A nut picking machine

Abstract

The present invention discloses a nut picking machine, comprising: a tail chassis, in which a drive motor is provided; a machine rod, extending in the front-to-back direction and being hollow inside, in which at least one transmission shaft or a plurality of transmission shafts connected head to tail are provided, wherein the output shaft of the drive motor is connected to the closest transmission shaft; a machine head, comprising a machine head housing, a crank connecting rod mechanism located in the machine head housing, a picking head located in front of the machine head housing and used to pick up branches, a reciprocating rod extending in the front-to-back direction is provided in the machine head housing, the reciprocating rod extending from the front end of the machine head housing and connected to the picking head, the transmission shaft passing through the rear end of the machine head housing, the crank connecting rod mechanism connecting the transmission shaft and the reciprocating rod, and being used to convert the rotation of the transmission shaft around the axis into the linear reciprocating motion of the reciprocating rod. The beneficial effect of the present invention is that the transmission efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to a nut picking machine, which is mainly used in the technical field of nut picking equipment. Background Art

[0002] Walnuts, chestnuts, and other nuts can be picked manually by tapping them with bamboo poles or long sticks, or using nut-picking equipment. Large-scale picking equipment is commonly used abroad, which knocks nuts off branches by hitting or shaking the tree trunks. However, this type of equipment is cumbersome to use, difficult to move, and relatively expensive. Furthermore, nut trees in my country are often grown in hilly areas, making large equipment unsuitable. Therefore, small, handheld nut pickers are commonly used.

[0003] For example, the patent application with publication number CN204968562U discloses a new type of nut picker, which includes a throttle handle, a telescopic transmission shaft, a power source, a flexible shaft, a beater, a beater bar, a first telescopic tube, a second telescopic tube, and a mounting tube. The beater and the flexible shaft are connected through the transmission shaft, and the transmission shaft includes a square-headed round shaft arranged in the throttle handle, one end of which is connected to the flexible shaft, and the other end is inserted into the internal shaft hole of the hollow rotating shaft through a square connector. A round-headed square shaft is provided in the shaft hole that can be telescopically slidable. The round-headed square shaft includes a square slider segment and a round rod segment that match the shaft hole. The round rod segment passes through the mounting tube and is connected to the beater; The flexible shaft includes a steel wire rope, a hose is coated on the outer surface of the steel wire rope, the hose and the rotating sleeves coated on both ends of the steel wire rope are hot-pressed into one piece, a locking sleeve is also provided on the outside of the rotating sleeve, the steel wire rope is circular in the middle, and square transmission joints are provided at both ends; one end of the first telescopic tube is fixed on the throttle handle, and the outer wall of the tube at the other end is sleeved with a second telescopic tube, the second telescopic tube and the first telescopic tube are in surface contact sliding connection, and the protruding end of the second telescopic tube is also fixed with a mounting tube; the inner wall of the second telescopic tube is convexly provided with an axial guide rail, and the guide rail is arc-shaped or semicircular; the outer wall of the first telescopic tube is concavely provided with an axial first groove matching the shape of the guide rail.

[0004] This type of nut picker uses a reciprocating beating bar to knock nuts off branches. However, only a few nuts can be knocked off at a time, and the beating bar must be applied to all the nuts at their respective locations. This is not only inefficient but also cumbersome to operate. Furthermore, the beating bar directly strikes the nuts, which can easily break them, increasing the defective rate of the harvested nuts. Furthermore, while the flexible shaft, first telescopic tube, and second telescopic tube improve the adjustability of the nut picker during operation, this also reduces its transmission performance, resulting in significant kinetic energy loss, low transmission efficiency, inaccurate swinging of the beating bar, and insufficient beating force.

[0005] For another example, the patent application with publication number CN212087056U discloses an electric crank-type harvester, which belongs to the technical field of harvesters and includes a crank-connecting rod mechanism and a power supply. A power mechanism is provided at the rear end of the crank-connecting rod mechanism, and a PCB circuit board, an input interface, and an output interface are provided between the power mechanism and the power supply, a push-pull tool is provided at the front end of the crank-connecting rod mechanism, and a push-pull mechanism is provided between the crank-connecting rod mechanism and the push-pull tool. A small bevel gear is provided at the front end of the crank-connecting rod mechanism, and a large bevel gear meshing with the small bevel gear is provided on the small bevel gear. An eccentric shaft is provided on the end face of the large bevel gear, and a flywheel fixedly connected to the eccentric shaft is provided on the eccentric shaft. A connecting rod movably connected to the eccentric shaft is provided on the eccentric shaft. A linear motion part is provided at the front end of the connecting rod, and a pin connected to the linear motion part is provided between the linear motion part and the connecting rod.

[0006] This nut picker (electric crank-type picker) hooks the picking head (push-pull mechanism) on the branch, and converts the rotation around the axis output by the power mechanism into reciprocating linear motion through the crank-connecting rod mechanism, driving the picking head to reciprocate and hit the branch, shaking the nuts off the branch. This picking method can shake off a large number of nuts at one time, and does not require full coverage like CN212087056U, so the picking efficiency is improved, and the nuts will not be broken. However, this nut picker still has the following problems: a connecting rod, a linear motion part, a push-pull rod, and a first section rod are set between the crank-connecting rod mechanism and the picking head (push-pull mechanism). The connecting rod and the linear connecting part are connected by a pin, and the linear connecting part and the push-pull rod are sleeved. A push-pull sleeve is set between the push-pull rod and the first section rod; the total length of the connecting rod, the linear connecting part, the push-pull rod, and the first section rod is long, and it is easy for them to bend and deform when the nut picker is in operation, resulting in the picking head (push-pull mechanism) moving back and forth and not being accurately positioned, and it is easy to break. The occurrence of shaking and trembling affects stability. In addition, the power mechanism transmits the rotation around the axis to the connecting rod through the crank-connecting rod mechanism. Due to the change in the power mode, the kinetic energy loss transmitted to the connecting rod is relatively large. Under the influence of the axial deviation caused by the easy bending of the connecting rod, linear connector, push-pull rod, and first-section rod, the transmission connection structure such as the pin and push-pull sleeve is also prone to severe friction and even jamming, resulting in a large attenuation of the kinetic energy finally transmitted to the picking head (push-pull mechanism). The above two points will affect the effect of the picking head hitting the branch. In addition, it is easy for the picking head (push-pull mechanism) to hook relatively horizontal branches, but it is more difficult to hook branches with a large vertical inclination, such as branches or branches close to the trunk. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a nut picking machine which can improve transmission efficiency.

[0008] The present invention is achieved through the following technical solutions.

