A new type of hawthorn picker

Abstract

The present application relates to the technical field of hawthorn picking, and discloses a novel hawthorn picker, which comprises a picking vehicle, a rack, a supporting support installed at the end of the rack, a positioning support installed at one end of the supporting support, a moving support arranged at the other end of the supporting support, a rotating support arranged above the positioning support, and rubber rollers installed on the supporting support, the positioning support, the moving support and the rotating support; an arc-shaped frame is arranged above the supporting support, a sliding frame is installed in the arc-shaped frame, a moving rod frame is installed in the sliding frame, and clamping units are arranged on the sliding frame and the moving rod frame; the novel hawthorn picker is provided with the supporting support, the positioning support, the moving support and the rotating support, thereby forming a multi-point clamping structure for the trunk of a hawthorn tree, ensuring the stability of the picker during picking, and the clamping units on the sliding frame and the moving rod frame limiting the branches, so that the vibration energy is directly applied to the fruiting parts under the action of the vibration part.

Description

Technical Field

[0001] This invention relates to the field of hawthorn harvesting technology, specifically a novel hawthorn harvester. Background Technology

[0002] Mechanized harvesting of hawthorn mainly employs vibratory harvesting equipment. Common vibratory harvesting methods include the following: First, handheld vibratory harvesters, where the operator directly presses the vibrating head against the fruiting branches, causing the fruit to fall off through high-frequency vibration. This method is suitable for dwarf, densely planted orchards, but it is labor-intensive and inefficient. Second, fruit-shaking harvesters, which use grippers to hold the trunk or main branch roots of the hawthorn tree, and use the periodic centrifugal force generated by the rotation of the eccentric block to force the entire tree to vibrate. The fruit separates from the stalk due to inertia and falls into the collection device below. Third, tractor-mounted large vibratory harvesters, which use a hydraulic system to drive the gripping arms to hold the trunk and apply controllable low-frequency, high-amplitude vibration. This type of equipment is suitable for large-scale orchard operations and typically consists of a gripping mechanism, a vibration generator, a power system, and a collection device.

[0003] However, in actual use, operators often need to firmly hold the clamping mechanism against the trunk and apply a sufficiently large vibration force to effectively shake the fruit off. Because the trunk of the hawthorn tree is relatively thick and the root system is well-developed, some of the energy is absorbed by the tree and roots as the vibration force is transmitted downwards along the trunk, resulting in reduced energy utilization efficiency. At the same time, the continuous application of a large vibration force to the trunk will cause repeated shearing and compression between the bark and the xylem. After long-term operation, this can easily cause bark wear and cracking, and even damage to the root system. More importantly, the hawthorn fruit is mainly distributed on the perennial branches on the outer edge of the crown, rather than near the trunk. This means that the vibration applied to the trunk needs to be transmitted through multiple levels of branches to reach the fruiting area. On the one hand, the long-path vibration transmission consumes a lot of energy. On the other hand, some branches may not have complete fruit drop due to insufficient vibration. Therefore, we propose a new type of hawthorn harvester. Summary of the Invention

[0004] The purpose of this invention is to provide a novel hawthorn harvester to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a novel hawthorn harvester, comprising a harvesting vehicle, a frame mounted on the harvesting vehicle, and a support bracket fixedly mounted at the end of the frame. A positioning bracket is fixedly mounted at one end of the support bracket, a movable bracket is provided at the other end of the support bracket, and a rotating bracket is provided above the positioning bracket. Rubber rollers are fixedly mounted on the support bracket, the positioning bracket, the movable bracket, and the rotating bracket. The rubber rollers are in contact with the main trunk of the hawthorn tree to absorb vibration forces.

[0006] An arc-shaped frame is provided above the support bracket, and a sliding frame is installed inside the arc-shaped frame and slidably connected to its inner wall. A movable rod is installed inside the sliding frame and slidably connected to its inner wall. Both the sliding frame and the movable rod are provided with clamping units for limiting the branches of the hawthorn tree. The axes of the arc-shaped frame, the sliding frame, and the movable rod are coincident. A vibration part is provided at the bottom of the arc-shaped frame. A cylinder is fixedly installed on one side of both the positioning bracket and the moving bracket, and the output end of the cylinder is fixedly connected to the bottom of the arc-shaped frame.

[0007] Preferably, the clamping unit includes a fixed sleeve, a steel shaft, a support, a first clamping plate, and a second clamping plate. The fixed sleeve is fixedly installed on the top of the sliding frame or the movable rod frame. The top of the sliding frame is provided with a slot, and the fixed sleeve on the movable rod frame slides within the slot. The steel shaft is located above the fixed sleeve, with one end penetrating the top of the fixed sleeve and extending into its interior. The steel shaft is slidably connected to the inner wall of the fixed sleeve. The support is fixedly installed at the other end of the steel shaft and located above the fixed sleeve. The first clamping plate is installed on the support via a rotating shaft, and the rotating shaft is rotatably connected to the support. The second clamping plate is located on one side of the first clamping plate, and rubber pads are fixedly installed on both the first and second clamping plates.

[0008] Preferably, a torsion spring sleeved on the rotating shaft is connected between one end of the support and the clamping plate, and a spring part is connected between the steel shaft and the bottom of the fixed sleeve.

