A self-unloading device and method for picking up, throwing, conveying, and transporting fallen fruit in sandy areas.

Abstract

This invention discloses a device and method for picking up, throwing, conveying, and unloading fallen fruit in sandy soil. The device includes a base plate and is characterized by comprising a picking-up and throwing device, a guided material conveying and unloading device, a collection device, and a frame. The picking-up and throwing device is mounted on the frame, the guided material conveying and unloading device is mounted on the frame, and the collection device is mounted on the frame. The picking-up and throwing device is matched with the guided material conveying and unloading device, and the guided material conveying and unloading device is matched with the collection device. This invention relates to the field of agricultural equipment, specifically to a device and method for picking up, throwing, conveying, and unloading fallen fruit in sandy soil. The technical problem this invention aims to solve is to provide a device and method for picking up, throwing, conveying, and unloading fallen fruit in sandy soil, facilitating the picking up of fallen fruit in sandy soil.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment, and more specifically, to a device and method for picking up, throwing, conveying, and unloading fallen fruit in sandy areas. Background Technology

[0002] To improve the quality of forest fruits, the harvest period is artificially delayed. This involves waiting until the fruits are ripe on the trees, then manually shaking the trunks to knock them down, and finally collecting the fallen fruit. Currently, the harvesting of these fallen fruits mainly relies on manual labor. This method is highly seasonal, labor-intensive, and involves high labor intensity, low efficiency, and high costs. The contradiction between the heavy physical labor and the shortage of labor is becoming increasingly prominent in the development of the forestry and fruit industry.

[0003] Research on machinery for picking up fallen fruit is still in its early stages, with existing technologies mainly divided into pneumatic and mechanical types. Fruit orchards typically have sandy loam or sandy soil, and fallen fruit easily sinks into the soil. Pneumatic equipment tends to suck in large amounts of sand, resulting in high power consumption, severe blower wear, and a very harsh working environment. Existing mechanical equipment often uses ground-hugging or fixed-depth combs combined with scraping, brushing, or pulling conveying methods to pick up fallen fruit. However, in sandy soil, this can easily cause soil buildup, compressing and damaging the fallen fruit. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for picking up, throwing and conveying fallen fruit in sandy areas, which facilitates the picking up of fallen fruit in sandy areas.

[0005] The present invention achieves its objective by employing the following technical solution:

[0006] A device and method for picking up, throwing, conveying, and unloading fallen fruit in sandy areas includes a picking and throwing device, a guided material conveying and automatic unloading device, a collection device, and a frame. The picking and throwing device is mounted on the frame, the guided material conveying and automatic unloading device is mounted on the frame, the collection device is mounted on the frame, the picking and throwing device is matched with the guided material conveying and automatic unloading device, and the guided material conveying and automatic unloading device is matched with the collection device.

[0007] As a further limitation of this technical solution, the picking and throwing device includes a drive motor I and a picking mechanism. The picking mechanism includes a crank, a connecting rod, a rocker arm, and picking teeth. The drive motor I is mounted on the frame. The output shaft of the drive motor I is fixedly connected to one end of the crank. The other end of the crank is rotatably connected to one end of the connecting rod. The connecting rod is rotatably connected to one end of the rocker arm. The other end of the rocker arm is rotatably connected to the frame. The other end of the connecting rod is fixedly connected to the picking teeth.

[0008] As a further limitation of this technical solution, the guided material conveying and self-unloading device includes a drive motor II and a conveying mechanism. The conveying mechanism includes a sprocket, a conveying chain, a support shaft, a loss-reducing and vibration-absorbing material hopper, a guide rod, a guide roller, and a guide rail. The drive motor II is mounted on the frame, the sprocket is mounted on the frame, the conveying chain is mounted on the sprocket, the output shaft of the drive motor II is fixedly connected to the power input end of the sprocket, the guide rail is mounted on the frame, and a set of evenly distributed support shafts are installed on the conveying chain. Each support shaft is fixedly connected to a corresponding loss-reducing and vibration-absorbing material hopper, each support shaft is fixedly connected to one end of a corresponding guide rod, and the other end of each guide rod is fixedly connected to a corresponding guide roller. Each guide roller is nested within a corresponding guide rail.

