Straddle type jujube harvesting machine

Abstract

The application discloses a straddle type jujube harvesting machine and belongs to the technical field of agricultural machinery. The harvesting machine comprises a rack, a walking device, a power system, a shaking device, a fruit collecting device, a conveying device, a screening device and a fruit collecting box. The rack has a portal frame straddling above jujube tree rows, and a longitudinal channel is formed in the middle of the rack for the jujube trees to pass through. The conveying device, the screening device and the fruit collecting box are arranged in pairs on the left and right sides of the rack. During operation, the shaking device clamps and excites the jujube tree trunk to make the fruits fall, the fruit collecting device gathers the fallen fruits to a preset area, the conveying device shovels up the fruits and conveys them backward, the screening device performs multi-stage sorting on the fruits to separate impurities, and finally the fruit collecting box collects the sorted fruits. The application realizes integrated operation of shaking harvesting, ground picking, multi-stage impurity removal and conveying and fruit collecting, and has the advantages of high harvesting efficiency, strong adaptability, complete sorting and the like.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a straddle-type vibrating jujube harvester. Background Technology

[0002] Jujube is an important economic crop in my country, especially widely cultivated in southern Xinjiang. For jujubes grown under dwarf, high-density planting models, mechanized harvesting currently mainly involves two key stages: shaking down from the tree and collecting from the ground. However, existing machinery suffers from discontinuous operation processes and poor adaptability. Specifically, some equipment can only shake jujubes from the tree to its built-in collection device, but cannot handle jujubes that have fallen to the ground prematurely due to inconsistent ripening times; other equipment can only collect jujubes from the ground, but cannot shake the fruit off the tree. Furthermore, the significant differences in jujube tree height and shape make it difficult for existing equipment to be flexibly adjusted to meet the operational needs of different jujube orchards.

[0003] Therefore, there is currently a lack of an integrated harvesting device that can simultaneously complete the shaking, ground picking, multi-stage cleaning, and conveying of jujubes. Summary of the Invention

[0004] This invention provides a straddle-type vibrating jujube harvester to solve the technical problems of existing jujube harvesters where the various stages of harvesting—shaking the fruit off the tree, picking it up from the ground, conveying, cleaning, and collecting the fruit—cannot be coordinated, resulting in discontinuous operation, poor adaptability to jujube orchards, and unsatisfactory cleaning effects. The invention achieves integrated and coordinated operation of vibrating harvesting, ground picking, multi-stage cleaning, and conveying and collecting the fruit, thereby improving the adaptability of jujube orchards and harvesting efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution: A straddle-type vibrating jujube harvester, characterized in that it includes: The frame has a portal frame straddling the row of jujube trees, and a longitudinal passage for the jujube trees to pass through is formed in the middle of the portal frame. A walking device, installed at the bottom of the frame, is used to drive the entire machine to move; A power system, mounted on the frame, is used to provide operating power; A shaking device, installed at the front end of the frame, is used to clamp and vibrate the jujube tree trunk to shake the fruit off. A fruit-collecting device is installed at the front end of the frame and below the shaking device, used to gather fallen fruits towards a preset area; A conveying device, installed on the frame, is used to scoop up the gathered fruits and convey them backward; A screening device, installed on the frame, is used to perform multi-stage sorting on the delivered fruits to separate and remove impurities; A fruit collection box, installed on the frame, is used to hold the fruits sorted by the screening device; The conveying device, the screening device, and the fruit collection box are arranged in pairs on the left and right sides of the frame.

[0006] Furthermore, the conveying device includes a picking and conveying section, the front end of which is provided with a shovel blade and a limiting wheel for limiting the depth of the shovel blade into the soil. The picking and conveying section is connected to the frame through a parallel four-bar linkage. The parallel four-bar linkage is configured such that, during operation, when the shovel blade encounters an obstacle, it can drive the shovel blade to float backward and upward to avoid it.

[0007] Furthermore, the parallel four-bar linkage includes four lifting links one and two lifting links two. One end of the lifting link one is hinged to the main body of the pickup and conveying section, and the other end is hinged to the lifting link two. The lifting link two is connected to the drive component mounted on the frame for transmission, so as to drive the pickup and conveying section to lift as a whole.

[0008] Furthermore, the conveying device also includes an lifting conveying section, which is located behind the picking conveying section and is used to convey the fruit upwards; the screening device includes a vibrating screening device, which is located between the picking conveying section and the lifting conveying section.

[0009] Furthermore, the vibrating screening device has a screen surface and a reciprocating drive mechanism that is connected to the screen surface for transmission. The reciprocating drive mechanism is used to drive the screen surface to vibrate up and down repeatedly to break up the soil clods after shoveling and allow them to leak out through the gaps in the screen surface.

[0010] Furthermore, the screening device also includes a drum cleaning device, which is located behind the lifting and conveying section; The drum cleaning device includes: Coaxial nested inner and outer rollers that can rotate synchronously; The inner roller is a cage-like cylinder, which is surrounded by multiple circumferentially spaced inner roller rods (809) to allow the fruit to pass through while blocking large-diameter heavy impurities. The inner roller (808) is equipped with a spike-tooth spiral pusher inside to discharge the large-diameter heavy impurities to the rear. The inner wall of the outer roller is provided with spiral blades, and the rear end of the roller is provided with a discharge port, which is used to transport the fruit that falls into the outer roller to the discharge port.

