CN114145131B

CN114145131B - Movable double-spring-finger green soybean picking device

Info

Publication number: CN114145131B
Application number: CN202111330078.6A
Authority: CN
Inventors: 王旭伟
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2022-10-25
Anticipated expiration: 2041-11-11
Also published as: CN114145131A

Abstract

The invention discloses a movable double-elastic-finger green soybean picking device, wherein a collecting and conveying assembly is arranged at the other end of a rack, a driving motor is arranged at the bottom end of a collecting box, positioning shafts are arranged between two positioning rings at equal intervals, an elastic rubber film is bonded inside a containing groove, a buffering foam pad is bonded on the top surface of a flexible plastic bottom plate, a counterweight groove is formed in the bottom surface of a rotating plate close to one end of a magnetic stripe, a centering and limiting assembly is arranged at the position, on two sides of a double-elastic-finger picking cylinder, of the rack, and a collecting auxiliary assembly is arranged inside the collecting box.

Description

Movable double-spring-finger green soybean picking device

Technical Field

The invention relates to the technical field of agricultural instruments, in particular to a movable double-elastic-finger green soybean picking device.

Background

The green soy beans have wide market in agricultural and sideline products at home and abroad due to the characteristics of high nutritional value, convenience for eating and the like, but the problems of low efficiency, high labor intensity, high cost, poor picking timeliness and the like exist in manual picking, the requirements of people on green soy bean food are difficult to meet, and then a series of green soy bean picking machines are promoted to be born.

A green soybean collecting device is provided in an article 'double-elastic-finger green soybean picking device' with the article number of 1003-188X (2020) 03-0089-05, the device is continuously matched and separated with a fixed elastic finger under the action of an elastic-finger eccentric wheel groove, and the manual slow picking mode is simulated, so that the purposes of picking pods and unloading the pods are achieved.

Disclosure of Invention

The invention provides a movable double-elastic-finger green soybean picking device which can effectively solve the problems that green soybeans are easy to splash due to mutual collision during collection and transportation, the green soybeans are easy to splash and waste, pods are easy to damage due to collision, collection and storage are not facilitated, and the yield of the green soybeans is reduced.

In order to achieve the purpose, the invention provides the following technical scheme: the double-elastic-finger picking machine comprises a rack, wherein a double-elastic-finger picking barrel is rotatably mounted at one end of the rack through a rotating shaft, a supporting shaft penetrates through the middle of the rotating shaft, a collecting and conveying assembly is mounted at the other end of the rack and comprises a collecting box, a driving motor, a driving shaft, a driven shaft, a side plate, a positioning ring, a positioning shaft, a rotating plate, a containing groove, an elastic rubber film, a flexible plastic bottom plate, a buffering foam pad, a magnetic stripe, a counterweight groove, a counterweight lead block, an auxiliary wheel, a distance sensor and a buzzer;

the collecting box is fixedly mounted at one end, away from the double-elastic-finger picking barrel, of the rack, the bottom end of the collecting box is provided with a driving motor, an output shaft of the driving motor penetrates through the collecting box and is connected with a driving shaft, the top end of the collecting box is rotatably provided with a driven shaft, the end portions of the driving shaft and the driven shaft are rotatably mounted at two ends of a side plate respectively, positioning rings are mounted at equal intervals between the positioning rings, two sides of each positioning shaft are hinged with rotating plates, adjacent rotating plates between the positioning shafts are provided with accommodating grooves in the middle of the opposite ends, elastic rubber films are bonded inside the accommodating grooves, two ends, opposite to the elastic rubber films, are bonded at two ends of a flexible plastic bottom plate respectively, a buffering foam pad is bonded on the top surface of the flexible plastic bottom plate, the end portions of the rotating plates are bonded at the top ends and the bottom ends of the accommodating grooves respectively, counterweight grooves are formed in the bottoms of the rotating plates and close to one ends of the magnetic strips, counterweight lead blocks are inlaid in the counterweight grooves, auxiliary wheels are rotatably mounted in the bottoms of two side surfaces of the collecting box, distance sensors are mounted in the middle of the collecting box, and buzzers are mounted at the top ends of the side surfaces of the collecting box.

Preferably, the sum of the thicknesses of the flexible plastic bottom plate and the buffering foam pad is equal to the width of the longitudinal section of the accommodating groove, and polytetrafluoroethylene films are bonded on the inner walls of the accommodating grooves.

