Full-automatic combined jujube harvesting machine

Abstract

The invention provides a full-automatic combined jujube harvesting machine and aims to improve jujube harvesting efficiency and quality. The jujube harvesting machine structurally adopts two frames, the tops are connected through a portal frame, and the bottoms are provided with tracks; a suspended standing plate is hinged to the tail portions of the two frames, conveying and receiving devices are correspondingly arranged on the opposite sides of the two frames, receiving devices are arranged at the tail ends of the two frames, a first hydraulic oil cylinder is located above the conveying and receiving devices, and a vibration device is arranged at the telescopic end of the first hydraulic oil cylinder. A power source of the crawler belt and the first hydraulic oil cylinder is a hydraulic pump station installed on the frame, and a power source of the conveying and material receiving device is a power generator installed on the frame. The vibrating device is arranged on one side, the conveying and receiving devices are correspondingly arranged on the opposite sides of the two frames, and the receiving device is arranged at the tail end, so that a coherent assembly line operation mode is constructed, the manual carrying link is effectively reduced, 180 mu of jujubes can be harvested in one day, the jujube picking and collecting integrated operation is achieved, the jujube harvesting efficiency is greatly improved, and the labor intensity of workers is reduced. And the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to a fully automatic combined jujube harvester. Background Technology

[0002] Traditionally, jujube harvesting relies primarily on manual picking and gathering. Manually picking jujubes from the trees is not only labor-intensive and inefficient, but also requires striking the trees, which can easily damage them. Furthermore, the harvested jujubes contain a large amount of leaves and other impurities, making subsequent cleanup tedious. Additionally, manually gathering fallen jujubes is time-consuming and labor-intensive, especially in large-scale orchards. The high cost and slow speed of manual harvesting make it difficult to meet the demands of large-scale commercial production.

[0003] While some simple jujube harvesting machines exist on the market, their functions are relatively limited, mostly only capable of completing part of the harvesting process, such as picking or gathering jujubes, and unable to perform integrated operations such as picking, gathering, collecting, and sorting. Therefore, it is necessary to develop a fully automatic combined jujube harvesting machine with comprehensive functions. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a fully automatic combined jujube harvester to improve jujube harvesting efficiency, reduce labor intensity, reduce damage to jujube trees, and realize integrated operation of harvesting, collecting or harvesting, picking, collecting and sorting.

[0005] The technical solution provided by this invention is as follows: a fully automatic combined jujube harvester, comprising two frames, a gantry frame connecting the two frames at the top, and a track supporting the movement of the two frames at the bottom; standing plates are respectively hinged and suspended at the tails of the two frames; conveying and receiving devices are respectively provided on the opposite sides of the two frames, and receiving devices are provided at the tail ends of the conveying and receiving devices; a first hydraulic cylinder is provided on the frame, the first hydraulic cylinder is located above the conveying and receiving devices, and a vibration device is provided on the telescopic end of the first hydraulic cylinder; the power source for the track and the first hydraulic cylinder is a hydraulic pump station installed on the frame, and the power source for the conveying and receiving devices is a generator installed on the frame.

[0006] In some embodiments, a suction and blowing mechanism is further included, comprising a wind box, and a suction fan and a blower fixed on the wind box; a rotary sealing cavity is also provided inside the wind box, the rotary sealing cavity comprising a first impeller and a second impeller respectively disposed within a cavity enclosed by symmetrical arc plates, the cavity enclosed by the symmetrical arc plates being disposed above the discharge port to cooperate with the first and second impellers to seal the discharge port, a partition plate being connected to the top of the arc plates, the partition plate being used to guide material into the rotary sealing cavity; the first impeller is drivenly connected to a wind box motor disposed outside the wind box, the first impeller is drivenly connected to the second impeller, the suction fan draws material from the receiving device into the wind box through a suction pipe, and the blower blows material falling from the discharge port through a blowing pipe.

[0007] In some embodiments, the conveying and receiving device includes a conveyor belt, a tarpaulin support is provided on one side of the conveyor belt, the conveyor belt is respectively provided on the opposing sides of the two frames via mounting beams, a swing arm is hinged or hinged to the tarpaulin support, and a tarpaulin roll is also provided on the tarpaulin support; after the tarpaulin roll is unfolded, the slot at its end can engage with the swing arm.

[0008] In some embodiments, a picking mechanism is further included, the picking mechanism comprising a frame; the frame is connected to the front of two frames, and a middle brush cylinder is rotatably connected below it, the middle brush cylinder being driven by a first motor mounted on the frame, and rake teeth are fixed on the frame on one side of the middle brush cylinder; a parabolic baffle and a receiving trough are provided above the frame, the parabolic baffle being located above the receiving trough and the rake teeth; a conveying pipe is connected to the conveying port of the receiving trough, the conveying pipe being located above the conveying receiving device; a sweeping mechanism is provided on the frame, the sweeping mechanism being used to sweep the material towards the center, and after the material is driven by the first motor and the middle brush cylinder and the rake teeth cooperate, it enters the receiving trough under the obstruction of the parabolic baffle.