[0011] Furthermore, the drum cleaning device also includes a blower having an air outlet aligned with the front end of the inner drum to blow away light impurities when the fruit enters the inner drum.

[0012] Furthermore, the fruit collection device is a round brush device, with one set of round brush devices installed on each of the left and right sides of the frame. Each set of round brush devices includes two round brushes arranged in a V-shape, with the opening of the V-shape facing the front of the frame. The travel paths of two adjacent round brushes in the two sets of round brush devices overlap on the horizontal plane. Each set of round brush devices also includes an obstacle avoidance device, and an elastic reset member is provided between the round brush device and the frame. The obstacle avoidance device is configured such that when it comes into contact with the trunk of the jujube tree, it is squeezed by the trunk and causes two adjacent round brushes in the two sets of round brush devices to move to the sides to avoid it, and is reset by the elastic reset member after the trunk has passed.

[0013] Furthermore, the obstacle avoidance device is an obstacle avoidance guide plate, which is disposed on the retainer of two adjacent round brushes in the two sets of round brush devices, and the retainer is used to support the round brushes.

[0014] Furthermore, the power system includes a main machine power unit and a hydraulic power unit. The main machine power unit is a diesel engine or an electric motor, and the hydraulic power unit is a hydraulic pump. The main machine power unit drives the hydraulic power unit to provide hydraulic energy to the various hydraulic actuators of the main machine.

[0015] The present invention achieves the following technical effects compared to the prior art: This invention employs a gantry frame, allowing the harvester to straddle the rows of jujube trees. Simultaneously, the conveying device, screening device, and fruit collection box are arranged in pairs on the left and right sides of the frame, achieving simultaneous operation of shaking down jujubes from the trees and collecting them from the ground. Specifically, the shaking device clamps and vibrates the tree trunk to shake the fruit down; the fruit collection device gathers the fallen fruit towards a predetermined area; the conveying device scoops up the fruit and conveys it backward; the screening device performs multi-stage sorting; and finally, the fruit collection box collects the fruit. Thus, this invention solves the technical problem of existing equipment being unable to coordinate the shaking down of jujubes from the trees and the collection of jujubes from the ground, achieving integrated and continuous harvesting and collection operations without the need for multiple processing steps or the coordination of multiple devices, significantly improving harvesting efficiency and reducing labor costs. Furthermore, the straddling gantry structure allows the entire machine to operate directly above the rows of jujube trees, enhancing its adaptability in jujube orchard operations. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an isometric structural diagram of the harvester in an embodiment of the present invention; Figure 2 This is a front view schematic diagram of the harvester in an embodiment of the present invention; Figure 3 This is a side view of the harvester in an embodiment of the present invention; Figure 4 This is a top view of the harvester in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the shaking device in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the circular roller brush device in an embodiment of the present invention; Figure 7 This is an isometric structural diagram of the pickup and conveying section in an embodiment of the present invention; Figure 8 This is a top view of the pickup and conveying section in an embodiment of the present invention; Figure 9 This is a side view of the pickup and conveying section in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the vibrating screening device in an embodiment of the present invention; Figure 11 This is a schematic diagram of the lifting and conveying section in an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the drum cleaning device and the blower in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the outer roller and the inner roller in an embodiment of the present invention; Figure 14 This is a schematic diagram of the fruit collection box in an embodiment of the present invention; The components include: 1. Circular brush device; 2. Vibrating device; 3. Driver's cab; 4. Frame; 5. Hydraulic power unit; 6. Overall power unit; 7. Fan; 8. Drum cleaning device; 9. Fruit collection box; 10. Lifting and conveying section; 11. Vibrating screening device; 12. Picking and conveying section; 13. Walking wheel; 101. Circular brush; 102. First hydraulic motor; 103. Cage; 104. Circular brush angle adjustment disc assembly; 105. Fixing frame; 106. Circular brush lifting cylinder; 107. Cylindrical pin; 108. Connecting shaft; 109. Obstacle avoidance guide plate; 201. Clamping hydraulic cylinder; 202. Vibrating moving rod; 203. Linear bearing; 204. Telescopic hydraulic cylinder; 20 5. Vibrating rocker fixing rod; 206. Tapered roller bearing and bearing housing assembly; 207. Vibrating rocker fixing plate; 208. Swinging hydraulic cylinder; 209. Vibrating rocker lifting cylinder; 210. Lifting slider guide rail; 211. Lifting slider; 212. Guide rail fixing plate; 213. Gripper linear bearing; 214. Active push rod; 215. Driven connecting rod one; 216. Driven connecting rod two; 217. Driven connecting rod three; 218. Flexible pad; 219. Gripper; 220. Gripper fixing shell; 701. Second hydraulic motor; 702. Fan blade; 703. Fan housing; 704. Air outlet; 801. Hopper; 802. Outer roller; 803. Support wheel; 804. Roller fixing frame; 805. 806. Rack and pinion; 807. Gear; 808. Third hydraulic motor; 809. Inner roller; 810. Inner roller rod; 811. Spiral tooth; 812. Screw plate; 813. Outer roller retaining ring; 814. Spiral blade; 815. Circular support guide rail; 901. Discharge port; 902. Fruit collection hopper; 903. Fruit conveying channel; 904. Fruit storage box; 905. Discharge port; 1001. First sprocket; 1002. First chain; 1003. Lifting chain plate rod; 1004. Lifting chain plate fixing plate; 1005. First shaft and square bearing seat; 1006. Fourth hydraulic motor; 1007. Lifting chain plate baffle; 1101. Impurity removal screen plate; 1102. Impurity removal screen fixing plate. ; 1103. Second fixing plate for the impurity removal sieve; 1104. Rotary connecting joint; 1105. First connecting rod for the sieve transmission; 1106. Fifth hydraulic motor; 1107. Crank disc; 1108. Second connecting rod for the sieve transmission; 1109. Bottom round rod of the sieve; 1201. Second sprocket; 1202. Second chain; 1203. Picking chain plate fixing plate; 1204. Second shaft and square bearing seat; 1205. Round rod of the picking chain plate; 1206. Picking chain plate baffle; 1207. Sixth hydraulic motor; 1208. Lifting cylinder for the picking and conveying section; 1209. First lifting connecting rod; 1210. Second lifting connecting rod; 1211. Jujube picking plate; 1212. Limit wheel; 1213. Shovel blade. Detailed Implementation

