A red date bud rubbing actuator

Abstract

The present invention discloses a jujube bud rubbing actuator, which includes an operating rod. A rotary bud rubbing mechanism and a clamping and pruning mechanism are axially arranged on the operating rod in sequence. The rotary bud rubbing mechanism includes a rotary holder, the rotary holder is connected to the operating rod, and a roller brush unit is arranged on the rotary holder. The clamping and pruning mechanism includes a hinged rod unit and a driving unit that are axially arranged on the operating rod and are connected in sequence. A pruning rod is arranged on the hinged rod unit. By arranging both mechanisms on the operating rod, during the picking process, the actuator only needs to be close to the target branch, and the restraint and pruning of the branch can be realized without an additional clamping restraint mechanism. The clamping and pruning mechanism can adjust the clamping state according to the thickness of the branch, and can well restrain the target branch. The device disclosed by the present invention has a simple structure, can simultaneously realize the pruning and restraint clamping of the branch, replaces manual pruning, does not require the cooperation of additional equipment, reduces the pruning cost, and improves the bud rubbing efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of tree pruning, and relates to a red date bud rubbing actuator. Background Art

[0002] During the growth period of red date trees, it is necessary to regularly remove excessive branches and buds of red date trees to reduce excessive loss of nutrients in the jujube trees, facilitate the rapid ripening of red date fruits and ensure the quality of the fruits.

[0003] Traditional manual bud rubbing methods consume a large amount of labor and are inefficient. Although existing automated picking equipment uses a shearing method to knock off the tender buds of red date branches one by one, the execution device is difficult to restrain the red date branches and buds, resulting in low bud rubbing efficiency. Moreover, the existing single-stage rotary bud rubbing equipment has only one bud knocking direction and cannot adapt to the growth conditions of the branches and buds of different trees, making it difficult to quickly knock off the target branches and buds. In addition, the existing bud guiding device also lacks an adaptive adjustment function and cannot adjust the shearing force and direction according to the growth conditions of the target branches and buds. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the bud rubbing equipment cannot restrain the bud strips during the bud rubbing process, has low bud rubbing efficiency, has only one bud knocking direction for the equipment, cannot adjust the shearing force and direction according to the growth conditions of the target branches and buds, and cannot quickly knock off the branches and buds, and to provide a red date bud rubbing actuator.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A red date bud rubbing actuator includes an operating rod, and a rotary bud rubbing mechanism and a clamping and branch combing mechanism are sequentially arranged axially on the operating rod;

[0007] The rotary bud rubbing mechanism includes a rotary holder, the rotary holder is connected to the operating rod, and a brush roller unit is arranged on the rotary holder;

[0008] The clamping and branch combing mechanism includes a hinge rod unit and a driving unit connected axially in sequence, and a branch combing rod is arranged on the hinge rod unit.

[0009] A further improvement of the present invention lies in:

[0010] The brush roller unit includes a stator brush block assembly, and the stator brush block assembly is connected to the rotary holder;

[0011] The output end of the stator brush block assembly is connected to a rotor brush block.

[0012] The stator brush block assembly includes a stator brush block, a snap ring corresponding to the stator brush block is arranged on the holder, and the stator brush block is arranged in the snap ring;

[0013] A drive motor is provided inside the stator brush block, and the output end of the drive motor is connected to the rotor brush block.

[0014] A number of groups of roller brush units are axially arranged in sequence on the rotary cage.

[0015] The articulated rod unit includes a connecting rod articulated ring, the connecting rod articulated ring is connected to the operating rod, and an articulated connecting rod is articulated on the connecting rod connecting ring;

[0016] The comb branch rod is in articulated cooperation with the articulated connecting rod, and the articulated connecting rod is articulated with the drive unit.

[0017] Two connecting rod articulated rings are axially spaced, each connecting rod articulated ring is articulated with a corresponding articulated connecting rod, and each articulated connecting rod is respectively articulated with the comb branch rod.

[0018] The drive unit includes a optical axis, the optical axis is arranged on one side of the operating rod, an adjusting lead screw is arranged on the side of the optical axis away from the operating rod, and the lead screw is connected to an adjusting motor;

[0019] A slider penetrates through the optical axis and the adjusting lead screw, the slider is articulated with a connecting rod, and the connecting rod is articulated with the articulated rod unit.