[0009] In some embodiments, the sweeping mechanism includes a first folding arm and a second folding arm, with a gantry frame respectively provided below the first folding arm and the second folding arm. The gantry frame is provided with a second motor that drives the brush cylinder to rotate. The frame is also provided with two limiting rods, which are used to limit the two folding arms respectively.

[0010] In some embodiments, the vibration device includes a second hydraulic cylinder, the bottom surface of which is provided with a sliding sleeve; the first hydraulic cylinder is disposed in a groove in a base plate, the base plate is mounted on a frame, and a pair of guide rods are provided on the outer side wall of the groove in the base plate, the sliding sleeve being correspondingly sleeved on the guide rods; the output end of the first hydraulic cylinder is connected to the bottom of the second hydraulic cylinder for pushing and pulling the second hydraulic cylinder to move along the guide rods;

[0011] The second hydraulic cylinder is symmetrically provided with a pair of lugs, and a spring is provided between the pair of lugs. The slide rod passes through the spring and through the pair of lugs, and nuts are provided on the slide rod on the outer side of the inner lug and the inner side of the outer lug respectively. The output end of the second hydraulic cylinder is connected to an elastic cylinder, and the top end of the elastic cylinder is fixedly connected to the top end of the slide rod with a connecting plate.

[0012] In some embodiments, a dispensing rack is also included, which is disposed below the discharge port; the dispensing rack is symmetrically provided with inclined fixing plates, and a movable plate is movably installed between the inclined fixing plates; by rotating the movable plate with a handle, materials can be sorted and fed into the discharge port separated by the fixing plates.

[0013] In some embodiments, an auger is also included, which is disposed between the receiving trough and the conveying port. The auger is driven by an auger motor mounted on the frame and is used to squeeze the material entering the receiving trough toward the conveying port.

[0014] In some embodiments, a roller is also included, which is mounted in front of the two frames by a hydraulic cylinder.

[0015] In some embodiments, the gantry is a telescopic gantry.

[0016] The beneficial effects of this invention are as follows: The main structure of this fully automatic combined jujube harvester consists of two frames, a top gantry frame, and bottom tracks, providing strong overall stability and enabling convenient movement in complex jujube orchard terrain. Furthermore, a standing platform is hinged to the rear of the harvester, providing convenience for operators.

[0017] This invention features a conveying and receiving device on two opposing sides of the frame, a receiving device at the tail end, and a vibration device driven by a first hydraulic cylinder installed above the conveying and receiving device. This vibration device vibrates the jujube tree, allowing the jujubes to fall more fully onto the conveying and receiving device, thus creating a continuous, integrated assembly line operation mode. This eliminates the need for manual operation at each stage, significantly improving jujube harvesting efficiency and reducing labor intensity. Furthermore, using a vibration device instead of manually striking the jujube tree reduces damage to the tree, which is beneficial for its subsequent growth and fruiting.

[0018] This invention features a rational power distribution system: the tracks and the first hydraulic cylinder are powered by a hydraulic pump station, while the conveying and receiving device is powered by a generator, ensuring stable operation of all components. The centralized control system in the cab allows operators to easily control the actions of each component, improving operational safety and convenience. Testing has shown that this invention can harvest 180 mu (approximately 12 hectares) of jujubes per day, significantly increasing the working area per unit time, shortening the harvesting cycle, reducing losses, and bringing higher economic benefits to jujube farmers. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of the fully automatic combined jujube harvester of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of the fully automatic combined jujube harvester of the present invention from another angle;

[0021] Figure 3 This is a partial structural diagram of the fully automatic combined jujube harvester of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the picking, conveying, and dispensing parts of the present invention;

[0023] Figure 5 This is a schematic diagram of the suction and blower mechanism of the present invention;

[0024] Figure 6 for Figure 5 Enlarged view of a portion at point A;

[0025] Figure 7 This is a schematic diagram of the assembly rack structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the first hydraulic cylinder and the second hydraulic cylinder of the present invention;

[0027] Figure 9 This is a schematic diagram of the first and second hydraulic cylinders from another angle of the present invention.

[0028] Figure 10 This is a left-side view of the picking mechanism structure of the present invention;

[0029] Figure 11 This is a right-side schematic diagram of the picking mechanism structure of the present invention;

[0030] Figure 12 This is a top view schematic diagram of the picking mechanism structure of the present invention;

[0031] Figure 13 This is a bottom view of the structure of the picking mechanism of the present invention;

[0032] Figure 14 This is a schematic diagram of the disassembled structure of the picking mechanism of the present invention;

[0033] Figure 15 This is a schematic diagram of the auger structure of the present invention;

[0034] Figure 16 This is a schematic diagram of a material receiving and conveying device according to an embodiment of the present invention;

[0035] Figure 17 for Figure 16 A magnified view of section B;

[0036] Figure 18This is a schematic diagram of the tarpaulin support and swing arm structure of the present invention;

[0037] Figure 19 for Figure 18 A magnified view of a portion at point C;

[0038] Figure 20 This is a schematic diagram of a material receiving device according to another embodiment of the present invention;

[0039] Figure 21 This is a schematic diagram of the suction blower mechanism and part of the conveyor belt frame structure of the present invention;

[0040] Figure 22 This is a schematic diagram of another gantry structure according to the present invention;

[0041] Figure 23 This is a schematic cross-sectional view of the connecting frame structure of the present invention.

