A profiling traction type wolfberry picking machine and its using method

Abstract

The present invention discloses a profiling traction type wolfberry picking machine, which comprises an overall frame and frame baffles arranged on the left and right sides of the overall frame. The overall frame can provide a supporting effect for the component mechanisms arranged thereon. The overall frame comprises a supporting frame and a base bracket arranged at the bottom end thereof. An excitation device is arranged inside the supporting frame, a collection and conveying device is arranged at the upper end of the base bracket, and an air separation device is arranged at the rear end of the collection and conveying device. The present invention has the characteristics of reasonable structural design, high picking efficiency, low fruit damage rate, high picking clean rate, high automation degree, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery equipment, and in particular to a profiling traction type wolfberry picking machine. The present invention also relates to a method for using a profiling traction type wolfberry picking machine. Background Art

[0002] Wolfberry plants are multi-branched shrubs and are important cash crops in the northwest region of China. They have a long history and are both medicine and food. Wolfberry growth has the characteristics of "disordered inflorescence and continuous flowers and fruits", that is, flowering, fruiting, and ripening occur simultaneously, making the harvesting work difficult. At present, wolfberry picking mainly relies on hiring a large number of laborers for manual picking, which is an agricultural work with high labor intensity and large labor intensity. At the same time, manual picking has problems such as low efficiency and high costs, affecting the economic benefits of the wolfberry industry. Therefore, developing wolfberry picking equipment suitable for China's national conditions is of great significance for promoting the development of the wolfberry industry.

[0003] In view of the above problems, a wolfberry picking mechanism is disclosed in the prior art:

[0004] Application No. 201410151606.5, a vibrating wolfberry picking mechanism, includes a power part, a picking part, and a collection part. The power part includes a housing and a motor I arranged inside the housing. The motor I is electrically connected to a storage device I and a switch. The motor I is connected to a transmission shaft, and the transmission shaft is connected to the picking part. The picking part includes a brush body connected to the transmission shaft and a filtering device arranged below the brush body. The filtering device is connected to the collection part through a hose. The collection part includes a collection box connected to the hose, a suction pump connected to the hose, a motor II connected to the suction pump, and a storage device II electrically connected to the motor II. The disadvantages of this harvesting machine are low efficiency, and since the brush contacts the wolfberries, it is inevitable to cause damage to them, affecting the picking quality. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a profiling traction type wolfberry picking machine, which can solve the technical problems of low picking efficiency in the prior art and the picking mechanism directly acting on the fruits, resulting in fruit damage and affecting the picking quality. The present invention can also simultaneously realize automated operations of picking, transporting, air separation, and gathering, saving both time and manpower and material resources. The present invention also provides a method for using a profiling traction type wolfberry picking machine.

[0006] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0007] A profiling traction type wolfberry picking machine, which includes an overall frame and frame baffles arranged on the left and right sides of the overall frame. The overall frame can provide a supporting role for the component mechanisms arranged on it. The overall frame includes a support frame and a base bracket arranged at its bottom end. An excitation device is arranged inside the support frame, and a collection and conveying device is arranged at the upper end of the base bracket. A wind selection device is arranged at the rear end of the collection and conveying device;

[0008] The excitation device is connected to the top end of the support frame through bolts. The excitation device includes an excitation power mechanism and a picking mechanism connected to it through a vibration shaft. The excitation power mechanism can provide a power source for the picking mechanism to vibrate up and down. The excitation power mechanism includes a motor I located above the support frame and a crank-slider mechanism connected to the output shaft of the motor I. The picking mechanism can embrace the tree crown and shake off the fruits under the action of the excitation power mechanism. The picking mechanism includes a central support column connected to the vibration shaft, a picking disc I sleeved on the surface of the central support column, a picking disc II located at the bottom end of the central support column, a profiling rod connected to the picking disc I through a movable link, and picking rods arranged on the surface of the profiling rod;

[0009] A collection and conveying device is arranged below the picking mechanism. The collection and conveying device is arranged on the upper end surface of the base bracket in a symmetrical form. The collection and conveying device includes a conveying mechanism and a collection mechanism arranged inside it. The conveying mechanism is a component structure with a conveying slope, which can convey the gathered fruits into the wind selection device. The conveying mechanism includes a conveyor belt fixing bracket welded to the overall frame, a conveying shaft connected to the conveyor belt fixing bracket through a pin shaft, a conveyor belt support frame connected to the conveying shaft, and a conveyor belt sleeved on the outer surfaces of the conveying shaft and the conveyor belt support frame. The outside of the conveying mechanism is wrapped with a conveyor belt baffle; the collection mechanism can transfer the fruits falling on its plane to the conveying mechanism through its inclined plane. The collection mechanism includes a fixed small plate fixedly connected to the inside of the conveyor belt support frame and a movable small plate connected to the fixed small plate through a tension spring;

[0010] A wind selection device is arranged at the rear end of the conveying mechanism. The wind selection device can separate the fruits and leaves conveyed by the conveying mechanism through negative pressure wind force. The wind selection device includes a wind selection box located at the rear end of the conveying mechanism, a fruit collection box arranged below the wind selection box for concentrating the fruits, a fruit blocking plate arranged on the upper end surface of the fruit collection box, and a fan arranged at the rear end of the wind selection box and providing negative pressure wind force for the wind selection device;

[0011] A walking device is arranged below the base bracket, which can not only provide support for the overall frame and the component mechanisms arranged thereon, but also drive the overall frame and the component mechanisms arranged thereon to walk and move. The walking device includes a walking column arranged on the lower end surface of the base bracket and a walking wheel connected to the walking column through a walking shaft.

[0012] Furthermore, a driving device is connected to the front end of the overall frame at a certain angle. The driving device is a motor vehicle with a suspension structure that can travel in fields or hilly terrain. It provides traveling power for the overall frame and the component mechanisms arranged thereon through the traction of the suspension structure and the action of the traveling device.

[0013] Furthermore, the support frame includes vertical frames symmetrically arranged on the left and right sides of the overall frame, and the vertical frame includes vertical frame I, vertical frame II and vertical frame III which are arranged in sequence from the front end of the overall frame to the rear end of the overall frame, and the top ends of the vertical frame I, vertical frame II and vertical frame III are fixedly connected together by a connecting frame I, and the symmetrically arranged vertical frames are fixedly connected as a whole by transverse frames I and II which are respectively located at the front and rear ends of the inner side of the connecting frame I, and a motor support frame is arranged between the transverse frames I and II, and the upper end surface of the motor support frame is fixedly connected to the motor I, and an arc frame protruding toward the outside of the overall frame is arranged between the vertical frame II and the vertical frame III, and the rear end surface of the vertical frame III is fixedly connected to the connecting frame II, and the rear end of the connecting frame I is fixedly connected to the rear end of the connecting frame II through an oblique frame.

[0014] Furthermore, the frame baffle is fixedly connected to the outer side surface of the vertical frame, and the structural shape of the frame baffle fits the plane trend of the outer side surface of the vertical frame. The frame baffle not only provides a vibration collection area for the contoured traction type wolfberry picking machine, but also can prevent the fruits that fall due to vibration from escaping from the vibration collection area.

[0015] Furthermore, the base bracket is symmetrically arranged on the left and right sides of the overall frame, the outer edges of the upper end faces of the base bracket are fixedly connected to the bottom end faces of the vertical frames I, II and III, the lower end face of the base bracket is fixedly connected to the walking column of the walking device, the upper end face of the base bracket is welded to the conveyor belt fixing frame, and the tail of the upper end face of the base bracket is also fixedly connected to the fruit collecting box.

[0016] Furthermore, a gathering mechanism is provided at the front end of the overall frame, and the gathering mechanism is fixedly connected to the front end surface of the vertical frame I in the vertical frame located on the right side of the overall frame. The gathering mechanism not only has the function of separating the entangled branches of two adjacent wolfberry trees, but also has the function of gathering the branches of the harvested wolfberry trees.

[0017] Furthermore, a motor box is provided outside the motor I, and the motor box has the function of protecting the motor I. The bottom end surface of the motor box is movably connected to the top end surface of the support frame, so as to facilitate disassembly and maintenance.

