Handheld four-axis fruit harvesting device

Abstract

This invention relates to a handheld four-axis fruit harvesting device, comprising: a frame; a handheld unit connected to the frame; a power unit mounted on the frame and electrically connected to the handheld unit; a power supply unit electrically connected to the handheld unit for supplying power; a transmission unit including two transmission components interconnected for transmission, one of which is connected to the power unit; and an execution unit including four harvesting shafts rotatably mounted on the frame and arranged in a straight line, each of the four harvesting shafts being connected in pairs to the two transmission components. Adjacent harvesting shafts have an overlapping area when rotating in opposite directions, and the overlapping area formed by the four harvesting shafts continuously covers the straight-line arrangement direction of the four harvesting shafts. The harvesting device of this invention ensures thorough harvesting by continuously covering the overlapping area between adjacent shafts in the arrangement direction, eliminating any gaps in the harvested area.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a handheld four-axis fruit harvesting device. Background Technology

[0002] Jujubes are an important specialty economic fruit. Harvesting jujubes mainly involves picking them one by one manually or using simple tools, which is labor-intensive, inefficient, and with labor costs rising year by year. While using long poles to knock down jujube tree branches can improve harvesting efficiency to some extent, it easily damages the branches, which is detrimental to the subsequent growth and long-term yield of the jujube trees.

[0003] In response to the aforementioned problems commonly encountered in jujube harvesting, several mechanical harvesting solutions have been explored in recent years. For example, Chinese patent CN108464122A discloses a resonant jujube harvester, which uses two pendulum shafts to perform resonant beating harvesting, utilizing the principle of resonance to cause the fruit to fall off. However, this solution has a limited harvesting width, and the resonant beating structure is relatively fixed, making it difficult to adapt to different tree shapes and branch distributions during operation, resulting in insufficient harvesting flexibility. Another example is Chinese patent CN108112355B, which discloses a semi-automatic jujube-wrapping vibrating jujube harvester, which uses a fork at the end of a fork to reciprocate, beating branches for harvesting. However, this solution is a point-harvesting method, only able to target a single tree or a few branches per operation, with a very small harvesting width and limited overall harvesting efficiency improvement, making it difficult to meet the harvesting needs of large-scale planting.

[0004] Therefore, there is an urgent need to develop a jujube harvesting technology that is adjustable in harvesting width, flexible in operation, causes little damage to the tree, and has high harvesting efficiency. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the purpose of this invention is to provide a handheld four-axis fruit harvesting device that ensures thorough harvesting by continuously covering the overlapping areas of the tapping between adjacent axes in the arrangement direction, thus ensuring that there are no gaps in the harvesting area.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A handheld four-axis fruit harvesting device includes:

[0008] frame;

[0009] Handheld unit, connected to the frame;

[0010] The power unit is mounted on the frame and electrically connected to the handheld unit;

[0011] The power supply unit is electrically connected to the handheld unit for power supply;

[0012] The transmission unit includes two transmission components that are interconnected and drive each other, with either of the two transmission components connected to the power unit.

[0013] The execution unit includes a first harvesting shaft, a second harvesting shaft, a third harvesting shaft, and a fourth harvesting shaft that are parallel to each other. The first harvesting shaft, the second harvesting shaft, the third harvesting shaft, and the fourth harvesting shaft are all rotatably mounted on the frame and arranged in a straight line on the frame. The first harvesting shaft and the second harvesting shaft are connected to a transmission assembly, and the third harvesting shaft and the fourth harvesting shaft are connected to another transmission assembly.

[0014] The second and third harvesting axes have a first overlapping area when they rotate in opposite directions, the first and second harvesting axes have a second overlapping area when they rotate in opposite directions, and the third and fourth harvesting axes have a third overlapping area when they rotate in opposite directions. The first, second, and third overlapping areas continuously cover each other in the straight-line arrangement direction of the first, second, third, and fourth harvesting axes.

[0015] Preferably, the distance between the first and second harvesting axes is the same as the distance between the third and fourth harvesting axes, and the second and third harvesting axes are symmetrically distributed on the frame.

[0016] One transmission component drives the first and second harvesting shafts to reciprocate within a 65° range, and another transmission component drives the third and fourth harvesting shafts to reciprocate within a 65° range, so that the first overlapping area, the second overlapping area, and the third overlapping area continuously cover each other in the straight-line arrangement direction of the first, second, third, and fourth harvesting shafts.