[0009] As a further limitation of this technical solution, the pickup teeth are matched with the loss-reducing and vibration-absorbing aggregate hopper.

[0010] As a further limitation of this technical solution, the loss-reducing and vibration-absorbing aggregate hopper is matched with the collection device.

[0011] A method for picking up, throwing, conveying, and unloading fallen fruit in sandy areas, characterized by the following steps:

[0012] Step 1: Install the frame onto the tool and insert the pickup teeth below the ground surface;

[0013] Step Two: While the machine moves forward, drive motor I and drive motor II are turned on. Drive motor I drives the crank to rotate, the crank drives the connecting rod to swing back and forth, the connecting rod drives the rocker arm to swing back and forth, and the connecting rod drives the picking teeth to swing back and forth. The combined motion of the machine's forward movement and drive motor I causes the picking teeth to lift the material from the ground and throw it out. Drive motor II drives the conveyor chain to move, the conveyor chain drives the support shaft to move, the support shaft drives the guide connecting rod to move, the guide connecting rod drives the guide roller to move along the guide rail, the guide roller swings under the guidance of the guide rail, the guide roller drives the guide connecting rod to swing, the guide connecting rod drives the support shaft to rotate, and the loss-reducing and vibration-absorbing collection hopper swings with the support shaft while moving with the conveyor chain.

[0014] Step 3: In the material collection section, the loss-reducing and vibration-absorbing collection bucket swings counterclockwise, which makes it easier for the material to move to the highest point after being thrown out by the picking teeth, that is, the speed is close to 0, to complete the collection operation, which can greatly reduce the damage and loss caused by collision.

[0015] Step 4: After the material collection is completed, in the material lifting and conveying section, the loss reduction and vibration absorption collection bucket swings clockwise to prevent the material from rolling off due to small vibrations during the conveying process and causing losses.

[0016] Step 5: When the material is conveyed to the top of the collection device, the loss-reducing and vibration-absorbing collection bucket swings counterclockwise until it coincides with the conveyor chain, and then the automatic unloading begins;

[0017] Step Six: After unloading, the loss-reducing and vibration-absorbing aggregate hopper swings clockwise to reduce the overall longitudinal space occupied, increase the passage, and prevent damage to crop branches.

[0018] In steps three, four, five, and six, the included angle between the loss-reducing and vibration-absorbing aggregate hopper and the guide rod is fixed. The guide roller is always on the front side of the support shaft. The movement trajectory of the guide roller is limited by the guide rail. The swing angle of the guide rod is changed at a preset position, thereby guiding the loss-reducing and vibration-absorbing aggregate hopper to swing clockwise and counterclockwise.

[0019] As a further limitation of this technical solution, the trajectory equation of the pickup tooth tip D is:

[0020] (Equation 1)

[0021] After time t, the crank has rotated 1000 times. ω 1 t Angle, points A, B, C, and D move from their initial positions to positions A', B', C', and D', respectively. L 1 The length of the crank OA is given. L 2 This refers to a portion of the length of the connecting rod AB. L 3 The length of the rocker arm BC is... θ 2 For the AB turn, θ 3 The angle between AB and BC 、 θ 7 Let v be the central angle of the arc at the tip of the pickup tooth, v be the traveling speed of the device, and R be the radius of the arc at the tip of the pickup tooth.