[0018] 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.

[0019] The purpose of this invention is to provide a straddle-type vibrating jujube harvester to solve the technical problems of existing jujube harvesters, which cannot coordinate the various stages of harvesting, such as shaking the fruit off the tree, picking it up from the ground, conveying, cleaning, and collecting the fruit, resulting in discontinuous operation, poor adaptability to jujube orchards, and poor cleaning effect. This invention achieves integrated and coordinated operation of vibrating harvesting, ground picking, multi-stage cleaning, and conveying and collecting the fruit, thereby improving the adaptability of jujube orchards and harvesting efficiency.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 4 As shown in the figure, this embodiment provides a straddle-type vibrating jujube harvester. The harvester includes a frame 4, a walking device, a power system, a vibrating device 2, a fruit collecting device, a conveying device, a screening device, and a fruit collecting box 9.

[0022] The frame 4 is an integral frame welded from square steel pipes, featuring a portal frame that straddles the rows of jujube trees. A longitudinal passage for the jujube trees to pass through is formed in the middle of this portal frame. During harvesting, the machine can straddle a single row of jujube trees, which then pass through the longitudinal passage.

[0023] The walking device is installed at the bottom of the frame 4 and is used to drive the entire machine to move. In this embodiment, the walking device includes four walking wheels 13, of which the front wheels are steering wheels.

[0024] The power system is mounted on the frame 4 and provides power for the machine's movement and operation. The power system includes a main power unit 6 and a hydraulic power unit 5. The main power unit 6 can be a diesel engine, and the hydraulic power unit 5 is a hydraulic pump.

[0025] The shaking device 2 is installed at the front end of the frame 4 and is used to clamp and vibrate the jujube tree trunk to shake the fruit off. In this embodiment, the shaking device 2 is a shaking rod device.

[0026] The fruit collection device is installed at the front end of the frame 4 and below the shaking device 2, and is used to gather fallen fruits towards a preset area. In this embodiment, the fruit collection device is a round brush device 1.

[0027] A conveying device is installed on frame 4 to scoop up the gathered fruits and convey them backward. A screening device is installed on frame 4 to perform multi-stage sorting on the conveyed fruits to separate and remove impurities. A fruit collection box 9 is installed at the rear end of frame 4 and below the screening device to hold the sorted fruits.

[0028] The conveying device, screening device, and fruit collection box 9 are arranged in pairs on the left and right sides of the frame 4. In this embodiment, the devices are symmetrically arranged on the left and right sides of the frame 4 to meet the need for simultaneous processing of both sides of the tree row during straddle operations.

[0029] The cab 3 is installed on the front left side of the frame 4, and contains a steering wheel, control lever and instrument panel.

[0030] As an example of an implementable approach, such as Figures 7 to 9 As shown, the conveying device includes a pickup conveying section 12. The front end of the pickup conveying section 12 is equipped with a shovel blade 1213 and a limiting wheel 1212 for limiting the depth of the shovel blade 1213 in the soil. The pickup conveying section 12 is connected to the frame 4 via a parallel four-bar linkage. This parallel four-bar linkage is configured such that during operation, when the shovel blade 1213 encounters obstacles such as rocks or hard soil, it can cause the shovel blade 1213 to float backward and upward to avoid them.

[0031] Specifically, the picking and conveying section 12 includes two picking chain plate fixing plates 1203, arranged opposite each other with a certain distance between them. Each picking chain plate fixing plate 1203 is hinged to the lower front end of the frame 4 via a set of parallel four-bar linkages. Each picking chain plate fixing plate 1203 is inclined in the front-rear direction, with its front end lower than its rear end, and the angle between it and the horizontal plane is 25°-35°. A jujube picking plate 1211 is fixedly connected to the front end of the picking chain plate fixing plate 1203, and a shovel blade 1213 is fixedly connected to its front end. The angle between the jujube picking plate 1211 and the horizontal plane is 35°-45°, allowing the shovel blade 1213 at the front end to scoop into the ground. There are two limit wheels 1212, which are installed on the left and right side plates of the jujube picking plate 1211 respectively. The blade of the shovel 1213 is 3-5cm away from the outer circumference of the limit wheel 1212, that is, the depth of the shovel 1213 into the ground does not exceed 3-5cm.

