shaped arms (31112) at intervals, when the two upper C-shaped arms (31112) rotate around respective hinge points away from each other, the upper ring body (3111) forms a gradually enlarged opening A (31114) between the two upper C-shaped arms (31112), and when the two upper C-shaped arms (31112) rotate around respective hinge points close to each other, the opening A (31114) of the upper ring body (3111) between the two upper C-shaped arms (31112) gradually converges;
the lower ring body (3112) is in a ring shape arranged horizontally and is located under the upper ring body (3111), the lower ring body (3112) comprises a lower ring seat (31121) and two lower C-shaped arms (31122) hinged at two ends of the lower ring seat (31121) and arranged oppositely, the two lower C-shaped arms (31122) and the lower ring seat (31121) are encircled to form a ring-shaped lower ring body (3112), a plurality of hinge seats B (31123) are respectively arranged on the two lower C-shaped arms (31122) at intervals, the hinge seats B (31123) are in one-to-one correspondence with the hinge seats A (31113), when the two lower C-arms (31122) are pivoted away from each other about their respective hinge points, the lower ring body (3112) forms a gradually enlarged opening B (31124) between the two lower C-arms (31122), the lower ring body (3112) gradually converges at an opening B (31124) between the two lower C-arms (31122) as the two lower C-arms (31122) rotate toward each other about their respective hinge points;
one end of the bone strip (3121) is hinged on the hinged seat B (31123), and the other end extends out of the upper part of the outer side of the lower ring body (3112);
One end of the short connecting rod (3122) is hinged on the bone strip (3121), and the other end is hinged on the hinged seat A (31113);
The umbrella cloth (34) is laid on all the bone strips (3121) so as to form a conical ring surface for connecting the Chinese dates.
3. the inverted umbrella type red date harvester according to claim 2, characterized in that: the opening control assembly (32) comprises a V-shaped movable frame (321), a first air cylinder (322) and a hinge seat C (323); the V-shaped movable frame (321) is formed by hinging two rods at the end part and is provided with a hinged end (3211) and two free ends; the first cylinder (322) is fixedly arranged on the bearing plate (11), and an expansion link of the first cylinder is movably connected with the hinged end of the V-shaped movable frame (321); two articulated seats C (323) are respectively fixedly arranged on the two lower C-shaped arms (31122) and are symmetrically arranged relative to the lower ring seat (31121), and each articulated seat C (323) is respectively articulated with one free end of the V-shaped movable frame (321).
4. the inverted umbrella type red date harvester according to claim 3, characterized in that: the folding and unfolding driving component (33) comprises a driving motor A (331), a screw rod A (332), a screw rod seat A (333) and a nut A (334); the driving motor A (331) is fixedly arranged on the bearing plate (11), and the crankshaft of the driving motor A is associated with the screw rod A (332) to drive the screw rod A (332) to rotate; the screw A (332) is vertically arranged, and two ends of the screw A are movably arranged on the screw seat A (333); the screw rod seat A (333) is fixedly arranged on the bearing plate (11); the nut A (334) is screwed with the lead screw A (332) and is welded with the upper ring seat (31111).
5. the inverted umbrella type red date harvester according to any one of claims 1 to 4, characterized in that: the adjustable mechanical arm (21) comprises an electric telescopic rod (211) and a second air cylinder (212); the end part of the cylinder body of the electric telescopic rod (211) is hinged on the bearing plate (11), and the telescopic rod extends upwards; the end part of a cylinder body of the second cylinder (212) is hinged on the bearing plate (11), a telescopic rod of the second cylinder is hinged on the cylinder body of the electric telescopic rod (211), and the telescopic rod of the second cylinder (212) stretches and retracts to drive the electric telescopic rod (211) to swing around a hinged point of the electric telescopic rod;
The clamping jaw body (22) comprises a driving motor B (221), a lead screw B (222), a lead screw seat B (223), a clamping jaw (224), a nut B (225) and a connecting rod (226); the driving motor B (221) is fixedly arranged on the lead screw seat B (223), and the crankshaft of the driving motor B is connected with the lead screw B (222) to drive the lead screw B (222) to rotate; the screw B (222) is arranged on the screw seat B (223); the screw rod seat B (223) is movably connected to the upper end of a telescopic rod of the electric telescopic rod (211) through a hinge; the two clamping jaws (224) are oppositely arranged and are hinged with the screw rod seat B (223) at one end respectively; the nut B (225) is in threaded connection with the lead screw B (222) and is positioned between the two clamping jaws (224); one ends of the two connecting rods (226) are respectively hinged to two sides of the nut B (225), and the other ends of the two connecting rods (226) are respectively hinged to the middle parts of the two clamping jaws (224);
the swing driving component (23) comprises an eccentric wheel (231), a driving motor C (232) and a rocker (233); the eccentric wheel (231) is movably arranged on the telescopic rod of the electric telescopic rod (211); the driving motor C (232) is fixedly arranged on the telescopic rod of the electric telescopic rod (211) and is associated with the eccentric wheel (231) to drive the eccentric wheel (231) to rotate; one end of the rocker (233) is movably connected with the eccentric wheel (231), and the other end is movably connected with the screw seat B (223).
