Crawler-type red date picking and collecting device

Abstract

The utility model belongs to the technical field of red date picking devices, and relates to a crawler-type red date picking and collecting device which comprises a crawler walking unit, a red date collecting box, a red date collecting hopper, a supporting rod and a clamping vibration unit. The red date collecting box is arranged on the crawler walking unit, and a red date outlet is formed in the side wall of the red date collecting box; the red date collecting hopper is located above the red date collecting box and communicates with the red date outlet through the red date collecting box, the supporting rod is located in the red date collecting hopper in the vertical direction, the lower end of the supporting rod penetrates through the red date collecting hopper to be connected with the red date collecting box, and the clamping vibration unit comprises a mechanical arm and a vibrator arranged on the mechanical arm; and the manipulator is movably connected with the upper end of the supporting rod. The clamping and locking device is easy to walk and work under the terrain of the northern Shaanxi region, convenient to clamp and lock and high in stability.

Description

Technical Field

[0001] This utility model belongs to the technical field of jujube harvesting devices, and relates to a tracked jujube harvesting and collecting device for harvesting and collecting jujubes in the terrain of northern Shaanxi. Background Technology

[0002] Red dates are not only a delicious fruit, but also have very high nutritional and medicinal value. Therefore, growing red dates is not only an economic source, but also a very promising industry. Northern Shaanxi, located in northern China, is situated in an arid and semi-arid climate zone with moderate temperatures and distinct wet and dry seasons, making its climate ideal for red date growth. Furthermore, the region boasts excellent soil conditions, rich in organic matter, lime, and phosphorus, which are also highly beneficial for red date cultivation.

[0003] Harvesting jujubes is a crucial step in jujube cultivation. Traditionally, harvesting is done manually, which is labor-intensive and inefficient. With the development of mechanization, mechanical harvesting has been developed, primarily using an engine to drive a vibrating rod to shake the jujubes off the ground. This method is more efficient and saves physical labor compared to traditional manual harvesting. Referring to Chinese invention patent CN110651609A, a small jujube harvester is disclosed. The main body includes a fixed frame with four casters at the lower end. A motor is housed inside the frame, connected to a crank via a coupling. The crank is connected to a vertically upward connecting rod, with a clamping hook at the top. A harvesting rod that slides along the connecting rod is sleeved on the connecting rod, with a harvesting head at the top. The clamping hook and harvesting head together form a clamping and locking device. Although existing jujube harvesters achieve electrically driven mechanical jujube harvesting, they have the following drawbacks:

[0004] (1) The existing harvesting device moves by four casters, but because the terrain in northern Shaanxi is mostly hilly and gully, the casters are difficult to move and work in the terrain of northern Shaanxi.

[0005] (2) When picking, the existing picking device uses a clamping hook to hang the branch from above, and then pushes the picking rod upward until the picking head at the top of the picking rod cooperates with the clamping hook to clamp the branch. The position of the picking rod is locked by the locking buckle. This locking method is not only complicated to operate, but the locking buckle is also prone to instability after long-term use. In addition, the clamping hook is prone to causing great damage to the jujube tree branches during clamping and vibration, which is not conducive to the growth of jujubes in the following year. Utility Model Content

[0006] To address the technical problems of existing jujube harvesting methods, such as difficulty in navigating and working on the terrain of northern Shaanxi, complex locking mechanisms, and unstable clamping, this utility model provides a tracked jujube harvesting and collecting device.

[0007] This utility model combines a tracked walking unit, a jujube collection box, a clamping vibration unit, a support rod, and a jujube collection bucket, making it easy to walk and work in the terrain of northern Shaanxi. The clamping and locking operation is convenient and highly stable.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0009] A tracked jujube picking and collecting device includes a tracked walking unit, a jujube collecting box, a jujube collecting bucket, a support rod, and a clamping vibration unit;

[0010] The jujube collection box is placed on the tracked walking unit, and a jujube outlet is opened on the side wall of the jujube collection box; the jujube collecting hopper is located above the jujube collection box and is connected to the jujube outlet through the jujube collection box; the support rod is located in the jujube collecting hopper in a vertical direction, and the lower end of the support rod passes through the jujube collecting hopper and is connected to the jujube collection box; the clamping vibration unit includes a manipulator and a vibrator placed on the manipulator; the manipulator is movably connected to the upper end of the support rod.