[0017] Preferably, the first harvesting shaft, the second harvesting shaft, the third harvesting shaft, and the fourth harvesting shaft have the same structure, each including a rotating shaft and multiple harvesting rods. The multiple harvesting rods are fixed at intervals along the axial direction of the rotating shaft. The rotating shaft is rotatably connected to the frame through bearings and is connected to the transmission assembly.

[0018] The harvesting rods of the first and second harvesting axes are arranged alternately, the harvesting rods of the first and third harvesting axes are arranged in the same order, and the harvesting rods of the second and fourth harvesting axes are arranged in the same order.

[0019] Preferably, when the second harvesting shaft and the third harvesting shaft rotate toward each other, the harvesting rods on both shafts approach each other and beat each other in the first overlapping area;

[0020] At the same time, the harvesting bars of the first harvesting axis and the second harvesting axis move away from each other, and the harvesting bars of the third harvesting axis and the fourth harvesting axis move away from each other.

[0021] When the second and third harvesting shafts rotate in opposite directions, the harvesting rods on them move away from each other. At the same time, the harvesting rods of the first and second harvesting shafts approach each other and beat each other in the second overlapping area. The harvesting rods of the third and fourth harvesting shafts approach each other and beat each other in the third overlapping area.

[0022] Preferably, the transmission assembly includes a transmission gear and a pulley assembly, and the power unit includes a motor and a crank-rocker mechanism. The motor is mounted on the frame and electrically connected to the handheld unit. The motor is connected to the crank-rocker mechanism, and the crank-rocker mechanism is fixedly connected to the eccentric position of any one of the transmission gears in the two transmission assemblies.

[0023] In this system, the transmission gears of the two transmission components mesh with each other, the second harvesting shaft and the third harvesting shaft are respectively connected to the transmission gears of the two transmission components, the pulley group of one transmission component is connected to the first harvesting shaft and the second harvesting shaft respectively, and the pulley group of the other transmission component is connected to the third harvesting shaft and the fourth harvesting shaft respectively.

[0024] Preferably, the crank-rocker mechanism includes a crank, a connecting rod, and a rocker arm. The output shaft of the motor is fixedly connected to one end of the crank, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to one end of the rocker arm, and the other end of the rocker arm is fixedly connected to the eccentric position of the transmission gear.

[0025] Preferably, the transmission gears of the two transmission components have the same number of teeth and module, and the transmission ratio is 1:1;

[0026] When the motor drives the crank to make a full revolution, the crank drives the rocker arm to reciprocate around the center of the transmission gear within a fixed angle range through the connecting rod, and the two transmission gears move in opposite directions.

[0027] Preferably, the pulley group connected to the first harvesting shaft and the second harvesting shaft is a first pulley group, including a first pulley, a second pulley, a third pulley, a fourth pulley and a first belt;

[0028] The first pulley is fixedly installed on the second harvesting shaft, and the second pulley is fixedly installed on the first harvesting shaft; the third pulley and the fourth pulley are both installed on the frame; the first belt is sequentially wound around the first pulley, the second pulley, the third pulley and the fourth pulley, and its winding path is guided by the third pulley and the fourth pulley, so that the rotation direction of the first harvesting shaft is opposite to the rotation direction of the second harvesting shaft, but the rotation angle is the same;

[0029] The pulley group connecting the third and fourth harvesting shafts is the second pulley group, which includes a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, and a second belt. The fifth pulley is fixedly installed on the third harvesting shaft, and the sixth pulley is fixedly installed on the fourth harvesting shaft. The seventh and eighth pulleys are both installed on the frame. The second belt is sequentially wound around the fifth, sixth, seventh, and eighth pulleys. After being guided by the seventh and eighth pulleys, the winding path of the second belt causes the rotation direction of the third harvesting shaft to be opposite to that of the fourth harvesting shaft, while the rotation angles are the same.

[0030] The second pulley set is symmetrically distributed on the frame with the first pulley set.

[0031] Preferably, the handheld unit includes a hollow rod and a control circuit board installed inside the hollow rod. One end of the hollow rod is fixedly connected to the frame, and the other end of the hollow rod extends away from the frame. The surface of the hollow rod is provided with an anti-slip layer. The hollow rod is also provided with a speed adjustment knob, an emergency stop button, and a switch button in sequence. The speed adjustment knob, emergency stop button, and switch button are all electrically connected to the control circuit board. The control circuit board is electrically connected to the power unit and the energy supply unit, respectively.