[0020] An adjusting motor fixing ring and an optical axis fixing ring are also included;

[0021] The adjusting motor fixing ring and the optical axis fixing ring are spaced on the operating rod, one end of the optical axis is fixedly connected to the optical axis fixing ring, and the other end is fixedly connected to the adjusting motor fixing ring;

[0022] One end of the adjusting lead screw is connected to the optical axis fixing ring, the other end is connected to the adjusting motor, and the adjusting motor is connected to the adjusting motor fixing ring.

[0023] A connecting block is arranged on one side of the optical axis fixing ring, and the ends of the optical axis and the adjusting lead screw are both connected to the connecting block;

[0024] A connection hole corresponding to the adjusting lead screw is opened on the connecting block, a flange bearing is arranged in the connection hole, one end of the adjusting lead screw is connected to the flange bearing, the other end is connected to a coupling, and the coupling is connected to the output end of the adjusting motor.

[0025] A control unit is arranged on the operating rod, and the control unit is respectively connected to the drive unit and the roller brush unit.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The operating rod of the red date bud rubbing actuator of the present invention serves as the support for the rotary bud rubbing mechanism and the clamping and pruning mechanism. In the rotary bud rubbing mechanism, the target branches are sheared by the roller brush unit. The clamping and pruning mechanism controls the clamping and fixing angle of the articulated rod unit through the driving unit, and then adjusts the clamping gap between the articulated rod unit and the roller brush unit, and can adjust the clamping state according to the thickness of the branches, so as to well restrain the target branches, quickly prune the branches, improve the bud rubbing efficiency. Both mechanisms are arranged on the operating rod. During the picking process, only the actuator needs to be close to the target branches, and the restraint and pruning of the branches can be realized without additional clamping restraint mechanisms. The actuator disclosed in the present invention has a simple structure, can simultaneously realize the pruning and restraint clamping of the branches, replace manual pruning, do not require the cooperation of additional equipment, reduce the pruning cost, and improve the bud rubbing efficiency.

[0028] Further, in the present invention, several groups of roller brush units are provided. Each roller brush unit is independently arranged and corresponds to an independent motor. The parameters of each group of roller brush units can be adjusted according to the growth state of the branches, and the rotation speed and direction can be changed, which is more convenient for quickly knocking off the branches.

[0029] Further, in the present invention, a control unit is arranged on the operating rod, and the rotary bud rubbing mechanism and the clamping and pruning mechanism can be started and stopped through the control unit while moving the operating rod, which is more convenient to operate, saves a certain amount of labor, and improves the working efficiency of the actuator. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is the structure diagram of the red date bud rubbing actuator of the present invention;

[0032] Figure 2 It is the working state change diagram of the red date bud rubbing actuator of the present invention;

[0033] Figure 3 It is the structure diagram of the rotary bud rubbing mechanism of the red date bud rubbing end effector of the present invention;

[0034] Figure 4 It is the exploded view of the rotary bud rubbing mechanism of the red date bud rubbing end effector of the present invention;

[0035] Figure 5 It is the sectional view of the rotary bud rubbing mechanism of the red date bud rubbing end effector of the present invention;

[0036] Figure 6 This is the structural diagram of the clamping and branch-combing mechanism of the red date bud-pruning end effector of the present invention;

[0037] Figure 7 This is the characteristic diagram of the clamping and branch-combing mechanism of the red date bud-pruning end effector of the present invention.