[0011] Further defined, the tracked walking unit includes a tracked chassis and a tracked drive mechanism; the jujube collection box is placed on the upper surface of the tracked chassis, and the tracked drive mechanism is placed on the lower surface of the tracked chassis, the tracked drive mechanism being used to drive the tracked chassis to move.

[0012] Furthermore, the robotic arm is also provided with a soft rubber protective layer.

[0013] Further defined, the clamping vibration unit is one or more, and the plurality of clamping vibration units are evenly distributed along the circumference of the support rod, and are respectively movably connected to the upper end of the support rod through the plurality of robotic arms.

[0014] Further specifying, the tracked jujube picking and collecting device also includes a fan installed inside the jujube collecting box; a debris outlet is opened on the side wall of the jujube collecting box; the debris outlet is located above the jujube outlet, and the fan is arranged opposite to the debris outlet.

[0015] Furthermore, the tracked jujube picking and collecting device also includes a connecting straw, one end of which is connected to the inside of the jujube collecting box, and the other end of which is equipped with a jujube suction head.

[0016] Further specifying, the tracked jujube picking and collecting device also includes a drive box installed on the outer wall of the jujube collecting box, and the connecting suction tube passes through the drive box and communicates with the jujube collecting box; a drive motor is installed inside the drive box, and the drive motor is connected to the jujube suction head.

[0017] Further specifying, the tracked jujube picking and collecting device also includes a track control lever, a robotic arm control unit, a vibrator control unit, and a fan control unit; the track control lever is connected to the track drive mechanism, the fan control unit is connected to the fan, the robotic arm control unit is connected to the robotic arm, and the vibrator control unit is connected to the vibrator.

[0018] Further defined, each of the robotic arm control unit and the vibrator control unit is one or more, with the plurality of robotic arm control units connected one-to-one with the plurality of robotic arms, and the plurality of vibrator control units connected one-to-one with the plurality of vibrators.

[0019] Furthermore, the tracked jujube picking and collecting device also includes a remote control handle; the track control lever, the robotic arm control unit, the vibrator control unit, and the fan control unit are all located on the remote control handle.

[0020] Compared with the prior art, the beneficial effects of this utility model are:

[0021] 1. This utility model combines a tracked walking unit, a jujube collection box, a clamping vibration unit, a support rod, and a jujube collection bucket. The tracked walking unit can effectively cope with the complex terrain of northern Shaanxi and is easy to walk and work in the terrain of northern Shaanxi. The clamping vibration unit includes a robotic arm and a vibrator placed on the robotic arm. The robotic arm clamps the jujube tree branches, which is convenient to operate and has higher clamping stability.

[0022] 2. In this utility model, a soft rubber protective layer is set on the robotic arm to avoid damage to the jujube tree branches during clamping and vibration, thus ensuring the normal growth of jujubes in the following year.

[0023] 3. In this utility model, by setting a connecting straw and a date-sucking head, it is possible to collect red dates scattered on the ground, thereby increasing the amount of red dates picked.

[0024] 4. This utility model includes a track control lever, a robotic arm control unit, a vibrator control unit, and a fan control unit; it enables automated control of each component, thereby improving the efficiency of jujube picking and collection; in addition, each control unit is integrated into a remote control handle for convenient operation.