[0032] The pickup conveyor section 12 also includes a second sprocket 1201, a second chain 1202, pickup chain plate rods 1205, a pickup chain plate baffle 1206, and a sixth hydraulic motor 1207. The four second sprockets 1201 are divided into two groups, front and rear, and are respectively mounted on the inner sides of two pickup chain plate fixing plates 1203 via a second shaft and a square bearing seat 1204. Two second chains 1202 are respectively wound around the front and rear second sprockets 1201 on the left and the front and rear second sprockets 1201 on the right. Multiple pickup chain plate rods 1205 are fixed at equal intervals between the two second chains 1202, forming a perforated pickup chain plate. A pickup chain plate baffle 1206 is fixed to the pickup chain plate. The sixth hydraulic motor 1207 is fixed to the rear end of the right pickup chain plate fixing plate 1203, and its output shaft is connected to the rear second shaft and the square bearing seat 1204 for transmission.

[0033] During operation, the pickup and conveying section 12 uses its own weight to extend the shovel blade 1213 below the ground. The limiting wheel 1212 rolls in contact with the ground, automatically limiting the depth of penetration. The sixth hydraulic motor 1207 drives the sprocket to rotate, which in turn drives the hollow pickup chain plate to circulate, conveying the shoveled dates backward and upward. Small particles of soil, pebbles, and other small-diameter impurities leak out from the gaps in the chain plate. When the shovel blade 1213 encounters an obstacle, it moves backward under the obstruction of the obstacle. Under the constraint of the parallel four-bar linkage, the two pickup chain plate fixing plates 1203 move backward and upward, driving the shovel blade 1213 to bypass the obstacle, thus obtaining a buffer and avoiding rigid collision. After passing the obstacle, the mechanism naturally returns to its original position under its own weight. Furthermore, the shovel blade 1213 can be slidably connected to the jujube picking plate 1211, and an elastic reset device (such as a spring) can be provided between the two. When the shovel blade 1213 encounters an obstacle, it will retract into the jujube picking plate 1211 after overcoming the elastic force of the elastic reset device under the obstruction of the obstacle, thereby further buffering and avoiding rigid collision.

[0034] When not in operation, the lifting cylinder 1208 of the picking and conveying section raises the entire picking and conveying section 12, so that the shovel blade 1213 is away from the ground, making it easier to move in the field.

[0035] As an example of an implementable approach, such as Figures 7 to 9As shown, the parallel four-bar linkage includes four lifting links 1209 and two lifting links 1210. One end of the lifting link 1209 is hinged to the main body of the pickup conveying section 12 (i.e., the pickup chain plate fixing plate 1203), and the other end is hinged to the lifting link 1210. The lifting link 1210 is connected to a drive unit mounted on the frame 4 to drive the pickup conveying section 12 to lift as a whole. In this embodiment, the drive unit is a pickup conveying section lifting cylinder 1208. The cylinder body of the pickup conveying section lifting cylinder 1208 is fixedly connected to the frame 4, and the piston rod is fixedly connected to the two lifting links 1210. When the piston rod of the pickup conveying section lifting cylinder 1208 extends or retracts, it drives the lifting link 1210 to move up and down. The lifting link 1210 drives the two left and right pickup chain plate fixing plates 1203 to move up and down through the lifting link 1209, thereby realizing the lifting of the entire pickup conveying section 12. In the above connection method, the four hinge points of the two lifting links 1209 on the left are connected sequentially to form the left parallel four-bar linkage; the four hinge points of the two lifting links 1209 on the right are connected sequentially to form the right parallel four-bar linkage. The two lifting links 1210 act as crossbars to connect the parallel four-bar linkages on the left and right sides respectively, achieving synchronous movement.

[0036] As an example of an implementable approach, such as Figure 1 , Figure 3 , Figure 4 and Figure 11 As shown, the conveying device also includes a lifting conveyor section 10, which is located behind the picking conveyor section 12 and is used to convey the fruit upwards. The screening device includes a vibrating screening device 11, which is located between the picking conveyor section 12 and the lifting conveyor section 10. In this embodiment, the picking conveyor section 12 conveys the scooped-up dates backwards to the vibrating screening device 11, which uses reciprocating vibration to remove small-sized impurities (such as soil particles, small clods of earth, and small stones), and then transfers the dates to the lifting conveyor section 10. The lifting conveyor section 10 then conveys the dates upwards to the subsequent drum cleaning device 8.