[0022] After the material is thrown off the tooth surface of the pickup tooth, it undergoes projectile motion with an initial velocity of... v 0, v 0x for v 0 in x The component of velocity in the axial direction, v 0y for v 0 in y The component of velocity in the axial direction,t Let be the time elapsed after being thrown, g be the acceleration due to gravity, and (x0, y0) be the initial coordinates of the thrown material. Then the coordinate equation of the thrown material particle is:

[0023] (Equation 2)

[0024] The time it takes for the material to fly to its highest point c is:

[0025] (Equation 3)

[0026] ψ is the extreme position angle of the mechanism. If the material is to be thrown out, the picking mechanism should have a quick return characteristic, ψ>0; K is the stroke speed ratio coefficient of the mechanism, which should satisfy 1<K<3. l The spacing of the vibration-damping aggregate hoppers is for reducing the impact of vibration. r Let ω2 be the distance from the sprocket to the support shaft of the conveying mechanism, and ω2 be the angular velocity of the sprocket. To ensure the material is smoothly collected by the loss-reducing and vibration-absorbing collection hopper, the rotational speeds of the conveying mechanism and the picking mechanism should satisfy the following:

[0027] (Equation 4)

[0028] γ The angle between the conveying mechanism and the horizontal plane is... ε To reduce the opening angle of the vibration-damping aggregate hopper, the coefficient of friction between the material and the hopper material is: f , α To reduce the angle between the vibration-absorbing aggregate hopper and the horizontal plane, the following conditions must be met to achieve self-unloading:

[0029] tanα =tan( ε - γ ) ＞f (Equation 5).

[0030] Compared with the prior art, the advantages and positive effects of the present invention are:

[0031] 1. This invention can be used independently with a power chassis or in conjunction with a fruit harvester. It is a harvesting device suitable for picking up fallen fruits such as walnuts and red dates.

[0032] 2. The picking and throwing device of the present invention has picking teeth that can be inserted into the soil for operation. It is suitable for sandy working environments and can pick up fallen fruits in depressions to avoid omission and loss.

[0033] 3. The guided conveying self-unloading device of the present invention is matched with the picking and throwing device, which can realize fruit collection close to snacks, and the collection hopper adopts loss-reducing and vibration-absorbing materials, which greatly reduces the damage to the fruit.

[0034] 4. The guided conveying and self-unloading device of the present invention can change the trajectory of the designed guide track to meet the requirements of different material harvesting machinery for material collection, conveying and unloading, as well as the working space. As illustrated in this example, it can achieve near-zero speed material collection, return to center after material collection to prevent leakage, and guide the self-unloading of dumped material, thereby effectively improving harvesting efficiency and quality. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention.

[0036] Figure 2 This is a schematic diagram of the picking mechanism of the present invention.

[0037] Figure 3 This is a schematic diagram of the structure of the guided material collection and automatic unloading device of the present invention.

[0038] Figure 4 For the present invention Figure 3 A magnified view of part A in the image.

[0039] Figure 5 This is a partial three-dimensional structural diagram of the present invention. Figure 4 .

[0040] In the diagram: 1. Pick-up and throwing device; 2. Guided material conveying and self-unloading device; 3. Collection device; 4. Frame; 11. Drive motor I; 12. Pick-up mechanism; 121. Crank; 122. Connecting rod; 123. Rocker arm; 124. Pick-up tooth; 21. Drive motor II; 22. Conveying mechanism; 221. Damage-reducing and vibration-absorbing material hopper; 222. Support shaft; 223. Guide connecting rod; 224. Guide roller; 225. Conveyor chain; 226. Guide rail; 227. Sprocket. Detailed Implementation

[0041] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0042] like Figures 1 - 5 As shown, the present invention includes a picking and throwing device 1, a guided material conveying and automatic unloading device 2, a collecting device 3, and a frame 4. The picking and throwing device 1 is installed on the frame 4, the guided material conveying and automatic unloading device 2 is installed on the frame 4, the collecting device 3 is installed on the frame 4, the picking and throwing device 1 is matched with the guided material conveying and automatic unloading device 2, and the guided material conveying and automatic unloading device 2 is matched with the collecting device 3.