[0009] Preferably, an insertion sleeve is fixedly installed on the clamping plate one, and a connecting shaft is provided inside the insertion sleeve. One end of the connecting shaft passes through the inner wall of the insertion sleeve and is fixedly connected to the clamping plate two. A steel ball is embedded in the outer wall of the connecting shaft, and an annular groove and a straight groove are formed in the inner wall of the insertion sleeve. The annular groove and the straight groove are connected, and the steel ball slides within the annular groove and the straight groove. A ball bearing is embedded in the inner wall of the connecting shaft, and a spring mechanism is connected between the connecting shaft and the inner wall of the insertion sleeve.

[0010] Preferably, an actuating shaft is installed inside the insert sleeve and slidably connected to its inner wall, and an arc-shaped groove is formed on the outer wall of the actuating shaft. The ball can slide within the arc-shaped groove. An annular iron piece is fixedly installed at one end of the actuating shaft, and an electromagnet is fixedly installed inside the insert sleeve. When the electromagnet is energized, it generates an attractive force on the annular iron piece. A plastic spring is connected between the annular iron piece and the inner wall of the insert sleeve.

[0011] Preferably, a gear rack is fixedly installed on the outer wall of the sliding frame, and a motor is fixedly installed on the outer wall of the arc-shaped frame. A meshing gear is fixedly installed at the output end of the motor, and the meshing gear is meshed with the gear rack. A second motor is fixedly installed on the top of the sliding frame, and a gear body is fixedly installed at the output end of the second motor. The gear body does not contact the gear rack. A gear rack that meshes with the gear body is fixedly installed on the outer wall of the moving rod.

[0012] Preferably, a servo motor is fixedly installed at one end of the positioning bracket near the support bracket. A worm gear fixedly connected to the output end of the servo motor is provided inside the positioning bracket, and a worm wheel meshing with the worm gear is provided inside the positioning bracket. An extension shaft is fixedly installed on the worm wheel, and the extension shaft passes through the positioning bracket and extends into the support bracket. The extension shaft is rotatably connected to the inner wall of both the positioning bracket and the support bracket.

[0013] Preferably, a limiting slider is fixedly installed at one end of the movable bracket, and the limiting slider is located inside the support bracket and slidably connected to its inner wall. A lead screw is also installed inside the support bracket and rotatably connected to its inner wall. An electromagnetic mechanism is fixedly installed at the end of the lead screw, and an iron sleeve is slidably connected to its outer wall at one end of the extension shaft. A return spring is connected to one end of the iron sleeve and the extension shaft. The electromagnetic mechanism is located on one side of the iron sleeve and generates an attractive force on the iron sleeve when energized.

[0014] Preferably, the end of the worm gear away from the servo motor is connected to a lead screw two, which is rotatably connected to the inner wall of the positioning bracket. A main shaft is fixedly installed at one end of the rotating bracket, and one end of the main shaft is located inside the positioning bracket. A through groove is opened at the top of the positioning bracket, and the main shaft slides within the through groove. A drive slider that is slidably connected to the inner wall of the positioning bracket is threaded onto the lead screw two, and the main shaft is rotatably connected to the drive slider.

[0015] Preferably, a driven gear is fixedly mounted on the main shaft, and a rack is fixedly mounted on the inner wall of one side of the positioning bracket, with the rack located on the movement trajectory of the driven gear.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention features a multi-point clamping structure for the trunk of a hawthorn tree, consisting of a support bracket, a positioning bracket, a movable bracket, and a rotating bracket, all equipped with rubber rollers. This structure ensures the stability of the harvester during harvesting and effectively protects the bark through the cushioning properties of the rubber material, preventing damage to the trunk from rigid clamping. Furthermore, by incorporating an arc-shaped frame, a sliding frame, and a movable rod, the clamping units on the sliding frame and movable rod are arranged in a ring at equal angles, thus restricting the branches. Consequently, under the action of the vibrating part, the vibration energy is directly applied to the fruiting parts, avoiding vibration energy loss, improving energy utilization efficiency, and reducing vibration damage to the trunk and root system.

[0018] This invention achieves independent telescopic control of the sliding frame and the moving rod by setting up an arc-shaped frame, a sliding frame, and a moving rod frame. A gear rack is set on the outer wall of the sliding frame, which meshes with the output end of a motor. A motor is set on the top of the sliding frame, which meshes with a gear rack on the outer wall of the moving rod frame through a gear body. After the moving rod frame is fully extended, it forms a complete circular frame together with the sliding frame. The clamping units on the sliding frame and the moving rod frame are distributed in a ring at equal angles, which can effectively synchronize the positioning of multiple branches at different angles and positions on the outer periphery of the tree canopy. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the harvesting vehicle structure of the present invention;

[0021] Figure 3 This is a partial structural diagram of the present invention;

[0022] Figure 4 This is a schematic diagram of the supporting bracket, positioning bracket, movable bracket, and rotating bracket of the present invention;

[0023] Figure 5 This is a schematic diagram of the internal structure of the positioning bracket of the present invention;

[0024] Figure 6 This is a partial structural diagram of the positioning bracket of the present invention;

[0025] Figure 7 This is a schematic cross-sectional view of the support structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the electromagnetic mechanism and the iron sleeve structure of the present invention;

[0027] Figure 9 This is a schematic diagram of the arc-shaped frame structure of the present invention;

[0028] Figure 10This is a schematic diagram of the arc-shaped frame, sliding frame, and movable rod structure of the present invention;

[0029] Figure 11 This is a schematic diagram showing the separation of the arc-shaped frame, sliding frame, and movable rod frame structure of the present invention;

[0030] Figure 12 This is a schematic diagram of the sliding frame and moving rod structure of the present invention;

[0031] Figure 13 This is a schematic diagram of the clamping unit structure of the present invention;

[0032] Figure 14 This is a schematic diagram of the internal structure of the sleeve of the present invention;

[0033] Figure 15 This is a schematic diagram showing the separation of the sleeve, the working shaft, and the connecting shaft of the present invention.