6. the inverted umbrella type red date harvester according to claim 5, characterized in that: the tail ends of two upper C-shaped arms (31112) of the upper ring body (3111) are respectively provided with a third cylinder (51) and a butt joint seat body A (52), and the butt joint seat body A (52) is provided with a conical tapered hole A for a telescopic rod of the third cylinder (51) to extend into; the tail ends of two lower C-shaped arms (31122) of the lower ring body (3112) are respectively provided with a fourth cylinder (53) and a butt joint seat body B (54), and the butt joint seat body B (54) is provided with a conical tapered hole B for a telescopic rod of the fourth cylinder (53) to extend into; when the trunk inlet (4) is closed, the telescopic rod of the third cylinder (51) is over against the conical tapered hole A of the butt joint seat body A (52), and the telescopic rod of the fourth cylinder (53) is over against the conical tapered hole B of the butt joint seat body B (54).
7. A red date harvesting method is applied to the inverted umbrella type red date harvester of any one of claims 1 to 6, and is characterized in that:
Before the red dates are harvested, the inverted umbrella type red date harvesting machine is in an initial state, and in the initial state:
a, the umbrella framework (31) is folded upwards;
b, opening the trunk inlet (4);
c, the gripper body (22) is at the position farthest from the trunk entrance (4);
The harvesting steps are as follows:
s01, the walking trolley (1) is controlled to move to the front of the jujube tree to be harvested, so that the jujube tree trunk enters the central ring part (311) through the trunk inlet (4), and then the following control items are carried out in sequence:
a, driving a trunk inlet (4) to be closed through an opening control component (32), so as to enclose the jujube tree trunk in a central ring part (311);
b, the umbrella framework (31) is driven to be unfolded downwards by the folding and unfolding driving component (33), so that the umbrella cloth (34) can receive the dates falling from the crown of the whole date tree;
c, controlling the two clamping jaws (224) to clamp the jujube tree trunk;
S02, starting the third cylinder (51) and the fourth cylinder (53) simultaneously, and respectively extending the telescopic rod of the third cylinder (51) and the telescopic rod of the fourth cylinder (53) into the conical tapered hole A of the butt joint seat body A (52) and the conical tapered hole B of the butt joint seat body B (54), so as to completely close the trunk inlet (4) and enable the umbrella cloth 34 closed into the annular conical surface to be in a stable state; then the gap between the umbrella cloth 34 and the jujube tree trunk is stuffed by cloth strips or is sealed by plastic cloth, and then the gap between the umbrella cloth 34 and the jujube tree trunk is stuffed by cloth strips or is sealed by plastic cloth;
s03, a driving motor C (231) is started, power is transmitted to a screw rod seat B (223) of the clamping jaw body (22) through an eccentric wheel (232) and a rocker (233) in sequence, and then the clamping jaw body (22) is driven to swing regularly around a hinged point, so that a jujube tree trunk clamped by two clamping jaws (224) shakes regularly, the jujube on the jujube tree crown falls onto the umbrella cloth (34), and then the jujube falling onto the umbrella cloth (34) is guided out to finish the harvesting of the red jujube.
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| CN201910930359.1A CN110537418B (en) | 2019-09-29 | 2019-09-29 | Inverted umbrella type red date harvesting machine and red date harvesting method |
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| CN201910930359.1A CN110537418B (en) | 2019-09-29 | 2019-09-29 | Inverted umbrella type red date harvesting machine and red date harvesting method |
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| CN115250741A (en) * | 2022-08-29 | 2022-11-01 | 河北省农林科学院石家庄果树研究所 | Multi-functional harvesting device of chinese date |
| CN117256326A (en) * | 2023-11-17 | 2023-12-22 | 山西农业大学果树研究所(山西省农业科学院果树研究所) | Harvesting device for hawthorn fruits |
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| CN111133895A (en) * | 2020-01-22 | 2020-05-12 | 祁海强 | Self-propelled dwarf close planting red date harvester |
| CN115250741A (en) * | 2022-08-29 | 2022-11-01 | 河北省农林科学院石家庄果树研究所 | Multi-functional harvesting device of chinese date |
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