[0009] A nut picking machine comprising:

[0010] a tail chassis in which a drive motor is arranged;

[0011] A machine rod extending in the front-to-back direction and having a hollow interior, wherein at least one transmission shaft or a plurality of transmission shafts connected end to end are provided in the machine rod, and the output shaft of the drive motor is in transmission connection with the closest transmission shaft;

[0012] The machine head includes a machine head shell, a crank-connecting rod mechanism located inside the machine head shell, and a picking head located in front of the machine head shell and used to hook branches. A reciprocating rod extending forward and backward is provided inside the machine head shell. The reciprocating rod extends from the front end of the machine head shell and is connected to the picking head. The transmission shaft penetrates from the rear end of the machine head shell. The crank-connecting rod mechanism transmits and connects the transmission shaft and the reciprocating rod, and is used to convert the axial rotation of the transmission shaft into the forward and backward linear reciprocating motion of the reciprocating rod.

[0013] As a further improvement of the present invention, the ends of the transmission shaft and the output shaft are provided with transmission connectors for front and rear docking; the transmission connector includes a handle body formed by extending forward from the end of the transmission shaft / output shaft, fork arms formed by extending forward from both sides of the front end of the handle body, and the two fork arms and the handle body form a slot; the two slot structures for front and rear docking are in a cross relationship and are inserted into each other, so that the inner surfaces of the two fork arms of one of the transmission connectors are respectively pressed against the front and back surfaces of the handle body of the other transmission connector.

[0014] As a further improvement of the present invention, an arc chamfer is formed between the front end face of the two fork arms and one of the side faces to transition between the two, and the two arc chamfers are mirror-symmetrical about the radial section of the transmission shaft; during the docking process of the front and rear transmission connectors, the two arc chamfers of one transmission connector can slide along the two arc chamfers of the other transmission connector, so that the two slot structures gradually change from a non-cross relationship to a cross relationship.

[0015] As a further improvement of the present invention, the transmission connecting member also includes a connecting shaft with the handle body and the transmission shaft at both ends respectively; the connecting shaft and the transmission shaft are coaxial, and the diameter of the connecting shaft is larger than the transmission shaft; at least one support bearing is sleeved on the transmission shaft and supported between the transmission shaft and the machine rod.

[0016] As a further improvement of the present invention, the connecting shaft and the handle body are an integrated structure; the connecting shaft and the transmission shaft are welded or threadedly connected.

[0017] As a further improvement of the present invention, the rotation direction of the connecting shaft when screwed into the transmission shaft is the same as the rotation direction of the transmission shaft driven by the drive motor.

[0018] As a further improvement of the present invention, a plurality of anti-bending parts are arranged at intervals in the front-to-back direction along the inner edge of the machine rod. The anti-bending parts include a ring body sleeved outside the transmission shaft, and a plurality of legs on the ring body extending outward and supported on the inner wall of the machine rod.

[0019] As a further improvement of the present invention, a sleeve sleeved outside the transmission shaft is provided between two adjacent anti-bending members, and both ends of the sleeve are supported or fixed on the anti-bending members.

[0020] As a further improvement of the present invention, the middle portion of the inner wall of the ring body has an annular flange along the circumferential direction, and one end of the sleeve is inserted into the ring body and supported on the annular flange.

[0021] As a further improvement of the present invention, the transmission connecting part on one end of the transmission shaft abuts against the closest anti-bending part; an elastic support part is provided between the transmission connecting part on the other end and the closest anti-bending part, and the elastic support part is sleeved on the outside of the transmission shaft and its two ends are respectively supported on the transmission connecting part and the anti-bending part.

[0022] As a further improvement of the present invention, the machine rod is made of carbon fiber material.

[0023] Beneficial effects of the present invention:

[0024] 1. One or more drive shafts and an output shaft are connected as the first stage of transmission, and the crank-connecting rod mechanism converts the rotation around the axis into forward and backward linear reciprocating motion as the second stage of transmission, which can improve transmission efficiency.

[0025] 2. The front and rear butt-jointed transmission connectors can reduce the impact of the transmission shaft bending and deformation, reduce friction to avoid jamming, and reduce kinetic energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to help understand the objects and advantages of the present invention, wherein:

[0027] Figure 1 This is a schematic diagram of the structure of the nut picking machine in implementation case 1;

[0028] Figure 2 A cross-sectional view of the nut picker in Example 1;

[0029] Figure 3 It is a structural diagram of the transmission connection part in implementation case 1;

[0030] Figure 4 This is a schematic diagram of the structure of two front-to-back butted drive shafts in implementation case 1;

[0031] Figure 5 This is a schematic diagram of the structure of the anti-bending member and the sleeve in implementation case 1;

[0032] Figure 6 It is a cross-sectional schematic diagram of the machine rod in implementation case 1;

[0033] Figure 7 This is a schematic diagram of the structure of the reciprocating impact head in Example 2, with the head shell cut away;

[0034] Figure 8 Schematic diagram of the crank-connecting rod mechanism and the balancing connector in Example 2;

[0035] Figure 9 Schematic diagram of the structure of the balancing connector and the linear guide rail in implementation case 2;

[0036] Figure 10 Schematic diagram of the force exerted by the connecting rod structure on the balancing connector in implementation case 2;

[0037] Figure 11 Schematic diagram of the force on the balancing connector when the reciprocating rod strikes a tree branch in Example 2;

[0038] Figure 12 Schematic diagram of the forces acting on the balancing connector when the reciprocating rod strikes a tree branch backward in Example 2;

[0039] Figure 13 This is a schematic diagram of the structure of the head housing in Example 2;

[0040] Figure 14 This is a schematic diagram of the structure of the picking device in Implementation Case 3;

[0041] Figure 15 It is a cross-sectional schematic diagram of the picking head in implementation case 3;

[0042] Figure 16 This is a schematic diagram of the picking head hooking the tree branch in implementation case 3. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and implementation examples.

[0044] In this specification, directional terms such as up, down, left, right, front, back, front, back, top, and bottom, which are mentioned or may be mentioned, are defined relative to the configurations shown in the accompanying drawings. The terms "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively. These are relative concepts and may vary depending on the location and usage of the component. Therefore, these or other directional terms should not be construed as restrictive.

[0045] Implementation Case 1

[0046] Reference Figures 1-6 A nut picking machine includes a tail chassis 1, a machine rod 2, and a machine head 3. A driving motor 11 is provided in the tail chassis 1; the machine rod 2 extends in the front-to-back direction, one end of which is assembled and fixed to the tail chassis 1, and the other end is assembled and fixed to the head 3; one or more transmission shafts 21 extending in the front-to-back direction are provided in the machine rod 2, and the output shaft 111 of the driving motor 11 extends in the front-to-back direction and is transmission-connected to the transmission shaft 21. If multiple transmission shafts 21 are provided, the multiple transmission shafts 21 are transmission-connected end to end; the head 3 includes a head housing 31, a crank-connecting rod mechanism 32 located in the head housing 31, and a picking head 4 located in front of the head housing 31 and used to hook branches. A reciprocating rod 33 extending in the front-to-back direction is provided in the head housing 31. The reciprocating rod 33 extends from the front end of the head housing 31 and is connected to the picking head 4. The transmission shaft 21 penetrates from the rear end of the head housing 31, and the crank-connecting rod mechanism 32 is transmission-connected to the transmission shaft 21 and the reciprocating rod 33, which is used to convert the axial rotation of the transmission shaft 21 into a front-to-back linear reciprocating motion of the reciprocating rod 33.