[0043] The picking and throwing device 1 includes a drive motor 111 and a picking mechanism 12. The picking mechanism 12 includes a crank 121, a connecting rod 122, a rocker arm 123, and a picking tooth 124. The drive motor 111 is mounted on the frame 4. The output shaft of the drive motor 111 is fixedly connected to one end of the crank 121. The other end of the crank 121 is rotatably connected to one end of the connecting rod 122. The connecting rod 122 is rotatably connected to one end of the rocker arm 123. The other end of the rocker arm 123 is rotatably connected to the frame 4. The other end of the connecting rod 122 is fixedly connected to the picking tooth 124.

[0044] The guided material conveying and self-unloading device 2 includes a drive motor II21 and a conveying mechanism 22. The conveying mechanism 22 includes a loss-reducing and vibration-absorbing material hopper 221, a support shaft 222, a guide connecting rod 223, a guide roller 224, a conveying chain 225, a guide rail 226, and a sprocket 227. The drive motor II21 is mounted on the frame 4, and the sprocket 227 is also mounted on the frame 4. The output shaft of the drive motor II21 is fixedly connected to the power input end of the sprocket 227. The conveying chain 225 is matched with... The sprocket 227 and the guide rail 226 are mounted on the frame 4. A set of evenly distributed support shafts 222 are mounted on the conveyor chain 225. Each support shaft 222 is fixedly connected to a corresponding loss-reducing and vibration-absorbing material hopper 221. Each support shaft 222 is fixedly connected to one end of a corresponding guide rod 223. The other end of each guide rod 223 is fixedly connected to a corresponding guide roller 224. Each guide roller 224 is nested in the corresponding guide rail 226.

[0045] The pickup tooth 124 is matched with the loss-reducing and vibration-absorbing aggregate hopper 221.

[0046] The loss-reducing and vibration-absorbing aggregate hopper 221 is matched with the collection device 3.

[0047] A method for picking up, throwing, conveying, and unloading fallen fruit in sandy areas includes the following steps:

[0048] Step 1: Install the frame 4 onto the machine and insert the pickup tooth 124 below the ground surface;

[0049] Step Two: While the machine moves forward, activate drive motors I11 and II21. Drive motor I11 drives crank 121 to rotate, which in turn drives connecting rod 122 to oscillate back and forth. Connecting rod 122 then drives rocker arm 123 to oscillate back and forth, which in turn drives pickup tooth 124 to oscillate back and forth. The combined motion of the machine's forward movement and drive motor I11 causes the pickup tooth 124 to lift the material from the ground and throw it out. Drive motor II21 drives sprocket 227 to rotate. Wheel 227 drives the conveyor chain 225 to move, the conveyor chain 225 drives the support shaft 222 to move, the support shaft 222 drives the guide rod 223 to move, the guide rod 223 drives the guide roller 224 to move along the guide rail 226, the guide roller 224 swings under the guidance of the guide rail 226, the guide roller 224 drives the guide rod 223 to swing, the guide rod 223 drives the support shaft 222 to rotate, and the loss reduction and vibration absorption collection bucket 221 moves with the conveyor chain 225 and swings with the support shaft 222.

[0050] Step 3: In the material collection section, the loss reduction and vibration absorption collection bucket 221 swings counterclockwise, which makes it easier for the material to move to the highest point after being thrown out by the picking teeth 124, that is, the speed is close to 0, to complete the collection operation, which can greatly reduce the damage and loss caused by collision.

[0051] Step 4: After the material collection is completed, in the material lifting and conveying section, the loss reduction and vibration absorption collection bucket 221 swings clockwise to prevent the material from rolling off due to small vibrations during the conveying process and causing losses.

[0052] Step 5: When the material is conveyed to the top of the collection device 3, the loss reduction and vibration absorption collection bucket 221 swings counterclockwise until it coincides with the conveyor chain (225), and then automatically unloads the material.

[0053] Step Six: After unloading, the loss-reducing and vibration-absorbing aggregate hopper 221 swings clockwise to reduce the overall longitudinal space occupied, increase the passage, and prevent damage to crop branches.