Preferably, the positioning ring is provided with a clamping hole at a position corresponding to the end of the positioning shaft, and the diameter of the clamping hole is equal to that of the positioning shaft.

Preferably, the distance sensor output end is electrically connected with the output end of the external controller, the output end of the external controller is electrically connected with the input end of the buzzer, and the driving motor and the external controller are both electrically connected with the external power supply.

Preferably, twice the width of the rotating plate is equal to the distance between adjacent positioning shafts, the diameters of the driving shaft and the driven shaft are equal, and the distance between the adjacent positioning shafts is equal to half of the circular perimeter of the longitudinal section of the driving shaft.

Preferably, the frame is provided with a righting limiting assembly at the positions on two sides of the double-elastic-finger picking barrel, and the righting limiting assembly comprises a positioning groove, a cylindrical rod, a prismatic rod, an end disc, a rotating column, a limiting plate, a vertical connecting rod, a telescopic rod, a horizontal connecting rod, a sleeve, a positioning screw, a guide tube, a damping spring, a guide rod and an inclined guide plate;

the locating groove is arranged in the middle of two ends of the supporting shaft, the cylindrical rod is slidably mounted in the locating shaft, a prism rod is welded at one end of the cylindrical rod, an end disc is fixedly sleeved in the middle of the prism rod, a rotating column is rotatably mounted at a position, above the end disc, of the rack, a limiting plate is rotatably sleeved in the middle of the rotating column, a vertical connecting rod is welded on an end plate of the prism rod, a telescopic rod is welded on the inner side of the vertical connecting rod, the telescopic link is kept away from vertical connecting rod one end welding and is had the horizontal connecting rod, horizontal connecting rod one end slides and has cup jointed the sleeve pipe, the sleeve pipe side is close to horizontal connecting rod one end and installs positioning screw, the welding of sleeve pipe top surface one end has the guiding tube, there is the guide rod guiding tube inside through damping spring sliding connection, guiding rod top and sleeve pipe are kept away from guiding tube one end welded connection respectively in inclined guide board bottom surface both ends.

Preferably, the longitudinal section of the positioning groove is regular dodecagon, and the positioning groove is matched with the prism rod.

Preferably, the inclined guide plate is an arc plate with a concave top surface, and the edge of the top surface of the inclined guide plate is provided with a chamfer.

Preferably, a collection auxiliary assembly is arranged in the collection box and comprises a chip removal port, a rubber outer ring, a buffer plate, a rubber speed reducing strip, a buffer spring, a horizontal support plate, an inclined baffle, a fan frame and a fan;

the utility model discloses a fan rack, including collecting box, buffer board, horizontal support plate, fan frame, fan, chip removal mouth, rubber outer lane, the inside buffer board that bonds of rubber outer lane, buffer board top surface equidistance bonds and has the rubber deceleration strip, the buffer board bottom is connected with horizontal support plate through buffer spring, horizontal support plate one end fixed connection is in the collecting box inner wall, the inside bottom of collecting box is in the welding of position circle below department and has oblique baffle, the oblique baffle bottom surface is close to horizontal support plate one end welding and has the fan, the inside even fan of inlaying of fan frame.

Preferably, the fan input end is electrically connected with the external power supply output end, and the fan frame is bonded with the isolation nets at the front side and the back side of the fan.

Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use;

1. be provided with and collect conveyor components, under the action of gravity, the angle changes between the adjacent rotor plate of counter weight lead block pulling, the elastic rubber membrane extension, the recess that one by one was used for temporarily depositing appears in the conveyor top surface, the pod directly strikes in buffering foam pad top surface, absorb the impact, the pod is difficult for bounceing, along with transporting the rotor plate again by driving shaft and driven shaft jack-up, the pod of temporarily depositing of ejecting inside, protect the pod when conveniently collecting, prevent that it from spilling extravagant and collision damage.

2. The auxiliary wheel supports the collecting box, and when soil can't continue to bear the weight of the collected pods, the auxiliary wheel can sink into the soil, and the distance sensor is close to the ground this moment, and the distance shortens to control buzzer sounding through the controller and remind, in time take out too many pods according to the hardness of soil, prevent sinking too deeply and can't continue the problem of gathering.