[0018] Furthermore, the crank slider mechanism includes an eccentric disk fixedly connected to the output shaft of motor I and an eccentric connecting rod movably connected to the eccentric disk, the lower end of the eccentric connecting rod is connected to the picking mechanism through a vibration shaft, and the surface of the eccentric disk is provided with a plurality of eccentric holes of different specifications.

[0019] Furthermore, the top end of the central support column is fixedly connected to the vibration shaft, and the shape of the central support column is a cylindrical structure with a diameter increasing in steps from top to bottom. A picking plate I is sleeved on the upper outer surface of the central support column, and the central support column and the picking plate I are in a fixed connection relationship, and the shape of the picking plate I is a disc structure; the bottom end of the central support shaft is fixedly connected to the picking plate II through a transition rod, and the shape of the picking plate II is a circular ring structure. There are several transition rods, and the transition rods are evenly arranged inside the circular ring structure of the picking plate II. The left and right ends of the picking plate II are symmetrically hinged with profiling rods, and the left and right ends of the picking plate I are symmetrically hinged to the profiling rods through movable connecting rods; the shape of the profiling rod is arc-shaped, and the profiling rod There are several picking rods, which are evenly distributed on the left and right sides of the picking mechanism in a symmetrical form. The number of movable connecting rods hinged to the profiling rod is the same as the number of profiling rods. There are several picking rods, which are evenly arranged on the inner surface of the profiling rod in the direction toward the inside of the picking mechanism. With the cooperation of picking plate I, picking plate II and movable connecting rods, the internal space surrounded by the inner side surfaces of several arc-shaped profiling rods can be shaped into the shape of a crown, and several arc-shaped profiling rods can be stretched to corresponding sizes according to different crown diameters of target trees. When motor I provides power for the picking mechanism, the picking mechanism moves up and down in the form of embracing the crown. This profiling vibration mode does not directly act on the fruit, thereby reducing the fruit damage rate.

[0020] Preferably, the number of the contour rods is ten, which are five on the left and five on the right sides of the picking plate II. Correspondingly, the number of the movable connecting rods is ten.

[0021] Furthermore, a picking connecting piece is provided between the profiling rod and the picking rod, the interior of the picking connecting piece is provided as a cavity, a motor II is placed in the cavity, the motor II is sealed in the cavity of the picking connecting piece by a picking fixing sleeve connected to the output shaft of the motor II, a protrusion is provided on the surface of the picking fixing sleeve, the picking rod is sleeved on the protrusion on the surface of the picking fixing sleeve through a hole opened at one end thereof, the motor II can select a micro vibration motor, which can provide a power source for the vibration of the picking rod.

[0022] Further, the shape of the conveyor belt fixing frame is set as a U-shaped structure, and the number thereof is three. In the order from the front end to the rear end of the support frame, they are conveyor belt frame I, conveyor belt frame II, and conveyor belt frame III. The outer side of the conveyor belt frame I is fixedly connected to the inner side of the vertical frame II, the outer side of the conveyor belt frame II is fixedly connected to the inner side of the vertical frame III, and the outer side of the conveyor belt frame III is fixedly connected to the inner side of the connection part between the connection frame II and the diagonal frame. The conveyor belt fixing frame can limit the conveying mechanism to a component structure with a conveying slope.

[0023] Further, the conveyor shaft is movably connected to the inside of the U-shaped structure of the conveyor belt fixing frame through a pin shaft. The number of conveyor shafts is three. The conveyor shafts are arranged in the order from the front end to the rear end of the support frame, namely conveyor shaft I, conveyor shaft II, and conveyor shaft III. The conveyor belt support frame is located between two adjacent conveyor shafts. The front and rear ends of the conveyor belt support frame extend far away with connecting pieces. The connecting pieces of the conveyor belt support frame are arranged on the inner and outer sides of the conveyor shaft and are penetrated by the pin shaft connecting the conveyor shafts. The conveyor belt support frame includes conveyor belt support frame I and conveyor belt support frame II. The conveyor belt support frame II is arranged at an inclined angle. The inclined conveyor belt support frame II provides an upward inclined conveying direction for the conveying mechanism. The upper and lower ends of the conveyor belt support frame are both provided with flat tracks. The conveyor belt is sequentially wound around the conveyor shafts and the flat tracks of the conveyor belt support frame.

[0024] Further, two conveyor belt guiding pieces are oppositely arranged on the upper end surface of the connecting piece at the rear end of the conveyor belt support frame I. A circular protrusion is arranged on the opposite surface of the two conveyor belt guiding pieces. There is a gap between the bottom surface of the circular protrusion and the conveyor shaft II below it. When the conveyor belt is wound around the conveyor shaft and the flat track of the conveyor belt support frame, the edge of the conveyor belt can pass through this gap.

[0025] Further, the surface of the conveyor belt is evenly provided with partition plates.

[0026] Further, the conveyor belt baffle wraps the front side, outer side, lower side, rear side of the conveyor belt and the upper side of the conveyor belt above the conveyor belt support frame II inside it. The conveyor belt baffle has the function of preventing the fruits on the conveyor belt from deviating from the original route and falling to the ground during transportation. The conveyor belt fixing frame is located on the outer surface of the conveyor belt baffle.

[0027] Further, the collection mechanism is located directly below the picking mechanism. The collection mechanism is inclined and arranged symmetrically inside the conveyor belt support frame of the conveying mechanism. A number of fixed small plates are provided, which are evenly laid on the inner side surface of the upper end of the conveyor belt support frame. The side end surface of each fixed small plate is in close contact with the side end surface of the next fixed small plate. A number of movable small plates are provided. The number of movable small plates is the same as that of the fixed small plates and they correspond one by one. Between the fixed small plates and the movable small plates, a tension spring with one end connected to the lower end surface of the fixed small plate and the other end connected to the lower end surface of the movable small plate places the outer lower end surface of the movable small plate on the inner upper end surface of the fixed small plate.

[0028] Further, the winnowing device is arranged symmetrically on the left and right sides of the overall frame. The winnowing box is provided with a feed inlet, a suction port beside the feed inlet, and a discharge port below the feed inlet. The feed inlet, suction port, and discharge port of the winnowing box are all connected. The feed inlet of the winnowing box is connected to the space area wrapped by the conveyor belt baffle. The feed inlet of the winnowing box is located below the rear end of the conveyor belt. When the fruits transported on the conveyor belt reach the winnowing device, they can just enter the winnowing box through the feed inlet. The suction port of the winnowing box is connected to a fan that provides negative pressure wind force. The fan is connected to a motor Ⅳ. The fan can provide a negative pressure environment inside the winnowing box. The discharge port of the winnowing box extends into the interior of the fruit collection box.

[0029] Further, the upper end surface of the rear end of the fruit collection box is fixedly connected to the fruit blocking plate. The fruit blocking plate not only has the function of blocking the fruits entering the fruit collection box from bouncing out, but also has the function of blocking the overflow of the fruits filled in the fruit collection box. A number of holes are provided on the surface of the fruit blocking plate, and the collection degree of the fruits in the fruit collection box can be observed through the holes on the fruit blocking plate. The fan is fixedly connected to the upper end surface of the fruit blocking plate through a fan fixing frame.

[0030] Further, the walking column is fixedly connected to the lower surface of the base support through a walking base. The walking column includes an upper walking column, a middle walking column, and a lower walking column. The top of the upper walking column is fixedly connected to the walking base. The top of the middle walking column penetrates the bottom end surface of the upper walking column, so that the middle walking column can move up and down inside the upper walking column. The bottom end of the middle walking column is fixedly connected to the upper end surface of the lower walking column. A shock-absorbing spring is sleeved on the outer side surfaces of the upper walking column and the middle walking column. The shock-absorbing spring can provide a shock-absorbing effect when the profiling traction type wolfberry picking machine is walking. The bottom end of the lower walking column is connected to a walking wheel through a walking shaft. Four walking columns are provided, and four walking wheels are provided.

[0031] Further, the motor Ⅰ, motor Ⅱ, and motor Ⅳ are all electrically connected to an external power supply, and the external power supply can be the power supply on the driving device.