[0054] The trajectory equation of the D-tip of the pickup tooth 124 is:

[0055] (Equation 1)

[0056] After time t, the crank has rotated 1000 times. ω 1 t Angle, points A, B, C, and D move from their initial positions to positions A', B', C', and D', respectively. L 1 The length of the crank OA is given. L2 This refers to a portion of the length of the connecting rod AB. L 3 The length of the rocker arm BC is... θ 2 For the AB turn, θ 3 The angle between AB and BC 、 θ 7 Let v be the central angle of the arc at the tip of the pickup tooth, v be the traveling speed of the device, and R be the radius of the arc at the tip of the pickup tooth.

[0057] After the material is thrown off the tooth surface of the pickup tooth, it undergoes projectile motion with an initial velocity of... v 0, v 0x for v 0 in x The component of velocity in the axial direction, v 0y for v 0 in y The component of velocity in the axial direction, t Let be the time elapsed after being thrown, g be the acceleration due to gravity, and (x0, y0) be the initial coordinates of the thrown material. Then the coordinate equation of the thrown material particle is:

[0058] (Equation 2)

[0059] The time it takes for the material to fly to its highest point c is:

[0060] (Equation 3)

[0061] ψ is the extreme position angle of the mechanism. If the material is to be thrown out, the picking mechanism should have a quick return characteristic, ψ>0; K is the stroke speed ratio coefficient of the mechanism, which should satisfy 1<K<3. l The spacing of the vibration-damping aggregate hoppers is for reducing the impact of vibration. r Let ω2 be the distance from the sprocket to the support shaft of the conveying mechanism, and ω2 be the angular velocity of the sprocket. To ensure the material is smoothly collected by the loss-reducing and vibration-absorbing collection hopper, the rotational speeds of the conveying mechanism and the picking mechanism should satisfy the following:

[0062] (Equation 4)

[0063] γ The angle between the conveying mechanism and the horizontal plane is... ε To reduce the opening angle of the vibration-damping aggregate hopper, the coefficient of friction between the material and the hopper material is: f , α To reduce the angle between the vibration-absorbing aggregate hopper and the horizontal plane, the following conditions must be met to achieve self-unloading:

[0064] tanα =tan( ε - γ ) ＞f (Equation 5).

[0065] The workflow of this invention is as follows: the frame 4 is installed on the machine, and the pickup tooth 124 is inserted below the ground surface.

[0066] While the machine moves forward, drive motors I11 and II21 are activated. Drive motor I11 drives crank 121 to rotate, which in turn drives connecting rod 122 to oscillate back and forth. Connecting rod 122 drives rocker arm 123 to oscillate back and forth, which in turn drives pickup teeth 124 to oscillate back and forth. The combined motion of the machine's forward movement and drive motor I11 causes pickup teeth 124 to lift and throw materials from the ground. Drive motor II21 drives sprocket 227 to rotate. Wheel 227 drives conveyor chain 225 to move, conveyor chain 225 drives support shaft 222 to move, support shaft 222 drives guide rod 223 to move, guide rod 223 drives guide roller 224 to move along guide rail 226, guide roller 224 swings under the guidance of guide rail 226, guide roller 224 drives guide rod 223 to swing, guide rod 223 drives support shaft 222 to rotate, and loss reduction and vibration absorption collection bucket 221 moves with conveyor chain 225 and swings with support shaft 222.

[0067] In the material collection section, the loss-reducing and vibration-absorbing collection bucket 221 swings counterclockwise, which makes it easier for the material to move to the highest point after being thrown out by the picking teeth 124, that is, when the speed is close to 0, to complete the collection operation. This can greatly reduce the damage and loss caused by collision.

[0068] After material collection is completed, in the material lifting and conveying section, the loss reduction and vibration absorption collection bucket 221 swings clockwise to prevent the material from rolling off due to small vibrations during the conveying process.