[0038] Among them: 1 - Rotating bud-pruning mechanism;

[0039] 101 - Rotating retainer, 102 - First-stage snap ring, 103 - Second-stage snap ring, 104 - Third-stage snap ring, 105 - Fourth-stage snap ring;

[0040] 110 - First-stage stator brush block, 111 - First-stage driving motor, 112 - First-stage rotor brush block, 113 - First- and second-stage transfer bearing;

[0041] 120 - Second-stage stator brush block, 121 - Second-stage driving motor, 122 - Second-stage rotor brush block, 123 - Second- and third-stage transfer bearing;

[0042] 130 - Third-stage stator brush block, 131 - Third-stage driving motor, 132 - Third-stage rotor brush block, 133 - Third- and fourth-stage transfer bearing;

[0043] 140 - Fourth-stage stator brush block, 141 - Fourth-stage driving motor, 142 - Fourth-stage rotor brush block;

[0044] 2 - Clamping and branch-combing mechanism;

[0045] 201 - Adjusting motor fixing ring, 202 - Optical axis fixing ring, 203 - Optical axis, 204 - Slide block, 205 - Adjusting motor, 206 - Power coupling, 207 - Adjusting lead screw, 208 - Connecting rod, 209 - Second connecting rod hinge ring, 210 - Transmission connecting rod, 211 - First connecting rod hinge ring, 212 - Hinged connecting rod, 213 - Branch-combing rod, 214 - Flange bearing, 215 - Threaded sleeve

[0046] 3 - Operating rod, 4 - Button handle. Detailed implementation manners

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0048] Accordingly, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0049] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0050] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is customarily placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0051] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0052] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "coupled" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The present invention will be further described in detail below with reference to the drawings:

[0054] See Figures 1 to 7, an embodiment of the present invention discloses a red date bud rubbing actuator. This actuator is a device integrating a multi-stage rotary bud rubbing mechanism and a branch guiding mechanism with adaptable variable parameters. The actuator adopts a multi-stage series-connected rotary bud rubbing mechanism, and each stage of the rotary mechanism is equipped with a flexible bud rubbing brush on its surface, which can adjust the rotation direction and speed of each stage of the rotary brush according to the growth condition of the red date tree branches; outside the multi-stage series-connected rotary brushes, there is a branch combing mechanism with a variable clamping state driven by a parallelogram linkage. The specific structure is as follows:

[0055] See Figures 1 to 2 , an embodiment of the present invention discloses a red date bud rubbing actuator, including an operating rod 3. A rotary bud rubbing mechanism 1 and a clamping and branch combing mechanism 2 are axially arranged on the operating rod 3 in sequence; the rotary bud rubbing mechanism 1 includes a rotary retaining frame 101, the rotary retaining frame 101 is connected to the operating rod 3, and a roller brush unit is arranged on the rotary retaining frame 101; the clamping and branch combing mechanism 2 includes a hinged rod unit and a driving unit axially arranged and connected in sequence on the operating rod 3, and a branch combing rod 213 is arranged on the hinged rod unit.

[0056] Furthermore, in an embodiment of the present invention, a control unit, namely a button handle 4, is arranged at the lower end of the operating rod 3. Buttons corresponding to the rotary bud rubbing mechanism 1 and the clamping and branch combing mechanism 2 are arranged on the button handle 4. Through the button handle 4, the rotary bud rubbing mechanism 1 and the clamping and branch combing mechanism 2 can be timely turned off or started during bud rubbing, and the gap between the clamping and branch combing mechanism 2 and the rotary bud rubbing mechanism 1 can be adjusted according to the actual situation.

[0057] Furthermore, in an embodiment of the present invention, the rotary bud rubbing mechanism 1 can realize the setting of multi-stage different rotary forces. Among them, the retaining frame 101 is the basic framework of the whole mechanism. Four snap rings are axially arranged at intervals on the retaining frame 101, namely a first-stage snap ring 102, a second-stage snap ring 103, a third-stage snap ring 104, and a fourth-stage snap ring 105. Each snap ring respectively corresponds to connecting a group of roller brush units. A total of four groups of roller brush units are arranged, namely a first-stage roller brush unit, a second-stage roller brush unit, a third-stage roller brush unit, and a fourth-stage roller brush unit.

[0058] Furthermore, in an embodiment of the present invention, the structure of the first-stage roller brush unit is as follows:

[0059] The first-stage stator brush block 110 is coaxially fixedly assembled with the first-stage snap ring 102. The first-stage snap ring 102 is sleeved outside the first-stage stator brush block 110. The first-stage driving motor 111 is arranged inside the first-stage stator brush block 110. The first-stage rotor brush block 112 is arranged at one end of the first-stage stator brush block 110. The output shaft of the first-stage driving motor 111 is connected to the input end of the first-stage rotor brush block 112.