[0032] The present invention also provides a method for using a profiling traction type wolfberry picking machine, which can be applied to the above-mentioned profiling traction type wolfberry picking machine. The specific steps include:

[0033] Step S1: First, connect the driving device to the front end of the overall frame of the profiling traction type wolfberry picking machine at a certain angle. Start the driving device to tow the profiling traction type wolfberry picking machine to the target tree planting area. Adjust the position of the profiling traction type wolfberry picking machine so that the target tree is directly in front of the profiling traction type wolfberry picking machine. Drive the driving device forward in the direction of the target tree until the target tree enters the working area of the profiling traction type wolfberry picking machine. At this time, the profiling traction type wolfberry picking machine will straddle the target tree.

[0034] Step S2: When the target tree in Step S1 gradually enters the interior of the overall frame of the profiling traction type wolfberry picking machine, the trunk of the target tree touches the side surface of the movable small plate. As the profiling traction type wolfberry picking machine continues to move forward, the trunk of the target tree exerts a force on the side surface of the movable small plate in the direction of the fixed small plate. This force causes the tension spring connecting the movable small plate and the fixed small plate to be compressed by extrusion. Under the action of the tension spring being compressed by extrusion, the movable small plate moves outward along the plane trend of the upper end surface of the fixed small plate. When the target tree passes through this movable small plate and applies force to the next movable small plate, this movable small plate is no longer subject to external force, and the tension spring returns to its original state. Under the action of the tension spring rebounding, the movable small plate moves inward along the plane trend of the upper end surface of the fixed small plate and returns to its original position until the target tree reaches the central position of the collection mechanism. The driving device drives the profiling traction type wolfberry picking machine to stop moving forward. At this time, the picking mechanism is exactly above the target tree.

[0035] Step S3: When the target tree in step S2 arrives directly below the picking mechanism, with the cooperation of picking plate I, picking plate II and the movable connecting rod, the crown of the target tree expands the internal space surrounded by the inner sides of the plurality of arc-shaped profiling rods to a corresponding size, and the picking rods arranged on the profiling rods are inserted into the crown of the target tree, and the motors I, II, III and IV are energized to activate the picking mechanism, the conveying mechanism and the winnowing device; the motor I is activated to drive the eccentric disk connected to the output shaft of the motor to rotate, thereby driving the eccentric connecting rod connected to the eccentric disk to move, and the eccentric connecting rod drives the picking mechanism up and down through the vibration shaft connected to the bottom end thereof. The plate I and the picking plate II are hinged, and a plurality of profiling rods continuously move up and down and gather and disperse under the influence of inertia with the amplitude of the picking mechanism's up and down vibration. While the motor I is in motion, the motor II drives the picking rod inserted into the crown of the target tree to vibrate. At this time, under the dual vibration of the continuous up and down movement of the picking mechanism, i.e., a plurality of profiling rods, while holding or loosening the target tree inside thereof, and the picking rods' movement inside the target tree, the fruits on the target tree are shaken off and fall onto the surfaces of the moving small plate and the fixed small plate of the collecting mechanism, and as the upper end surface of the moving small plate and the upper end surface of the fixed small plate form a plane inclined downward, the fruits roll onto the conveyor belt of the conveying mechanism;

[0036] Step S4: When the motors I and II in step S3 are in motion, the motors III and IV are also in motion. The motor III is in motion, driving the gear reducer connected thereto to be in motion. The gear reducer can convert the high-speed output of the motor III into a low-speed output. The gear reducer is in motion, driving the transmission shaft III connected thereto to be in motion. The transmission shaft III is in motion, driving the conveyor belt surrounding its surface to be in motion. The fruits fall onto the conveyor belt, are separated by the baffle plates on the surface of the conveyor belt, and are transported to the air separation device in batches. The motor IV is in motion, driving the fan to be in motion. The fan provides a negative pressure environment in the air separation box. When the fruits on the conveyor belt enter the interior of the air separation box from the feed port on the air separation box, the fan sucks out the fruit leaves in the fruits entering the air separation box through the negative pressure of the air suction port of the fan, so as to achieve the purpose of separating the fruit leaves. The fruits after the separation of the fruit leaves are collected in the fruit collection box through the discharge port.

[0037] Step S5: After vibrating the crown of the target tree for a period of time, the power is cut off to motor I and motor II, and the driving device drives the contour-profiling traction type wolfberry picker to continue moving. The crown of the target tree leaves the operating range of the picking mechanism, and the trunk of the target tree applies an external force to the movable plate located at the rear end of the overall frame, so that the movable plate moves toward the outside of the fixed plate along the plane trend of the upper end surface of the fixed plate under the compression of the tension spring. When the target tree passes through the movable plate and applies force to the next movable plate, the movable plate is no longer subjected to external force, and the tension spring returns to its original state. Under the action of the tension spring rebound, the movable plate moves toward the inside of the fixed plate along the plane trend of the upper end surface of the fixed plate and returns to its original position until the target tree leaves the working area of the contour-profiling traction type wolfberry picker from the rear end of the overall frame. Thereafter, the driving device will drive the contour-profiling traction type wolfberry picker to perform vibration picking for the next target tree.

[0038] The beneficial effects brought by the present invention are:

[0039] 1. The present invention has the characteristics of reasonable structural design, high picking efficiency, low fruit damage rate, high clean picking rate, high degree of automation, etc. The profiling rods on the picking mechanism of the present invention can be stretched to corresponding sizes according to different crown diameters of target trees, and under the driving action of motors I and II, a plurality of profiling rods on the picking mechanism embrace the crown of the tree, while continuously moving up and down while hugging or loosening the target tree inside it, and the double vibration of the picking rods on the internal action of the target tree, to complete the vibration harvesting of the target tree. The profiling vibration mode does not directly act on the fruit, so that the fruit damage rate is reduced. At the same time, the transportation, winnowing and collection operations can be completed in one vibration harvesting operation, which saves time and saves manpower and material resources;

[0040] 2. The frame baffle of the present invention not only provides a vibration collection area for the contoured traction type wolfberry picking machine, but also can prevent the fruits that fall due to vibration from escaping the vibration collection area; the setting of eccentric holes of different specifications on the eccentric disk can control the rotation speed of the eccentric connecting rod, and then control the speed of the upper and lower vibrations of the picking mechanism connected to the eccentric connecting rod through the vibration shaft. The eccentric connecting rod connected to the eccentric hole closer to the central axis of the eccentric disk has a slower rotation speed, and the eccentric connecting rod connected to the eccentric hole farther from the central axis of the eccentric disk has a faster rotation speed; the conveyor belt baffle is set to prevent the fruits on the conveyor belt from deviating from the original route and falling to the ground during transportation;

[0041] 3. The coordinated arrangement of the movable small plate and the fixed small plate in the present invention can not only enable the target tree to smoothly reach the bottom of the picking mechanism, but also prevent the fruits on the target tree that are shaken off by the picking mechanism from falling to the ground, causing waste;

[0042] Other beneficial effects of the present invention will be further described in the following specific embodiments. Brief Description of the Drawings

[0043] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0044] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0045] Figure 2 is a top view of the overall structure of the present invention;

[0046] Figure 3 is a rear view of the overall structure of the present invention;

[0047] Figure 4 is a schematic diagram of the structure of the excitation device of the present invention;

[0048] Figure 5 is a front view of the excitation device of the present invention;

[0049] Figure 6 is a schematic diagram of the structure of the picking rod in the excitation device of the present invention;

[0050] Figure 7 is a schematic diagram of the structure of the collection and conveying device of the present invention;

[0051] Figure 8 is a schematic diagram of the structure of the collection plate in the collection and conveying device of the present invention;

[0052] Figure 9 is a schematic diagram of the structure of the air separation device of the present invention;

[0053] Wherein: 1. overall frame; 2. frame baffle; 3. collection and conveying device; 4. excitation device; 5. motor box; 6. air separation box; 7. fan; 8. fruit blocking plate; 9. fruit collection box; 10. traveling device; 11. picking rod; 12. profiling rod; 13. picking plate I; 14. movable connecting rod; 15. eccentric disc; 16. motor I; 17. eccentric connecting rod; 18. vibration shaft; 19. picking plate II; 20. tension spring; 21. fan fixing frame; 22. conveyor belt; 23. conveyor belt baffle; 24. conveyor shaft; 25. conveyor belt fixing frame; 26. conveyor belt support frame; 27. fixed small plate; 28. movable small plate; 29. motor II; 30. picking fixing sleeve; 31. central support column; 32. conveyor belt guide piece. Detailed Embodiments