[0037] Specifically, such as Figure 11 and Figure 12As shown, the lifting and conveying section 10 includes a first sprocket 1001, a first chain 1002, a lifting chain plate round rod 1003, a lifting chain plate fixing plate 1004, a first shaft and a square bearing seat 1005, a fourth hydraulic motor 1006, and a lifting chain plate baffle 1007. Two lifting chain plate fixing plates 1004 are fixedly connected to the frame 4, in an inclined state with the front lower than the rear. The lower end is located below the discharge end of the vibrating screening device 11, and the higher end is aligned with the hopper 801 of the drum cleaning device 8. The four first sprockets 1001 are divided into two groups, front and rear, and are respectively installed on the inner sides of the two lifting chain plate fixing plates 1004 via the first shaft and the square bearing seat 1005. Two first chains 1002 are respectively wound around the front and rear first sprockets 1001 on the left and the front and rear first sprockets 1001 on the right. Multiple lifting chain plate round rods 1003 are fixedly connected at equal intervals between two first chains 1002 to form a hollow lifting chain plate. Lifting chain plate baffles 1007 are fixed on the lifting chain plate to prevent the jujubes from sliding down during inclined conveying. A fourth hydraulic motor 1006 is fixedly installed at the rear end of the right-side lifting chain plate fixing plate 1004, and its output shaft is connected to the rear-end first shaft and square bearing seat 1005 for driving the sprocket rotation. After being screened by the vibrating screening device 11, the jujubes and impurities fall into the feed end of the lifting conveying section 10. The lifting chain plate supports the jujubes, and the lifting chain plate baffles 1007 prevent the jujubes from slipping, thus conveying the jujubes backward and upward. During the conveying process, residual small-diameter impurities (such as broken soil and gravel) can leak out from the gaps between the multiple lifting chain plate round rods 1003 for further cleaning. After being conveyed to the highest end of the lifting chain plate, the jujubes fall into the hopper 801 of the subsequent roller cleaning device 8 by gravity.

[0038] As an example of an implementable approach, such as Figure 10As shown, the vibrating screening device 11 has a screen surface and a reciprocating drive mechanism connected to the screen surface for transmission. The reciprocating drive mechanism is used to drive the screen surface to vibrate up and down reciprocally to break up the shoveled soil clods and allow them to leak out through the gaps in the screen surface. Specifically, the vibrating screening device 11 includes two impurity removal screen plates 1101, an impurity removal screen fixing plate one 1102, an impurity removal screen fixing plate two 1103, a rotary connecting joint 1104, a screen transmission connecting rod one 1105, a fifth hydraulic motor 1106, a crank disc 1107, a screen transmission connecting rod two 1108, and a screen bottom round rod 1109. The impurity removal screen fixing plate one 1102 and the impurity removal screen fixing plate two 1103 are respectively fixedly connected to the vertical beam in the middle of the frame 4. Two impurity removal sieve plates 1101 are arranged opposite each other at an angle (higher at the front and lower at the rear). The right rear impurity removal sieve plate 1101 is hinged to the first impurity removal sieve fixing plate 1102, and the front sides are fixedly connected to rotary connecting joints 1104. Several sieve bottom round rods 1109 are evenly spaced at the bottom of the impurity removal sieve plate 1101, with gaps between adjacent rods forming a sieve surface. The gaps between adjacent sieve bottom round rods 1109 are smaller than the size of a jujube. The lower ends of the two sieve drive connecting rods 1105 are hinged to the rotary connecting joints 1104 on both sides, and the upper ends are fixedly connected to both ends of the second sieve drive connecting rod 1108. The right end of the second sieve drive connecting rod 1108 is eccentrically hinged to a through hole on the surface of the crank disc 1107. The fifth hydraulic motor 1106 is fixedly installed on the second impurity removal sieve fixing plate 1103, and its output shaft is connected to the center of the crank disc 1107. During operation, the fifth hydraulic motor 1106 drives the crank disc 1107 to rotate, which in turn drives the screen transmission link 1105 to reciprocate up and down through the eccentrically hinged screen transmission link 2 1108, thereby causing the impurity removal screen plate 1101 to oscillate up and down. The jujubes and debris conveyed by the picking and conveying section 12 fall onto the screen surface, the soil clods are crushed, and small-diameter impurities leak out from the screen holes. The jujubes and larger debris move obliquely downward along the inclined screen surface and fall into the subsequent lifting and conveying section 10.

[0039] As an example of an implementable approach, such as Figure 12 and Figure 13As shown, the screening device also includes a drum cleaning device 8, which is located behind the lifting and conveying section 10. The drum cleaning device 8 includes an inner drum 808 and an outer drum 802 that are coaxially nested and can rotate synchronously. The inner drum 808 is constructed as a cage-like cylinder, surrounded by multiple circumferentially spaced inner drum rods 809. The gap between adjacent inner drum rods 809 is slightly larger than the size of a jujube, allowing the fruit to pass through while blocking large-diameter heavy impurities (such as branches, large clods of soil, stones, etc.). The inner drum 808 is equipped with a spike-tooth spiral pusher to discharge large-diameter heavy impurities to the rear. The inner wall of the outer drum 802 is equipped with spiral blades 813, and its rear end is equipped with a discharge port 815 to convey the fruit falling into the outer drum 802 to the discharge port 815.