[0069] When the material is conveyed to the top of the collection device 3, the loss reduction and vibration absorption collection bucket 221 swings counterclockwise until it coincides with the conveyor chain 225, and then automatically unloads the material.

[0070] After unloading, the loss-reducing and vibration-absorbing aggregate hopper 221 swings clockwise to reduce the overall longitudinal space occupied, increase the passage, and prevent damage to crop branches.

[0071] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A sand ground fallen fruit pick-up, throwing and conveying self-unloading device, comprising a pick-up and throwing device (1), a guiding material conveying and automatic unloading device (2), a collecting device (3) and a frame (4), characterized in that: the pick-up and throwing device (1) is installed on the frame (4); the guiding material conveying and automatic unloading device (2) is installed on the frame (4); the collecting device (3) is installed on the frame (4); the pick-up and throwing device (1) matches the guiding material conveying and automatic unloading device (2); the guiding material conveying and automatic unloading device (2) matches the collecting device (3); the pick-up and throwing device (1) comprises a driving motor I (11) and a pick-up mechanism (12), the pick-up mechanism comprises a crank (121), a connecting rod (122), a rocker (123) and a pick-up tooth (124), the driving motor I (11) is installed on the frame (4), the output shaft of the driving motor I (11) is fixedly connected with one end of the crank (121), the other end of the crank (121) is rotatably connected with one end of the connecting rod (122), one end of the connecting rod (122) is rotatably connected with one end of the rocker (123), the other end of the rocker (123) is rotatably connected with the frame (4), the other end of the connecting rod (122) is fixedly connected with the pick-up tooth (124); the guiding material conveying and automatic unloading device (2) comprises a driving motor II (21) and a conveying mechanism (22), the conveying mechanism (22) comprises a loss-reducing vibration-absorbing material collecting bucket (221), a support shaft (222), a guiding connecting rod (223), a guiding roller (224), a conveying chain (225), a guide rail (226) and a sprocket (227), the driving motor II (21) is installed on the frame (4), the conveying mechanism (22) is installed on the frame (4), the output shaft of the driving motor II (21) is fixedly connected with the power input end of the sprocket (227), the conveying chain (225) is installed on the sprocket (227), the guide rail (226) is installed on the frame (4), a group of uniformly distributed support shafts (222) are installed on the conveying chain (225), each support shaft (222) is fixedly connected with a corresponding loss-reducing vibration-absorbing material collecting bucket (221), each support shaft (222) is fixedly connected with one end of a corresponding guiding connecting rod (223), the other end of each guiding connecting rod (223) is fixedly connected with a corresponding guiding roller (224), and each guiding roller (224) is nested in a corresponding guide rail (226). The pick-up tooth (124) matches the loss-reducing vibration-absorbing material collecting bucket (221). The loss-reducing vibration-absorbing material collecting bucket (221) matches the collecting device (3). The device comprises the following steps: Step one: install the frame (4) on a machine tool, and insert the pick-up tooth (124) into the ground below. ​ ​ ​ 2. The sand ground cherry pick-up, throwing and conveying self-unloading device according to claim 1, characterized in that: ​ 3. The sand ground cherry pick-up, throwing and conveying self-unloading device according to claim 2, characterized in that: ​ 4. The method of unloading of sand ground cherry pick-up, throwing and conveying self-unloading device according to claim 3, characterized in that, ​ ​ Step two: the machine tool moves forward, and the driving motor I (11) and the driving motor II (21) are turned on. The driving motor I (11) drives the crank (121) to rotate, the crank (121) drives the connecting rod (122) to swing back and forth, the connecting rod (122) drives the rocker (123) to swing back and forth, and the connecting rod (122) drives the picking tooth (124) to swing back and forth. The combined movement of the picking tooth (124) caused by the forward movement of the machine tool and the driving motor I (11) picks up and throws the material from the ground. The driving motor II (21) drives the sprocket (227) to rotate, the sprocket (227) drives the conveying chain (225) to move, the conveying chain (225) drives the support shaft (222) to move, the support shaft (222) drives the guide connecting rod (223) to move, the guide connecting rod (223) drives the guide roller (224) to move along the guide rail (226), the guide roller (224) swings under the guidance of the guide rail (226), the guide roller (224) drives the guide connecting rod (223) to swing, the guide connecting rod (223) drives the support shaft (222) to rotate, and the loss absorbing and vibration absorbing material collecting bucket (221) moves with the conveying chain (225) and swings with the support shaft (222); Step three: in the material collecting section, the loss absorbing and vibration absorbing material collecting bucket (221) swings counterclockwise to facilitate the movement of the material thrown by the picking tooth (124) to the highest point to complete the collection work, which can greatly reduce the damage and loss caused by collision; Step four: after the completion of material collection, in the material lifting and conveying section, the loss absorbing and vibration absorbing material collecting bucket (221) swings clockwise to prevent the material from rolling down and causing loss during the conveying process due to small amplitude vibration; Step five: when the material is conveyed above the collecting device (3), the loss absorbing and vibration absorbing material collecting bucket (221) swings counterclockwise to coincide with the conveying chain (225), and the automatic unloading starts; Step six: after the completion of unloading, the loss absorbing and vibration absorbing material collecting bucket (221) swings clockwise to reduce the longitudinal overall space occupation, increase the passability, and prevent damage to crop branches, The included angle between the loss absorbing and vibration absorbing material collecting bucket (221) and the guide connecting rod (223) in steps three, four, five and six is fixed, the guide roller (224) is always on the front side of the support shaft (222), the movement track of the guide roller (224) is limited by the guide rail (226), the swing angle of the guide connecting rod (223) is changed at the preset position, and thus the clockwise and counterclockwise swinging work of the loss absorbing and vibration absorbing material collecting bucket (221) is guided.