[0047] During use, the user holds the rear chassis 1, first stands up the nut picker, controls the picking head 4 to hook the branch, and after the branch is hooked by the picking head 4, starts the drive motor 11. Driven by the power of the drive motor 11, the reciprocating rod 33 drives the picking head 4 to move back and forth in a straight line at high speed and high frequency, and the picking head 4 hits the branch at a high frequency, thereby shaking the nuts off the branch.

[0048] The drive motor 11 transmits power to the transmission shaft 21 via the output shaft 111. Both the output shaft 111 and the transmission shaft 21 rotate about their respective axes, sharing the same power mode. Therefore, regardless of whether one or multiple transmission shafts 21 are provided, the transmission from the output shaft 111 to the crank-connecting rod mechanism 32 constitutes the first stage of transmission. The crank-connecting rod mechanism 32 converts the rotation of the transmission shaft 21 into linear, forward and backward reciprocating motion of the reciprocating rod 33. Due to this change in power mode, the transmission from the transmission shaft 21 to the reciprocating rod 33 constitutes the second stage of transmission.

[0049] The output shaft 111 of the drive motor 11, one or more transmission shafts 21, the crank-connecting rod mechanism 32, and the reciprocating rod 33 constitute the transmission assembly of the nut picker. First of all, from the transmission perspective, the crank-connecting rod mechanism 32 as the second-stage transmission connection is placed downstream of the entire transmission assembly. The reciprocating rod 33 does not have a segmented transmission connection, but is fixedly connected to the picking head 4 as a single rigid member. Therefore, the attenuation of the transmission force transmitted from the reciprocating rod 33 to the picking head 4 is negligible. Although there are one or more transmission connections (output shaft 111 and transmission shaft 21, transmission shaft 21 and transmission shaft 21) between the output shaft 111 and the crank-connecting rod mechanism 32, since the power mode is not changed and it still belongs to the first-stage transmission, although the transmission force is attenuated, the attenuation can be minimized. Therefore, in the design of the transmission route, the transmission efficiency of the nut picker transmission assembly is optimized, the positioning accuracy of the reciprocating linear movement of the picking head 4 is improved, and the strength of the picking head 4 to pick large branches is guaranteed.

[0050] Considering the structure of the nut picker, since the picking head 4 needs to hook the branch to operate, the nut picker needs to have sufficient length. According to the length and number of the transmission shaft 21, the length of the machine rod 2 can account for 60%-90% of the total length of the nut picker. Then the reciprocating rod 33 can be made as short as possible, thereby improving its structural rigidity and strength, so that the reciprocating rod 33 will not bend or deform when performing back and forth linear motion, thereby ensuring that the picking head 4 is accurately positioned and the force of hitting the branch is sufficient.

[0051] Although the transmission from the output shaft 111 to the transmission shaft 21 is the first stage, it is limited by the excessive length of the machine rod 2. Especially when the machine rod 2 is in an inclined state, the weight of the machine rod 2 and the machine head 3, the vibration generated during operation, the reaction force caused by the large branches of the picking head 4 and other factors make the transmission shaft 21 prone to slight bending deformation. Therefore, the reliability and stability of the transmission connection between the output shaft 111 and the transmission shaft 21 and between the transmission shafts 21 and the transmission shafts 21 are the key to the transmission efficiency of the nut picker of this application.

[0052] To address this technical issue, transmission connectors 5 are provided at the ends of the drive shaft 21 and the output shaft 111. The output shaft 111 and the drive shaft 21, and the drive shaft 21 and the drive shaft 21, are connected by the two transmission connectors 5. The transmission connectors 5 comprise a handle 51 extending forward from the ends of the drive shaft 21 / output shaft 111, and two fork arms 52 extending forward from either side of the front end of the handle 51. The two fork arms 52 and the handle 51 form a slot structure 5-A. The fork direction referred to here refers to the orientation of the ends of the drive shaft 21 / output shaft 111 relative to the drive shaft 21 / output shaft 111, not the orientation of the nut picker (from the rear chassis 1 to the front end 3). When the two transmission connectors 5 are in the front-to-back docking position, the two slot structures 5-A intersect and interlock, such that the inner surfaces of the two fork arms 52 of one transmission connector 5 respectively press against the front and back surfaces of the handle 51 of the other transmission connector 5. Through this docking assembly method, the number of transmission shafts 21 can be set according to actual application requirements, and the length can be adjusted through assembly and disassembly. Correspondingly, the machine rod 2 is also set to a detachable splicing structure, or machine rods 2 of different lengths can be used.

[0053] Structurally, the handle body 51 is a long plate-like structure with a certain thickness, and both the front side 51-1 and the back side 51-2 are flat. The inner side 52-1 of the fork arm 52 is also flat. During transmission, the handle body 51 rotates, so that the front side 51-1 and the back side 51-2 exert a force on the inner sides 52-1 of the two fork arms 52, driving the two fork arms 52 to rotate around the central axis of the transmission shaft 21, thereby promoting power transmission. On the one hand, the transmission contact area between the two transmission connectors 5 is maximized through the interaction between the planes, thereby improving the transmission efficiency; on the other hand, since the transmission connectors 5 are docked by plugging, rather than being a fixed connection, and there is a mechanical gap between the two slot structures 5-A (especially between the two fork arms 52 and the handle body 51), the two transmission connectors 5 are allowed to have a small deviation in direction when docked, so that when the transmission shaft 21 has a slight bending deformation or a small axial deviation, the docked transmission connectors 5 will not rub against each other violently or even get stuck, so the impact on the stability and reliability of the transmission connection is small, thereby reducing kinetic energy loss. In summary, the transmission docking member of the present application can effectively reduce the amplitude of transmission force attenuation and improve the transmission efficiency of the first-stage transmission.