[0034] In the diagram: 1. Harvesting vehicle; 2. Frame; 3. Support bracket; 31. Lead screw one; 32. Electromagnetic mechanism; 4. Positioning bracket; 41. Servo motor; 42. Worm gear; 43. Worm wheel; 44. Extension shaft; 45. Iron sleeve; 46. Return spring; 47. Lead screw two; 48. Drive slider; 49. Rack; 5. Moving bracket; 51. Limit slider; 6. Rotating bracket; 61. Main shaft; 62. Driven gear; 7. Rubber roller; 8. Arc frame; 81. Sliding frame; 82. Moving rod frame; 83. Vibration unit; 84. Gear row one; 85. Motor one; 86. Meshing gear; 87. Motor II; 88. Gear Body; 89. Gear Row II; 9. Clamping Unit; 91. Fixed Sleeve; 92. Steel Shaft; 93. Support; 94. Clamping Plate I; 95. Clamping Plate II; 96. Slot; 97. Rotating Shaft; 98. Rubber Pad; 99. Torsion Spring; 90. Spring Part; 901. Insert Sleeve; 902. Connecting Shaft; 903. Steel Ball; 904. Annular Groove; 905. Straight Groove; 906. Ball; 907. Spring Mechanism; 908. Actuating Shaft; 909. Arc Groove; 900. Annular Iron Sheet; 10. Cylinder; 11. Electromagnet; 12. Plastic Spring. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1-15This invention provides a technical solution: a novel hawthorn harvester, comprising a harvesting cart 1, a frame 2 mounted on the harvesting cart 1, a support bracket 3 fixedly mounted at one end of the frame 2, a positioning bracket 4 fixedly mounted at one end of the support bracket 3, and a movable bracket 5 at the other end. The positioning bracket 4 is designed to be relatively long to ensure that when encountering a hawthorn tree with a thick trunk, the subsequent rotating bracket 6 can smoothly complete the angle adjustment and contact the trunk. A servo motor 41 is fixedly mounted at one end of the positioning bracket 4 near the support bracket 3. A worm gear 42 fixedly connected to the output end of the servo motor 41 is provided inside the positioning bracket 4, and a worm wheel 43 meshing with the worm gear 42 is provided inside the positioning bracket 4. An extension shaft 44 is fixedly mounted on the worm wheel 43, the extension shaft 44 passes through the positioning bracket 4 and extends into the support bracket 3, and the extension shaft 44 is rotatably connected to the inner walls of both the positioning bracket 4 and the support bracket 3. One end of the movable bracket 5 is fixedly installed with a limiting slider 51, which is located inside the support bracket 3 and slidably connected to its inner wall. Inside the support bracket 3, a lead screw 31 is also installed and rotatably connected to its inner wall. An electromagnetic mechanism 32 is fixedly installed at the end of the lead screw 31. One end of the extension shaft 44 is installed with an iron sleeve 45 that is slidably connected to its outer wall. A return spring 46 is connected to one end of the iron sleeve 45 and the extension shaft 44. The electromagnetic mechanism 32 is located on one side of the iron sleeve 45 and generates an attractive force on the iron sleeve 45 when energized. The end of the worm gear 42 away from the servo motor 41 is connected to a lead screw 47, which is rotatably connected to the inner wall of the positioning bracket 4. The pitch of the lead screw 47 is smaller than that of the lead screw 31. This design makes the movement speed of the movable bracket 5 faster than that of the rotating bracket 6 during subsequent adjustments, thereby achieving sequential clamping actions.

[0037] A rotating bracket 6 is provided above the positioning bracket 4. A main shaft 61 is fixedly installed at one end of the rotating bracket 6. One end of the main shaft 61 is located inside the positioning bracket 4. A through groove is opened at the top of the positioning bracket 4. The main shaft 61 slides within the through groove. A drive slider 48 is threaded onto the lead screw 47 and is slidably connected to the inner wall of the positioning bracket 4. The main shaft 61 is rotatably connected to the drive slider 48. A driven gear 62 is fixedly installed on the main shaft 61. A rack 49 is fixedly installed on one side of the inner wall of the positioning bracket 4. The rack 49 is located on the movement trajectory of the driven gear 62. Rubber rollers 7 are fixedly installed on the support bracket 3, positioning bracket 4, moving bracket 5 and rotating bracket 6. These rubber rollers 7 are used to contact the trunk of the hawthorn tree. The rubber material has good elasticity and cushioning performance, which can effectively protect the bark during the clamping process and avoid damage to the trunk caused by rigid contact. At the same time, the rubber rollers 7 can also play a preliminary vibration absorption role.