5. The unloading method according to claim 4, wherein: The trajectory equation of the tooth end D of the picking tooth (124) is: (Formula 1) After t time, the crank turns over ω 1 t Angle, A, B, C and D points are moved from the initial position to A', B', C' and D' positions, L 1 OA length of the crank (121), L 2 AB length of part of the connecting rod (122), L 3 BC length of the rocker (123), θ 2 AB rotation angle, θ 3 AB and BC included angle , θ 7 The tooth end arc center angle of the pickup tooth (124), v is the device running speed, and R is the tooth end arc radius of the pickup tooth (124). The material after being thrown off the tooth surface of the pickup tooth (124) performs a projectile motion, and the initial velocity v 0, v 0x is v 0 in the axial direction, x v 0y is v 0 in the axial direction, y t is the time experienced after being thrown, g is the acceleration of gravity, and (x0, y0) is the coordinate of the initial position of the thrown material, so the coordinate equation of the thrown material particle is:​​ (Formula 2) The time experienced by the material flying to the highest point c is: (Formula 3) ψ is the angle of the mechanism pole, if the material is thrown out, the pickup mechanism (12) should have the quick return characteristics, ψ > 0; K is the mechanism stroke speed ratio coefficient, should meet 1 < K < 3; l The distance between the loss reduction vibration absorbing aggregate buckets (221) is r The distance between the chain wheel (227) of the conveying mechanism (22) and the support shaft (222) is ω2, the angular velocity of the chain wheel, in order to make the loss reduction vibration absorbing aggregate bucket (221) collect the material smoothly, the rotating speed of the conveying mechanism (22) and the pickup mechanism (12) should meet: (Formula 4) γ the angle between the conveying mechanism (22) and the horizontal plane, ε to reduce the opening angle of the vibration-absorbing aggregate bucket (221), the friction coefficient between the material and the material of the vibration-absorbing aggregate bucket (221) is f , α the angle between the vibration-absorbing aggregate bucket (221) and the horizontal plane, so as to realize self-unloading. tanα = tan ( ε-γ ) ＞f (Formula 5).

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