[0054] Because the transmission connector 5 is obscured by the rear chassis 1 / rod 2, it is difficult to ensure that the two slot structures 5-A mate in a cross-shaped relationship when the rod 2 is inserted into the rear chassis 1, making assembly somewhat difficult. Therefore, in this application, the fork arm 52 is generally a rectangular parallelepiped structure, with a circular chamfer 52-4 formed between its front end face 52-2 and one of the side faces 52-3 to form a transition between the two. In addition, the circular chamfers 52-4 on the two fork arms 52 of the same transmission connector 5 are mirror-symmetrical about the radial section of the transmission shaft 21. When the front and rear transmission connectors 5 are docked, even if they are not in a cross-intersection relationship with each other, the two arc chamfers 52-4 of one transmission connector 5 can slide along the two arc chamfers 52-4 of the other transmission connector 5, that is, the transmission shaft 21 belonging to one of the transmission connectors 5 rotates around the axis during the docking process, so that the two slot structures 5-A gradually change from a non-cross-intersection relationship to a cross-intersection relationship, so that the two slot structures 5-A can be inserted into each other to complete the docking of the two transmission connectors 5.

[0055] The transmission connector 5 further includes a connecting shaft 53, the two ends of which are connected to the handle body 51 and the transmission shaft 21 respectively. The connecting shaft 53 and the transmission shaft 21 are coaxial, and the diameter of the connecting shaft 53 is larger than the transmission shaft 21. The connecting shaft 53 is sleeved with at least one support bearing 54 that supports between the transmission shaft 21 and the machine rod 2. Usually, one or two support bearings 54 are provided. The transmission docking member serves as an extension structure of the transmission shaft 21 and the output shaft 111. The support bearing 54 is equivalent to the end of the transmission shaft 21 and the output shaft 111, which plays the role of supporting the end, reducing the friction coefficient during movement, and ensuring the rotation accuracy. In addition, since the diameter of the connecting shaft 53 is larger than the transmission shaft 21, it is equivalent to increasing the diameter of the end of the transmission shaft 21 and the output shaft 111, thereby increasing the area supported by the support bearing 54 to improve the stability of operation.

[0056] The handle 51 and connecting shaft 53 are integrally formed and can be formed through a one-piece forging process. The connecting shaft 53 and the transmission shaft 21 can be fixedly connected by welding or threading, i.e., the connecting shaft 53 and the transmission shaft 21 are detachably connected. If the connecting shaft 53 and the transmission shaft 21 are threaded, the direction of rotation of the connecting shaft 53 into the transmission shaft 21 is the same as the direction of rotation of the transmission shaft 21 by the drive motor 11, thereby preventing the threads from loosening when the transmission shaft 21 rotates about its axis.

[0057] The machine bar 2 is provided with a plurality of anti-bending members 22 spaced apart along the front-to-back direction. These members 22 comprise a ring body 221 that fits over the transmission shaft 21 and a plurality of outwardly extending legs 222 on the ring body 221 that are supported on the inner wall of the machine bar 2. When the transmission shaft 21 bends, the ring body 221 radially blocks the transmission shaft 21 to prevent radial deformation. Of course, a gap exists between the ring body 221 and the transmission shaft 21 to prevent frictional contact between the transmission shaft 21 and the ring body 221 during normal rotation. Three legs 222 are typically provided, spaced 120° apart circumferentially around the ring body 221. These legs 222 maintain the position of the ring body 221 within the machine bar 2.

[0058] In order to facilitate the assembly of the transmission shaft 21 and the machine rod 2, the support leg 222 of the anti-bending part 22 is not connected to the machine rod 2. In order to prevent the anti-bending part 22 from sliding along the axial direction of the machine rod 2, a sleeve 23 is provided between adjacent anti-bending parts 22. The sleeve 23 is sleeved outside the transmission shaft 21 and also has a gap between it and the transmission shaft 21. The two ends of the sleeve 23 are respectively supported or fixed on the two adjacent anti-bending parts 22.

[0059] To facilitate assembly, both ends of the sleeve 23 are preferably supported on the anti-bending member 22. Specifically, an annular flange 221-1 is circumferentially formed in the middle of the inner wall of the ring body 221. One end of the sleeve 23 is inserted into the ring body 221 and supported on the annular flange 221-1. The sleeve 23 and the ring body 221 can be tightly fitted to prevent the sleeve 23 from slipping out of the ring body 221. During assembly, the anti-bending member 22 and the sleeve 23 are alternately placed on the outside of the transmission shaft 21, and the transmission shaft 21 is then inserted into the arm 2.

[0060] The transmission connecting member 5 on one end of the transmission shaft 21 is abutted against the closest anti-bending member 22, and an elastic support member 24 is provided between the transmission connecting member 5 on the other end and the closest anti-bending member 22. The elastic support member 24 is sleeved on the outside of the transmission shaft 21, and its two ends are respectively supported on the transmission connecting member 5 and the anti-bending member 22, so that the alternating anti-bending members 22 and sleeves 23 can be fixed in position on the transmission shaft 21. The elastic support member 24 preferably uses a compression spring, and the compression spring is in an elastically compressed state when assembly is completed, so that the supporting force of the elastic support member 24 is sufficient.

[0061] When using a nut picker, the machine rod 2 is not only prone to bending and deformation, but also has more contact with tree trunks, branches, etc., and is prone to wear. Therefore, the material of the machine rod 2 is selected from carbon fiber. Carbon fiber has the characteristics of high temperature resistance, friction resistance, conductivity, heat conduction and corrosion resistance, and has high strength and modulus along the fiber axis direction, so it meets the high strength and wear resistance requirements of the machine rod 2.

[0062] Implementation Case 2

[0063] Reference Figure 7-13 A reciprocating impact machine head includes a machine head housing 31, a crank-connecting rod mechanism 32, a balancing connector 6, a reciprocating rod 33, and a picking head 4. The crank-connecting rod mechanism 32, the balancing connector 6, and the reciprocating rod 33 are disposed within the machine head housing 31. The transmission shaft 21 is inserted into the rear end of the machine head housing 31 in a forward-backward direction. The balancing connector 6 is fixedly connected to the rear end of the reciprocating rod 33. The crank-connecting rod mechanism 32 provides a transmission connection between the transmission shaft 21 and the balancing connector 6, converting the axial rotation of the transmission shaft 21 into forward-backward linear reciprocating movement of the reciprocating rod 33 and the balancing connector 6. The reciprocating rod 33 extends from the front end of the machine head housing 31, and its front end is fixedly connected to the picking head 4. After the picking head 4 hooks a branch, the forward-backward linear reciprocating movement of the reciprocating rod 33 causes the picking head 4 to repeatedly strike the branch in both directions, causing the nuts to fall off the branch.

[0064] During the nut picking process, the picking head 4 exhibits two characteristics: high-frequency reciprocating motion and high-frequency impacts on branches. The reciprocating rod 33 moves synchronously with the picking head 4, so this high-frequency reciprocating motion reduces the stability of the reciprocating rod 33, making it prone to shaking. The picking head 4 must strike the branches with sufficient force to knock the nuts off. Furthermore, since the branches within the picking head 4 are not always perpendicular to the reciprocating rod 33, the angles at which the picking head 4 impacts the branches are not always in the front-to-back direction. Therefore, the reaction force exerted on the picking head 4 by the branches is high-frequency, high-intensity, and randomly oriented. The resulting force transmitted to the reciprocating rod 33 easily causes radial movement of the reciprocating rod 33, further destabilizing the reciprocating rod 33 during its linear, back-and-forth motion.