[0042] The components are as follows: 11. Frame; 111. Mounting beam; 12. Gantry frame; 121. Connecting frame; 122. Third hydraulic cylinder; 123. Connecting rod; 13. Track; 14. Standing plate; 15. Cabin; 16. Generator; 17. Hydraulic pump station; 18. Distribution cabinet; 19. Drum; 21. Air box; 211. Drive wheel; 212. Driven wheel; 213. Arc plate; 214. Fan blade; 215. Partition plate; 216. Sealing strip; 217. Discharge port; 218. Rotary sealing cavity; 22. Suction fan; 221. Suction pipe; 23. Air box motor; 231. Belt; 24. Air blower; 241. Air blowing pipe; 25. Packaging rack; 251. Slanted fixing plate; 252. Movable plate; 253. Fixing plate; 254. Discharge port; 255. Handle; 30. Mounting plate; 31. First hydraulic cylinder; 311. Mounting block; 312. Guide rod; 32. Second hydraulic cylinder; 321. Connecting plate; 322. Sliding... 323. Rod; 324. Spring; 325. Oil pipe connector; 326. Sliding sleeve; 327. Nut; 328. Hanging lug; 329. Elastic cylinder; 41. Frame; 411. Limiting rod; 412. Limiting block; 42. Intermediate brush cylinder; 421. First motor; 43. Rake teeth; 44. Parabolic baffle; 45. Receiving trough; 451. Screwdriver; 452. Screwdriver motor; 453. Feed inlet; 454. Feed pipe; 46. Tension spring; 47. Brush cylinder; 471. 472. First folding arm; 473. Second folding arm; 474. Gantry frame; 475. Second motor; 476. Rotary joint; 517. Conveyor belt frame; 518. Conveyor belt; 519. Driven roller; 510. Tensioner wheel; 511. Driven roller; 522. Electric telescopic awning; 523. Swing rod; 524. Electric telescopic rod; 525. Hinge rod; 53. Conveyor belt motor; 54. Receiving basket; 55. Tarpaulin roll; 551. Tarpaulin roll slot. Detailed Implementation

[0043] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "left," "right," "inner," "outer," "front," and "tail" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0045] The present invention will now be described in further detail with reference to the accompanying drawings:

[0046] See Figure 1 - Figure 3 Some embodiments of the present invention provide a fully automatic combined jujube harvester, including two frames 11. A gantry frame 12 connecting the two frames 11 is provided at the top, and a track 13 supporting the movement of the two frames 11 is provided at the bottom. Standing plates 14 are respectively hinged and suspended at the tails of the two frames 11. Specifically, the standing plates 14 are configured as follows: one end of the standing plate 14 is hinged to the tail of the frame 11 using a hinge or other hinged component, facilitating unfolding and folding; the other end is hung on a predetermined point on the frame 11 via an iron chain, allowing the standing plate 14 to tilt moderately when unfolded, facilitating standing and stability, and also cushioning impacts; the frame 11 is also provided with easily accessible hooks, allowing the iron chain to be hung and fixed when the standing plate 14 is folded up, preventing shaking, falling off, tangling, or collision.

[0047] Two conveying and receiving devices are respectively installed on opposite sides of the two frames 11, with receiving devices at their tail ends. Specifically, the conveying and receiving devices can be tarpaulin brackets 522 installed on one side of the existing conveyor belt. These tarpaulin brackets 522 are located on the side of the conveyor belt away from the frame 11, and the conveyor belt can be installed on opposite sides of the two frames 11 via mounting beams 111. A swing rod 523 is hinged or hinged to the tarpaulin bracket 522, and a tarpaulin can be covered on the swing rod 523. Of course, there are various ways to cover the tarpaulin; it can be manually covered onto the swing rod and secured with cable ties, or it can be done using a tarpaulin roll 55. See [link / reference needed]. Figure 18 , Figure 19 The tarpaulin roll 55 is mounted on the tarpaulin support 522. When unfolded, it engages with the swing arm 523 via a slot 551 at the end of the tarpaulin roll 55. When the tarpaulin is not needed, the tarpaulin roll 55 can be rolled back manually or electrically. The material receiving device can be a plastic basket, steel bar basket, or material receiving basket 54, etc., installed at the end of the conveyor belt, used to collect materials (such as dates, walnuts, or other fruits) conveyed from the conveyor belt. Taking the steel bar basket as an example, it can be installed at the end of the conveyor belt via a rigid connector. The steel bar basket can be designed as a triangular frame structure, with a nylon bag placed on top, allowing personnel to stand on a standing platform for operation. When the nylon bag is full, it can be removed.