[0025] 5. This utility model uses a clamping vibration unit to clamp and vibrate the dates, a fan to remove impurities, and a date outlet to collect the dates, so that the tracked date picking and collecting device has multiple functions such as date picking, date collection and impurity removal, thereby realizing integrated date picking and collecting. Attached Figure Description

[0026] Figure 1 Schematic diagram of a tracked jujube picking and collecting device Figure 1 ;

[0027] Figure 2 Schematic diagram of a tracked jujube picking and collecting device Figure 2 ;

[0028] Figure 3 A schematic diagram of the main view of a tracked jujube picking and collecting device;

[0029] Figure 4 This is a schematic diagram of a remote control handle;

[0030] in:

[0031] 1—Frame plate; 2—Track drive mechanism; 3—Tracked chassis; 4—Jujube collection box; 5—Jujube outlet; 6—Miscellaneous waste outlet; 7—Fan; 8—Connecting suction pipe; 9—Jujube suction head; 10—Jujube collection hopper; 11—Support rod; 12—First clamping vibration unit; 121—First robotic arm; 122—First vibrator; 13—Second clamping vibration unit; 131—Second robotic arm; 132—Second vibrator; 14—Discharge port; 15—Drive box; 16—First connecting shaft; 17—Second connecting shaft; 18—Remote control handle; 19—Track control lever; 20—Robot control unit; 201—First robotic control unit; 202—Second robotic control unit; 21—Vibrator control unit; 211—First vibrator control unit; 212—Second vibrator control unit; 22—Fan control unit. Detailed Implementation

[0032] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0033] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0034] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0035] It should also be understood that the specific embodiments described above are only used to explain the present utility model, and the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be covered within the protection scope of the present utility model.

[0036] Example 1

[0037] See Figure 1 and Figure 2This embodiment provides a tracked jujube harvesting and collecting device, including a tracked walking unit, a jujube collecting box 4, a jujube hopper 10, a support rod 11, and a clamping vibration unit. The jujube collecting box 4 is placed on the tracked walking unit, and a jujube outlet 5 is opened on the side wall of the jujube collecting box 4; the jujube hopper 10 is located above the jujube collecting box 4 and is connected to the jujube outlet 5 through the jujube collecting box 4; the support rod 11 is located vertically inside the jujube hopper 10, and the lower end of the support rod 11 passes through the jujube hopper 10 and is connected to the jujube collecting box 4; the clamping vibration unit includes a manipulator and a vibrator placed on the manipulator; the manipulator is movably connected to the upper end of the support rod 11.

[0038] In this embodiment, a robotic arm is used to clamp and lock the jujube tree branches (or twigs), and a vibrator is used to vibrate the jujube tree, causing the jujubes to fall. Preferably, the robotic arm is a hydraulic robotic arm, a known product purchased from the market, which can move according to the position of the jujube tree branches (or twigs) to clamp and lock them.

[0039] Preferably, in order to make the vibrator closer to the jujube tree trunk (or branches), the vibrator is located at the front end of the robot arm, that is, near the gripper.

[0040] In this embodiment, the tracked walking unit includes a tracked chassis 3 and a tracked drive mechanism 2; the jujube collection box 4 is placed on the upper surface of the tracked chassis 3, and the tracked drive mechanism 2 is placed on the lower surface of the tracked chassis 3. The tracked drive mechanism 2 is used to drive the tracked chassis 3 to move.

[0041] To improve the installation stability of the jujube collection box 4, a frame plate 1 is set on the tracked chassis 3, and the track drive mechanism 2 is placed below the frame plate 1. The jujube collection box 4 is connected and secured to the tracked chassis 3 through the frame plate 1.

[0042] In this embodiment, the track drive mechanism 2 is a servo motor, but other drive devices can also be selected.

[0043] Preferably, the jujube collecting box 4 has a rectangular structure, and a jujube outlet 5 is opened on one of the side walls of the jujube collecting box 4. The jujube outlet 5 is designed to be inclined downward so that the jujubes can slide out of the jujube collecting box 4.

[0044] In this embodiment, a baffle that opens to the outside of the jujube collection box 4 is connected to the jujube outlet 5. Under normal conditions, the baffle covers the jujube outlet 5, preventing external debris from entering the jujube collection box 4 from the jujube outlet 5. When the jujubes in the jujube collection box 4 slide out through the jujube outlet 5, the baffle opens outward due to its own impact force, making it convenient to use.