[0060] See Figures 3 to 5, Further, in the embodiment of the present invention, the structure of the secondary brush roller unit is as follows:

[0061] The secondary snap ring 103 is sleeved outside the secondary stator brush block 120 and fixedly assembled coaxially with the secondary stator brush block 120. The secondary driving motor 121 is fixed inside the secondary stator brush block 120. The output end of the secondary driving motor 121 is connected to the secondary rotor brush block 122, and the secondary rotor brush block 122 is arranged at one end of the secondary stator brush block 120.

[0062] , Further, in the embodiment of the present invention, the structure of the tertiary brush roller unit is as follows:

[0063] The tertiary stator brush block 130 is fixedly assembled coaxially with the tertiary snap ring 104. The tertiary snap ring 104 is sleeved outside the tertiary stator brush block 130. The tertiary driving motor 131 is fixed inside the tertiary stator brush block 130. The output shaft of the tertiary driving motor 131 is connected to the tertiary rotor brush block 132, and the tertiary rotor brush block 132 is located at one end of the tertiary stator brush block 130.

[0064] , Further, in the embodiment of the present invention, the structure of the quaternary brush roller unit is as follows:

[0065] The quaternary stator brush block 140 is fixedly assembled coaxially with the quaternary snap ring 105. The quaternary snap ring 105 is sleeved outside the quaternary stator brush block 140. The quaternary driving motor 141 is fixedly assembled inside the quaternary stator brush block 140. The output shaft of the quaternary driving motor 141 is connected to the quaternary rotor brush block 142, and the quaternary rotor brush block 142 is arranged at one end of the quaternary stator brush block 140.

[0066] , Further, in the embodiment of the present invention, the primary rotor brush block 112 and the secondary stator brush block 120 are connected by a primary-secondary transfer bearing; the secondary rotor brush block 122 and the tertiary stator brush block 130 are connected by a secondary-tertiary transfer bearing 123; the tertiary rotor brush block 132 and the quaternary stator brush block 140 are connected by a tertiary-quaternary transfer bearing 133.

[0067] See Figure 3 , The surface of each brush roller unit is provided with budding brushes, and the rotation direction and speed of each rotor brush block can be independently adjusted to adapt to branches in different growth states.

[0068] See Figures 6 to 7 , Further, in the embodiment of the present invention, the specific structure of the clamping and pruning mechanism 2 is as follows:

[0069] The first link hinge ring 211, the second link hinge ring 209, the optical axis fixing ring 202 and the adjustment motor fixing ring 201 are fixedly arranged on the operating rod 3 from top to bottom in sequence. One side of the first link hinge ring 211 is hinged with the hinge link 212, and one side of the second hinge ring 209 is hinged with the transmission link 210. The ends of the hinge link 212 and the transmission link 210 far from the operating rod 3 are both hinged and matched with two hinge holes on the pruning rod 213. Among them, the first link hinge ring 211, the second link hinge ring 209, the transmission link 210, the hinge link 212 and the pruning rod 213 form a deformable parallelogram mechanism.

[0070] Furthermore, a connecting block is arranged on one side of the optical axis fixing ring 202. The upper end of the optical axis 203 is connected with the connecting block, and the lower end is fixedly connected with the adjustment motor fixing ring 201. An adjustment lead screw 207 is arranged on the side of the optical axis 203 far from the operating rod 3. A connecting hole is opened on the connecting block, and a flange bearing 214 is assembled in the connecting hole. The upper end of the adjustment lead screw 207 is connected and matched with the flange bearing 214, and the lower end is connected with the power coupling 206. The power coupling 206 is connected with the output end of the adjustment motor 205, and the adjustment motor 205 is fixedly connected with the adjustment motor fixing ring 201.

[0071] Furthermore, a slider 204 penetrates through the optical axis 203 and the adjustment lead screw 207. A threaded sleeve 215 is arranged at the connection of the slider 204 and the adjustment lead screw, which can be mechanically matched with the adjustment lead screw 207. One side of the slider 204 is hinged with the link 208. One end of the link 208 is hinged with the slider 204, and the other end is hinged with the transmission link 210. When the slider moves up and down, the transmission link 210 and the hinge link 212 are driven to rotate through the link 208, thereby changing the gap between the pruning rod 213 and the rotary bud rubbing mechanism 1.