[0032] Preferably, the power supply unit includes a battery, a shoulder strap, and a wire. The shoulder strap is fitted over the surface of the battery. One end of the wire is electrically connected to the battery, and the other end of the wire extends into the hollow rod and is connected to the control circuit board. The control circuit board is connected to a power line, which extends out from the hollow rod and is electrically connected to the power unit.

[0033] In summary, the present invention has the following advantages:

[0034] 1. The harvesting device of the present invention is designed with four harvesting axes. By ensuring that the overlapping areas between adjacent axes continuously and without gaps in the four-axis arrangement direction, it ensures that there are no gaps in the harvesting area and that the harvesting is thorough. While ensuring continuous coverage of the overlapping areas, the coverage area of ​​a single harvest is greatly increased, and the harvesting efficiency is significantly improved.

[0035] 2. In the harvesting device of the present invention, a single motor drives the entire rotational motion of the motor, which is converted into the reciprocating oscillation of the rocker arm within a fixed angle using a crank-rocker mechanism. A pair of meshing transmission gears then enable the synchronous reverse rotation of the second and third harvesting shafts. Furthermore, two transmission components transmit power in the reverse direction to the first and fourth harvesting shafts. The entire transmission structure is simple and efficient, requiring only one motor to drive the coordinated movement of four shafts. It has few parts, a compact structure, and is lightweight. Attached Figure Description

[0036] Figure 1 This is a three-dimensional view of the harvesting device.

[0037] Figure 2This is a structural diagram of the handheld unit, power unit, and energy supply unit.

[0038] Figure 3 This is a schematic diagram of the power unit.

[0039] Figure 4 This is a structural diagram of the first pulley group, the first harvesting shaft, and the second harvesting shaft.

[0040] Figure 5 This is a structural diagram of the transmission unit and the execution unit.

[0041] Figure 6 This is a schematic diagram of the four-axis deflection angles and overlapping areas.

[0042] In the diagram: 1—Frame, 2—Motor, 3—Power supply unit, 4—Handheld unit, 5—Crank-rocker mechanism, 6—Transmission gear, 7—First pulley group, 8—Second pulley group, 9—Actuation unit; 31—Battery, 32—Carrier strap, 33—Wire; 41—Hollow rod, 42—Anti-slip layer, 43—Speed ​​control knob, 44—Emergency stop button, 45—Switch button; 51—Crank, 52—Connecting rod, 53—Rock arm; 61—First transmission gear, 62—Second transmission gear; 71—First pulley, 72—Second pulley, 73—Third pulley, 74—Fourth pulley, 75—First belt; 91—Second harvesting shaft, 92—Third harvesting shaft, 93—First harvesting shaft, 94—Fourth harvesting shaft, 95—Harvesting rod. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to specific embodiments.

[0044] like Figures 1-6 As shown in the figure, the handheld four-axis fruit harvesting device provided in this embodiment includes a frame 1, a handheld unit 4, a power unit, a power supply unit 3, a transmission unit and an execution unit 9.

[0045] The frame 1 serves as the main support structure of the device, used to install and fix the various components, and has an overall long frame structure.

[0046] Handheld unit 4 is connected to the bottom of frame 1. Specifically, handheld unit 4 includes a hollow rod 41 and a control circuit board installed inside the hollow rod 41. One end of the hollow rod 41 is fixedly connected to the bottom of frame 1, and the other end of the hollow rod 41 extends away from frame 1. The surface of the hollow rod 41 is provided with an anti-slip layer 42 to ensure stable grip by the operator. The hollow rod 41 is also provided with a speed adjustment knob 43, an emergency stop button 44, and a switch button 45 in sequence. The speed adjustment knob 43, emergency stop button 44, and switch button 45 are all electrically connected to the control circuit board, which is electrically connected to the motor of the power unit and the battery of the power supply unit, respectively. The other end of the wire is electrically connected to the power input terminal of the control circuit board; the speed adjustment knob 43, emergency stop button 44, and switch button 45 are all electrically connected to the signal input terminal of the control circuit board; the power output terminal of the control circuit board is electrically connected to the motor 2.