[0045] In practice, the jujube-collecting hopper 10 has an inverted conical structure that is wider at the top and narrower at the bottom. Both ends of the hopper 10 have openings. During harvesting, the hopper 10 is positioned below the jujube tree branch (or twig) to be harvested, ensuring that most of the jujubes fall into the hopper 10. Preferably, the hopper 10 is made of a soft or elastic material, which acts as a buffer when the jujubes fall into it, preventing them from being bumped or damaged and ensuring the quality of the harvest.

[0046] In practice, to facilitate the connection between the jujube collection box 4 and the jujube collection hopper 10, a discharge port 14 is provided at the top of the jujube collection box 4. The size of the discharge port 14 is adapted to the lower end of the jujube collection hopper 10, so that the jujube collection hopper 10 is connected to the inside of the jujube collection box 4 through the discharge port 14, and then connected to the jujube outlet 5, so that the jujubes collected in the jujube collection hopper 10 can be collected through the discharge port 14 and the jujube outlet 5.

[0047] Preferably, a collection container, such as a cloth bag or basket, is placed outside the date outlet 5 to collect the fallen dates.

[0048] In this embodiment, a soft rubber protective layer is also provided on the robotic arm. This ensures that during the clamping and locking process of the robotic arm on the jujube tree branches (or twigs) and during the vibration process of the vibrator, the soft rubber protective layer prevents damage to the jujube tree branches (or twigs), guaranteeing normal jujube growth the following year.

[0049] In this embodiment, the number of clamping vibration units is one, two, three, four, or more.

[0050] When there are multiple clamping vibration units, the multiple clamping vibration units are evenly distributed along the circumference of the support rod 11, and are movably connected to the upper end of the support rod 11 through multiple robotic arms, thereby realizing the clamping vibration of multiple jujube tree branches (or twigs).

[0051] Preferably, there are two clamping vibration units.

[0052] In this embodiment, the clamping vibration unit includes a first clamping vibration unit 12 and a second clamping vibration unit 13. Both the first clamping vibration unit 12 and the second clamping vibration unit 13 are connected to the upper end of the support rod 11; the second clamping vibration unit 13 and the first clamping vibration unit 12 are mirror images of each other about the central axis of the support rod 11.

[0053] Specifically, the first clamping vibration unit 12 includes a first robotic arm 121 and a first vibrator 122 placed on the first robotic arm 121; the second clamping vibration unit 13 includes a second robotic arm 131 and a second vibrator 132 placed on the second robotic arm 131. The first robotic arm 121 and the second robotic arm 131 are mirror images of each other about the central axis of the support rod 11. Both the first robotic arm 121 and the second robotic arm 131 are connected to the upper end of the support rod 11.

[0054] Preferably, both the first robotic arm 121 and the second robotic arm 131 are commercially available robotic grippers capable of multi-angle movements, satisfying the need for gripping and locking branches in various directions. For example, Newmantek Industrial Equipment (Shanghai) Co., Ltd. can be selected, or other existing products on the market can be chosen.

[0055] Preferably, in order to facilitate the connection stability between the first clamping vibration unit 12 and the support rod 11, a first connecting shaft 16 is installed on the support rod 11. The axial direction of the first connecting shaft 16 is perpendicular to the axial direction of the support rod 11, and the first connecting shaft 16 is movably connected to the first robot arm 121.

[0056] To facilitate the connection stability between the second clamping vibration unit 13 and the support rod 11, a second connecting shaft 17 is installed on the support rod 11. The axial direction of the second connecting shaft 17 is perpendicular to the axial direction of the support rod 11, and the second connecting shaft 17 is movably connected to the second robot arm 131.