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figures 1 to 9 As shown, a contour-profiling traction-type wolfberry picking machine comprises an overall frame 1 and frame baffles 2 arranged on the left and right sides of the overall frame 1, the overall frame 1 can provide support for the component mechanisms arranged thereon, the overall frame 1 comprises a supporting frame and a base bracket arranged at the bottom end thereof, a vibration device 4 is arranged inside the supporting frame, a collecting and conveying device 3 is arranged at the upper end of the base bracket, and a wind selection device is arranged at the rear end of the collecting and conveying device 3;

[0056] In the embodiment of the present invention, the support frame includes vertical frames symmetrically arranged on the left and right sides of the overall frame 1, and the vertical frame includes vertical frame I, vertical frame II and vertical frame III arranged from the front end of the overall frame 1 to the rear end of the overall frame 1 in sequence, and the tops of the vertical frame I, vertical frame II and vertical frame III are fixedly connected together by a connecting frame I, and the symmetrically arranged vertical frames are fixedly connected as a whole by transverse frames I and II located at the front and rear ends of the inner side of the connecting frame I, respectively, and a motor support frame is arranged between the transverse frame I and the transverse frame II, and the upper end surface of the motor support frame is fixedly connected to the motor I16, and an arc frame protruding to the outside of the overall frame 1 is arranged between the vertical frame II and the vertical frame III, and the rear end surface of the vertical frame III is fixedly connected to the connecting frame II, and the rear end of the connecting frame I is fixedly connected to the rear end of the connecting frame II through an oblique frame;

[0057] In the embodiment of the present invention, a gathering mechanism is provided at the front end of the overall frame 1, and the gathering mechanism is fixedly connected to the front end surface of the vertical frame I in the vertical frame located on the right side of the overall frame 1. The gathering mechanism not only has the function of separating the entangled branches of two adjacent wolfberry trees, but also has the function of gathering the branches of the harvested wolfberry trees;

[0058] In the embodiment of the present invention, the frame baffle 2 is fixedly connected to the outer side of the vertical frame, and the structural shape of the frame baffle 2 fits the plane trend of the outer side of the vertical frame. The frame baffle 2 not only has the function of providing a vibration collection area for the contoured traction type wolfberry picking machine, but also can prevent the fruits that fall due to vibration from escaping from the vibration collection area.

[0059] In the embodiments of the present invention, the base brackets are arranged on the left and right sides of the overall frame 1 in a symmetric form. The outer edges of the upper end surfaces of the base brackets are fixedly connected to the bottom end surfaces of the vertical frames I, II, and III. The bottom end surfaces of the base brackets are fixedly connected to the walking columns of the walking device 10. The conveyor belt fixing brackets 25 are welded to the upper end surfaces of the base brackets. The fruit collection box 9 is also fixedly connected to the tail of the upper end surface of the base bracket;

[0060] The vibration excitation device 4 is connected to the top end of the support frame by bolts. The vibration excitation device 4 includes a vibration excitation power mechanism and a picking mechanism connected thereto through a vibration shaft 18. The vibration excitation power mechanism can provide a power source for the picking mechanism to vibrate up and down. The vibration excitation power mechanism includes a motor I 16 located above the support frame and a crank-slider mechanism connected to the output shaft of the motor I 16. The picking mechanism can embrace the tree crown and shake off the fruits under the action of the vibration excitation power mechanism. The picking mechanism includes a central support column 31 connected to the vibration shaft 18, a picking disc I 13 sleeved on the surface of the central support column 31, a picking disc II 19 located at the bottom end of the central support column 31, a profiling rod 12 connected to the picking disc I 13 through a movable connecting rod 14, and picking rods 11 arranged on the surface of the profiling rod 12;

[0061] In the embodiments of the present invention, a motor box 5 is arranged outside the motor I 16. The motor box 5 has the function of protecting the motor I 16. The bottom end surface of the motor box 5 is movably connected to the top end surface of the support frame, which is convenient for disassembly and maintenance;

[0062] In the embodiments of the present invention, the crank-slider mechanism includes an eccentric disc 15 fixedly connected to the output shaft of the motor I 16 and an eccentric connecting rod 17 movably connected to the eccentric disc 15. The lower end of the eccentric connecting rod 17 is connected to the picking mechanism through the vibration shaft 18. A number of eccentric holes with different specifications are provided on the surface of the eccentric disc 15. The difference between each eccentric hole lies in the difference in the distance between the center of the eccentric hole and the central axis of the eccentric disc 15. The eccentric connecting rod 17 is connected to the eccentric disc 15 through the cooperation of the eccentric hole and the pin shaft. The setting of different specifications of eccentric holes can control the rotation speed of the eccentric connecting rod 17, and further control the up and down vibration speed of the picking mechanism connected to the eccentric connecting rod 17 through the vibration shaft 18. The rotation speed of the eccentric connecting rod 17 connected to the eccentric hole closer to the central axis of the eccentric disc 15 is slower, and the rotation speed of the eccentric connecting rod 17 connected to the eccentric hole farther from the central axis of the eccentric disc 15 is faster;

[0063] In the embodiment described in the present invention, the top end of the central support column 31 is fixedly connected to the vibration shaft 18, and the shape of the central support column 31 is a cylindrical structure with a diameter increasing in a step-like manner from top to bottom. The upper outer surface of the central support column 31 is sleeved with a picking plate Ⅰ13, and the central support column 31 and the picking plate Ⅰ13 are in a fixed connection relationship, and the shape of the picking plate Ⅰ13 is a disc structure; the bottom end of the central support shaft is fixedly connected to the picking plate Ⅱ19 through a transition rod, and the shape of the picking plate Ⅱ19 is a circular ring structure. There are several transition rods, and the transition rods are evenly arranged on the picking plate Inside the circular structure of II19, the left and right ends of the picking plate II19 are symmetrically hinged with a profiling rod 12, and the left and right ends of the picking plate I13 are symmetrically hinged with the profiling rod 12 through a movable connecting rod 14; the shape of the profiling rod 12 is arc-shaped, and the number of the profiling rods 12 is set to be several, which are evenly distributed on the left and right sides of the picking mechanism in a symmetrical form, and the number of the movable connecting rods 14 hinged to the profiling rod 12 is the same as the number of the profiling rods 12, and the number of the picking rods 11 is set to be several, which are oriented toward the inside of the picking mechanism. The inner surface of the profiling rod 12 is evenly arranged in the direction of the part. With the cooperation of the picking plate Ⅰ13, the picking plate Ⅱ19 and the movable connecting rod 14, the inner space surrounded by the inner side of the plurality of arc-shaped profiling rods 12 can be shaped into the shape of a crown, and the plurality of arc-shaped profiling rods 12 can be stretched to corresponding sizes according to different crown diameters of the target tree. When the motor Ⅰ16 provides power for the picking mechanism, the picking mechanism vibrates up and down in the form of embracing the crown. Specifically, due to the hinge connection between the profiling rod 12 and the picking plate Ⅰ13 and the picking plate Ⅱ19, when the motor Ⅰ1 6 When the crank slider mechanism is driven to move and then the picking mechanism moves up and down, the plurality of profiling rods 12 can continuously move up and down while concentrating and dispersing under the influence of inertia according to the amplitude of vibration. If there is a target tree in the internal space surrounded by the plurality of profiling rods 12 at this time, the picking rod 11 is inserted into the inside of the target tree. Under the action of the continuous picking mechanism, i.e., the plurality of profiling rods 12 moving up and down while hugging or loosening the target tree inside, the fruit on the target tree is vibrated off. This profiling vibration mode does not directly act on the fruit, so that the fruit damage rate is reduced;

[0064] Preferably, the number of the contour rods 12 is ten, and five of them are arranged on the left and right sides of the picking plate II 19, and accordingly, the number of the movable connecting rods 14 is ten;

[0065] In the embodiments of the present invention, a picking connecting piece is arranged between the profiling rod 12 and the picking rod 11. The interior of the picking connecting piece is provided with a cavity, and a motor II 29 is placed in the cavity. The motor II 29 is sealed in the cavity of the picking connecting piece through a picking fixing sleeve 30 connected to the output shaft of the motor II 29. The surface of the picking fixing sleeve 30 is provided with protrusions, and the picking rod 11 is sleeved on the protrusions on the surface of the picking fixing sleeve 30 through a hole opened at one end thereof. The motor II 29 can be a micro vibration motor, which can provide a power source for the vibration of the picking rod 11. Specifically, when the profiling rod 12 continuously provides vibration in the form of moving up and down while clamping or loosening the target tree inside it, the motor II 29 can provide a vibration power source for the picking rod 11 inserted into the crown of the target tree, further improving the efficiency of the picking mechanism for vibrating and dropping fruits;