[0048] A first hydraulic cylinder 31 is also installed on the frame 11. This first hydraulic cylinder 31 is located above the conveying and receiving device, and its telescopic end is equipped with a vibration device. This vibration device is used to vibrate the jujube tree, causing the jujubes to fall. Specifically, the vibration device can be a connecting plate installed on the output end of an existing digital vibrating hydraulic cylinder, which can be purchased from suppliers such as Beijing Yimeibo Technology Co., Ltd. Alternatively, the vibration device can be an existing rocking device, which can be suspended from the output end of the first hydraulic cylinder 31 via a bracket to achieve a flexible connection with the first hydraulic cylinder 31. In this way, the rocking device will not affect the first hydraulic cylinder 31 when shaking the jujube tree. The power source for the track 13 and the first hydraulic cylinder 31 is a hydraulic pump station 17 installed on the frame, while the power source for the conveying and receiving device is a generator 16 installed on the frame. In addition, the frame 11 is also equipped with a cab 15, a power distribution cabinet 18, etc. The cab 15 is equipped with a control system, which is used to control the movement of the track 13, the first hydraulic cylinder 31, the vibration device and the conveying and receiving device, etc. The power distribution cabinet 18 is used to distribute and regulate the electrical energy of the various electrical components of the date harvester.

[0049] In some embodiments, participate Figure 4 - Figure 6The invention also includes a suction and blowing mechanism, which includes a wind box 21, and a suction fan 22 and a blower 24 fixed on the wind box 21. A rotary sealing cavity 218 is also provided inside the wind box 21. The rotary sealing cavity 218 includes a first impeller and a second impeller respectively disposed within a cavity enclosed by a symmetrical arc-shaped plate 213. The cavity enclosed by the symmetrical arc-shaped plate 213 is located above the discharge port 217 to cooperate with the first and second impellers to seal the discharge port 217. A partition 215 is connected to the top of the arc-shaped plate 213, which guides material into the rotary sealing cavity 218. The first impeller is connected to a wind box motor 23 located outside the wind box via a belt 231, and the first impeller is connected to the second impeller via a belt. The suction fan 22 draws material from the receiving device into the wind box 21 through a suction pipe 221, and the blower 24 blows the material falling from the discharge port 217 through a blowing pipe 241.

[0050] Specifically, the first impeller can adopt other existing impeller structures or include a drive wheel 211. The drive wheel 211 is provided with fan blades 214 evenly spaced on it. The ends of the fan blades 214 are provided with sealing strips 216, which are used to cooperate with the arc plate 213 to form a sealed cavity 217.

[0051] Similarly, the second impeller can be any existing impeller, or it can include a driven wheel 212. The driven wheel 212 has evenly spaced fan blades 214, each with a sealing strip 216 at its end, which works in conjunction with the arc-shaped plate 213 to form another rotating sealed cavity 218. These two rotating sealed cavities 218 seal the corresponding two discharge ports 217. Because the two rotating sealed cavities 218 are at different distances from the suction pipe 221, the rotating sealed cavity 218 closer to the suction pipe 221 can filter heavy materials, such as jujubes, while the rotating sealed cavity 218 farther from the suction pipe 221 can filter light materials, such as small jujubes or leaves. In terms of power transmission, the driving wheel 211 is connected to the wind box motor 23 located outside the wind box and the driven wheel 212 via a belt 231.

[0052] In some embodiments, see Figure 7The blower mechanism also includes a dispensing rack 25, which is located below the discharge port 217. The dispensing rack 25 can be installed in the frame 11 or connected to the blower box 21. The dispensing rack 25 has symmetrically arranged inclined fixing plates 251, and a movable plate 252 is movably installed between the inclined fixing plates. By rotating the movable plate 252, materials can be sorted into the discharge port 254 separated by the fixing plates 253. This allows the operator standing on the standing plate 14 time to react when receiving materials at the discharge port 254, and facilitates the operator to change the nylon bags at different discharge ports 254. Of course, the discharge port 254 can also be connected to a flexible hose for direct delivery to the vehicle. Similarly, without the dispensing rack 25, a flexible hose can be directly connected to the discharge port 217.

[0053] In some embodiments, the vibration device can Figures 8-9 The device shown is a vibration device. The device includes a second hydraulic cylinder 32 with a sliding sleeve 325 on its bottom surface; a first hydraulic cylinder 31 is disposed in a groove in a base plate 30, which is mounted on a frame 11. A pair of guide rods 312 are provided on the outer side wall of the groove via a mounting block 311, and the sliding sleeve 325 is correspondingly sleeved on the guide rods 312; the output end of the first hydraulic cylinder 31 is connected to the bottom of the second hydraulic cylinder 32 for pushing and pulling the second hydraulic cylinder 32 to slide along the guide rods 322.