[0057] In this embodiment, the track drive mechanism 2 is activated, driving the tracked chassis 3 to move across the complex terrain of northern Shaanxi until it reaches the vicinity of the jujube tree. Then, based on the location of the jujube tree branch (or twig), the first robotic arm 121 and the second robotic arm 131 are controlled to move and extend to both sides of the support rod 11. The two robotic arms grab the jujube tree branch (or twig) and lock it in place. Since the robotic arms are similar to the palm of a hand, they are not only easy to grip but also more stable. If necessary, the first robotic arm 121 and the second robotic arm 131 can be controlled to retract and position the jujube tree branch (or twig) above the jujube collection hopper 10. Then, the first vibrator 122 and the second vibrator 132 start working, vibrating to shake the jujubes off the jujube tree branch (or twig). The jujubes then fall downwards through the feed port 14 and the jujube collection hopper 10 into the jujube collection box 4, and are finally discharged and collected from the jujube outlet 5.

[0058] Example 2

[0059] See Figure 1 , Figure 2 and Figure 3Based on Embodiment 1, the tracked jujube picking and collecting device provided in this embodiment also includes a fan 7 installed inside the jujube collecting box 4; a debris outlet 6 is opened on the side wall of the jujube collecting box 4; the debris outlet 6 is located above the jujube outlet 5, and the fan 7 is arranged opposite to the debris outlet 6.

[0060] During implementation, as the jujubes fall, debris such as leaves will fall along with them into the jujube collection hopper 10 and the jujube collection box 4. The blower 7 blows away the debris, separating it from the jujubes. The debris is then discharged through the debris outlet 6, while the jujubes fall due to gravity and are discharged from the jujube outlet 5 for collection. This process avoids the debris being collected along with the jujubes, thus achieving the separation of debris from the jujubes.

[0061] Example 3

[0062] See Figure 1 , Figure 2 and Figure 3 Based on Embodiment 1, the tracked jujube picking and collecting device provided in this embodiment also includes a connecting straw 8. One end of the connecting straw 8 is connected to the inside of the jujube collecting box 4, and a jujube suction head 9 is provided on the other end of the connecting straw 8.

[0063] The tracked jujube picking and collecting device provided in this embodiment also includes a drive box 15 set on the outer wall of the jujube collecting box 4, and a connecting pipe 8 passes through the drive box 15 and communicates with the jujube collecting box 4; a drive motor is set inside the drive box 15, and the drive motor is connected to the jujube suction head 9.

[0064] In this embodiment, the drive motor is a servo motor, but it can also be other types of drive motors. The drive motor drives the suction head 9 to start or stop. Preferably, a switch is provided on the suction head 9, and the switch is connected to the drive motor. When the motor is on, pressing the switch puts the motor in the ON state, and the drive motor drives the suction head 9 to start; conversely, pressing the switch puts the motor in the OFF state, and the drive motor drives the suction head 9 to stop.

[0065] In this embodiment, the working principle of the suction head 9, the connecting suction tube 8, and the drive motor is the same as that of a vacuum cleaner. Specifically, during jujube harvesting, some jujubes will fall outside the jujube collection hopper 10 and scatter on the ground. Therefore, after the jujubes on the jujube tree are harvested, the operator holds the connecting suction tube 8, aims the suction head 9 at the scattered jujubes on the ground, turns on the switch to suck the scattered jujubes into the jujube collection box 4, and then collects them through the jujube outlet 5, increasing the amount of jujubes harvested, avoiding manual collection, and improving harvesting efficiency.

[0066] Example 4

[0067] See Figure 4Based on Embodiment 2, the tracked jujube picking and collecting device provided in this embodiment also includes a track control lever 19, a robotic arm control unit 20, a vibrator control unit 21, and a fan control unit 22.

[0068] In this embodiment, the track control lever 19 is connected to the track drive mechanism 2. Since there are two tracks, there are two track control levers 19. One track control lever 19 is connected to one track on the tracked chassis 3 through the track drive mechanism 2, and the other track control lever 19 is connected to the other track on the tracked chassis 3 through the track drive mechanism 2. In practice, depending on the terrain, the two track control levers 19 are used to control the rotation of the tracks and the start and stop of travel, respectively.

[0069] Preferably, the tracked chassis 3 is an existing product purchased from the market, and the track control lever 19 is an existing product purchased from the market, and is a matching product from the same manufacturer as the tracked chassis 3, for example, purchased from Ningbo Comair Engineering Machinery Co., Ltd.