[0066] A collection and conveying device 3 is arranged below the picking mechanism. The collection and conveying device 3 is arranged on the upper end surface of the base bracket in a symmetrical form. The collection and conveying device 3 includes a conveying mechanism and a collection mechanism arranged inside it. The conveying mechanism is a component structure with a conveying ramp, which can convey the gathered fruits into the air separation device. The conveying mechanism includes a conveyor belt fixing frame 25 welded to the overall frame 1, a transmission shaft 24 connected to the conveyor belt fixing frame 25 through a pin shaft, a conveyor belt support frame 26 connected to the transmission shaft 24, and a conveyor belt 22 sleeved on the outer surfaces of the transmission shaft 24 and the conveyor belt support frame 26. The outside of the conveying mechanism is wrapped with a conveyor belt baffle 23; the collection mechanism can transfer the fruits falling on its plane to the conveying mechanism through its inclined plane. The collection mechanism includes a fixed small plate 27 fixedly connected to the inner side of the conveyor belt support frame 26 and a movable small plate 28 connected to the fixed small plate 27 through a tension spring 20;

[0067] In the embodiments of the present invention, the shape of the conveyor belt fixing frame 25 is set as a U-shaped structure, and the number of it is three. In the order from the front end to the rear end of the support frame, they are the conveyor belt frame I, the conveyor belt frame II, and the conveyor belt frame III. The outer side of the conveyor belt frame I is fixedly connected to the inner side of the vertical frame II, the outer side of the conveyor belt frame II is fixedly connected to the inner side of the vertical frame III, and the outer side of the conveyor belt frame III is fixedly connected to the inner side of the connection point between the connection frame II and the diagonal frame. The conveyor belt fixing frame 25 can define the conveying mechanism as a component structure with a conveying ramp;

[0068] In the embodiments of the present invention, the conveying shaft 24 is movably connected inside the U-shaped structure of the conveyor belt fixing frame 25 through a pin shaft. The number of the conveying shafts 24 is set to three. The driving shafts are arranged in the order from the front end to the rear end of the support frame, namely the conveying shaft I, the conveying shaft II, and the conveying shaft III. The conveyor belt support frame 26 is located between two adjacent conveying shafts 24. The front and rear ends of the conveyor belt support frame 26 extend outwards with connecting pieces. The connecting pieces of the conveyor belt support frame 26 are arranged on the inner and outer sides of the conveying shaft 24 and are penetrated by the pin shaft connecting the conveying shaft 24. The conveyor belt support frame 26 includes a conveyor belt support frame I and a conveyor belt support frame II. The conveyor belt support frame II is arranged at an inclined angle. The inclined conveyor belt support frame II provides an upward inclined conveying direction for the conveying mechanism. The upper and lower ends of the conveyor belt support frame 26 are both provided with flat tracks. The conveyor belt 22 sequentially surrounds the conveying shafts 24 and the flat tracks of the conveyor belt support frame 26. Specifically, a conveyor belt support frame I is arranged between the conveying shaft I and the conveying shaft II, and a conveyor belt support frame II is arranged between the conveying shaft II and the conveying shaft III. The conveyor belt 22 sequentially surrounds the surface of the conveying shaft I, the upper flat track of the conveyor belt support frame I, the surface of the conveying shaft II, the upper flat track of the conveyor belt support frame II, the surface of the conveying shaft III, the lower flat track of the conveyor belt support frame II, the surface of the conveying shaft II, and the lower flat track of the conveyor belt support frame I, and finally surrounds the surface of the conveying shaft I again;

[0069] In the embodiments of the present invention, the conveying shaft III is connected with a gear reducer, the gear reducer is connected with a motor III, the gear reducer can convert the high-speed output of the motor III into a low-speed output, and the motor III has the function of providing working power for the conveying mechanism;

[0070] In the embodiments of the present invention, two conveyor belt guiding pieces 32 are oppositely arranged on the upper end surface of the connecting piece at the rear end of the conveyor belt support frame I. Circular protrusions are arranged on the opposite surfaces of the two conveyor belt guiding pieces 32. There is a gap between the bottom surface of the circular protrusion and the conveying shaft II below it. When the conveyor belt 22 surrounds the conveying shafts 24 and the flat tracks of the conveyor belt support frame 26, the edge of the conveyor belt 22 can pass through the gap. The circular protrusions on the conveyor belt guiding pieces 32 can limit the position of the conveyor belt 22, so that the conveyor belt 22 is always in close contact with the surface of the conveying shaft 24 and the flat tracks of the conveyor belt support frame 26 along the conveying direction of the conveying mechanism;

[0071] In the embodiments of the present invention, partition plates are evenly arranged on the surface of the conveyor belt 22. The partition plates not only have the function of batch-transporting fruits to avoid excessive fruit accumulation and thus prevent the fruits from scattering during transportation, but also have the purpose of providing support for the fruits transported on the inclined conveying slope to prevent them from falling. There is a gap between the circular protrusions on the opposite surfaces of the two conveyor belt guiding pieces 32. The partition plates on the conveyor belt 22 can just pass through this gap, and convey the fruits concentrated between the partition plates and the conveyor belt 22 to the winnowing device;

[0072] In the embodiments of the present invention, the conveyor belt baffle 23 wraps the front side, outer side, lower side, rear side of the conveyor belt 22 and the upper side of the conveyor belt 22 located above the conveyor belt support frame II inside it in turn. The conveyor belt baffle 23 has the function of preventing the fruits on the conveyor belt 22 from deviating from the original route and falling to the ground during transportation. The conveyor belt fixing frame 25 is located on the outer surface of the conveyor belt baffle 23;

[0073] In the embodiments of the present invention, the collection mechanism is located directly below the picking mechanism. The collection mechanism is inclined and arranged symmetrically inside the conveyor belt support frame 26 of the conveying mechanism. The number of the fixed small plates 27 is set to be several, and they are evenly laid on the inner side surface of the upper end of the conveyor belt support frame 26. The side end surface of each fixed small plate 27 is in close contact with the side end surface of the next fixed small plate 27. The number of the movable small plates 28 is set to be several. The number of the movable small plates 28 is the same as that of the fixed small plates 27 and they correspond one by one. Between the fixed small plates 27 and the movable small plates 28, there is a tension spring 20 with one end connected to the lower end surface of the fixed small plate 27 and the other end connected to the lower end surface of the movable small plate 28, placing the outer lower end surface of the movable small plate 28 on the inner upper end surface of the fixed small plate 27. When the inner side of the movable small plate 28 is subjected to a force in the direction towards the outside of the movable small plate 28, under the action of the compression of the tension spring 20, the movable small plate 28 can move towards the outside of the fixed small plate 27 along the plane trend of the upper end surface of the fixed small plate 27. When this acting force disappears, the tension spring 20 returns to its original state. At this time, the movable small plate 28 moves towards the inner side of the fixed small plate 27 along the plane trend of the upper end surface of the fixed small plate 27. The cooperative setting of the movable small plate 28 and the fixed small plate 27 can not only enable the target tree to reach directly below the picking mechanism smoothly, but also prevent the fruits shaken off by the picking mechanism on the target tree from falling to the ground and causing waste; the upper end surfaces of the movable small plate 28 and the fixed small plate 27 form an inclined downward plane. When the fruits are shaken off and fall onto this plane, the fruits can roll along this inclined plane onto the conveyor belt 22 of the conveying mechanism;

[0074] In the embodiments of the present invention, the shapes and structures of the movable small plate 28 and the fixed small plate 27 are both parallelograms.

[0075] A winnowing device is provided at the rear end of the conveying mechanism. The winnowing device can separate fruit leaves from the fruits conveyed by the conveying mechanism through negative-pressure wind force. The winnowing device includes a winnowing box 6 located at the rear end of the conveying mechanism, a fruit collection box 9 arranged below the winnowing box 6 for concentrating fruits, a fruit blocking plate 8 provided on the upper end surface of the fruit collection box 9, and a blower 7 provided at the rear end of the winnowing box 6 and used to provide negative-pressure wind force for the winnowing device.