[0065] Based on this, a balancing connector 6 is provided at the rear end of the reciprocating rod 33. The balancing connector 6 has at least two balancing limbs 61 that are axially symmetrical about the reciprocating rod 33. The balancing limbs 61 basically extend radially along the reciprocating rod 33, are supported on the inner wall of the head shell 31, and can slide synchronously along the head shell 31 with the movement of the reciprocating rod 33. The balancing limbs 61 are supported on the head shell 31 and can be supported by the head shell 31 when the picking head 4 hits the branch and suffers a reaction, thereby offsetting the radial movement of the reciprocating rod 33; the balancing limbs 61 move synchronously with the reciprocating rod 33 and slide along the head shell 31, which can maintain the balance of the reciprocating rod 33, play a guiding role, and thus avoid shaking of the reciprocating rod 33, thereby improving stability.

[0066] The front end of the handpiece housing 31 has a sliding channel 311 extending in a forward-backward direction. The reciprocating rod 33 slides through the sliding channel 311. The sliding channel 311 and the balancing connector 6 form two support structures spaced apart along the length of the reciprocating rod 33, thereby further effectively improving the stability of the reciprocating rod 33 during high-frequency linear reciprocating motion. Furthermore, since the friction force experienced by the reciprocating rod 33 is proportional to the contact area, the smaller the contact area between the reciprocating rod 33 and the handpiece housing 31, the smaller the friction force experienced, the lower the kinetic energy loss, and the correspondingly higher transmission efficiency. Therefore, the portion of the reciprocating rod 33 located between the balancing connector 6 and the sliding channel 311 is suspended within the handpiece housing 31 to reduce the contact area between the reciprocating rod 33 and the handpiece housing 31. This maximizes transmission efficiency while ensuring the balance and stability of the reciprocating rod 33.

[0067] To further reduce friction between the reciprocating rod 33 and the head housing 31, a linear bearing 312 is provided within the sliding channel 311. The linear bearing 312 is slidably mounted on the reciprocating rod 33. The number of linear bearings 312 is determined based on actual application requirements, primarily considering the specifications of the linear bearings 312 and the length of the sliding channel 311.

[0068] In addition, a felt ring 313 is provided at the front end of the sliding channel 311, and the felt ring 313 is slidably sleeved on the reciprocating rod 33. The felt ring 313 has two functions. First, lubricating oil is injected into the sliding channel 311 from the front end of the head housing 31. The lubricating oil soaks into the felt ring 313 and lubricates the reciprocating rod 33, thereby reducing friction and cooling. Second, when the picking head 4 hits the branches, dust, foreign particles, and even bark may enter the sliding channel 311, and the felt ring 313 can block them.

[0069] The function of the crank-connecting rod mechanism 32 is to convert the rotation of the transmission shaft 21 into the linear motion of the reciprocating rod 33. It includes a secondary shaft 321, a transmission structure 322, and a connecting rod structure 323. The secondary shaft 321 and the transmission shaft 21 are in a cross relationship. The transmission structure 322 connects the transmission shaft 21 and the secondary shaft 321 to change the direction of power. One end of the connecting rod structure 323 is fixedly connected to the secondary shaft 321, and the other end is hinged to the balance connector 6. The connecting rod structure 323 rotates around the secondary shaft 321. Regardless of whether the reciprocating rod 33 moves forward or backward, the connecting rod structure 323 is responsible for the balance. The force F1 of the connecting member 6 deviates from the front-to-back direction. The force F1 is divided into a component F1x along the axial direction of the reciprocating rod 33 and a component F1y along the radial direction of the reciprocating rod 33. During the movement of the reciprocating rod 33, the component F1y will cause the rear end of the reciprocating rod 33 to be dislocated in the radial direction. Therefore, two of the balancing limbs 61 are located on the same plane as the connecting rod structure 323, thereby offsetting the component F1y and avoiding the axial deviation of the reciprocating rod 33. In this embodiment, the balancing connecting member 6 is only provided with these two balancing limbs 61, which is sufficient to meet the application requirements.

[0070] When the reciprocating rod 33 moves forward and the picking head 4 hits the branch, the branch will generate a backward force F2 on the balancing connector 6. At this time, the connecting rod structure 323 applies an oblique forward force F1 to the balancing connector 6. The force F1 and the force F2 form a resultant force Fa. The resultant force Fa will cause the balancing connector 6 to have a tendency to rotate slightly laterally, thereby causing the part of the reciprocating rod 33 located between the balancing connector 6 and the sliding channel 311 to have a tendency to bend and deform. At this time, the reciprocating rod 33 is moving forward, and the part 33-a of the reciprocating rod 33 located between the balancing connector 6 and the sliding channel 311 is shorter, so its rigidity is stronger, which can withstand the bending deformation of the reciprocating rod 33 caused by the resultant force Fa, as well as the small rotation of the balancing connector 6.

[0071] When the reciprocating rod 33 moves backward, at the moment when the picking head 4 hits the branch, the branch will generate a forward force F3 on the balancing connector 6. At this time, the force F1 and the force F3 form a resultant force Fb, and the direction of the resultant force Fb is also roughly along the radial direction of the reciprocating rod 33. However, at this time, the reciprocating rod 33 is moving backward, and the part 33-b of the reciprocating rod 33 located between the balancing connector 6 and the sliding channel 311 is longer, so its rigidity is weaker. Under the action of the resultant force Fb, the reciprocating rod 33 will undergo a slight bending deformation, and the balancing connector 6 will undergo a small lateral rotation, thereby producing a relatively strong setback when the reciprocating rod moves backward, which not only leads to a reduction in transmission efficiency, but also easily causes damage to the inside of the head shell 31, and even the balancing connector 6 may be stuck.

[0072] To address this technical issue, the balancing limb 61 of the balancing connector 6 includes a lug 61-1 extending laterally from the connector 6 and a rolling wheel 61-2 mounted on the lug 61-1. Specifically, the lug 61-1 comprises two spaced-apart lugs, with a rotating shaft secured between the two lugs 61-1. The rolling wheel 61-2 is rotatably sleeved on the shaft. Linear rails 31-1 extending forward and backward are provided on the inner walls of each side of the head housing 31. The two rolling wheels 61-2 slide in a sliding engagement with each linear rail 31-1.

[0073] When the picking head 4 hits the branch and causes the balancing connector 6 to rotate slightly sideways, due to the sliding fit between the rolling wheel 61-2 and the linear slide rail 31-1, with the reciprocating rod 33 as a reference object, the rolling wheel on one side of the balancing connector 6 rolls slightly backward along the linear slide rail 31-1, forming a rolling track w1, and the rolling wheel on the other side rolls slightly forward along the linear slide rail 31-1, forming a rolling track w2, thereby preventing the balancing connector 6 from being stuck or jammed due to a small rotation, thereby improving the overall transmission efficiency and avoiding internal damage.