[0038] An arc-shaped frame 8 is installed above the support bracket 3. The arc-shaped frame 8 is circular with an opening. The distance between the two ends of the arc-shaped frame 8 is greater than the maximum distance between the moving bracket 5 and the positioning bracket 4. This structural design ensures that the arc-shaped frame 8 will not collide with the hawthorn tree during movement, providing sufficient safety space for subsequent lifting and positioning operations. A sliding frame 81 is installed inside the arc-shaped frame 8, which is slidably connected to its inner wall. A moving rod 82 is installed inside the sliding frame 81, which is slidably connected to its inner wall. The axes of the arc-shaped frame 8, the sliding frame 81, and the moving rod 82 are coincident. A gear rack 84 is fixedly installed on the outer wall of the sliding frame 81, and a motor 85 is fixedly installed on the outer wall of the arc-shaped frame 8. A meshing gear 86 is fixedly installed at the output end of the motor 85. The meshing gear 86 and the gear rack 84 are connected at... In the engaged state, the motor 85 drives the meshing gear 86 to rotate, which can precisely control the position of the sliding frame 81 within the arc frame 8. The top of the sliding frame 81 is fixedly mounted with a motor 87, and the output end of the motor 87 is fixedly mounted with a gear body 88. The outer wall of the moving rod 82 is fixedly mounted with a gear rack 89 that meshes with the gear body 88. The gear body 88 does not contact the gear rack 84, thus ensuring that the motor 87 independently controls the extension and retraction of the moving rod 82. A cylinder 10 is fixedly mounted on one side of the positioning bracket 4 and the moving bracket 5. The output end of the cylinder 10 is fixedly connected to the bottom of the arc frame 8. A telescopic shaft that serves as a guide and buffer is also provided between the two cylinders 10. The bottom of the telescopic shaft is fixedly mounted on the frame 2, and the top is fixedly connected to the bottom of the arc frame 8, so that the arc frame 8 remains stable during the lifting and lowering process.

[0039] Both the sliding frame 81 and the movable rod 82 are equipped with clamping units 9 for limiting the branches of the hawthorn tree. The clamping unit 9 includes a fixed sleeve 91 fixedly installed on the top of the sliding frame 81 or the movable rod 82. A slot 96 is provided on the top of the sliding frame 81, and the fixed sleeve 91 on the movable rod 82 slides within the slot 96. This design allows the clamping unit 9 on the movable rod 82 to move smoothly along the trajectory of the slot 96 during extension and retraction. Figure 9As shown, the clamping unit 9 on the movable rod frame 82 will not interfere with the clamping unit 9 on the sliding frame 81; a steel shaft 92 is provided above the fixed sleeve 91, one end of the steel shaft 92 passes through the top of the fixed sleeve 91 and extends into its interior, and the steel shaft 92 is slidably connected to the inner wall of the fixed sleeve 91; and a support 93 is fixedly installed at the end of the steel shaft 92 located outside the fixed sleeve 91, that is, the support 93 is located above the fixed sleeve 91, and a clamping plate 94 is provided on the support 93, and the clamping plate 94 is connected to the support 93 through a rotating shaft 97, the rotating shaft 97 is rotatably connected to the support 93, and the clamping plate 94 is connected to the support 93 through a rotating shaft 97. A clamping plate 95 is provided on one side of the first plate 94. Rubber pads 98 are fixedly installed on both the first plate 94 and the second plate 95. The rubber pads 98 can increase the friction when in contact with the branches, and at the same time avoid damage to the bark by hard materials. A torsion spring 99 is connected between one end of the support 93 and the first plate 94 and is sleeved on the rotating shaft 97. The torsion spring 99 generates deformation and stores force when the first plate 94 rotates, providing a restoring elastic force for the first plate 94. A spring part 90 is connected between the steel shaft 92 and the bottom of the fixed sleeve 91. The spring part 90 provides buffer when the steel shaft 92 is squeezed, so that the clamping unit 9 can adapt to branches of different thicknesses.

[0040] A sleeve 901 is fixedly installed on clamping plate 94. A connecting shaft 902 is located inside the sleeve 901. One end of the connecting shaft 902 passes through the inner wall of the sleeve 901 and is fixedly connected to clamping plate 95. A steel ball 903 is embedded in the outer wall of the connecting shaft 902. An annular groove 904 and a straight groove 905 are formed on the inner wall of the sleeve 901, communicating with each other. The steel ball 903 slides within the annular groove 904 and the straight groove 905. A ball bearing 906 is embedded in the inner wall of the connecting shaft 902. A spring mechanism 907 connects the connecting shaft 902 and the inner wall of the sleeve 901. An actuating shaft 908 is also installed inside, which is slidably connected to its inner wall. An arc-shaped groove 909 is opened on the outer wall of the actuating shaft 908. The ball bearing 906 can slide within the arc-shaped groove 909. An annular iron plate 900 is fixedly installed at one end of the actuating shaft 908. An electromagnet 11 is fixedly installed inside the insertion sleeve 901. When the electromagnet 11 is energized, it generates an attractive force on the annular iron plate 900. A plastic spring 12 is connected between the annular iron plate 900 and the inner wall of the insertion sleeve 901, so that the clamping plate 95 can first rotate 180° and then move to clamp. The clamping and releasing operation is automated by controlling the on and off of the electromagnet 11.