3. Be provided with and right spacing subassembly, adjust vertical connecting rod angle according to the green soy bean plant, adjust horizontal connecting rod interval according to the distance on field ridge afterwards, promote the gathering through oblique guide board that two heels chamfer degree is big and the plant of lodging, be close to two plays and indicate a picking section of thick bamboo position, adjust simple and conveniently, prevent that the plant at edge can't be picked, need the situation of artifical benefit collection, it is better to pick the effect.

4. Be provided with and collect auxiliary assembly, after collecting conveying assembly and collecting the pod, after the speed reduction buffering through buffer board and rubber speed reduction strip, because of pod density is big, the whereabouts acceleration is bigger after the collision slows down, and less garrulous leaf of density and dead branch then keep less acceleration, blow through the fan in the fan frame this moment, detach garrulous leaf and dead branch, guarantee the purity, make things convenient for subsequent processing.

To sum up, right spacing subassembly and right and gather the plant before picking, guarantee the efficiency of gathering, and collect conveying assembly and transport after picking, reduce the damage of pod, collect auxiliary assembly and be used for the cooperation to collect conveying assembly, reach better collection effect, a plurality of structures jointly use for the whole effect of collection is better.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the installation structure of the position ring of the present invention;

FIG. 3 is a schematic view of the installation structure of the elastic rubber film of the present invention;

FIG. 4 is a schematic view of the structure of the area A of FIG. 3 according to the present invention;

FIG. 5 is a schematic structural view of the centralizing and limiting assembly of the present invention;

FIG. 6 is a schematic view of the structure of the area B in FIG. 5 according to the present invention;

FIG. 7 is a schematic view of the collection aid assembly of the present invention;

reference numbers in the figures: 1. a frame; 2. a rotating shaft; 3. a double-spring finger picking cylinder; 4. a support shaft;

5. a collection and delivery assembly; 501. a collection box; 502. a drive motor; 503. a drive shaft; 504. a driven shaft; 505. a side plate; 506. positioning a ring; 507. positioning the shaft; 508. a rotating plate; 509. a storage groove; 510. an elastic rubber film; 511. a flexible plastic base plate; 512. a cushion foam pad; 513. a magnetic strip; 514. a counterweight groove; 515. a counterweight lead block; 516. an auxiliary wheel; 517. a distance sensor; 518. a buzzer;

6. righting the limiting component; 601. positioning a groove; 602. a cylindrical rod; 603. a prismatic rod; 604. an end disc; 605. rotating the column; 606. a limiting plate; 607. a vertical connecting rod; 608. a telescopic rod; 609. a horizontal connecting rod; 610. a sleeve; 611. positioning a screw rod; 612. a guide tube; 613. a damping spring; 614. a guide rod; 615. an inclined guide plate;

7. a collection aid assembly; 701. a chip removal port; 702. a rubber outer ring; 703. a buffer plate; 704. a rubber deceleration strip; 705. a buffer spring; 706. a horizontal support plate; 707. an inclined baffle plate; 708. a fan frame; 709. a fan.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example (b): as shown in fig. 1-4, the invention provides a technical scheme of a movable double-elastic-finger green soybean picking device, which comprises a frame 1, wherein one end of the frame 1 is rotatably provided with a double-elastic-finger picking cylinder 3 through a rotating shaft 2, the middle part of the rotating shaft 2 is provided with a supporting shaft 4 in a penetrating manner, the other end of the frame 1 is provided with a collecting and conveying assembly 5, and the collecting and conveying assembly 5 comprises a collecting box 501, a driving motor 502, a driving shaft 503, a driven shaft 504, a side plate 505, a positioning ring 506, a positioning shaft 507, a rotating plate 508, an accommodating groove 509, an elastic rubber film 510, a flexible plastic bottom plate 511, a buffer foam pad 512, a magnetic stripe 513, a counterweight groove 514, a counterweight lead block 515, an auxiliary wheel 516, a distance sensor 517 and a buzzer 518;