[0070] In this embodiment, the robotic arm control unit 20 is connected to the robotic arm, and the robotic arm control unit 20 controls the movement of the robotic arm, so that it can clamp and lock the jujube tree branches and leaves according to the position of the jujube tree branches (or branches) and reset the robotic arm; the vibrator control unit 21 is connected to the vibrator, and the vibrator control unit 21 is used to control the start and stop of the vibrator's operation.

[0071] In this embodiment, there are one or more robotic arm control units 20 and vibrator control units 21. Multiple robotic arm control units 20 are connected to multiple robotic arms in a one-to-one correspondence, and multiple vibrator control units 21 are connected to multiple vibrators in a one-to-one correspondence. In this embodiment, each gripping vibration unit is connected to one robotic arm control unit 20 and one vibrator control unit 21, thereby controlling the gripping and locking of the robotic arm on the jujube tree branches (or twigs), and controlling the start and stop of the vibrator.

[0072] Preferably, when there are two robotic arms, namely the first robotic arm 121 and the second robotic arm 131, there are two robotic arm control units 20, namely the first robotic arm control unit 201 and the second robotic arm control unit 202. The first robotic arm control unit 201 is connected to the first robotic arm 121, and the second robotic arm control unit 202 is connected to the second robotic arm 131, respectively controlling the two robotic arms to clamp and lock the jujube tree branches (or twigs).

[0073] Preferably, the first robotic arm control unit 201 and the second robotic arm control unit 202 are also commercially available robotic arm gripper control systems. The first robotic arm control unit 201 is a robotic arm gripper control system from the same manufacturer as the first robotic arm 121 and is compatible with it. The second robotic arm control unit 202 is a robotic arm gripper control system from the same manufacturer as the second robotic arm 131 and is compatible with it.

[0074] Preferably, when there are two vibrators, namely a first vibrator 122 and a second vibrator 132, there are also two vibrator control units 21, namely a first vibrator control unit 211 and a second vibrator control unit 212. The first vibrator control unit 211 is connected to the first vibrator 122, and the second vibrator control unit 212 is connected to the second vibrator 132, respectively controlling the start and stop of the two vibrators. The first vibrator 122 and the second vibrator 132 are conventional electromagnetic vibrators, which are existing products purchased from the market.

[0075] Preferably, the first vibrator control unit 211 includes an on button and a stop button, both of which are connected to the first vibrator 122 to control the start and stop of the first vibrator 122. The first vibrator control unit 211 and the second vibrator control unit 212 have the same structure.

[0076] In this embodiment, the fan control unit 22 is connected to the fan 7 to control the start and stop of the fan 7. Preferably, the fan control unit 22 includes an on button and a stop button, both of which are connected to the fan 7 to control the start and stop of the fan 7. The fan 7 is a conventional commercially available product.

[0077] This embodiment achieves automated control of each component by setting up the aforementioned track control lever 19, robotic arm control unit 20, vibrator control unit 21, and fan control unit 22, which is convenient, flexible, and improves the efficiency of jujube picking and collection.

[0078] The tracked jujube picking and collecting device provided in this embodiment also includes a remote control handle 18; the track control lever 19, the robotic arm control unit 20, the vibrator control unit 21 and the fan control unit 22 are all placed on the remote control handle 18. By integrating the track control lever 19, the robotic arm control unit 20, the vibrator control unit 21 and the fan control unit 22 on the remote control handle 18, it is convenient to operate.

[0079] In this embodiment, in order to facilitate the placement of the remote control handle 18, a hook is provided on the outer wall of the jujube collection box 4 to hang the remote control handle 18 on the jujube collection box 4; alternatively, a slot adapted to the structure of the remote control handle 18 can be opened on the outer wall of the jujube collection box 4 to hold the remote control handle 18 in the slot; or the remote control handle 18 can be attracted to the jujube collection box 4 by magnetic attraction.