[0041] Working Principle: During the harvesting process, the staff first drives the harvesting vehicle 1 to the target hawthorn tree. Based on the position and height of the hawthorn tree, the angle and extension length of the frame 2 are adjusted to align the harvester with the tree. The staff observes and determines the approximate positional relationship between the rubber rollers 7 on the support bracket 3 and the positioning bracket 4 and the main trunk of the hawthorn tree, preparing for precise clamping later. The arc-shaped frame 8 remains at the main trunk, below the branches. Then, the servo motor 41 is started, rotating forward and driving the worm gear 42 to rotate. The worm gear 42 meshes with the worm wheel 43, causing the worm wheel 43 to rotate. One end of the worm gear 42 drives the lead screw 47 to rotate, and the worm wheel 43 drives the extension shaft 44 to rotate. Before starting the servo motor 41, the electromagnetic mechanism 32 is energized, generating an attractive force on the iron sleeve 45. The iron sleeve 45 overcomes the tension of the return spring 46 and rotates in the extension shaft 44. The extension shaft 44 slides towards the electromagnetic mechanism 32 until the iron sleeve 45 contacts the electromagnetic mechanism 32. At this time, the return spring 46 is in a stretched state, and the iron sleeve 45 is tightly fitted with the electromagnetic mechanism 32. Since the iron sleeve 45 is in contact with the electromagnetic mechanism 32, the rotation of the extension shaft 44 is transmitted to the lead screw 31 through the iron sleeve 45 and the electromagnetic mechanism 32, so that the lead screw 31 rotates synchronously. When the lead screw 31 rotates, the limiting slider 51 that is threaded with it drives the moving bracket 5 to move in a directional manner along the inner wall of the support bracket 3. The moving bracket 5 gradually approaches the trunk of the hawthorn tree until the rubber roller 7 on the moving bracket 5 is in contact with the surface of the hawthorn tree. After contact, the electromagnetic mechanism 32 is de-energized, and the iron sleeve 45 quickly separates from the electromagnetic mechanism 32 under the action of the stretched return spring 46. At this time, the lead screw 31 stops rotating, the position of the moving bracket 5 is locked, and the rubber roller 7 remains in contact with the trunk.

[0042] As the movable bracket 5 completes clamping, the second lead screw 47 continues to rotate, driving the drive slider 48 to move along the inner wall of the positioning bracket 4 towards the support bracket 3. The drive slider 48 drives the main shaft 61 to move synchronously, and the main shaft 61 slides within the through groove at the top of the positioning bracket 4. During the movement of the main shaft 61, the driven gear 62 on it meshes with the rack 49 on the inner wall of the positioning bracket 4. When the driven gear 62 moves from one end of the rack 49 to the other end, the driven gear 62 drives the main shaft 61 to rotate 250°-290°. The rotating bracket 6 rotates synchronously with the main shaft 61. At this time, the rotating bracket 6 rotates from the initial standby position to one side of the support bracket 3, completing the angle adjustment. The second lead screw 47 continues to rotate. Since the driven gear 62 has disengaged from the rack 49, the main shaft 61 no longer rotates. As the drive slider 48 continues to move, the rubber roller 7 on the rotating bracket 6 gradually approaches the trunk of the hawthorn tree until it contacts the trunk. At this point, the rubber roller 7 on the support bracket 3, positioning bracket 4, moving bracket 5, and rotating bracket 6 are all in contact with the trunk of the hawthorn tree, forming a four-point clamping structure that firmly fixes the harvester to the trunk, providing a stable support foundation for subsequent harvesting operations. This four-point clamping design ensures that the clamping force is evenly distributed in four directions on the trunk, which not only ensures the stability of the clamping but also avoids excessive local pressure on the trunk. At the same time, the buffering properties of the rubber material effectively protect the bark.

[0043] Simultaneously with the start of servo motor 41, motor 87, fixedly mounted on top of sliding frame 81, starts synchronously. The gear body 88 at the output end of motor 87 meshes with the gear rack 89 on the outer wall of moving rod 82, driving the gear rack 89 to extend the moving rod 82 outward from inside sliding frame 81. Initially, the moving rod 82 is completely retracted within sliding frame 81, and sliding frame 81 is completely retracted within arc-shaped frame 8. The arc-shaped frame 8 has a circular shape with an opening. The distance between the two ends of the arc-shaped frame 8 is greater than the maximum distance between moving bracket 5 and positioning bracket 4. This allows the arc-shaped frame 8 to move more smoothly and evenly as the picking vehicle 1 moves towards the hawthorn tree. It can safely cross the main trunk without colliding with the hawthorn tree. Motor 2 87 continues to rotate until the moving rod 82 is fully extended and the other end of the moving rod 82 is inserted into the sliding frame 81. At this time, the fully moved moving rod 82 and the sliding frame 81 together form a complete circular frame. The clamping units 9 on the moving rod 82 and the sliding frame 81 are distributed in a ring at equal angles. The number of clamping units 9 on the moving rod 82 and the sliding frame 81 can be set to 6 to 9 according to actual needs. In this embodiment, the number of clamping units 9 is 6. This number can ensure that most of the branches can be effectively limited by the clamping units 9.