[0054] The second hydraulic cylinder 32 is symmetrically provided with a pair of lugs 327, with a spring 323 between them. A sliding rod 322 passes through the spring 323 and through the lugs. Nuts 326 are threaded onto the sliding rod 322 on the outer side of the inner lug and the inner side of the outer lug, respectively, to form an elastic vibration structure. The output end of the second hydraulic cylinder 32 is connected to an elastic cylinder 328, and the top of the elastic cylinder 328 is fixedly connected to the top of the sliding rod 322 with a connecting plate 321. The working process is as follows: when the second hydraulic cylinder 32 realizes the entry and exit of hydraulic oil through the oil pipe joint 324, its output end will drive the elastic cylinder 328 to generate elastic vibration, and the elastic cylinder 328 will then drive the sliding rod 322 to vibrate through the connecting plate 321; conversely, since the sliding rod 322 is equipped with a vibration structure composed of nuts, springs and lugs, this structure will apply a reverse force to the elastic cylinder 328, thereby enhancing the vibration effect.

[0055] It should be noted that the second hydraulic cylinder can be an existing vibrating hydraulic cylinder; the elastic cylinder 328 can be an existing cylindrical elastic device with vibration function, such as a rubber cylinder; a rubber sleeve or other device can also be fitted on the connecting plate 321 to protect the bark during vibration.

[0056] In some embodiments, see Figures 10-14The fully automatic jujube harvester of the present invention also includes a picking mechanism, which includes a frame 41. The frame 41 is connected to the front of two frames 11, and a middle brush cylinder 42 is rotatably connected below it. The middle brush cylinder 42 is driven by a first motor 421 mounted on the frame 41. A rake tooth 43 is fixed on the frame on one side of the middle brush cylinder 42. A parabolic baffle 44 and a receiving trough 45 are provided above the frame 41. The parabolic baffle 44 is located above the receiving trough 45 and the rake tooth 43. The feeding port 453 of the receiving trough 45 is connected to a feeding pipe 454, which is located above the conveying and receiving device. A sweeping mechanism is provided on the frame 41. The sweeping mechanism is used to sweep the material to the middle. After the material is driven by the middle brush cylinder 42 and the rake tooth 43, it enters the receiving trough 45 under the obstruction of the parabolic baffle 44.

[0057] It should be noted that the intermediate brush cylinder 42 and the rake teeth 43 work together and play a crucial role in the jujube harvesting operation. Therefore, the intermediate brush cylinder 42 and the rake teeth 43 can be replaced. Considering the actual jujube harvesting operation, the structure of the brush cylinder 42 and the rake teeth 43 can be flexibly adjusted according to the actual situation. For the brush cylinder, the elastic spikes on it can be optimized and improved according to the characteristics of the jujubes and the operational requirements, such as lengthening or thickening them, to enhance the brush cylinder's ability to grasp and swing the jujubes, so that more and larger jujubes can be effectively thrown out. Moreover, the brush cylinder is not the only fixed choice. In specific situations, the brush cylinder 47 or the intermediate brush cylinder 42 can be replaced with other brush cylinders, as long as the replaced brush cylinder can cooperate well with the rake teeth 43 to achieve the function of smoothly throwing the jujubes onto the parabolic baffle 44. To ensure that the rake teeth 43 can accurately grasp and swing the jujubes, the gaps on the rake teeth 43 can be reasonably replaced according to the actual size of the jujubes. For example, when processing smaller jujubes, rake teeth with smaller gaps can be selected; while when dealing with larger jujubes, rake teeth with larger gaps should be selected. Furthermore, the shape of the rake teeth 43 is not limited to a fixed style. The shape of the rake teeth 43 can be changed according to the actual operation effect and needs. As long as the rake teeth 43 can cooperate well with the brush tube under the action of centrifugal force generated by the brush tube to achieve the purpose of powerfully throwing the dates onto the parabolic baffle 44, it meets the design requirements.

[0058] See Figure 10-14 The sweeping mechanism includes a first folding arm 471 and a second folding arm 472. A gantry frame 473 is respectively provided below the first folding arm 471 and the second folding arm 472. Each gantry frame 473 is equipped with a second motor 474 for driving its brush cylinder 47 to rotate. The first folding arm 471 and the second folding arm 472 are mounted on the frame 41 in an opening and closing manner to sweep the material towards the center.

[0059] The frame 41 is equipped with two limiting rods 411, which are used to limit the movement of the two folding arms. The first folding arm 471 and the second folding arm 472 can be movably connected to the frame 41 via a rotary joint 475 or other existing joints. In addition, the frame 41 is also equipped with two limiting blocks 412, which are also used to limit the movement of the first folding arm 471 and the second folding arm 472. These two limiting blocks 412 are precisely positioned and installed according to the working angle range of the first folding arm 471 and the second folding arm 472, and are made of high-hardness, wear-resistant materials, such as hardened alloy steel, which can maintain the stability of shape and size during long-term use.