[0074] Furthermore, the linear guide rail 31-1 and the rolling wheel 61-2 respectively have an outer convex arc surface and an inner concave arc surface or an inner concave arc surface and an outer convex arc surface in sliding contact with each other, and the curvature of the outer convex arc surface is greater than that of the inner concave arc surface, so that when the rolling wheel 61-2 rolls backward or forward along the linear guide rail 31-1 to form rolling tracks w1 and w2, the mutual extrusion between the linear guide rail 31-1 and the rolling wheel 61-2 is allowed to have a certain degree of deformation, which can further enhance the smoothness of the forward and backward linear reciprocating motion.

[0075] The front end of the balancing connector 6 is provided with a socket for inserting the rear end of the reciprocating rod 33, and the balancing connector 6 and the rear end of the reciprocating rod 33 are fixedly connected by an axle pin. The rear end of the balancing connector 6 is provided with a lug 61-3 extending backward as a whole, which has the same structure as the balancing limb 61. The lug 61-3 is also provided as two spaced pieces. One end of the connecting rod structure 323 is inserted between the two lugs 61-3, and is provided with a shaft with both ends rotatably connected to the two lugs 61-1, thereby realizing the hinged setting of the connecting rod structure 323 and the balancing connector 6.

[0076] As for the transmission structure 322 of the crank-connecting rod mechanism 32, more specifically, it includes an extension shaft 322-1 extending forward and backward, a first conical tooth 322-2 fixedly sleeved on the extension shaft 322-1, and a second conical tooth 322-3 fixedly sleeved on the secondary shaft 321, wherein the rear end of the extension shaft 322-1 is connected to the front end of the transmission shaft 21. In this embodiment, a coupling structure 322-4 is provided to fix the two together, and the first conical tooth 322-2 and the second conical tooth 322-3 are engaged with each other. The diameter of the first conical tooth 322-2 is smaller than that of the second conical tooth 322-3, so that the rotation speed of the transmission shaft 21 around the axis is greater than that of the secondary shaft 321, which has the effect of deceleration. In this embodiment, the connecting rod structure 323 includes two rotating arms 323-1 and a connecting rod 323-2. The two rotating arms 323-1 are arranged at intervals, one of the rotating arms 323-1 is fixedly connected to the secondary shaft 321, and the other rotating arm 323-1 is fixedly connected to an axis coaxial with the secondary shaft 321, and the axis is connected to the inner wall of the head shell 31. The two rotating arms 323-1 are connected to an axis, and one end of the connecting rod 323-2 is rotatably sleeved on the axis to realize the hinge connection between the connecting rod 323-2 and the rotating arm 323-1. The other end of the connecting rod 323-2 is hinged to the balancing connector 6. The specific connection method is as described above and will not be repeated here.

[0077] In addition, the transmission shaft 21, the extension shaft 322-1, and the secondary shaft 321 are all sleeved with bearings to provide support and stability.

[0078] The interior of the head shell 31 is hollow and is divided into a first chamber 31-a and a second chamber 31-b by a partition 314 provided in the head shell 31; wherein the transmission shaft 21, the extension shaft 322-1, the first conical tooth, the second conical tooth 322-3 are located in the first chamber 31-a, the rotating arm 323-1, the connecting rod 323-2 and the reciprocating rod 33 are located in the second chamber 31-b, and the secondary shaft 321 passes through the partition 314 so that part of it is located in the second chamber 31-b. In a chamber 31-a, the part is located in the second chamber 31-b. Because the transmission load of the first conical teeth 322-2 and the second conical teeth 322-3 is large, it is necessary to regularly apply lubricating oil to the first conical teeth 322-2 and the second conical teeth 322-3 to reduce the friction loss between the two, keep the machine parts running smoothly, and cool down. The partition 314 separates the first chamber 31-a and the second chamber 31-b to prevent the lubricating oil from flowing into the second chamber 31-b.

[0079] Structurally, the head housing 31 includes a first housing portion 31-A and a second housing portion 31-B, wherein the first chamber 31-a is located within the first housing portion 31-A, and the second chamber 31-b is located within the second housing portion 31-B. Since the transmission shaft 21 and the reciprocating rod 33 are both arranged in the front-to-back direction, the first housing portion 31-A and the second housing portion 31-B also extend in the front-to-back direction. At the same time, since the secondary shaft 321 passes through the partition 314 and is in a cross relationship with the transmission shaft 21 and the reciprocating rod 33, the side of the front end of the first housing portion 31-A is connected to the side of the rear end of the second housing portion 31-B. When the picking head 4 is hooking a branch, if the branch is located at a high position, the viewing angle will be poor, and it is also easy for the field of view to be blocked by other branches, leaves, etc. During actual operation, the position of the branch can be estimated to raise the picking head 4 to pass over the branch, and the head shell 31 can be placed against the branch and slowly slid downward until the branch is hooked by the picking head 4. Therefore, the second shell part 31-B deviates relative to the first shell part 31-A in the direction of the picking head 4 hooking the branch, which allows the branch to slide more easily into the picking head 4 along the street shell 31.

[0080] In addition, the side protrusion of the head housing 31, which faces the direction of the picking head 4 for picking branches, is formed with a guide rib 315 extending in the front-to-back direction. This guide rib 315 not only strengthens the overall structural strength of the joint housing but also allows the head housing 31 to slide smoothly along the branches, facilitating branch picking. The guide rib 315 has a sloped structure 315-1 formed at the junction of the first housing portion 31-A and the second housing portion 31-B. This serves as a transition between the front and rear portions of the guide rib 315, preventing branches from becoming stuck between the first housing portion 31-A and the second housing portion 31-B.

[0081] The transmission shaft 21 is provided with a machine rod 2, and the part of the machine rod 2 located in the machine head shell 31 is sleeved with an elastic sleeve 2-A. The elastic sleeve 2-A is made of a rubber material, such as rubber, silicone, etc. The elastic sleeve 2-A is supported between the transmission shaft 21 and the machine head shell 31. Since the transmission shaft 21 is relatively long, it is prone to vibration during operation. The elastic sleeve 2-A can absorb the vibration, thereby playing a buffering and vibration reduction role to reduce the vibration amplitude of the machine head shell 31.

[0082] The reciprocating impact head 3 of this embodiment can be applied to the nut picker of embodiment 1 to improve the performance of the nut picker.

[0083] Implementation Case 3:

[0084] Reference Figure 14-16A picking tool for conveniently hooking branches includes a reciprocating rod 33 and a picking head 4 connected to the front end of the reciprocating rod 33. The reciprocating rod 33 in this embodiment is the same as that in embodiments 1 and 2, and both perform reciprocating linear motion along their axis.