[0044] After the movable support 5 and the rotating support 6 complete the clamping of the main trunk of the hawthorn tree, the cylinder 10 is started, and its output end drives the arc frame 8 to move upward. The telescopic shaft set between the two cylinders 10 plays a guiding and buffering role in the upward movement of the arc frame 8, ensuring that the arc frame 8 always maintains a horizontal posture during the lifting and lowering process, and avoiding the clamping unit 9 from being unable to accurately align the branches due to tilt. The arc frame 8 rises smoothly until it is close to the intersection of the main trunk and the branches. At this time, if the clamping plate 94 on the sliding frame 81 and the movable rod 82 rotates inside the arc frame 8, it will inevitably touch the branches. Then the motor 85 starts, and its output drives the meshing gear 86 to rotate. The meshing gear 86 meshes with the tooth row 84 on the outer wall of the sliding frame 81, driving the sliding frame 81 to slide along its arc trajectory inside the arc frame 8. During the sliding process of the sliding frame 81, the clamping unit 9 on it moves synchronously with the sliding frame 81. At the same time, the clamping unit 9 on the moving rod 82 also moves synchronously with the moving rod 82. Since the fixed sleeve 91 on the moving rod 82 slides within the slot 96 at the top of the sliding frame 81, the two will not interfere with each other during the movement and will always maintain a staggered distribution.

[0045] When the sliding frame 81 slides within the arc-shaped frame 8, the fixed sleeve 91 at the top of the sliding frame 81 and the moving rod 82 moves synchronously with the sliding frame 81. The fixed sleeve 91 drives the support 93 and the clamping plate 94 to rotate synchronously through the steel shaft 92. In the initial state, that is, before the branch is clamped, the other end of the clamping plate 95 is close to the top of the sliding frame 81 or the moving rod 82 and will not be on the movement trajectory of the branch, thus avoiding unnecessary collisions between the clamping plate 95 and the branch when it is not clamped. When the sliding frame 81 drives the clamping plate 94 to rotate, the clamping plate 94 will inevitably come into contact with the branch and be blocked by the branch. The clamping plate 94 adjusts its angle around the pivot 97 on the support 93, and the torsion spring 99 on the pivot 97 deforms and stores force to provide flexible contact pressure for the clamping plate 94. At the same time, if the cylinder 10 controls the arc-shaped frame 8 to rise, the clamping plate 94 has already come into contact with the branch. The steel shaft 92 is subjected to pressure transmitted by the support 93, which compresses the spring part 90 inside the fixed sleeve 91. The spring part 90 absorbs the impact force through compression deformation, so that the clamp 94 can adapt to branches of different thicknesses and heights. This adaptive design allows the clamp 94 to firmly fit branches of various shapes, improving the applicability of the harvester. Workers can observe the contact between the clamp 94 and the hawthorn branches from below the hawthorn tree. Since the canopy of the hawthorn tree is relatively dense, it usually requires two or more workers to cooperate in the operation. One person is responsible for driving the harvesting vehicle 1 and operating the control system, while the other personnel are responsible for observing the contact state between the clamp 94 and the branches. A foldable umbrella-shaped collection net can be unfolded below to catch the fallen hawthorn fruits. The umbrella-shaped collection net is existing technology and will not be described in detail in this invention. After most or all of the branches have contacted the corresponding clamp 94, the electromagnet 11 is energized.

[0046] When electromagnet 11 is energized, it generates an attractive force on the annular iron piece 900. The annular iron piece 900 overcomes the elastic force of the plastic spring 12 and moves towards electromagnet 11, causing the actuating shaft 908 to move synchronously. When the actuating shaft 908 moves, the arc-shaped groove 909 on its outer wall applies a force to the ball bearings 906 on the inner wall of the connecting shaft 902, causing the connecting shaft 902 to rotate. Initially, the steel balls 903 on the outer wall of the connecting shaft 902 are located in the annular groove 904 on the inner wall of the insert sleeve 901. When the connecting shaft 902... After rotating 180°, the steel ball 903 moves from the annular groove 904 to the entrance of the straight groove 905. At this time, the clamping plate 2 95 rotates from its initial position to the side of the clamping plate 1 94, with its branch located between the clamping plate 1 94 and the clamping plate 2 95. As the actuating shaft 908 continues to move, the end of the arc-shaped groove 909 applies a further force to the ball 906, causing the steel ball 903 connected to the outer wall of the shaft 902 to move along the trajectory of the straight groove 905 towards the clamping plate 1 94, thereby driving the connecting shaft 902 and its fixed components... The second clamp 95 is moved towards the first clamp 94 until it is in close contact with the branch. The rubber pads 98 on both the first clamp 94 and the second clamp 95 together clamp and fix the branch. This clamping method of first rotating and then translating allows the second clamp 95 to avoid the branch during rotation around the axis of the arc frame 8, so that the branch is located between the first clamp 94 and the second clamp 95. After rotation, the branch can be accurately aligned, and then clamped by the first clamp 94 during the subsequent translation. After complete clamping, the arc frame 8 is activated. The vibrating part 83 at the bottom of the frame 8 generates periodic vibrations. The vibrations are transmitted through the arc-shaped frame 8 to the sliding frame 81 and the moving rod 82, and then through the clamping unit 9 to each branch. This causes the hawthorn fruits on the branches to separate from the fruit stalks due to inertia and fall into the pre-deployed umbrella-shaped collection net below, completing the harvesting operation. Since the vibrations act directly on the branches rather than the trunk, the vibration energy can be transmitted to the fruiting parts more efficiently, avoiding ineffective losses of vibration in the trunk and root system, and reducing overall damage to the tree.