the collecting box 501 is fixedly arranged at one end of the frame 1 far away from the double-elastic-finger picking barrel 3, the bottom end of the collecting box 501 is provided with a driving motor 502, the output shaft of the driving motor 502 penetrates through the collecting box 501 to be connected with a driving shaft 503, the top end of the collecting box 501 is rotatably provided with a driven shaft 504, the end parts of the driving shaft 503 and the driven shaft 504 are respectively rotatably arranged at the two ends of a side plate 505, the end parts of the same side of the driving shaft 503 and the driven shaft 504 are sleeved with positioning rings 506, positioning shafts 507 are equidistantly arranged between the two positioning rings 506, clamping holes are arranged at the positions of the positioning rings 506 corresponding to the end parts of the positioning shafts 507, the diameter of the clamping holes is equal to that of the positioning shafts 507, so as to fix the positioning shafts 507, rotating plates 508 are respectively hinged at the two sides of the positioning shafts 507, the two times of the width of the rotating plates 508 are equal to the distance between the adjacent positioning shafts 507, the diameters of the driving shaft 503 and the driven shaft 504 are equal, the distance between the adjacent positioning shafts is equal to half of the circumference of the longitudinal section of the driving shaft 503, the gap between the positioning shafts 507 is conveniently sealed in the rotation process of the rotating plate 508, the middle part of the opposite end of the rotating plate 508 between the adjacent positioning shafts 507 is provided with a containing groove 509, an elastic rubber film 510 is adhered inside the containing groove 509, the opposite ends of the two elastic rubber films 510 are respectively adhered to the two ends of a flexible plastic bottom plate 511, the top surface of the flexible plastic bottom plate 511 is adhered with a buffer foam pad 512, the sum of the thicknesses of the flexible plastic bottom plate 511 and the buffer foam pad 512 is equal to the width of the longitudinal section of the containing groove 509, polytetrafluoroethylene films are adhered on the inner wall of the containing groove 509, so that the flexible plastic bottom plate 511 and the buffer foam pad 512 slide inside the containing groove 509, magnetic strips 513 are adhered at the top end and the bottom end of the rotating plate 508, a counterweight groove 514 is arranged at one end of the rotating plate 508 close to the magnetic strips 513, and counterweight lead blocks 515 are embedded inside the counterweight groove 514, auxiliary wheel 516 is installed all to rotate in the middle part of collecting box 501 both sides face bottom, collecting box 501 bottom surface mid-mounting has distance sensor 517, bee calling organ 518 is installed on collecting box 501 side top, distance sensor 517 output electric connection external control ware output, external control ware output electric connection bee calling organ 518 input, driving motor 502 and external control ware all link to each other with the external power supply electric property, be convenient for distance sensor 517 to send sound through external control ware control bee calling organ 518.

As shown in fig. 5-6, the frame 1 is provided with a righting and limiting assembly 6 at two sides of the double-elastic-finger picking cylinder 3, and the righting and limiting assembly 6 comprises a positioning groove 601, a cylindrical rod 602, a prismatic rod 603, an end disc 604, a rotating column 605, a limiting plate 606, a vertical connecting rod 607, a telescopic rod 608, a horizontal connecting rod 609, a sleeve 610, a positioning screw 611, a guide tube 612, a damping spring 613, a guide rod 614 and an inclined guide plate 615;

the positioning groove 601 is arranged in the middle of two ends of the supporting shaft 4, the cylindrical rod 602 is slidably mounted in the positioning shaft 507, the prismatic rod 603 is welded at one end of the cylindrical rod 602, the longitudinal section of the positioning groove 601 is regular dodecagon, the positioning groove 601 is matched with the prismatic rod 603, so that the prismatic rod 603 can be fixed in the positioning groove 601 conveniently, the end plate 604 is fixedly sleeved in the middle of the prismatic rod 603, the rotating column 605 is rotatably mounted at a position of the frame 1 above the end plate 604, the limiting plate 606 is rotatably sleeved in the middle of the rotating column 605, the vertical connecting rod 607 is welded on the end plate of the prismatic rod 603, the telescopic rod 608 is welded on the inner side of the vertical connecting rod 607, the telescopic link 608 is kept away from vertical connecting rod 607 one end welding and is had horizontal connecting rod 609, horizontal connecting rod 609 one end slip cup joints sleeve pipe 610, the sleeve pipe 610 side is close to horizontal connecting rod 609 one end and installs positioning screw 611, sleeve pipe 610 top surface one end welding has guide tube 612, guide tube 612 is inside to have guide rod 614 through damping spring 613 sliding connection, guide tube 612 one end welded connection respectively in inclined guide board 615 bottom surface both ends is kept away from to guide rod 614 top end and sleeve pipe 610, inclined guide board 615 is the sunken arc of top surface, inclined guide board 615 top surface edge sets up the chamfer, be convenient for inclined guide board 615 to guide the plant of empting.