[0085] The picking head 4 comprises a front picking arm 41 and a rear picking arm 42, spaced apart from each other, and a connecting beam 43 connecting the two at their bases. A hooking opening 4-j is formed between the ends of the front and rear picking arms 41 and 42 for hooking branches. The front and rear picking arms 41, 42, and connecting beam 43 are integrally injection-molded from nylon with added glass fiber. Increasing the glass fiber content significantly improves the material's tensile and flexural strength, meeting the physical requirements of the picking head 4 for frequently impacting branches.

[0086] When using the nut picker, the user holds the rear chassis to extend the machine rod and the machine head upward. For branches that extend horizontally or are slightly inclined relative to the horizontal direction, the picking head 4 is relatively easy to hook. However, for branches that are inclined vertically with a large amplitude or even basically extend vertically, such as branches close to the trunk, the picking head 4 is difficult to hook. Due to the weight of the nut picker and the length of the machine rod 2, the user can only tilt the machine rod 2 slightly left and right within the operable range, but it is still very difficult to hook such branches.

[0087] To address this technical issue, in this application, a rear picking arm 42 is hinged to the front end of the reciprocating rod 33, allowing the picking head 4 to swing left and right. This left and right swinging of the picking head 4 increases the horizontal width of the hook opening 4-j, enabling it to hook even inclined branches, particularly branches that extend almost in the same direction as the branches themselves. Furthermore, the picking head 4 has two swing stops, limiting its swing range to a sector-shaped range. This limits the maximum range of left and right swinging of the picking head 4 to prevent it from falling.

[0088] To prevent the rear picking arm 42 from negatively impacting branches, the rear picking arm 42 has an integrated cylindrical structure 421 near the reciprocating rod 33. This cylindrical structure 421 replaces the rear picking arm 42 and is hinged to the front end of the reciprocating rod 33 to prevent weakening the structural strength of the rear picking arm 42. The cylindrical structure 421 extends in the same direction as the rear picking arm 42 and has a forwardly recessed slot 422 on its rear side. A plug connector 331 is provided at the front end of the reciprocating rod 33. The plug connector 331 is removably connected to the front end of the reciprocating rod 33 via fasteners (e.g., pins, bolts, etc.). The plug connector 331 fits into the slot 422 of the cylindrical structure 421. The plug connector 331 has a rotating shaft 332. Both walls 422-1 of the slot 422 are provided with circular holes for receiving the two ends of the rotating shaft 332. The ends of the rotating shaft 332 can rotate within the circular holes, allowing the picking head 4 to swing left and right around the rotating shaft. A stop portion 331-1 is formed on the left and right sides of the front end of the plug connector 331 respectively. The stop portion 331-1 is structurally presented as two special-shaped convex corners raised from the front end surface of the plug connector 331. When the picking head 4 swings to the left or right to the maximum range, the cylindrical structure 421 abuts against the stop portion 331-1, so that the picking head 4 is blocked by the stop portion 331-1, forming a swing stop point for the picking head 4.

[0089] An abutment portion 331-2 is formed in the middle of the front end of the plug connector 331. When the picking head 4 is in the center position, the abutment portion 331-2 supports the cylindrical structure 421, preventing the picking head 4 from swinging left or right. Furthermore, when the picking tool is tilted, static friction occurs between the abutment portion 331-2 and the cylindrical structure 421. In the absence of any force acting on the picking head 4 (e.g., when the user bends the picking head 4), the shift in the center of gravity of the picking head 4, relying solely on its own gravity, will not cause the picking head 4 to swing left or right. Therefore, when the user is picking a horizontal branch, they first bend the picking head 4 to the center position, then raise the nut picker and control the picking head 4 to pick the branch. During this process, it is difficult for the picking head 4 to remain strictly upright. However, the static friction between the abutment portion 331-2 and the cylindrical structure 421 ensures that the picking head 4 remains in the center position and does not swing left or right, allowing it to smoothly pick up the branch.

[0090] When a tilted branch needs to be picked up, the picking head 4 is first moved left or right to pick up the branch. After the branch is hooked by the picking head 4, the drive motor is activated, causing the reciprocating rod 33 to reciprocate linearly along its axial direction. The force driving the picking head 4 is also along the axial direction of the reciprocating rod 33. Even if the picking head 4 is not in the center position, the picking head 4 will gradually be straightened under the force of the reciprocating rod 33. The reaction force exerted by the picking front arm 41 and the picking rear arm 42 when striking the branch, if the branch is not tilted too much toward the vertical direction, the component of this reaction force perpendicular to the axial direction of the reciprocating rod 33 is insufficient to break the static friction between the abutment portion 331-2 and the cylindrical structure 421. Therefore, the picking head 4 can maintain its center position and always strike the same part of the branch. Moreover, the spacing between the picking front arm 41 and the picking rear arm 42 along the axial direction of the reciprocating rod 33 remains unchanged, thereby maintaining a stable vibration state of the branch.

[0091] The surface of the stop portion 331-1 is an arc surface around the rotation axis, and a support portion 331-3 is formed between the abutment portion 331-2 located in the middle of the front end of the plug joint 331 and the stop portions 331-1 located on both sides. The surface of the support portion 331-3 and the bottom 422-2 of the slot 422 are both planes, and when the picking head 4 swings to the left or right and is blocked by the stop portion 331-1, the two planes of the support portion 331-3 and the bottom 422-2 of the slot are fitted together. Therefore, when the picking head 4 swings to the left or right to the maximum range, the plug joint 331 can provide stable and reliable support for the picking head 4.

[0092] Generally, users usually use a nut picker to pick branches first, and then perform a second or third round of picking on branches that have not yet dropped all the nuts. Branches have the following characteristics: First, the branches are tilted vertically at a large angle, making them difficult to pick. Even if they are hooked, the picking head 4 will affect the impact effect; second, branches are branched from the trunk and are relatively thick, especially at the junction of the branches and the trunk. Therefore, the vibration amplitude caused by the picking head 4 hitting the branches is small, which weakens the effect of shaking off the nuts; finally, branches are far away from the treetops. The impact of the picking head 4 forms a vibration source at the branches and spreads to the treetops. The farther away from the branches, the stronger the vibration attenuation. Therefore, nuts near the treetops are not easily shaken off.