[0047] After harvesting is completed, a reset operation is required. First, the electromagnet 11 is de-energized, and the attraction of the electromagnet 11 to the annular iron plate 900 disappears. Under the action of the stretched plastic spring 12, the annular iron plate 900 drives the actuating shaft 908 to move away from the electromagnet 11. At the same time, the spring mechanism 907 between the connecting shaft 902 and the inner wall of the sleeve 901 drives the connecting shaft 902 to move in the opposite direction. The steel ball 903 on the outer wall of the connecting shaft 902 re-enters the annular groove 904 from the straight groove 905. The arc-shaped groove 909 on the outer wall of the actuating shaft 908... Applying a reverse force to the ball bearing 906 causes the connecting shaft 902 to rotate 180° in the opposite direction, and the clamping plate 95 returns to its initial position, releasing the clamp on the branch. Then, the output end of the cylinder 10 retracts, driving the arc frame 8 to move downward, causing the clamping plates 94 and 95 to leave the branch area. The motor 85 reverses, driving the meshing gear 86 to rotate in the opposite direction, causing the sliding frame 81 to retract back into the arc frame 8. The motor 87 reverses, driving the gear body 88 to rotate in the opposite direction, causing the moving rod 82 to retract back into the sliding frame 81, returning to the initial retracted state.

[0048] The servo motor 41 reverses, driving the worm gear 42 to rotate in the opposite direction. The worm gear 42, through the worm wheel 43, drives the extension shaft 44 to rotate in the opposite direction. Simultaneously, the lead screw 47 also rotates in the opposite direction, driving the slider 48 to move the main shaft 61 in the opposite direction. The driven gear 62 meshes with the rack 49 again, driving the main shaft 61 to rotate in the opposite direction. The rotating bracket 6 returns to its initial position. At the same time as the servo motor 41 reverses, the electromagnetic mechanism 32 is energized again, generating an attractive force on the iron sleeve 45. After the iron sleeve 45 contacts the electromagnetic mechanism 32, the reverse rotation of the extension shaft 44 is transmitted to the lead screw 31 through the iron sleeve 45 and the electromagnetic mechanism 32, causing the lead screw 31 to rotate in the opposite direction. This drives the limit slider 51 and the moving bracket 5 to move in the opposite direction. The rubber roller 7 on the support bracket 5 detaches from the trunk and returns to its initial position. At this point, the entire harvester is fully reset and can be moved to the next hawthorn tree for harvesting. Furthermore, by setting the rubber roller 7 on the support bracket 3, positioning bracket 4, moving bracket 5, and rotating bracket 6, this invention achieves multi-point flexible clamping of the hawthorn tree trunk, which not only ensures the stability of the harvester during the harvesting process, but also effectively protects the bark through the buffering properties of the rubber material. At the same time, under the action of clamping plate 94 and clamping plate 95, the branches can be effectively and quickly clamped. By applying the vibration part 83 directly to the branches instead of the trunk, the ineffective loss of vibration energy in the trunk and root system is avoided, improving energy utilization efficiency and reducing overall damage to the tree.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A novel hawthorn harvester, characterized in that: The system includes a picking vehicle (1), a frame (2) mounted on the picking vehicle (1), and a support bracket (3) fixedly mounted at the end of the frame (2). A positioning bracket (4) is fixedly mounted at one end of the support bracket (3), and a movable bracket (5) is provided at the other end of the support bracket (3). A rotating bracket (6) is provided above the positioning bracket (4). Rubber rollers (7) are fixedly mounted on the support bracket (3), the positioning bracket (4), the movable bracket (5), and the rotating bracket (6). The rubber rollers (7) are in contact with the trunk of the hawthorn tree to absorb vibration forces. An arc-shaped frame (8) is provided above the support bracket (3), and a sliding frame (81) is installed inside the arc-shaped frame (8) and slidably connected to its inner wall. A movable rod (82) is installed inside the sliding frame (81) and slidably connected to its inner wall. A clamping unit (9) for limiting the branches of the hawthorn tree is provided on both the sliding frame (81) and the movable rod (82). The axes of the arc-shaped frame (8), the sliding frame (81) and the movable rod (82) are coincident. A vibration part (83) is provided at the bottom of the arc-shaped frame (8). A cylinder (10) is fixedly installed on one side of both the positioning bracket (4) and the movable bracket (5), and the output end of the cylinder (10) is fixedly connected to the bottom of the arc-shaped frame (8).