[0040] Specifically, the drum cleaning device 8 also includes a drum fixing frame 804, gears 806, support wheels 803, racks 805, a third hydraulic motor 807, a hopper 801, an outer drum retaining ring 812, and a circular support guide rail 814. The drum fixing frame 804 is fixedly connected to the frame 4. Two gears 806 are rotatably connected to the front ends of the drum fixing frame 804, and two support wheels 803 are rotatably connected to the rear ends of the drum fixing frame 804. A circumferential rack 805 is welded to the front outer wall of the outer drum 802, meshing with the two gears 806, and a circular support guide rail 814 is welded to the rear outer wall, rolling and supporting the two support wheels 803. The third hydraulic motor 807 is fixed to the right front end of the drum fixing frame 804, and its output shaft is connected to the right gear 806 for transmission, driving the outer drum 802 and the inner drum 808 to rotate synchronously. The inner drum 808 is coaxially fixed inside the outer drum 802, its axial length is greater than that of the outer drum 802, and its rear end extends out of the outer drum 802. The inner roller 808 is welded together from two end rings and multiple inner roller rods 809 connected between the end rings. A screw conveyor plate 811 is welded onto the inner roller rods 809, and multiple nail teeth 810 are welded at equal intervals onto the screw conveyor plate 811 to form a nail-tooth auger. The hopper 801 is fixed to the frame 4, with its upper end aligned below the rear end of the lifting and conveying section 10 and its lower end aligned with the front end of the inner roller 808.

[0041] During operation, the jujubes and debris conveyed by the lifting conveyor section 10 enter the front end of the inner drum 808 through the hopper 801. As the inner drum 808 rotates, the jujubes, being smaller in size, fall through the gap between the inner drum's round rods 809 into the outer drum 802 below, while larger particles such as branches, larger clods of soil, and pebbles are pushed to the rear end by the spiked auger and discharged. The jujubes that fall into the outer drum 802 are conveyed backward by the spiral blades 813 and fall from the discharge port 815 into the fruit collection box 9 below.

[0042] As an example of an implementable approach, such as Figure 12As shown, the drum cleaning device 8 also includes a blower 7. The blower 7 has an air outlet 704 aligned with the front end of the inner drum 808, used to blow away light impurities when the fruit enters the inner drum 808. The blower 7 includes a second hydraulic motor 701, fan blades 702, and a blower housing 703. The blower housing 703 is fixedly connected to the frame 4, located below the hopper 801 and in front of the inner drum 808. The second hydraulic motor 701 is fixedly connected to the outside of the blower housing 703, and the fan blades 702 are rotatably connected inside the blower housing 703, their shafts being drively connected to the output shaft of the second hydraulic motor 701. The blower housing 703 has an air outlet 704 facing the front end of the inner drum 808. During operation, the second hydraulic motor 701 drives the fan blades 702 to rotate at high speed, and the airflow is blown through the air outlet 704 to the front end of the inner roller 808, blowing out light impurities such as leaves and broken leaves mixed in with the jujubes.

[0043] As an example of an implementable approach, such as Figure 6 As shown, the fruit collection device is a round brush device 1. One set of round brush devices 1 is installed on each of the left and right sides of the frame 4. Each set of round brush devices 1 includes two round brushes 101 arranged in a V-shape, with the opening of the V-shape facing the front of the frame 4. The projections of the travel paths of two adjacent round brushes 101 in the two sets of round brush devices 1 overlap on the horizontal plane to prevent jujubes from being missed. Each set of round brush devices 1 also includes an obstacle avoidance device, and an elastic reset element (in this embodiment, a torsion spring) is provided between the round brush device 1 and the frame 4. The obstacle avoidance device is configured such that when it comes into contact with the jujube tree trunk, it is squeezed by the trunk, causing two adjacent round brushes 101 in the two sets of round brush devices 1 to move to the sides to avoid the trunk, and is reset by the elastic reset element after the trunk has passed.

[0044] Specifically, the rotary brush device 1 also includes a first hydraulic motor 102, a retainer 103, a rotary brush angle adjustment disc assembly 104, a fixed frame 105, a rotary brush lifting cylinder 106, a cylindrical pin 107, and an obstacle avoidance guide plate 109. One end of the fixed frame 105 is hinged to the front end of the frame 4. The cylinder body of the rotary brush lifting cylinder 106 is hinged to the frame 4, and the piston rod is hinged to the fixed frame 105. The rotary brush angle adjustment disc assembly 104 includes two semi-circular discs, an upper semi-circular disc welded to both sides of the lower end of the fixed frame 105, and a lower semi-circular disc welded to the retainer 103. The lower semi-circular disc is rotatably connected to the upper semi-circular disc via a connecting shaft 108 and locked by a cylindrical pin 107. Two rotary brushes 101 are rotatably connected to the two retainers 103, and two first hydraulic motors 102 are fixed to the ends of the retainers 103 to drive the rotary brushes 101 to rotate. The mounting frame 105 of the right-side circular brush device 1 is longer in the front-to-back direction, placing the right-side device in front of the left-side device in a staggered arrangement. Obstacle avoidance guide plates 109 are respectively installed on the top of the two adjacent retainers 103, with the guide plates 109 inclined relative to each other to form a flow-guiding slope. During operation, the circular brush lifting cylinder 106 lowers the circular brush device 1 to the ground, adjusts the size of the V-shaped opening, and locks it. The first hydraulic motor 102 drives the circular brush 101 to rotate, gathering the jujubes on the ground to two linear areas on both sides of the tree row.