[0093] The picking head 4 of the present application is particularly suitable for tree branches. The picking head 4 swings to the maximum extent around the rotating axis to the left or right, thereby maximizing the width of the hooking opening 4-j in the horizontal direction. The user can hook the picking head 4 to the tree branch when the nut picker is vertically lifted. At this time, the tree branch located in the picking head 4 is clamped at one end and the other end by the picking front arm 41 and the picking rear arm 42; start the driving motor 11, and the reciprocating moving rod 33 moves forward in a straight line (extends upward). At this time, the support part 331-3 and the groove bottom 422-2 are fitted together, so that the plug joint 331 plays a stable and reliable supporting role for the picking rear arm 42, Maintain the state of maximum swing range to the left or right, so that the picking rear arm 42 and the picking front arm 41 keep clamping the branch and push the branch upward; when the reciprocating rod 33 moves linearly backward (retracted downward), the reciprocating rod 33 will pull the picking head 4 to swing back to a certain amplitude, and the picking front arm 41 pulls the branch downward; therefore, the picking head 4 of the present application pushes and pulls the branch up and down reciprocatingly, causing the branch to shake periodically, whether it is the effect of promoting the falling of nuts or the attenuation of the shaking amplitude along the branch to the treetop, it is better than the vibration effect caused by reciprocating impact on the branch.

[0094] After the branches have been worked on, there are still many nuts on the branches that have not fallen off. These branches are basically located between the branches and the treetops, or relatively close to the treetops. These branches are relatively slender and fragile compared to the branches. Under the reciprocating impact of the picking forearm 41 and the picking rear arm 42, the surface is easily damaged or even broken. Based on this, a gelatinous protective layer 44 is provided at the contact portion between the picking forearm 41, the picking rear arm 42 and the branches, thereby playing a buffering role against the impact between the picking forearm 41, the picking rear arm 42 and the branches, so as to reduce damage to the branches. More specifically, two gelatinous jackets can be respectively embedded in the picking forearm 41 and the picking rear arm 42, and the jackets are fixed with fasteners.

[0095] Furthermore, branches closer to the treetops are thinner and can easily break even with the protective gelatin layer 44 on the front and rear arms 41 and 42. Therefore, the side of the picking beam 43 facing the hook opening 4-j has a groove 431 for receiving such thin branches. When the drive motor 11 is activated, the branches are trapped in the groove 431 and are then driven up and down by the picking head 4.

[0096] The length of the picking front arm 41 is greater than the picking rear arm 42, so that the picking head 4 is very similar to a hook in structure and shape, making it easier to hook branches.

[0097] The end of the picking rear arm 42 has a claw hook structure 42-A extending toward the hooking opening 4-j, and the claw hook structure 42-A can prevent the branches from falling out of the picking head 4.

[0098] In addition, in order to improve the structural strength of the picking head 4, a hard reinforcement 45 is provided on one or both of the left and right side surfaces of the picking connecting beam 43. The hard reinforcement 45 is made of metal and is made into a plate-shaped part with matching shape. The hard reinforcement 45 basically covers the picking connecting beam 43, the connecting part of the picking connecting beam 43 and the picking forearm 41 and the picking rear arm 42, and plays a role in structural reinforcement of the two connected parts that are prone to bending and deformation.

[0099] The picking head 4 of this implementation case can be applied in implementation case 1 and implementation case 2.

[0100] Finally, it should be noted that the above implementation cases are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above implementation cases, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above implementation cases, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation cases of the present invention.

Claims

1. A nut picking machine, characterized in that: include: a tail chassis in which a drive motor is arranged; A machine rod extending in the front-to-back direction and having a hollow interior, wherein at least one transmission shaft or a plurality of transmission shafts connected end to end are provided in the machine rod, and the output shaft of the drive motor is in transmission connection with the closest transmission shaft; The machine head includes a machine head housing, a crank-connecting rod mechanism located in the machine head housing, and a picking head located in front of the machine head housing and used to hook branches. A reciprocating rod extending forward and backward is provided in the machine head housing. The reciprocating rod extends from the front end of the machine head housing and is connected to the picking head. The transmission shaft passes through the rear end of the machine head housing. The crank-connecting rod mechanism transmits and connects the transmission shaft and the reciprocating rod, and is used to convert the rotation of the transmission shaft around the axis into the forward and backward linear reciprocating motion of the reciprocating rod. The ends of the transmission shaft and the output shaft are provided with transmission connectors for front and rear docking; the transmission connector includes a handle body formed by extending forward from the ends of the transmission shaft and the output shaft, and fork arms formed by extending forward from both sides of the front end of the handle body, and the two fork arms and the handle body form a slot; the two slot structures for front and rear docking are in a cross-intersection relationship and are inserted into each other, so that the inner surfaces of the two fork arms of one of the transmission connectors are respectively pressed against the front and back surfaces of the handle body of the other transmission connector, and there is a mechanical gap between the two slots, so that the two transmission connectors are allowed to deviate slightly in direction when in the docked state.

2. The nut picking machine according to claim 1, characterized in that An arc chamfer is formed between the front end faces of the two fork arms and one of the side faces to transition between the two, and the two arc chamfers are mirror-symmetrical about the radial section of the transmission shaft; during the docking process of the front and rear transmission connectors, the two arc chamfers of one transmission connector can slide along the two arc chamfers of the other transmission connector, so that the two slot structures gradually change from a non-cross relationship to a cross relationship.

3. The nut picking machine according to claim 1, characterized in that The transmission connecting member also includes a connecting shaft with two ends respectively connected to the handle body and the transmission shaft; the connecting shaft and the transmission shaft are coaxial, and the diameter of the connecting shaft is larger than the transmission shaft; at least one support bearing is sleeved on the transmission shaft and supported between the transmission shaft and the machine rod.

4. The nut picking machine according to claim 3, characterized in that The connecting shaft and the handle body are an integrated structure; the connecting shaft and the transmission shaft are welded or threadedly connected.

5. The nut picking machine according to claim 4, characterized in that The rotation direction of the connecting shaft screwed into the transmission shaft is the same as the rotation direction of the transmission shaft driven by the driving motor.

6. The nut picking machine according to claim 1, characterized in that A plurality of anti-bending parts are arranged at intervals along the inner edge of the machine rod in the front-to-back direction. The anti-bending parts include a ring body sleeved outside the transmission shaft and a plurality of supporting feet on the ring body extending outward and supported on the inner wall of the machine rod.

7. The nut picking machine according to claim 6, characterized in that A sleeve sleeved on the outside of the transmission shaft is provided between two adjacent anti-bending parts, and both ends of the sleeve are supported or fixed on the anti-bending parts.

8. The nut picking machine according to claim 7, characterized in that The middle portion of the inner wall of the ring body is provided with an annular flange along the circumferential direction, and one end of the sleeve is inserted into the ring body and supported on the annular flange.

9. The nut picking machine according to claim 7, characterized in that The transmission connecting piece on one end of the transmission shaft abuts against the closest anti-bending piece; an elastic support piece is provided between the transmission connecting piece on the other end and the closest anti-bending piece, and the elastic support piece is sleeved outside the transmission shaft and its two ends are respectively supported on the transmission connecting piece and the anti-bending piece.

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