[0072] The working principle of the embodiment of the present invention:

[0073] See Figure 2 , during operation, the operator can hold the operating rod 3, bring the actuator close to the target branch. According to the growth condition of the target branch, start the adjustment motor 205 through the key 4. Under the action of the adjustment lead screw 207 and the optical axis 203, the slider 204 moves upward. Further, under the action of the link 208, the transmission link 210 and the hinge link 212 change the inclination angle, driving the pruning rod 213 to approach the rotary bud rubbing mechanism 1 until the target branch is clamped. At this time, the multi-machine brush unit in the rotary bud rubbing mechanism 1 knocks off the branch.

[0074] The actuator disclosed in the embodiment of the present invention integrates the rotary bud rubbing mechanism 1 and the clamping branch combing mechanism 2 through the operating rod 3. The two mechanisms can not only cooperate with each other, but also adjust their respective parameters and working states according to the situation. The actuator does not require an additional clamping restraint mechanism during operation. The adaptive clamping mechanism can adjust the clamping state according to the thickness of the branch. Moreover, the rotary bud rubbing mechanism 1 includes a multi-stage series of brush roller units for bud rubbing. A shearing force can be formed between several brush roller units, which is convenient for quickly removing the branch buds. At the same time, each brush roller unit is relatively independent, and the speed magnitude and direction of each stage of rotary brush can be adjusted to adapt to different branch bud rubbing requirements. The bud rubbing mechanism disclosed in the embodiment of the present invention can be adaptively adjusted according to the growth condition of the target branch, and the adaptability to the scene is more flexible, overcoming the defects that the existing bud rubbing equipment cannot restrain the branch during bud rubbing and there is only one bud rubbing direction. This actuator can quickly remove the target branch, improving the bud rubbing efficiency.

[0075] The actuator disclosed in the embodiment of the present invention can be applied not only to jujube trees, but also to any forest trees, fruits and vegetables that need bud rubbing.

[0076] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A red date bud rubbing actuator, characterized in that, It includes a joystick (3), and a rotary bud rubbing mechanism (1) and a clamping branch combing mechanism (2) are sequentially arranged axially on the joystick (3); The rotary bud rubbing mechanism (1) includes a rotary holder (101), the rotary holder (101) is connected to the joystick (3), and a roller brush unit is arranged on the rotary holder (101); The clamping branch combing mechanism (2) includes a hinge rod unit and a driving unit that are sequentially connected axially, and a branch combing rod (213) is arranged on the hinge rod unit; The roller brush unit includes a stator brush block assembly, and the stator brush block assembly is connected to the rotary holder (101); The output end of the stator brush block assembly is connected to a rotor brush block; The stator brush block assembly includes a stator brush block, a snap ring corresponding to the stator brush block is arranged on the holder (101), and the stator brush block is arranged in the snap ring; A driving motor is arranged inside the stator brush block, and the output end of the driving motor is connected to the rotor brush block; A plurality of groups of roller brush units are sequentially arranged axially on the rotary holder (101), specifically including: A first-level snap ring 102, a second-level snap ring 103, a third-level snap ring 104, and a fourth-level snap ring 105. Each snap ring is respectively connected to a group of roller brush units. There are a total of four groups of roller brush units, namely a first-level roller brush unit, a second-level roller brush unit, a third-level roller brush unit, and a fourth-level roller brush unit; The structure of the first-level roller brush unit is: The first-level stator brush block 110 is coaxially fixedly assembled with the first-level snap ring 102. The first-level snap ring 102 is sleeved outside the first-level stator brush block 110. The first-level driving motor 111 is arranged inside the first-level stator brush block 110. The first-level rotor brush block 112 is arranged at one end of the first-level stator brush block 110. The output shaft of the first-level driving motor 111 is connected to the input end of the first-level rotor brush block 112; The structure of the second-level roller brush unit is: The second-level snap ring 103 is sleeved outside the second-level stator brush block 120 and is coaxially fixedly assembled with the second-level stator brush block 120. The second-level driving motor 121 is fixed inside the second-level stator brush block 120. The output end of the second-level driving motor 121 is connected to the second-level rotor brush block 122. The second-level rotor brush block 122 is arranged at one end of the second-level stator brush block 120; The structure of the third-level roller brush unit is: The third-level stator brush block 130 is coaxially fixedly assembled with the third-level snap ring 104. The third-level snap ring 104 is sleeved outside the third-level stator brush block 130. The third-level driving motor 131 is fixed inside the third-level stator brush block 130. The output shaft of the third-level driving motor 131 is connected to the third-level rotor brush block 132. The third-level rotor brush block 132 is located at one end of the third-level stator brush block 130; The structure of the fourth-level roller brush unit is: The four-stage stator brush block 140 is coaxially fixedly assembled with the four-stage clamp ring 105, the four-stage clamp ring 105 is sleeved on the outside of the four-stage stator brush block 140, the four-stage drive motor 141 is fixedly assembled inside the four-stage stator brush block 140, the output shaft of the four-stage drive motor 141 is connected to the four-stage rotor brush block 142, and the four-stage rotor brush block 142 is arranged at one end of the four-stage stator brush block 140; The first-stage rotor brush block 112 is connected to the second-stage stator brush block 120 through the first and second-stage transfer bearings; the second-stage rotor brush block 122 is connected to the third-stage stator brush block 130 through the second and third-stage transfer bearings 123; the third-stage rotor brush block 132 is connected to the fourth-stage stator brush block 140 through the third and fourth-stage transfer bearings 133.