[0047] The switch button 45 is used to send a start / stop signal to the control circuit board to control the on / off state of the power supply circuit of motor 2; the emergency stop button 44 is used to send an emergency stop signal to the control circuit board to cut off the power supply of motor 2 in an emergency; the speed control knob 43 is used to send a speed control signal to the control circuit board, and the control circuit board adjusts the current input to the motor according to the speed control signal to control the speed of motor 2.

[0048] The power unit is mounted on the frame 1 and electrically connected to the handheld unit 4. Specifically, the power unit includes a motor 2 and a crank-rocker mechanism 5. The motor 2 is mounted on the frame 1 and electrically connected to the control circuit board. The motor 2 is connected to the crank-rocker mechanism 5. The crank-rocker mechanism 5 includes a crank 51, a connecting rod 52, and a rocker arm 53. The output shaft of the motor 2 is fixedly connected to one end of the crank 51, the other end of the crank 51 is hinged to one end of the connecting rod 52, the other end of the connecting rod 52 is hinged to one end of the rocker arm 53, and the other end of the rocker arm 53 is fixedly connected to the eccentric position of the transmission gear 6 of the transmission unit.

[0049] The power supply unit 3 is electrically connected to both the handheld unit 4 and the power unit for power supply. Specifically, the power supply unit 3 includes a battery 31, a shoulder strap 32, and a wire 33. The shoulder strap 32 is fitted over the surface of the battery 31. One end of the wire 33 is electrically connected to the battery 31, and the other end of the wire 33 extends into the hollow rod 41 and connects to the control circuit board. The battery 31 is carried on the operator's body via the shoulder strap 32 and can be moved freely.

[0050] The transmission unit includes two transmission components that are interconnected and drive each other. Either of the two transmission components is connected to the power unit. The transmission components include a transmission gear 6 and a pulley assembly. The crank-rocker mechanism 5 is fixedly connected to the eccentric position of either of the two transmission gears 6.

[0051] In this system, the transmission gears 6 of the two transmission components mesh with each other, and the second harvesting shaft 91 and the third harvesting shaft 92 of the execution unit 9 are respectively connected to the transmission gears 6 of the two transmission components. The pulley group of one transmission component is connected to the first harvesting shaft 93 and the second harvesting shaft 91 of the execution unit 9 for transmission, and the pulley group of the other transmission component is connected to the third harvesting shaft 92 and the fourth harvesting shaft 94 of the execution unit 9 for transmission.

[0052] The transmission gears 6 of the two transmission components have the same number of teeth and module, and the transmission ratio is 1:1;

[0053] When the motor 2 drives the crank 51 to rotate a full circle, the crank 51 drives the rocker arm 53 to reciprocate around the center of the transmission gear 6 within a fixed angle range via the connecting rod 52, and the two transmission gears 6 move in opposite directions.

[0054] The pulley group connecting the first harvesting shaft 93 and the second harvesting shaft 91 is the first pulley group 7, including a first pulley 71, a second pulley 72, a third pulley 73, a fourth pulley 74, and a first belt 75; the first pulley 71 is fixedly installed on the second harvesting shaft 91, and the second pulley 72 is fixedly installed on the first harvesting shaft 93; the third pulley 73 and the fourth pulley 74 are both installed on the frame 1; the first belt 75 is sequentially wound around the first pulley 71, the second pulley 72, the third pulley 73, and the fourth pulley 74. After the path is guided by the third pulley 73 and the fourth pulley 74, the rotation direction of the first harvesting shaft 93 is opposite to that of the second harvesting shaft 91, but the rotation angle is the same. It should be noted that the first pulley 71, the third pulley 73 and the fourth pulley 74 form a triangle. The second pulley 72 is located between the third pulley 73 and the fourth pulley 74 and is recessed inward, and is closer to the angle of the first pulley 71. The first belt 75 is connected to the side of the second pulley 72 that is closer to the first pulley 71.

[0055] The pulley group connecting the third harvesting shaft 92 and the fourth harvesting shaft 94 is the second pulley group 8, which includes a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, and a second belt. The fifth pulley is fixedly installed on the third harvesting shaft 92, and the sixth pulley is fixedly installed on the fourth harvesting shaft 94. The seventh and eighth pulleys are both installed on the frame 1. The second belt is sequentially wound around the fifth, sixth, seventh, and eighth pulleys. After being guided by the seventh and eighth pulleys, the winding path makes the rotation direction of the third harvesting shaft 92 opposite to that of the fourth harvesting shaft 94, while the rotation angles are the same. The second pulley group 8 and the first pulley group 7 are symmetrically distributed on the frame 1.