2. The novel hawthorn harvester according to claim 1, characterized in that: The clamping unit (9) includes a fixed sleeve (91), a steel shaft (92), a support (93), a clamping plate one (94), and a clamping plate two (95); The fixed sleeve (91) is fixedly installed on the top of the sliding frame (81) or the movable rod (82). The top of the sliding frame (81) is provided with a slot (96), and the fixed sleeve (91) on the movable rod (82) slides within the slot (96). The steel shaft (92) is disposed above the fixed sleeve (91), one end of the steel shaft (92) penetrates the top of the fixed sleeve (91) and extends into its interior, and the steel shaft (92) is slidably connected to the inner wall of the fixed sleeve (91). The support (93) is fixedly installed at the other end of the steel shaft (92) and located above the fixed sleeve (91); The first clamp (94) is mounted on the support (93) via a rotating shaft (97), and the rotating shaft (97) is rotatably connected to the support (93); the second clamp (95) is located on one side of the first clamp (94), and rubber pads (98) are fixedly installed on both the first clamp (94) and the second clamp (95).

3. The novel hawthorn harvester according to claim 2, characterized in that: One end of the support (93) is connected to the clamp (94) with a torsion spring (99) sleeved on the rotating shaft (97), and a spring part (90) is connected between the steel shaft (92) and the bottom of the fixed sleeve (91).

4. The novel hawthorn harvester according to claim 3, characterized in that: An insertion sleeve (901) is fixedly installed on the clamping plate (94), and a connecting shaft (902) is provided inside the insertion sleeve (901). One end of the connecting shaft (902) passes through the inner wall of the insertion sleeve (901) and is fixedly connected to the clamping plate (95). A steel ball (903) is embedded in the outer wall of the connecting shaft (902), and an annular groove (904) and a straight groove (905) are provided in the inner wall of the insertion sleeve (901). The annular groove (904) and the straight groove (905) are connected. The steel ball (903) slides within the annular groove (904) and the straight groove (905). A ball bearing (906) is embedded in the inner wall of the connecting shaft (902), and a spring mechanism (907) is connected between the connecting shaft (902) and the inner wall of the insertion sleeve (901).

5. A novel hawthorn harvester according to claim 4, characterized in that: The insert sleeve (901) is equipped with an actuating shaft (908) that is slidably connected to its inner wall, and an arc-shaped groove (909) is provided on the outer wall of the actuating shaft (908). The ball (906) can slide within the arc-shaped groove (909). An annular iron piece (900) is fixedly installed at one end of the actuating shaft (908), and an electromagnet (11) is fixedly installed inside the insert sleeve (901). The electromagnet (11) is energized to generate an attractive force on the annular iron piece (900). A plastic spring (12) is connected between the annular iron piece (900) and the inner wall of the insert sleeve (901).

6. The novel hawthorn harvester according to claim 1, characterized in that: A gear rack (84) is fixedly installed on the outer wall of the sliding frame (81), and a motor (85) is fixedly installed on the outer wall of the arc frame (8). A meshing gear (86) is fixedly installed at the output end of the motor (85). The meshing gear (86) is meshed with the gear rack (84). A motor (87) is fixedly installed on the top of the sliding frame (81). A gear body (88) is fixedly installed at the output end of the motor (87). The gear body (88) does not contact the gear rack (84). A gear rack (89) that meshes with the gear body (88) is fixedly installed on the outer wall of the moving rod (82).

7. A novel hawthorn harvester according to any one of claims 1-6, characterized in that: A servo motor (41) is fixedly installed at one end of the positioning bracket (4) near the support bracket (3). A worm gear (42) is fixedly connected to the output end of the servo motor (41) inside the positioning bracket (4). A worm wheel (43) meshes with the worm gear (42) inside the positioning bracket (4). An extension shaft (44) is fixedly installed on the worm wheel (43). The extension shaft (44) passes through the positioning bracket (4) and extends into the support bracket (3). The extension shaft (44) is rotatably connected to the inner wall of the positioning bracket (4) and the support bracket (3).

8. A novel hawthorn harvester according to claim 7, characterized in that: One end of the movable bracket (5) is fixedly installed with a limiting slider (51), and the limiting slider (51) is located inside the support bracket (3) and is slidably connected to its inner wall. The support bracket (3) is also installed with a lead screw (31) rotatably connected to its inner wall. An electromagnetic mechanism (32) is fixedly installed at the end of the lead screw (31), and an iron sleeve (45) is slidably connected to its outer wall at one end of the extension shaft (44). A return spring (46) is connected to one end of the iron sleeve (45) and the extension shaft (44). The electromagnetic mechanism (32) is located on one side of the iron sleeve (45) and generates an attraction force on the iron sleeve (45) when energized.

9. A novel hawthorn harvester according to claim 8, characterized in that: The end of the worm gear (42) away from the servo motor (41) is connected to a lead screw (47). The lead screw (47) is rotatably connected to the inner wall of the positioning bracket (4). A main shaft (61) is fixedly installed at one end of the rotating bracket (6), and one end of the main shaft (61) is located inside the positioning bracket (4). A through groove is opened at the top of the positioning bracket (4). The main shaft (61) slides within the through groove. A drive slider (48) is threaded on the lead screw (47) and slidably connected to the inner wall of the positioning bracket (4). The main shaft (61) is rotatably connected to the drive slider (48).

10. A novel hawthorn harvester according to claim 9, characterized in that: A driven gear (62) is fixedly installed on the main shaft (61), and a rack (49) is fixedly installed on the inner wall of one side of the positioning bracket (4), and the rack (49) is located on the movement trajectory of the driven gear (62).

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