[0076] In the embodiment of the present invention, the winnowing device is arranged on the left and right sides of the overall frame 1 in a stacked form. The winnowing box 6 is provided with a feed inlet, a suction port beside the feed inlet, and a discharge port below the feed inlet. The feed inlet, suction port, and discharge port of the winnowing box 6 are all connected. The feed inlet of the winnowing box 6 is connected to the space area wrapped by the conveyor belt baffle 23. The feed inlet of the winnowing box 6 is located below the rear end of the conveyor belt 22. When the fruits conveyed on the conveyor belt 22 reach the winnowing device, they can just enter the winnowing box 6 through the feed inlet. The suction port of the winnowing box 6 is connected to a blower 7 that provides negative-pressure wind force. The blower 7 is connected to a motor Ⅳ. The blower 7 can provide a negative-pressure environment inside the winnowing box 6, and suck the fruit leaves in the fruits entering through the feed inlet of the winnowing box 6 by the negative pressure of the blower 7 to achieve the purpose of fruit-leaf separation. The motor Ⅳ can provide working power for the blower 7. The discharge port of the winnowing box 6 extends into the interior of the fruit collection box 9. After the fruit-leaf separation, the fruits can be gathered in the fruit collection box 9 through the discharge port.

[0077] In the embodiment of the present invention, the upper end surface of the rear end of the fruit collection box 9 is fixedly connected to the fruit blocking plate 8. The fruit blocking plate 8 not only has the function of blocking the fruits entering the fruit collection box 9 from bouncing out, but also has the function of blocking the overflow of the fruits filled in the fruit collection box 9. A plurality of holes are provided on the surface of the fruit blocking plate 8, and the collection degree of the fruits in the fruit collection box 9 can be observed through the holes on the fruit blocking plate 8. The blower 7 is fixedly connected to the upper end surface of the fruit blocking plate 8 through a blower fixing frame 21.

[0078] In the embodiment of the present invention, a closing door is provided on the rear end surface of the fruit collection box 9. When the fruit collection box 9 is filled with fruits, the fruits in the fruit collection box 9 can be centrally collected through the closing door.

[0079] A traveling device 10 is provided below the base bracket. The traveling device 10 can not only provide a supporting effect for the overall frame 1 and the component mechanisms provided thereon, but also drive the overall frame 1 and the component mechanisms provided thereon to travel and move. The traveling device 10 includes traveling columns arranged on the lower end surface of the base bracket and traveling wheels connected to the traveling columns through traveling shafts.

[0080] In the embodiments of the present invention, the walking column is fixedly connected to the lower surface of the base bracket through a walking base. The walking column includes an upper walking column, a middle walking column, and a lower walking column. The top end of the upper walking column is fixedly connected to the walking base. The top end of the middle walking column penetrates the bottom end surface of the upper walking column, so that the middle walking column can move up and down inside the upper walking column. The bottom end of the middle walking column is fixedly connected to the upper end surface of the lower walking column. A shock-absorbing spring is sleeved on the outer sides of the upper walking column and the middle walking column. The shock-absorbing spring can provide a shock-absorbing effect when the profiling traction type wolfberry picking machine is walking. The bottom end of the lower walking column is connected to a walking wheel through a walking shaft. The number of the walking columns is set to four, and the number of the walking wheels is set to four.

[0081] In the embodiments of the present invention, a driving device is connected to the front end of the overall frame 1 at a certain angle. The driving device is a motor vehicle with a suspension structure that can walk in the field or in hilly and mountainous terrains. It provides a traveling power for the overall frame 1 and the component mechanisms arranged thereon through the pulling of the suspension structure and under the action of the walking device 10.

[0082] In the embodiments of the present invention, the motor I 16, the motor II 29, the motor III, and the motor IV are all electrically connected to an external power source. The external power source can be the power source on the driving device. Those skilled in the art can design the circuit between the external power source and the motor I 16, the motor II 29, and the motor IV according to the actual situation. As long as the circuit layout can achieve the purpose of providing power output from the external power source to the motor I 16, the motor II 29, and the motor IV, it is within the protection scope of the present invention.

[0083] The present invention also provides a using method of a profiling traction type wolfberry picking machine, which can be applied to the above-mentioned profiling traction type wolfberry picking machine. The specific steps include:

[0084] Step S1: First, connect the driving device to the front end of the overall frame 1 of the profiling traction type wolfberry picking machine at a certain angle. Start the driving device to tow the profiling traction type wolfberry picking machine to the target tree planting area. Adjust the position of the profiling traction type wolfberry picking machine so that the target tree is directly in front of the profiling traction type wolfberry picking machine. Drive the driving device forward in the direction of the target tree until the target tree enters the working area of the profiling traction type wolfberry picking machine. At this time, the profiling traction type wolfberry picking machine will straddle the target tree.

[0085] Step S2: When the target tree in step S1 gradually enters the interior of the overall frame 1 of the profiling traction type wolfberry picking machine, the trunk of the target tree touches the side of the movable small plate 28. As the profiling traction type wolfberry picking machine continues to move forward, the trunk of the target tree applies a force toward the fixed small plate 27 to the side of the movable small plate 28. This force causes the tension spring 20 connecting the movable small plate 28 and the fixed small plate 27 to be squeezed and compressed. Under the action of the squeezing and compression of the tension spring 20, the movable small plate 28 moves along the plane of the upper end surface of the fixed small plate 27. The moving plate 28 moves toward the outside of the fixed small plate 27 along the plane trend of the upper end surface of the fixed small plate 27. When the target tree passes through the moving small plate 28 and applies force to the next moving small plate 28, the moving small plate 28 is no longer subjected to external force, and the tension spring 20 returns to its original state. Under the action of the rebound of the tension spring 20, the moving small plate 28 moves toward the inside of the fixed small plate 27 along the plane trend of the upper end surface of the fixed small plate 27 and returns to its original position until the target tree reaches the center position of the collecting mechanism. The driving device drives the contour-profiling traction type wolfberry picking machine to stop moving forward. At this time, the picking mechanism is just above the target tree.

[0086] Step S3: When the target tree in step S2 arrives directly below the picking mechanism, with the cooperation of the picking plate Ⅰ13, the picking plate Ⅱ19 and the movable connecting rod 14, the crown of the target tree expands the internal space surrounded by the inner side surfaces of the plurality of arc-shaped profiling rods 12 to a corresponding size, and the picking rod 11 arranged on the profiling rod 12 is inserted into the crown of the target tree, and the motor Ⅰ16, the motor Ⅱ29, the motor Ⅲ and the motor Ⅳ are energized to make the picking mechanism, the conveying mechanism and the winnowing device all operate; the motor Ⅰ16 operates, driving the eccentric disk 15 connected to the output shaft of the motor to rotate, and then driving the eccentric connecting rod 17 connected to the eccentric disk 15 to operate, and the eccentric connecting rod 17 drives the picking mechanism up and down through the vibration shaft 18 connected to its bottom end. The picking plates Ⅰ13 and Ⅱ19 are hinged, and a plurality of profiling rods 12 continuously move up and down and concentrate and disperse under the influence of inertia with the amplitude of the picking mechanism's up and down vibration. While the motor Ⅰ16 is in motion, the motor Ⅱ29 drives the picking rod 11 inserted into the crown of the target tree to vibrate. At this time, under the dual vibration of the continuous picking mechanism, i.e., the plurality of profiling rods 12 moving up and down while hugging or loosening the target tree inside thereof, and the picking rod 11 moving the target tree inside, the fruits on the target tree are shaken off and fall onto the surfaces of the moving small plate 28 and the fixed small plate 27 of the collecting mechanism, and as the upper end surface of the moving small plate 28 and the upper end surface of the fixed small plate 27 form a plane inclined downward, the fruits roll onto the conveyor belt 22 of the conveying mechanism.