[0056] The execution unit 9 includes a first harvesting shaft 93, a second harvesting shaft 91, a third harvesting shaft 92, and a fourth harvesting shaft 94 that are parallel to each other. The first harvesting shaft 93, the second harvesting shaft 91, the third harvesting shaft 92, and the fourth harvesting shaft 94 are all rotatably mounted on the frame 1 and are arranged in a straight line on the frame 1. The first harvesting shaft 93 and the second harvesting shaft 91 are connected to a transmission assembly, and the third harvesting shaft 92 and the fourth harvesting shaft 94 are connected to another transmission assembly. The second harvesting shaft 91 and the third harvesting shaft 92 have a first overlapping area when they rotate in opposite directions, the first harvesting shaft 93 and the second harvesting shaft 91 have a second overlapping area when they rotate in opposite directions, and the third harvesting shaft 92 and the fourth harvesting shaft 94 have a third overlapping area when they rotate in opposite directions. The first overlapping area, the second overlapping area, and the third overlapping area continuously cover each other in the straight line arrangement direction of the first harvesting shaft 93, the second harvesting shaft 91, the third harvesting shaft 92, and the fourth harvesting shaft 94.

[0057] The distance between the first harvesting shaft 93 and the second harvesting shaft 91 is the same as the distance between the third harvesting shaft 92 and the fourth harvesting shaft 94, and the second harvesting shaft 91 and the third harvesting shaft 92 are symmetrically distributed on the frame 1.

[0058] One transmission component drives the first harvesting shaft 93 and the second harvesting shaft 91 to reciprocate within a 65° range, and another transmission component drives the third harvesting shaft 92 and the fourth harvesting shaft 94 to reciprocate within a 65° range, so that the first overlapping area, the second overlapping area and the third overlapping area continuously cover the linear arrangement direction of the first harvesting shaft 93, the second harvesting shaft 91, the third harvesting shaft 92 and the fourth harvesting shaft 94.

[0059] The first harvesting shaft 93, the second harvesting shaft 91, the third harvesting shaft 92 and the fourth harvesting shaft 94 have the same structure, each including a rotating shaft and multiple harvesting rods 95. The multiple harvesting rods 95 are fixed at intervals along the axial direction of the rotating shaft. The rotating shaft is rotatably connected to the frame 1 through bearings and is connected to the transmission assembly.

[0060] The harvesting rods 95 of the first harvesting shaft 93 and the second harvesting shaft 91 are arranged alternately, the harvesting rods 95 of the first harvesting shaft 93 and the third harvesting shaft 92 are arranged in the same order, and the harvesting rods 95 of the second harvesting shaft 91 and the fourth harvesting shaft 94 are arranged in the same order.

[0061] When the second harvesting shaft 91 and the third harvesting shaft 92 rotate toward each other, the harvesting rods 95 on the two shafts approach each other and beat in the first overlapping area.

[0062] At the same time, the harvesting rods 95 of the first harvesting shaft 93 and the harvesting rods of the second harvesting shaft 91 are far apart from each other, and the harvesting rods 95 of the third harvesting shaft 92 and the harvesting rods 95 of the fourth harvesting shaft 94 are far apart from each other.

[0063] When the second harvesting shaft 91 and the third harvesting shaft 92 rotate in opposite directions, the harvesting rods 95 on them move away from each other. At the same time, the harvesting rods 95 of the first harvesting shaft 93 and the harvesting rods of the second harvesting shaft 91 move closer to each other and beat in the second overlapping area. The harvesting rods 95 of the third harvesting shaft 92 and the harvesting rods 95 of the fourth harvesting shaft 94 move closer to each other and beat in the third overlapping area.

[0064] It should be noted that the two transmission gears 6 are the first transmission gear 61 and the second transmission gear 62, respectively.