2. The date palm bud rubbing actuator according to claim 1, characterized in that, The articulated rod unit comprises a connecting rod articulated ring, the connecting rod articulated ring is connected to the operating rod (3), and an articulated connecting rod is articulated on the connecting rod articulated ring; The combing rod (213) is hingedly matched with the hinged connecting rod, and the hinged connecting rod is hingedly connected to the driving unit.

3. A red date bud rubbing actuator according to claim 2, characterized in that, Two connecting rod hinge rings are axially spaced apart, each connecting rod hinge ring is hinged to a corresponding hinge connecting rod, and each hinge connecting rod is hinged to a combing rod (213) respectively.

4. The red date bud rubbing actuator according to claim 1, characterized in that, The driving unit comprises an optical axis (203), the optical axis (203) being arranged on one side of the operating rod (3), an adjusting lead screw (207) being arranged on a side of the optical axis (203) away from the operating rod (3), and the lead screw (207) being connected to the adjusting motor (205); A slider (204) passes through the optical axis (203) and the adjusting lead screw (207); the slider (204) is hinged to a connecting rod (208); and the connecting rod (208) is hinged to the hinge rod unit.

5. The red date bud rubbing actuator according to claim 4, wherein It also includes an adjusting motor fixing ring (201) and an optical axis fixing ring (202); The adjusting motor fixing ring (201) and the optical axis fixing ring (202) are arranged at intervals on the operating rod (3); one end of the optical axis (203) is fixedly connected to the optical axis fixing ring (202), and the other end is fixedly connected to the adjusting motor fixing ring (201); One end of the adjusting lead screw (207) is connected to the optical axis fixing ring (202), and the other end is connected to the adjusting motor (205); the adjusting motor (205) is connected to the adjusting motor fixing ring (201).

6. The date plum bud rubbing actuator according to claim 5, wherein, A connecting block is provided on one side of the optical axis fixing ring (202), and ends of the optical axis (203) and the adjusting lead screw (207) are both connected to the connecting block; The connection block is provided with a connection hole corresponding to the adjusting screw (207), a flange bearing (214) is arranged in the connection hole, one end of the adjusting screw (207) is connected to the flange bearing (214), and the other end is connected to the coupling (206), and the coupling (206) is connected to the output end of the adjusting motor (205).

7. The red date bud rubbing actuator according to claim 1, wherein The operating rod (3) is provided with a control unit, and the control unit is respectively connected to the driving unit and the roller brush unit.

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