[0045] As an example of an implementable approach, such as Figure 6 As shown, the obstacle avoidance device is an obstacle avoidance guide plate 109. The obstacle avoidance guide plate 109 is disposed on the retainer 103 of two adjacent round brushes 101 in the two sets of round brush devices 1. The retainer 103 is used to support the round brushes 101. In this embodiment, an obstacle avoidance guide plate 109 is fixed to the top of each retainer 103, and the two obstacle avoidance guide plates 109 are arranged at opposite inclinations to form a guide slope. When a tree passes between the two sets of round brush devices 1, the tree trunk squeezes the obstacle avoidance guide plate 109, pushing the adjacent retainers 103 to the sides to avoid it; after the tree passes, the torsion spring resets the retainer 103.

[0046] As an example of an implementable approach, such as Figures 1 to 4As shown, the power system includes a main machine power unit 6 and a hydraulic power unit 5. The main machine power unit 6 is a diesel engine or an electric motor, and the hydraulic power unit 5 is a hydraulic pump. The main machine power unit 6 drives the hydraulic power unit 5 to provide hydraulic energy to the various hydraulic actuators of the main machine. In this embodiment, the main machine power unit 6 uses a diesel engine, which drives the hydraulic pump through a belt or coupling. The hydraulic pump distributes high-pressure oil to each hydraulic motor and hydraulic cylinder through a multi-way valve to realize actions such as walking, shaking, brush rotation, chain conveying, screening shaking, drum rotation, and fan 7 blowing. In another embodiment, the main machine power unit 6 uses an electric motor, powered by an on-board battery pack, which is suitable for operating scenarios with strict requirements for exhaust emissions (such as greenhouses), and has the advantages of zero emissions and low noise, while retaining the smoothness and high thrust characteristics of hydraulic drive.

[0047] like Figure 5As shown, the vibrating device 2 includes a clamping hydraulic cylinder 201, a vibrating movable rod 202, a linear bearing 203, a telescopic hydraulic cylinder 204, a vibrating fixed rod 205, a tapered roller bearing and bearing seat assembly 206, a vibrating rod fixing plate 207, a swing hydraulic cylinder 208, a vibrating device lifting cylinder 209, a lifting slider guide rail 210, a lifting slider 211, a guide rail fixing plate 212, a gripper linear bearing 213, an active push rod 214, a driven connecting rod one 215, a driven connecting rod two 216, a driven connecting rod three 217, a flexible pad 218, a gripper 219, and a gripper fixing shell 220. The guide rail fixing plate 212 is a hollow square tube with a slot in the middle of its side wall, and is fixedly connected to the ear plate on the left side of the front end of the frame 4 by bolts. Four lifting slider guide rails 210 are fixedly connected to the four corners inside the guide rail fixing plate 212 and extend in the vertical direction. The lifting slider 211 is slidably connected to four lifting slider guide rails 210, with a strip steel plate welded to the side near the slot opening, passing through the slot. The rocker arm fixing plate 207 is welded to the end of the strip steel plate extending out of the slot. The lifting cylinder 209 of the rocker device is hinged to the frame 4, and the piston rod is hinged to the lifting slider 211. The rocker fixed rod 205 is rotatably connected to the rocker arm fixing plate 207 via a tapered roller bearing and bearing seat assembly 206. The swing hydraulic cylinder 208 is hinged to the rocker arm fixing plate 207, and the piston rod is hinged to the rocker fixed rod 205. The rocker movable rod 202 is stepped and is slidably inserted into the rocker fixed rod 205 via two linear bearings 203, with its distal end fixedly connected to the gripper fixing shell 220. The telescopic hydraulic cylinder 204 is fixed to the rocker fixed rod 205, and the piston rod is fixed to the rocker movable rod 202. The clamping hydraulic cylinder 201 is fixed to the vibrating movable rod 202, and the piston rod is fixedly connected to the active push rod 214. The active push rod 214 slides with the clamp fixing shell 220 through the clamp linear bearing 213. The driven connecting rod 1 215, driven connecting rod 216, and driven connecting rod 3 217 form a connecting rod assembly, which drives the two clamps 219 to open and close. A flexible pad 218 is fixed on the inner side of the clamps 219. During operation, the position of the clamps 219 is first adjusted to align with the bottom of the tree trunk. The clamping hydraulic cylinder 201 drives the clamps 219 to close and hug the tree trunk. The telescopic hydraulic cylinder 204 quickly reciprocates, causing the tree trunk to vibrate, and the jujubes are shaken to the ground.

[0048] like Figure 14As shown, the fruit collection box 9 includes a fruit collection hopper 901, a fruit conveying channel 902, a fruit storage box 903, and a discharge port 904. The fruit collection box 9 is fixedly connected to the rear end of the frame 4 and is located below the drum cleaning device 8. The fruit collection hopper 901 is located directly below the discharge port 815 at the rear end of the outer drum 802 and is used to receive the jujubes falling from the discharge port 815. The fruit collection hopper 901 is connected to the lower part of the fruit conveying channel 902, and the outlet of the fruit conveying channel 902 is connected to the fruit storage box 903. The bottom of the fruit storage box 903 has a discharge port 904, which is equipped with an openable and closable discharge door. The jujubes fall into the fruit storage box 903 from the discharge port 815 by gravity, passing through the fruit collection hopper 901 and the fruit conveying channel 902, without the need for additional power.

[0049] The structures, connections, or operation methods not described in detail in this invention can be superimposed on each other without interference, and these adaptive changes all fall within the protection scope of this invention.