[0065] For example, when the motor 2 drives the crank-rocker mechanism 5 to drive the first transmission gear 61 to reciprocate within a fixed angle range, it drives the second transmission gear 62 to reciprocate in the opposite direction through meshing, thereby driving the second harvesting shaft 91 and the third harvesting shaft 92 to reciprocate in the opposite direction synchronously with equal amplitude and speed; the first harvesting shaft 93 is connected to the second harvesting shaft 91 through the first pulley group 7, transmitting the power of the second harvesting shaft 91 to the first harvesting shaft 93 in the opposite direction; the fourth harvesting shaft 94 is connected to the third harvesting shaft 92 through the second pulley group 8, transmitting the power of the third harvesting shaft 92 to the fourth harvesting shaft 94 in the opposite direction; the rotation directions of adjacent shafts are opposite, driving the harvesting rods 95 on each shaft to beat and harvest in an alternating manner.

[0066] The following explains the working process of the four-axis tapping mechanism:

[0067] Phase 1: Motor 2 drives crank 51 to rotate, which in turn drives rocker arm 53 to swing in the first direction via connecting rod 52. First transmission gear 61 drives second harvesting shaft 91 to rotate in the first direction. Simultaneously, first transmission gear 61 meshes with second transmission gear 62 to rotate in the opposite direction with equal amplitude, driving third harvesting shaft 92 to rotate in the opposite direction. At this time, harvesting rods 95 on second and third harvesting shafts 91 and 92 move towards each other, approaching each other in the first overlapping area and completing a slapping action. At the same time, through the reverse transmission of first pulley group 7, first harvesting shaft 93 rotates in the opposite direction to second harvesting shaft 91, and harvesting rods 95 on first harvesting shaft 93 move away from second harvesting shaft 91, in an open state. Through the reverse transmission of second pulley group 8, fourth harvesting shaft 94 rotates in the opposite direction to third harvesting shaft 92, and harvesting rods 95 on fourth harvesting shaft 94 move away from third harvesting shaft 92, also in an open state.

[0068] Phase Two: Crank 51 continues to rotate, driving rocker arm 53 to swing in the second direction via connecting rod 52. First transmission gear 61 drives second harvesting shaft 91 to rotate in the second direction, and second transmission gear 62 drives third harvesting shaft 92 to rotate in the opposite direction. At this time, the harvesting rods 95 on second and third harvesting shafts 91 and 92 move away from each other and are in an open state. Simultaneously, through the reverse transmission of the first pulley group 7, the first harvesting shaft 93 rotates in the opposite direction to the second harvesting shaft 91, and the harvesting rod 95 on the first harvesting shaft 93 moves towards the second harvesting shaft 91, approaching each other in the second overlapping area and completing a slapping action; through the reverse transmission of the second pulley group 8, the fourth harvesting shaft 94 rotates in the opposite direction to the third harvesting shaft 92, and the harvesting rod 95 on the fourth harvesting shaft 94 moves towards the third harvesting shaft 92, approaching each other in the third overlapping area and completing a slapping action.

[0069] As motor 2 continues to operate, the above-mentioned stages one and two alternate in a rotation angle range of 65°, forming a continuous four-axis alternating beating motion, which applies a continuous and uniform vibration and beating effect to the fruiting branches of jujube, so that the mature fruits can be effectively dropped.

[0070] See Figure 6 A top-view view of the 95-degree tapping area of ​​the harvesting rods on the four axes; in this embodiment, the specific dimensional parameters of the four axes are designed as follows:

[0071] (1) Axis spacing: The axis spacing of the four shafts from left to right is as follows: the distance between the first harvesting shaft 93 and the second harvesting shaft 91 is 100mm, the distance between the second harvesting shaft 91 and the third harvesting shaft 92 is 80mm, and the distance between the third harvesting shaft 92 and the fourth harvesting shaft 94 is 100mm.

[0072] (2) Rotation angle: The total angle of the four-axis reciprocating rotation is 65°. Among them, with the vertical direction as the reference, the first harvesting axis 93 deflects 37° to the right and 28° to the left; the second harvesting axis 91 deflects 20° to the right and 45° to the left; the third harvesting axis 92 is symmetrically arranged with the second harvesting axis 91; and the fourth harvesting axis 94 is symmetrically arranged with the first harvesting axis 93.

[0073] (3) Harvesting rod 95 length: The harvesting rod 95 length is consistent on all four axes, which is 256.5mm.