As shown in fig. 7, a collection auxiliary assembly 7 is arranged inside the collection box 501, and the collection auxiliary assembly 7 comprises a chip removal port 701, a rubber outer ring 702, a buffer plate 703, a rubber deceleration strip 704, a buffer spring 705, a horizontal support plate 706, an inclined baffle 707, a fan frame 708 and a fan 709;

the chip removal port 701 is arranged at the top end of the side face of the collecting box 501, a rubber outer ring 702 is bonded at a position below the chip removal port 701 in the collecting box 501, a buffer plate 703 is bonded in the rubber outer ring 702, rubber speed reducing strips 704 are bonded on the top face of the buffer plate 703 at equal intervals, the bottom end of the buffer plate 703 is connected with a horizontal support plate 706 through a buffer spring 705, one end of the horizontal support plate 706 is fixedly connected to the inner wall of the collecting box 501, an inclined baffle 707 is welded at the position below the positioning ring 506 at the bottom end in the collecting box 501, a fan frame 708 is welded at one end, close to the horizontal support plate 706, of the bottom face of the inclined baffle 707, a fan 709 is uniformly embedded in the fan frame 708, the input end of the fan 709 is electrically connected with the output end of an external power supply, isolation nets are bonded at the positions, and large-particle impurities are prevented from influencing the normal work of the fan 709.

The working principle and the using process of the invention are as follows: the device is integrally installed at the front end of a tractor, an auxiliary wheel 516 contacts the ground and is pushed forward by the tractor, the angle of a vertical connecting rod 607 is adjusted according to green soy bean plants, the adjusting process is that a limiting plate 606 connected with a rotating column 605 is rotated, the limiting plate 606 does not press an end disc 604 any more, a cylindrical rod 602 and a prismatic rod 603 in a positioning groove 601 are drawn out, the prismatic rod 603 is partially separated from the positioning groove 601, at the moment, the vertical connecting rod 607 can be rotated, the prismatic rod 603 and the positioning groove 601 are jointed for frequent positioning, the limiting plate 606 returns to the original position and is pressed and fixed, then the distance between horizontal connecting rods 609 is adjusted according to the distance between ridges, the process can be completed by changing the length through a telescopic rod 608, a sleeve 610 on the outer side of the horizontal connecting rod 609 is pulled, the positioning screw 611 is rotated and fixed, a damping spring 613 in a guide pipe 612 is contracted, the guide rod 614 pushes an inclined plant guide plate 615, the inclined plant guide plate 615 is contacted with a lodging or toppling guide plate, two inclined plants with large chamfers are pushed through the inclined guide plate 615, the inclined side guide plate 615 is lifted and gathered, the position close to the double-elastic fingers 3, the picking barrel is adjusted simply and convenient, the condition that the plants on the edge cannot be picked can not picked up, the picking effect is better;

the pods picked by the double-elastic-finger picking cylinder 3 are transported to the upper part of the collecting box 501 by the rotating double-elastic-finger picking cylinder 3, the rotating plates 508 are mutually adsorbed and temporarily fixed by magnetic stripes 513, the rotating plate 508 between the driving shaft 503 and the driven shaft 504 cannot be supported by the driving shaft 503 and the driven shaft 504, under the action of gravity of a counterweight lead block 515 in a counterweight groove 514, the angle between adjacent rotating plates 508 is pulled by the counterweight lead block 515 to rotate along a positioning shaft 507 so as to change, at the moment, an elastic rubber film 510 extends, a flexible plastic bottom plate 511 and a buffer foam pad 512 bend and leak, a groove for temporary storage appears on the top surface of the conveying device, the rotating plates 508, the side plates 505 and the buffer foam pad 512 form the inner wall of the storage groove, the pods directly impact the top surface of the buffer foam pad 512 and the side surface of the rotating plate 508, the rotating plate 508 is made of hard rubber, the impact is absorbed, the pods are not easy to bounce, the pods are driven by the driving motor 502 to rotate, the rotating plate 508 can be jacked by the rotating plate 503 and the driven shaft 504, the pods are ejected out of the collecting box, the pods are convenient to fall into the collecting box, and the pod collecting box, so as well as to prevent the pods from being splashed and damaged, and prevent the collecting box from being splashed out;