[0060] When the first folding arm 471 and the second folding arm 472 rotate to the set working limit position under the drive of the roller 47, they will contact the corresponding two limit rods 411 and limit blocks 412. The limit rods 411 and limit blocks 412 will prevent the folding arms from continuing to rotate, thereby accurately limiting the first folding arm 471 and the second folding arm 472, preventing the folding arms from rotating excessively and causing equipment damage or affecting the sweeping effect, and ensuring that the entire sweeping mechanism operates within a safe and stable range.

[0061] The rotary joint 475 can be an existing rotary joint, which typically employs a bearing structure internally. The rotary joint 475 can be mounted on the frame 41 via threaded connection, key connection, pin connection, or flange connection. Two tension springs 46 can also be connected to the folding arm where the rotary joint 475 is located; their ends are connected to the frame 41 and the folding arm, respectively. The first folding arm 471 and the second folding arm 472 are angled apart by the tension springs 46 to sweep the material towards the center on the frame 41.

[0062] See Figure 15 The picking mechanism of the present invention has an auger 451 between the receiving trough 45 and the conveying port 453. The auger is driven by an auger motor 452 mounted on the frame 41. The auger 451 is used to squeeze the material entering the receiving trough 45 toward the conveying port 453.

[0063] In some embodiments, see Figure 16 - Figure 17The conveying and receiving device includes a conveyor belt and / or a tarpaulin receiving mechanism. The conveyor belt includes a conveyor frame 511, a conveyor belt 512, a drive roller 513, a driven roller 515, a tensioning wheel 514, and a conveyor motor 53. The conveyor frame 511 has a drive roller 513 and a driven roller 515 on both sides, with the drive roller 513 positioned higher than the driven roller 515 to facilitate adjustment of the receiving basket 51's height. The drive roller 513 and the driven roller 515 are connected by the conveyor belt 512. The tensioning wheel 514 is used to tension the conveyor belt 512 to prevent slippage or slackness. The conveyor motor 53 drives the drive roller 513. The conveyor frame 511 is a grooved frame with baffles on both sides to prevent material spillage. The conveyor frame 511 is mounted on opposite sides of the two frames 11 via mounting beams 111. The tarpaulin receiving mechanism is located on the side of the conveyor belt away from the frame 11. The tarpaulin receiving mechanism can be an electric telescopic shed 521.

[0064] See Figure 18 - Figure 21 The tarpaulin receiving mechanism can also be an electric telescopic rod 524 and a hinge rod 525 installed on the tarpaulin support 522 to open the tarpaulin roll 55. The end of the tarpaulin roll can be provided with a slide rail for the end of the hinge rod 525 to slide.

[0065] In some embodiments, see Figure 1 , Figure 2 , Figure 22 The fully automatic jujube harvester of the present invention also includes a roller 19. The roller 19 is installed in front of the machine frame by means of a hydraulic cylinder, a pneumatic cylinder or other telescopic rod. When the ground soil is soft, the roller 19 can be lowered by means of a hydraulic cylinder, a pneumatic cylinder or other telescopic rod.

[0066] In some embodiments, participate Figures 22-23 The gantry crane of the present invention can be a telescopic gantry crane. This telescopic gantry crane includes connecting frames 121, a third hydraulic cylinder 122, and a sliding rod 123. The two connecting frames 121 are slidably connected via the sliding rod 123, and the two ends of the third hydraulic cylinder 122 are fixedly connected to the two connecting frames 121. Under the action of the third hydraulic cylinder 122, the two connecting frames 121 can slide relative to each other along the sliding rod 123, thereby realizing the telescopic function of the gantry crane.

[0067] Furthermore, if necessary, a telescopic device, such as a hydraulic cylinder, can be vertically installed at the connection between the telescopic gantry and the frame. This design allows the height of the entire gantry to be adjusted to meet different operational scenarios and requirements.

[0068] It should be noted that the power configuration and control design of this fully automatic jujube harvester are highly flexible, as detailed below:

[0069] Regarding the power source configuration, typically, the power source for the track 13 and hydraulic components such as the first hydraulic cylinder 31, the second hydraulic cylinder 32, and the third hydraulic cylinder can be an existing hydraulic pump station 17 mounted on the frame. This hydraulic pump station 17 provides hydraulic power to the track 13, the first hydraulic cylinder 31, the second hydraulic cylinder 32, and other hydraulic components via hydraulic pipes laid on the frame 11 and the gantry 12. The power source for the conveying and receiving device and each motor is an existing generator 16 mounted on the frame.

[0070] However, the above power source configuration is not absolutely fixed. With the rapid development of existing power source technology, existing generators and hydraulic pump stations can be converted or adjusted according to actual needs. For example, in a specific scenario, generator 16 can supply power to hydraulic pump station 17, thereby providing power to components such as tracks that originally relied on direct oil supply from the hydraulic pump station; similarly, hydraulic pump station 17 can also provide power to conveying and receiving devices.