[0087] Step S4: While the motor Ⅰ 16 and the motor Ⅱ 29 in step S3 are operating, the motor Ⅲ and the motor Ⅳ also operate. The motor Ⅲ operates to drive the gear reducer connected thereto. The gear reducer can convert the high-speed output of the motor Ⅲ into a low-speed output. The operation of the gear reducer drives the transmission shaft Ⅲ connected thereto. The operation of the transmission shaft Ⅲ drives the conveyor belt 22 surrounding its surface. The fruits fall onto the conveyor belt 22 and are separated by the baffle plates on the surface of the conveyor belt 22 and are batch-transported into the winnowing device; the motor Ⅳ operates to drive the fan 7. The fan 7 provides a negative pressure environment inside the winnowing box 6. When the fruits on the conveyor belt 22 enter the inside of the winnowing box 6 through the feed port on the winnowing box 6, the fan 7 sucks out the fruit leaves in the entering fruits through the suction port under negative pressure to achieve the purpose of fruit leaf separation. The fruits after fruit leaf separation are collected in the fruit collection box 9 through the discharge port;

[0088] Step S5: After vibrating the crown of the target tree for a period of time, the power supply to the motor Ⅰ 16 and the motor Ⅱ 29 is cut off. The driving device drives the profiling and traction type wolfberry picking machine to continue moving forward. The crown of the target tree is out of the working range of the picking mechanism. The trunk of the target tree applies an external force to the moving small plate 28 located at the rear end of the overall frame 1, so that the moving small plate 28 moves outward along the plane trend of the upper end surface of the fixed small plate 27 under the compression of the tension spring 20. When the target tree passes through this moving small plate 28 and applies force to the next moving small plate 28, this moving small plate 28 is no longer subject to external force, and the tension spring 20 returns to its original state. Under the action of the rebound of the tension spring 20, the moving small plate 28 moves inward along the plane trend of the upper end surface of the fixed small plate 27 and returns to its original position until the target tree detaches from the working area of the profiling and traction type wolfberry picking machine from the rear end of the overall frame 1. Thereafter, the driving device will drive the profiling and traction type wolfberry picking machine to perform vibration picking work on the next target tree.

[0089] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A profiling traction type wolfberry picking machine, characterized in that: It includes an overall framework and framework baffles arranged on the left and right sides of the overall framework. The overall framework can provide a supporting effect for the component mechanisms arranged thereon. The overall framework includes a support framework and a base bracket arranged at its bottom end. An excitation device is arranged inside the support framework, a collection and conveying device is arranged at the upper end of the base bracket, and an air separation device is arranged at the rear end of the collection and conveying device; The excitation device is connected to the top end of the support framework by bolts. The excitation device includes an excitation power mechanism and a picking mechanism connected to it through a vibration shaft. The excitation power mechanism can provide a power source for the picking mechanism to vibrate up and down. The excitation power mechanism includes a motor I located above the support framework and a crank-slider mechanism connected to the output shaft of the motor I. The picking mechanism can embrace the tree crown and shake off fruits under the action of the excitation power mechanism. The picking mechanism includes a central support column connected to the vibration shaft, a picking disc I sleeved on the surface of the central support column, a picking disc II located at the bottom end of the central support column, a profiling rod connected to the picking disc I through a movable connecting rod, and picking rods arranged on the surface of the profiling rod. The bottom end of the central support column is fixedly connected to the picking disc II through a transition rod. The left and right ends of the picking disc II are symmetrically hinged with profiling rods, and the left and right ends of the picking disc I are symmetrically hinged with profiling rods through movable connecting rods; The profiling rod is arc-shaped, and a number of profiling rods are arranged, which are evenly distributed on the left and right sides of the picking mechanism in a symmetric form. A number of picking rods are arranged, which are evenly distributed on the inner side surface of the profiling rod in the direction towards the inside of the picking mechanism. With the cooperation of the picking disc I, the picking disc II and the movable connecting rod, the internal space surrounded by the inner side surfaces of a number of arc-shaped profiling rods can be profiled into the shape of a tree crown. A picking connecting piece is arranged between the profiling rod and the picking rod. The inside of the picking connecting piece is a cavity, and a motor II is placed in the cavity. The motor II is a micro vibration motor. The motor II is sealed in the cavity of the picking connecting piece through a picking fixing sleeve connected to the output shaft of the motor II. The surface of the picking fixing sleeve is provided with protrusions, and the picking rod is sleeved on the protrusions on the surface of the picking fixing sleeve through a hole opened at one end of it; A collection and conveying device is arranged below the picking mechanism. The collection and conveying device is symmetrically arranged on the upper end surface of the base bracket. The collection and conveying device includes a conveying mechanism and a collection mechanism arranged inside it. The conveying mechanism is a component structure with a conveying ramp, which can convey the gathered fruits into the air separation device. The conveying mechanism includes a conveyor belt fixing frame welded to the overall frame, a transmission shaft connected to the conveyor belt fixing frame through a pin shaft, a conveyor belt support frame connected to the transmission shaft, and a conveyor belt sleeved on the outer surfaces of the transmission shaft and the conveyor belt support frame. The outside of the conveying mechanism is wrapped with a conveyor belt baffle; the collection mechanism can transfer the fruits falling on its plane to the conveying mechanism through its inclined plane. The collection mechanism includes a fixed small plate fixedly connected to the inside of the conveyor belt support frame and a movable small plate connected to the fixed small plate through a tension spring; An air separation device is arranged at the rear end of the conveying mechanism. The air separation device can separate the fruits and leaves conveyed by the conveying mechanism through negative pressure wind force. The air separation device includes an air separation box located at the rear end of the conveying mechanism, a fruit collection box arranged below the air separation box for concentrating fruits, a fruit blocking plate arranged on the upper end surface of the fruit collection box, and a fan arranged at the rear end of the air separation box and providing negative pressure wind force for the air separation device; A traveling device is arranged below the base bracket. The traveling device can not only provide a supporting effect for the overall frame and the component mechanisms arranged thereon, but also drive the overall frame and the component mechanisms arranged thereon to walk and move. The traveling device includes traveling columns arranged on the lower end surface of the base bracket and traveling wheels connected to the traveling columns through traveling shafts.

2. The profiling traction type wolfberry picking machine according to claim 1, characterized in that: The support frame includes vertical frames symmetrically arranged on the left and right sides of the overall frame. The symmetrically arranged vertical frames are fixedly connected into one body through a transverse frame I and a transverse frame II. An electric motor support frame is arranged between the transverse frame I and the transverse frame II. An electric motor I is fixedly connected to the upper end surface of the electric motor support frame. The vertical frame is provided with an arc-shaped frame protruding outward from the overall frame. A connecting frame II is arranged at the rear end of the vertical frame and fixedly connected to the top end of the vertical frame through an inclined frame; the frame baffle is fixedly connected to the outer side surface of the vertical frame. The structural shape of the frame baffle fits the plane trend of the outer side surface of the vertical frame. The base bracket is symmetrically arranged on the left and right sides of the overall frame. The outer edge of the upper end surface of the base bracket is fixedly connected to the bottom end surface of the vertical frame.

3. The profiling traction type wolfberry picking machine according to claim 1, characterized in that: A gathering mechanism is arranged at the front end of the overall frame. The gathering mechanism is fixedly connected to the front end surface of the vertical frame I in the vertical frame located on the right side of the overall frame.

4. The profiling traction type wolfberry picking machine according to claim 1, wherein: The crank-slider mechanism includes an eccentric disc fixedly connected to the output shaft of the electric motor I and an eccentric connecting rod movably connected to the eccentric disc. The lower end of the eccentric connecting rod is connected to the picking mechanism through a vibration shaft. A number of eccentric holes with different specifications are formed on the surface of the eccentric disc. The eccentric connecting rod is connected to the eccentric disc through the cooperation of the eccentric hole and the pin shaft; the top end of the central support column is fixedly connected to the vibration shaft, and a picking disc I is sleeved on the outer surface of the upper part of the central support column.