[0074] Under the aforementioned dimensional parameters, the spatial continuity of the overlapping areas of the four-axis harvesting region is guaranteed. Specifically: when the second harvesting shaft 91 and the third harvesting shaft 92 rotate toward each other to their closest positions, the free ends of the harvesting rods 95 on both shafts form a first overlapping area in the four-axis arrangement direction; when the first harvesting shaft 93 and the second harvesting shaft 91 rotate toward each other to their closest positions, their harvesting rods 95 form a second overlapping area; when the fourth harvesting shaft 94 and the third harvesting shaft 92 rotate toward each other to their closest positions, their harvesting rods 95 form a third overlapping area. The first, second, and third overlapping areas are continuously connected in the arrangement direction from the first harvesting shaft 93 to the fourth harvesting shaft 94, without any spatial discontinuity.

[0075] An exemplary method for harvesting jujubes using a harvesting device includes the following steps:

[0076] 1) The operator carries the battery 31 on his back through the shoulder strap 32, holds the hand holding unit 4, and inserts the execution unit 9 on the frame 1 into the canopy of the jujube tree, so that the harvesting surface formed by the four-axis harvesting rod 95 faces and approaches the fruiting branch to be harvested.

[0077] 2) Press the switch button 45 to start the motor 2, and adjust the speed to a suitable beating intensity according to the variety and maturity of the jujubes using the speed control knob 43. The power of the motor 2 is converted and transmitted by the crank rocker mechanism 5, the transmission gear 6, the first pulley group 7 and the second pulley group 8, and then drives the harvesting rods 95 on the four shafts of the execution unit 9 to work in the above two-stage alternating beating mode, continuously beating the fruiting branches of the jujube tree, causing the mature jujubes to fall and fall into the pre-laid collection net.

[0078] 3) Release switch button 45, motor 2 stops running, and harvesting action stops.

[0079] In the above embodiments, the axis spacing ratio, reciprocating rotation angle, and deflection angle of each axis can be scaled proportionally according to the characteristics of different jujube tree varieties and planting patterns while maintaining the continuity of the overlapping area.

[0080] In the above embodiments, the four axes and each axis refers to the first harvesting axis 93, the second harvesting axis 91, the third harvesting axis 92, and the fourth harvesting axis 94.

[0081] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A hand-held four-axis fruit picking device, characterized in that, include: frame; Handheld unit, connected to the frame; The power unit is mounted on the frame and electrically connected to the handheld unit; The power supply unit is electrically connected to the handheld unit for power supply; The transmission unit includes two transmission components that are interconnected and drive each other, with either of the two transmission components connected to the power unit. The execution unit includes a first harvesting shaft, a second harvesting shaft, a third harvesting shaft, and a fourth harvesting shaft that are parallel to each other. The first harvesting shaft, the second harvesting shaft, the third harvesting shaft, and the fourth harvesting shaft are all rotatably mounted on the frame and arranged in a straight line on the frame. The first harvesting shaft and the second harvesting shaft are connected to a transmission assembly, and the third harvesting shaft and the fourth harvesting shaft are connected to another transmission assembly. The second and third harvesting axes have a first overlapping area when they rotate in opposite directions, the first and second harvesting axes have a second overlapping area when they rotate in opposite directions, and the third and fourth harvesting axes have a third overlapping area when they rotate in opposite directions. The first, second, and third overlapping areas continuously cover each other in the straight-line arrangement direction of the first, second, third, and fourth harvesting axes.

2. The handheld four-axis fruit harvesting device according to claim 1, characterized in that, The distance between the first and second harvesting axes is the same as the distance between the third and fourth harvesting axes, and the second and third harvesting axes are symmetrically distributed on the frame. One transmission component drives the first and second harvesting shafts to reciprocate within a 65° range, and another transmission component drives the third and fourth harvesting shafts to reciprocate within a 65° range, so that the first overlapping area, the second overlapping area, and the third overlapping area continuously cover each other in the straight-line arrangement direction of the first, second, third, and fourth harvesting shafts.

3. The handheld four-axis fruit harvesting device according to claim 2, characterized in that, The first, second, third, and fourth harvesting shafts have the same structure, each including a rotating shaft and multiple harvesting rods. The multiple harvesting rods are fixed at intervals along the axial direction of the rotating shaft. The rotating shaft is rotatably connected to the frame through bearings and is connected to the transmission assembly. The harvesting rods of the first and second harvesting axes are arranged alternately, the harvesting rods of the first and third harvesting axes are arranged in the same order, and the harvesting rods of the second and fourth harvesting axes are arranged in the same order.