[0071] In terms of control, the cab 15 mounted on the frame 11 houses a control system for controlling the movements of components such as the tracks 13, the first hydraulic cylinder 31, the vibration device, the conveying and receiving device, and various motors. The specific control technology for this part is existing technology, and its operation is not fixed. On one hand, it can be manually controlled via a joystick, allowing operators to flexibly manipulate each component according to the actual working conditions for precise operation. On the other hand, existing unmanned driving control technology can also be used. For example, cameras and infrared sensors can be installed at the front and inner sides of the frame. The infrared sensors can detect the position of the jujube trees, and the control system automatically controls the first hydraulic cylinder 31 and the vibration device based on the feedback information from the infrared sensors, ensuring the vibration device accurately vibrates the jujube trees, thereby achieving efficient and intelligent jujube harvesting. The camera provides obstacle avoidance data for the tracks, enabling the jujube harvester of this invention to operate continuously even without human intervention, significantly improving the harvester's efficiency.

[0072] This invention's fully automatic combined jujube harvester has two operating modes. The first is a jujube tree vibration harvesting mode. In this mode, after the harvester rides on the jujube tree, it unfolds the electric telescopic awning 521 next to the conveyor belt or the awning roll 55 on the awning support 522. Then, through manual operation or automatic identification by the intelligent system, the jujube tree is vibrated using a vibration device. Specifically, the output end of the first hydraulic cylinder 31 pushes and pulls the second hydraulic cylinder 32 to slide along the guide rod 312, bringing the vibration device closer to the jujube tree. The second hydraulic cylinder 32 operates, and its output end, connected to the connecting plate 321 (which is connected to the top of the slide rod 322), applies vibration to the jujube tree, causing the jujubes to fall onto the awning. Subsequently, because the unfolded awning surface has an angle relative to the conveyor belt surface, the jujubes naturally roll onto the conveyor belt under their own weight, and are then conveyed to the receiving basket, successfully completing the jujube harvesting process.

[0073] The second method is the ground-fallen date collection mode. When collecting fallen dates, the collection mechanism is fixedly connected to the front of the two frames 11 using bolts, clips, welding, or other methods. In this mode, the date collector does not need to be mounted on a tree. The second motor 474 is started to drive the brush cylinder 47 to rotate. The two brush cylinders work together to sweep the scattered dates to the center. The first motor 421 is started, driving the middle brush cylinder 42 to exert force. With the cooperation of the rake teeth 454 and the first motor 421, the gathered dates are rapidly thrown from the ground towards the parabolic baffle 44. Under the blocking and guiding effect of the parabolic baffle 44, the dates accurately fall into the receiving trough 45. The auger 451 pushes the dates into the receiving trough 45 towards the conveyor pipe 454, which then transports them to the conveyor belt, thus achieving effective collection of fallen dates.

[0074] Furthermore, the jujube harvester of this invention can also be equipped with a suction and blowing mechanism. By installing a suction fan 22 and a blower 24 on the air box 21, a rotating sealed cavity 218 composed of an arc-shaped plate 213 and a rotating impeller is constructed at the discharge port 217 of the air box. When the suction fan 22 starts working, the rotating impeller can rotate under the drive of the air box motor 23; of course, the air box motor 23 can also be turned off, and the rotating impeller can still rotate under the pressure of the weight of the fallen jujubes and leaves, thereby ensuring that the jujubes can pass smoothly through the rotating sealed cavity 218, thus achieving effective sealing of the discharge port. At this time, the suction pipe 221 begins to play its role, sucking the jujubes in the receiving basket 45 into the air box 21. Subsequently, under the rotation of the rotating impeller, the jujubes come out from the discharge port 217, and then the blowing pipe 241 on one side of the discharge port 217 blows out airflow under the action of the blower 24, blowing away the dust, leaves and other impurities that fall with the jujubes. After processing, the jujubes fall into the sorting rack 25 to complete the sorting and packaging process, ensuring that the harvested jujubes are of excellent quality and uniform in size.

[0075] The jujube harvester of this invention adds or removes various mechanisms according to different jujube harvesting modes. For example, in the vibration harvesting mode, a picking mechanism is not needed; in the picking mode, the electric telescopic tarpaulin 521 or tarpaulin support 522 is not needed. When it is not necessary to remove jujube leaves or sort jujubes by size, the suction blower mechanism can also be omitted.

[0076] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fully automatic combined jujube harvester, characterized in that, The system includes two frames (11), with a gantry frame (12) connecting the two frames at the top and a track (13) supporting the movement of the two frames (11) at the bottom. Standing plates (14) are respectively hinged and suspended at the tail of the two frames (11). Conveying and receiving devices are respectively provided on the opposite sides of the two frames (11), and receiving devices are provided at the tail end of the conveying and receiving devices. A first hydraulic cylinder (31) is provided on the frame (11), and the first hydraulic cylinder (31) is located above the conveying and receiving device. A vibration device is provided on the telescopic end of the first hydraulic cylinder (31). The power source of the track (13) and the first hydraulic cylinder (31) is a hydraulic pump station (17) installed on the frame, and the power source of the conveying and receiving device is a generator (16) installed on the frame.