when the soil cannot continuously bear the weight of the collected pods, the auxiliary wheels 516 sink into the soil, and the distance sensor 517 is close to the ground at the moment, so that the distance is shortened, the buzzer 518 is controlled by the controller to give out a sound for reminding, excessive pods are taken out in time according to the hardness of the soil, and the problem that the pods sink too deeply and cannot be continuously collected is solved;

after collecting conveying assembly 5 and collecting the pod, through the buffering of the speed reduction of buffer board 703 and rubber deceleration strip 704, buffer spring 705 of horizontal support plate 706 top surface constantly contracts the extension this moment, buffer board 703 in the rubber outer lane 702 constantly vibrates, because of pod density is big, the falling speed is bigger after the collision slows down, receive the baffle of oblique baffle 707 to fall in collecting box 501, and less acceleration is then kept to less crushed leaf and dead branch of density, blow through fan 709 in fan frame 708 this moment, crushed leaf and dead branch are discharged to chip removal mouth 701, guarantee the purity, make things convenient for subsequent processing.

To sum up, right spacing subassembly 6 and right and gather the plant before picking, guarantee the efficiency of gathering, and collect conveying component 5 and transport after picking, reduce the damage of pod, collect auxiliary assembly 7 and be used for the cooperation to collect conveying component 5, reach better collection effect, a plurality of structures are used jointly for the whole effect of collection is better.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Portable two plays indicate young soya bean to pick device, including frame (1), frame (1) one end is rotated through axis of rotation (2) and is installed two plays and indicate to pick a section of thick bamboo (3), axis of rotation (2) middle part is run through and is installed back shaft (4), its characterized in that: the collecting and conveying device is characterized in that a collecting and conveying assembly (5) is mounted at the other end of the rack (1), and the collecting and conveying assembly (5) comprises a collecting box (501), a driving motor (502), a driving shaft (503), a driven shaft (504), a side plate (505), a positioning ring (506), a positioning shaft (507), a rotating plate (508), a containing groove (509), an elastic rubber film (510), a flexible plastic bottom plate (511), a buffering foam pad (512), a magnetic strip (513), a counterweight groove (514), a counterweight lead block (515), an auxiliary wheel (516), a distance sensor (517) and a buzzer (518);

the collecting box (501) is fixedly installed at one end, far away from the double-spring-finger picking barrel (3), of the rack (1), a driving motor (502) is installed at the bottom end of the collecting box (501), an output shaft of the driving motor (502) penetrates through the collecting box (501) to be connected with a driving shaft (503), a driven shaft (504) is installed at the top end of the collecting box (501) in a rotating mode, the end portions of the driving shaft (503) and the driven shaft (504) are respectively installed at two ends of a side plate (505) in a rotating mode, positioning rings (506) are sleeved at the same side end portions of the driving shaft (503) and the driven shaft (504), positioning shafts (507) are installed between the two positioning rings (506) in an equal distance mode, rotating plates (508) are hinged to two sides of the positioning shafts (507), a containing groove (509) is formed in the middle portion, of the opposite end portion, located between the adjacent positioning shafts (507), of the rotating plate (508) is bonded with an elastic rubber film (510), one end, opposite to each of each elastic rubber film (510) is bonded to two ends of a flexible plastic bottom plate (511), the top face of the flexible plastic bottom plate (511) is provided with a buffer pad (512), one end portion of each rotating plate (514) is located at the bottom end portion of the bottom face of the corresponding to the corresponding magnetic strip (513), and one end portion (513) is arranged on the bottom face of the corresponding to the magnetic strip (513), and the magnetic strip (513), counterweight lead block (515) are inlaid in counterweight groove (514), auxiliary wheel (516) are installed in the middle of bottom ends of two side faces of collecting box (501) in a rotating mode, distance sensor (517) is installed in the middle of the bottom face of collecting box (501), and buzzer (518) is installed at top end of the side face of collecting box (501).

2. The movable double-elastic-finger green soybean picking device as claimed in claim 1, wherein the sum of the thicknesses of the flexible plastic bottom plate (511) and the soft foam pad (512) is equal to the width of the longitudinal section of the accommodating groove (509), and polytetrafluoroethylene films are adhered to the inner walls of the accommodating groove (509).