5. The profiling traction type wolfberry picking machine according to claim 1, characterized in that: The shape of the conveyor belt fixing frame is set as a U-shaped structure. The conveyor shaft is movably connected inside the U-shaped structure of the conveyor belt fixing frame through a pin shaft. The number of conveyor shafts is set to three. The conveyor belt support frame is located between two adjacent conveyor shafts. The front and rear ends of the conveyor belt support frame extend far away with connecting pieces. The connecting pieces of the conveyor belt support frame are arranged on the inner and outer sides of the conveyor shaft and are penetrated by the pin shaft connecting the conveyor shafts. The conveyor belt support frame includes a conveyor belt support frame I and a conveyor belt support frame II. The conveyor belt support frame II is set at an inclined angle. The inclined conveyor belt support frame II provides an upward inclined conveying direction for the conveying mechanism. The upper and lower ends of the conveyor belt support frame are both provided with flat tracks. The conveyor belt sequentially surrounds the conveyor shaft and the flat tracks of the conveyor belt support frame. On the upper end face of the connecting piece at the rear end of the conveyor belt support frame I, two conveyor belt guiding pieces are oppositely arranged. On the opposite faces of the two conveyor belt guiding pieces, there are circular protrusions. There is a gap between the bottom side surface of the circular protrusion and the conveyor shaft II below it. When the conveyor belt surrounds the conveyor shaft and the flat tracks of the conveyor belt support frame, the edge of the conveyor belt can pass through this gap; The surface of the conveyor belt is evenly provided with baffle plates.

6. The profiling traction type wolfberry picking machine according to claim 1, wherein: The collection mechanism is located directly below the picking mechanism. The collection mechanism is inclined and arranged symmetrically inside the conveyor belt support frame of the conveying mechanism. The number of fixed small plates is set to several, and they are evenly laid on the inner side surface of the upper end of the conveyor belt support frame. The side end face of each fixed small plate is in close contact with the side end face of the next fixed small plate. The number of movable small plates is set to several, and the number of movable small plates is the same as that of the fixed small plates and corresponds one by one. Between the fixed small plate and the movable small plate, a tension spring with one end connected to the lower end face of the fixed small plate and the other end connected to the lower end face of the movable small plate places the outer lower end face of the movable small plate on the inner upper end face of the fixed small plate.

7. The profiling traction type goji berry picking machine according to claim 1, wherein: The winnowing device is arranged in a stacked form on the left and right sides of the overall frame. The winnowing box is provided with a feed inlet, an air suction port beside the feed inlet, and a discharge port below the feed inlet. The feed inlet, the air suction port, and the discharge port of the winnowing box are all connected. The feed inlet of the winnowing box is connected to the space area wrapped by the conveyor belt baffle. The feed inlet of the winnowing box is located below the rear end of the conveyor belt. When the fruits transported on the conveyor belt reach the winnowing device, they can just enter the winnowing box through the feed inlet; The air suction port of the winnowing box is connected to a fan that provides negative pressure wind power. The fan is connected to a motor IV. The discharge port of the winnowing box extends into the inside of the fruit collection box. The upper end face of the rear end of the fruit collection box is fixedly connected to the fruit blocking plate. The fan is fixedly connected to the upper end face of the fruit blocking plate through a fan fixing frame.

8. The profiling traction type wolfberry picking machine according to claim 1, characterized in that: The walking column is fixedly connected to the lower surface of the base bracket through a walking base. The walking column includes an upper walking column, a middle walking column, and a lower walking column. The top end of the upper walking column is fixedly connected to the walking base. The top end of the middle walking column penetrates the bottom end surface of the upper walking column, so that the middle walking column can move up and down inside the upper walking column. The bottom end of the middle walking column is fixedly connected to the upper end surface of the lower walking column. A shock-absorbing spring is sleeved on the outer sides of the upper walking column and the middle walking column. The bottom end of the lower walking column is connected to a walking wheel through a walking shaft. The number of walking columns is set to four, and the number of walking wheels is set to four.

9. A method for using a profiling traction type wolfberry picking machine, which can be applied to any one of the above claims, characterized in that: The specific steps include: Step S1: First, connect the driving device to the front end of the overall frame of the profiling traction type wolfberry picking machine at a certain angle. Start the driving device to tow the profiling traction type wolfberry picking machine to the target tree planting area. Adjust the position of the profiling traction type wolfberry picking machine so that the target tree is directly in front of the profiling traction type wolfberry picking machine. Drive the driving device forward in the direction of the target tree until the target tree enters the working area of the profiling traction type wolfberry picking machine. At this time, the profiling traction type wolfberry picking machine will straddle the target tree. Step S2: When the target tree in Step S1 gradually enters the inside of the overall frame of the profiling traction type wolfberry picking machine, the trunk of the target tree touches the side surface of the moving small plate. As the profiling traction type wolfberry picking machine continues to move forward, the trunk of the target tree exerts a force on the side surface of the moving small plate in the direction of the fixed small plate. This force causes the tension spring connecting the moving small plate and the fixed small plate to be compressed under extrusion. Under the action of the tension spring being compressed under extrusion, the moving small plate moves outward along the plane trend of the upper end surface of the fixed small plate. When the target tree passes through this moving small plate and applies a force to the next moving small plate, this moving small plate is no longer subject to an external force, and the tension spring returns to its original state. Under the action of the tension spring rebounding, the moving small plate moves inward along the plane trend of the upper end surface of the fixed small plate and returns to its original position until the target tree reaches the central position of the collection mechanism. The driving device drives the profiling traction type wolfberry picking machine to stop moving forward. At this time, the picking mechanism is exactly above the target tree. Step S3: When the target tree in step S2 arrives directly below the picking mechanism, with the cooperation of picking plate I, picking plate II and the movable connecting rod, the crown of the target tree expands the internal space surrounded by the inner sides of the plurality of arc-shaped profiling rods to a corresponding size, and the picking rods arranged on the profiling rods are inserted into the crown of the target tree, and the motors I, II, III and IV are energized to activate the picking mechanism, the conveying mechanism and the winnowing device; the motor I is activated to drive the eccentric disk connected to the output shaft of the motor to rotate, thereby driving the eccentric connecting rod connected to the eccentric disk to move, and the eccentric connecting rod drives the picking mechanism up and down through the vibration shaft connected to the bottom end thereof. The plate I and the picking plate II are hinged, and a plurality of profiling rods continuously move up and down and gather and disperse under the influence of inertia with the amplitude of the picking mechanism's up and down vibration. While the motor I is in motion, the motor II drives the picking rod inserted into the crown of the target tree to vibrate. At this time, under the dual vibration of the continuous up and down movement of the picking mechanism, i.e., a plurality of profiling rods, while holding or loosening the target tree inside thereof, and the picking rods' movement inside the target tree, the fruits on the target tree are shaken off and fall onto the surfaces of the moving small plate and the fixed small plate of the collecting mechanism, and as the upper end surface of the moving small plate and the upper end surface of the fixed small plate form a plane inclined downward, the fruits roll onto the conveyor belt of the conveying mechanism; Step S4: When the motors I and II in step S3 are in motion, the motors III and IV are also in motion. The motor III is in motion, driving the gear reducer connected thereto to be in motion. The gear reducer can convert the high-speed output of the motor III into a low-speed output. The gear reducer is in motion, driving the transmission shaft III connected thereto to be in motion. The transmission shaft III is in motion, driving the conveyor belt surrounding its surface to be in motion. The fruits fall onto the conveyor belt, are separated by the baffle plates on the surface of the conveyor belt, and are transported to the air separation device in batches. The motor IV is in motion, driving the fan to be in motion. The fan provides a negative pressure environment in the air separation box. When the fruits on the conveyor belt enter the interior of the air separation box from the feed port on the air separation box, the fan sucks out the fruit leaves in the fruits entering the air separation box through the negative pressure of the air suction port of the fan, so as to achieve the purpose of separating the fruit leaves. The fruits after the separation of the fruit leaves are collected in the fruit collection box through the discharge port. Step S5: After vibrating the crown of the target tree for a period of time, power off Motor I and Motor II, and the driving device drives the profiling traction type wolfberry picking machine to continue moving forward. The crown of the target tree gets out of the working range of the picking mechanism. The trunk of the target tree applies an external force to the moving small plate located at the rear end of the overall frame, causing the moving small plate to move outward along the plane trend of the upper end face of the fixed small plate under the compression of the tension spring. When the target tree passes through this moving small plate and applies force to the next moving small plate, this moving small plate is no longer subject to external force, and the tension spring returns to its original state. Under the action of the rebound of the tension spring, the moving small plate moves inward along the plane trend of the upper end face of the fixed small plate and returns to its original position until the target tree disengages from the working area of the profiling traction type wolfberry picking machine from the rear end of the overall frame. After that, the driving device will drive the profiling traction type wolfberry picking machine to perform vibration picking work for the next target tree.

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