2. The fully automatic combined jujube harvester according to claim 1, characterized in that, It also includes a suction and blower mechanism, which includes a blower box (21), a suction fan (22) and a blower (24) fixed on the blower box (21); the blower box (21) is also provided with a rotary sealing cavity (218), which includes a first impeller and a second impeller respectively disposed in the cavity enclosed by the symmetrical arc plate (213). The cavity enclosed by the symmetrical arc plate (213) is disposed above the discharge port (217) to cooperate with the first impeller and the second impeller to seal the discharge port. The material inlet (217) has a partition (215) connected to the top of the arc plate (213). The partition (215) is used to guide the material into the rotary sealed cavity (218). The first impeller is connected to the wind box motor (23) located outside the wind box. The first impeller is connected to the second impeller. The suction fan (22) sucks the material from the receiving device into the wind box (21) through the suction pipe (221). The blower (24) blows the material falling from the discharge port (217) through the blower pipe (241).

3. The fully automatic combined jujube harvester according to claim 1, characterized in that, The conveying and receiving device includes a conveyor belt, a tarpaulin support (522) is provided on one side of the conveyor belt, the conveyor belt is respectively set on the opposite sides of the two frames (11) by mounting beams (111), a swing rod (523) is hinged or hinged on the tarpaulin support (522), and a tarpaulin roll (55) is also provided on the tarpaulin support (522).

4. The fully automatic combined jujube harvester according to claim 1, characterized in that, It also includes a picking mechanism, which includes a frame (41); the frame (41) is connected to the front of the two frames (11), and a middle brush cylinder (42) is rotatably connected below it. The middle brush cylinder (42) is driven by a first motor (421) mounted on the frame (41), and rake teeth (43) are fixed on the frame on one side of the middle brush cylinder (42); a parabolic baffle (44) and a receiving trough (45) are provided above the frame (41), and the parabolic baffle (44) is positioned... Above the receiving trough (45) and rake teeth (43); the material inlet (453) of the receiving trough (45) is connected to a material conveying pipe (454), which is located above the material receiving device; a sweeping mechanism is provided on the frame (41), which is used to sweep the material to the middle. After the material is driven by the middle brush cylinder (42) of the first motor (421) and the rake teeth (43) cooperate, it enters the receiving trough (45) under the obstruction of the parabolic baffle (44).

5. The fully automatic combined jujube harvester according to claim 4, characterized in that, The sweeping mechanism includes a first folding arm (471) and a second folding arm (472). A gantry frame (473) is provided below the first folding arm (471) and the second folding arm (472). A second motor (474) for driving the brush cylinder (47) to rotate is provided on the gantry frame (473). Two limiting rods (411) are also provided on the frame (41), which are used to limit the two folding arms respectively.

6. The fully automatic combined jujube harvester according to claim 1, characterized in that, The vibration device includes a second hydraulic cylinder (32), the bottom surface of which is provided with a sliding sleeve (325); the first hydraulic cylinder is disposed in a groove in a base plate (30), the base plate (30) is mounted on a frame (11), and a pair of guide rods (312) are provided on the outer side wall of the groove of the base plate (30), and the sliding sleeve (325) is correspondingly sleeved on the guide rods (312); the output end of the first hydraulic cylinder (31) is connected to the bottom of the second hydraulic cylinder (32) to push and pull the second hydraulic cylinder (32) to move along the guide rods (312); The second hydraulic cylinder (32) is symmetrically provided with a pair of lugs (327), and a spring (323) is provided between the pair of lugs (327). The slide rod (322) passes through the spring (323) and through the pair of lugs (327). Nuts (326) are provided on the slide rod (322) on the outer side of the inner lug (327) and the inner side of the outer lug (327). The output end of the second hydraulic cylinder (32) is connected to an elastic cylinder (328). The top end of the elastic cylinder (328) is fixedly connected to the top end of the slide rod (322) with a connecting plate (321).

7. The fully automatic combined jujube harvester according to claim 2, characterized in that, It also includes a dispensing rack (25), which is located below the discharge port (217); the dispensing rack (25) is symmetrically provided with inclined fixing plates (251), and a movable plate (252) is movably installed between the inclined fixing plates (251); by rotating the movable plate (252) with a handle, the material can be sorted and enter the discharge port (254) separated by the fixing plate (253).

8. The fully automatic combined jujube harvester according to claim 5, characterized in that, It also includes an auger (451) which is disposed between the receiving trough (45) and the conveying port (453). The auger is driven by an auger motor (452) disposed on the frame (41). The auger (451) is used to squeeze the material entering the receiving trough (45) toward the conveying port (453).

9. The fully automatic combined jujube harvester according to claim 1, characterized in that, It also includes a roller (19), which is mounted in front of the two frames (11) by a hydraulic cylinder.

10. The fully automatic combined jujube harvester according to claim 1, characterized in that, The gantry frame is a telescopic gantry frame.

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