3. The movable double-elastic-finger green soybean picking device according to claim 1, wherein clamping holes are formed in the end parts of the positioning rings (506) corresponding to the positioning shafts (507), and the diameter of each clamping hole is equal to that of each positioning shaft (507).

4. The mobile double-fingered green soy harvesting device according to claim 1, wherein the output of the distance sensor (517) is electrically connected to the output of an external controller, the output of the external controller is electrically connected to the input of a buzzer (518), and the driving motor (502) and the external controller are both electrically connected to an external power source.

5. The mobile double-pinky green soy bean picker according to claim 1, wherein twice the width of the rotating plate (508) is equal to the spacing between adjacent positioning shafts (507), the driving shaft (503) and driven shaft (504) are equal in diameter, and the spacing between adjacent positioning shafts (507) is equal to half the circular perimeter of the longitudinal section of the driving shaft (503).

6. The movable double-finger green soybean picking device according to claim 1, wherein the frame (1) is provided with a righting limit component (6) at two sides of the double-finger picking barrel (3), and the righting limit component (6) comprises a positioning groove (601), a cylindrical rod (602), a prismatic rod (603), an end disc (604), a rotating column (605), a limiting plate (606), a vertical connecting rod (607), a telescopic rod (608), a horizontal connecting rod (609), a sleeve (610), a positioning screw (611), a guide tube (612), a damping spring (613), a guide rod (614) and an inclined guide plate (615);

locating slot (601) is seted up in back shaft (4) both ends middle part, the inside slidable mounting of location axle (507) has cylinder pole (602), cylinder pole (602) one end welding has prism pole (603), prism pole (603) middle part is fixed to be cup jointed end dish (604), frame (1) is in end dish (604) top position department and rotates and install rotation post (605), rotation post (605) middle part is rotated and is cup jointed limiting plate (606), prism pole (603) end plate welding has vertical connecting rod (607), the inboard welding of vertical connecting rod (607) has telescopic link (608), vertical connecting rod (607) one end welding has horizontal connecting rod (609) is kept away from to telescopic link (608), horizontal connecting rod (609) one end sliding cup joints sleeve pipe (610), set screw rod (611) is installed near horizontal connecting rod (609) one end to sleeve pipe (610) side, sleeve pipe (610) top surface one end welding has guide tube (612), guide tube (612) inside has guide rod (614) through sliding connection in guide tube (613) bottom surface (612), guide rod (610) top end and sleeve pipe (610) one end welding connects in guide tube (615) welding inclined guide plate (615) bottom surface (612) respectively.

7. The mobile double-pinky green soybean picking device according to claim 6, characterized in that the longitudinal section of the positioning groove (601) is regular dodecagon, and the positioning groove (601) is matched with the prism rod (603).

8. The mobile double-fingered green soybean picking device according to claim 6, characterized in that the inclined guide plate (615) is an arc plate with a concave top surface, and the edge of the top surface of the inclined guide plate (615) is chamfered.

9. The movable double-pinky green soy bean picking device according to claim 1, characterized in that a collection auxiliary component (7) is arranged in the collection box (501), and the collection auxiliary component (7) comprises a chip discharge port (701), a rubber outer ring (702), a buffer plate (703), a rubber deceleration strip (704), a buffer spring (705), a horizontal support plate (706), an inclined baffle (707), a fan frame (708) and a fan (709);

the utility model discloses a chip removal mouth, including collecting box (501), rubber outer lane (702), buffer board (703) top surface equidistance bonding has rubber deceleration strip (704), buffer board (703) bottom is connected with horizontal support plate (706) through buffer spring (705), horizontal support plate (706) one end fixed connection is in collecting box (501) inner wall, the welding of locating ring (506) below department has oblique baffle (707) in inside bottom of collecting box (501), baffle (707) bottom surface is close to horizontal support plate (706) one end welding and has fan rack (708), fan rack (708) inside evenly inlays and has fan (709).

10. The mobile double-pinky-finger green soybean picking device according to claim 9, wherein the input end of the fan (709) is electrically connected with the output end of an external power supply, and the fan frame (708) is adhered with separation nets at the front and back positions of the fan (709).