[0050] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0051] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A straddle-type vibrating jujube harvester, characterized in that, include: The frame (4) has a portal frame straddling the row of jujube trees, and a longitudinal passage for the jujube trees to pass through is formed in the middle of the portal frame. A walking device is installed at the bottom of the frame (4) to drive the whole machine to move; The power system, installed on the frame (4), is used to provide operating power; A shaking device (2) is installed at the front end of the frame (4) to clamp and vibrate the jujube tree trunk to shake the fruit off. The fruit collection device is installed at the front end of the frame (4) and below the shaking device (2) to gather fallen fruits towards a preset area. A conveying device, installed on the frame (4), is used to scoop up the gathered fruits and convey them backward; A screening device, installed on the frame (4), is used to perform multi-stage sorting on the delivered fruits in order to separate and remove impurities; Fruit collection box (9), installed on the frame (4), is used to hold the fruits sorted by the screening device; The conveying device, the screening device and the fruit collection box (9) are arranged in pairs on the left and right sides of the frame (4).

2. The straddle-type vibrating jujube harvester according to claim 1, characterized in that, The conveying device includes a pickup conveying section (12), the front end of which is provided with a shovel blade (1213) and a limiting wheel (1212) for limiting the depth of the shovel blade (1213) into the soil. The pickup conveying section (12) is connected to the frame (4) through a parallel four-bar linkage. The parallel four-bar linkage is configured such that when the shovel blade (1213) encounters an obstacle during operation, it can drive the shovel blade (1213) to float backward and upward to avoid it.

3. A straddle-type vibrating jujube harvester according to claim 2, characterized in that, The parallel four-bar linkage includes four lifting links one (1209) and two lifting links two (1210). One end of the lifting link one (1209) is hinged to the main body of the pickup and conveying section (12), and the other end is hinged to the lifting link two (1210). The lifting link two (1210) is connected to the drive unit installed on the frame (4) for driving the pickup and conveying section (12) to lift as a whole.

4. A straddle-type vibrating jujube harvester according to claim 2, characterized in that, The conveying device also includes a lifting conveying section (10), which is located behind the picking conveying section (12) and is used to convey the fruit upwards; the screening device includes a vibrating screening device (11), which is located between the picking conveying section (12) and the lifting conveying section (10).

5. A straddle-type vibrating jujube harvester according to claim 4, characterized in that, The vibrating screening device (11) has a screen surface and a reciprocating drive mechanism that is connected to the screen surface. The reciprocating drive mechanism is used to drive the screen surface to vibrate up and down repeatedly so as to crush the soil clods after shoveling and allow them to leak out through the gaps in the screen surface.

6. A straddle-type vibrating jujube harvester according to claim 4, characterized in that, The screening device also includes a drum cleaning device (8), which is located behind the lifting and conveying section (10); The drum cleaning device (8) includes: The inner roller (808) and outer roller (802) are coaxially nested and can rotate synchronously. The inner roller (808) is constructed as a cage-like cylinder, which is surrounded by multiple circumferentially spaced inner roller rods (809) to allow the fruit to pass through while blocking large-diameter heavy impurities. The inner roller (808) is provided with a spike-tooth spiral pusher inside to discharge the large-diameter heavy impurities to the rear. The inner wall of the outer roller (802) is provided with spiral blades (813), and the rear end is provided with a discharge port (815) to transport the fruit that falls into the outer roller (802) to the discharge port (815).

7. A straddle-type vibrating jujube harvester according to claim 6, characterized in that, The drum cleaning device (8) also includes a blower (7) having an air outlet (704) aligned with the front end of the inner drum (808) to blow away light impurities when the fruit enters the inner drum (808).

8. A straddle-type vibrating jujube harvester according to claim 1, characterized in that, The fruit collection device is a round brush device (1). A set of round brush devices (1) is set on each of the left and right sides of the frame (4). Each set of round brush devices (1) includes two round brushes (101). The two round brushes (101) are arranged in a V-shape, and the opening of the V-shape faces the front of the frame (4). The projection of the walking paths of two adjacent round brushes (101) in the two sets of round brush devices (1) on the horizontal plane has an overlapping area. Each set of round brush devices (1) also includes an obstacle avoidance device, and an elastic reset member is provided between the round brush device (1) and the frame (4). The obstacle avoidance device is configured such that when it comes into contact with the trunk of the jujube tree, it is squeezed by the trunk and drives the two adjacent round brushes (101) in the two sets of round brush devices (1) to avoid to both sides, and is driven to reset by the elastic reset member after the trunk passes.

9. A straddle-type vibrating jujube harvester according to claim 8, characterized in that, The obstacle avoidance device is an obstacle avoidance guide plate (109). The obstacle avoidance guide plate (109) is set on the retainer (103) of two adjacent round brushes (101) in the two sets of round brush devices (1). The retainer (103) is used to support the round brushes (101).

10. A straddle-type vibrating jujube harvester according to claim 1, characterized in that, The power system includes a complete machine power unit (6) and a hydraulic power unit (5). The complete machine power unit (6) is a diesel engine or an electric motor, and the hydraulic power unit (5) is a hydraulic pump. The complete machine power unit (6) drives the hydraulic power unit (5) to provide hydraulic energy to each hydraulic actuator of the complete machine.

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