4. The handheld four-axis fruit harvesting device according to claim 3, characterized in that, When the second and third harvesting shafts rotate in opposite directions, the harvesting rods on them approach each other and beat within the first overlapping area. At the same time, the harvesting bars of the first harvesting axis and the second harvesting axis move away from each other, and the harvesting bars of the third harvesting axis and the fourth harvesting axis move away from each other. When the second and third harvesting shafts rotate in opposite directions, the harvesting rods on them move away from each other. At the same time, the harvesting rods of the first and second harvesting shafts approach each other and beat each other in the second overlapping area. The harvesting rods of the third and fourth harvesting shafts approach each other and beat each other in the third overlapping area.

5. The handheld four-axis fruit harvesting device according to claim 1, characterized in that, The transmission assembly includes a transmission gear and a pulley assembly, and the power unit includes a motor and a crank-rocker mechanism. The motor is mounted on the frame and is electrically connected to the handheld unit. The motor is connected to the crank-rocker mechanism, and the crank-rocker mechanism is fixedly connected to the eccentric position of any one of the transmission gears in the two transmission assemblies. In this system, the transmission gears of the two transmission components mesh with each other, the second harvesting shaft and the third harvesting shaft are respectively connected to the transmission gears of the two transmission components, the pulley group of one transmission component is connected to the first harvesting shaft and the second harvesting shaft respectively, and the pulley group of the other transmission component is connected to the third harvesting shaft and the fourth harvesting shaft respectively.

6. The handheld four-axis fruit harvesting device according to claim 5, characterized in that, The crank-rocker mechanism includes a crank, a connecting rod, and a rocker arm. The output shaft of the motor is fixedly connected to one end of the crank, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to one end of the rocker arm, and the other end of the rocker arm is fixedly connected to the eccentric position of the transmission gear.

7. The handheld four-axis fruit harvesting device according to claim 6, characterized in that, The transmission gears of the two transmission components have the same number of teeth and module, and the transmission ratio is 1:1; When the motor drives the crank to make a full revolution, the crank drives the rocker arm to reciprocate around the center of the transmission gear within a fixed angle range through the connecting rod, and the two transmission gears move in opposite directions.

8. The handheld four-axis fruit harvesting device according to claim 7, characterized in that, The pulley group connected to the first harvesting shaft and the second harvesting shaft is the first pulley group, which includes a first pulley, a second pulley, a third pulley, a fourth pulley and a first belt; The first pulley is fixedly installed on the second harvesting shaft, and the second pulley is fixedly installed on the first harvesting shaft; the third pulley and the fourth pulley are both installed on the frame; the first belt is sequentially wound around the first pulley, the second pulley, the third pulley and the fourth pulley, and its winding path is guided by the third pulley and the fourth pulley, so that the rotation direction of the first harvesting shaft is opposite to the rotation direction of the second harvesting shaft, but the rotation angle is the same; The pulley group connecting the third and fourth harvesting shafts is the second pulley group, which includes a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, and a second belt. The fifth pulley is fixedly installed on the third harvesting shaft, and the sixth pulley is fixedly installed on the fourth harvesting shaft. The seventh and eighth pulleys are both installed on the frame. The second belt is sequentially wound around the fifth, sixth, seventh, and eighth pulleys. After being guided by the seventh and eighth pulleys, the winding path of the second belt causes the rotation direction of the third harvesting shaft to be opposite to that of the fourth harvesting shaft, while the rotation angles are the same. The second pulley set is symmetrically distributed on the frame with the first pulley set.

9. The handheld four-axis fruit harvesting device according to claim 1, characterized in that, The handheld unit includes a hollow rod and a control circuit board installed inside the hollow rod. One end of the hollow rod is fixedly connected to the frame, and the other end of the hollow rod extends away from the frame. The surface of the hollow rod is provided with an anti-slip layer. The hollow rod is also provided with a speed adjustment knob, an emergency stop button, and a switch button in sequence. The speed adjustment knob, emergency stop button, and switch button are all electrically connected to the control circuit board, which is electrically connected to the power unit and the energy supply unit, respectively.

10. The handheld four-axis fruit harvesting device according to claim 9, characterized in that, The power supply unit includes a battery, a shoulder strap, and a wire. The shoulder strap is fitted over the surface of the battery. One end of the wire is electrically connected to the battery, and the other end of the wire extends into the hollow rod and is connected to the control circuit board. The control circuit board is connected to a power cord, which extends out of the hollow rod and is electrically connected to the power unit.

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