[0080] The working process of the tracked jujube picking and collecting device provided by this utility model is as follows:

[0081] By controlling the track control lever 19 on the remote control handle 18, the track drive mechanism 2 drives the tracked chassis 3 to move, thereby enabling the entire tracked jujube picking and collecting device to move flexibly across the complex terrain of northern Shaanxi without manual pushing or pulling. The robotic arm control unit 20 adjusts the robotic arm's movements according to the position of the jujube tree branches (or twigs) and grips and locks them. The robotic arm control unit 20 can also control the robotic arm's movements to position the jujube tree branches (or twigs) directly above the jujube collecting hopper 10. Then, the vibrator control unit 21 controls the vibrator to vibrate, causing the jujubes to fall into the jujube collecting hopper 10 and enter the jujube collecting box 4 through the discharge port 14. At the same time, the blower control unit 22 controls the blower 7 to start working, separating the falling jujubes from the impurities mixed in with the jujubes. The impurities are then discharged through the impurity outlet 6, and the jujubes are discharged from the inclined jujube outlet 5 due to gravity for collection. Finally, by controlling the operation of the date suction head 9, the dates scattered on the ground are sucked into the date collection box 4 for collection, realizing the integration of date picking, separation and collection.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it, although the utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solution of this utility model, and these modifications or equivalent substitutions should not cause the modified technical solution to deviate from the spirit and scope of the technical solution of this utility model.

Claims

1. A tracked jujube picking and collecting device, characterized in that, It includes a tracked walking unit, a jujube collection box (4), a jujube hopper (10), a support rod (11), and a clamping vibration unit; The jujube collection box (4) is placed on the tracked walking unit, and a jujube outlet (5) is opened on the side wall of the jujube collection box (4); the jujube collecting hopper (10) is located above the jujube collection box (4) and is connected to the jujube outlet (5) through the jujube collection box (4); the support rod (11) is placed in the jujube collecting hopper (10) in the vertical direction, and the lower end of the support rod (11) passes through the jujube collecting hopper (10) and is connected to the jujube collection box (4); the clamping vibration unit includes a manipulator and a vibrator placed on the manipulator; the manipulator is movably connected to the upper end of the support rod (11).

2. The tracked jujube picking and collecting device according to claim 1, characterized in that, The tracked walking unit includes a tracked chassis (3) and a tracked drive mechanism (2); the jujube collection box (4) is placed on the upper surface of the tracked chassis (3), and the tracked drive mechanism (2) is placed on the lower surface of the tracked chassis (3). The tracked drive mechanism (2) is used to drive the tracked chassis (3) to move.

3. The tracked jujube picking and collecting device according to claim 2, characterized in that, The robotic arm is also equipped with a soft rubber protective layer.

4. The tracked jujube picking and collecting device according to claim 2, characterized in that, The clamping vibration unit is one or more, and the multiple clamping vibration units are evenly distributed along the circumference of the support rod (11) and are respectively movably connected to the upper end of the support rod (11) through a robot arm.

5. The tracked jujube picking and collecting device according to claim 2, 3, or 4, characterized in that, The tracked jujube picking and collecting device also includes a fan (7) installed inside the jujube collecting box (4); a debris outlet (6) is opened on the side wall of the jujube collecting box (4); the debris outlet (6) is located above the jujube outlet (5), and the fan (7) is arranged opposite to the debris outlet (6).

6. The tracked jujube picking and collecting device according to claim 5, characterized in that, The tracked jujube picking and collecting device also includes a connecting straw (8), one end of which is connected to the inside of the jujube collecting box (4), and the other end of which is provided with a jujube suction head (9).

7. The tracked jujube picking and collecting device according to claim 6, characterized in that, The tracked jujube picking and collecting device also includes a drive box (15) set on the outer wall of the jujube collecting box (4), and the connecting suction tube (8) passes through the drive box (15) and communicates with the jujube collecting box (4); a drive motor is set inside the drive box (15), and the drive motor is connected to the jujube suction head (9).

8. The tracked jujube picking and collecting device according to claim 5, characterized in that, The tracked jujube picking and collecting device also includes a track control lever (19), a robotic arm control unit (20), a vibrator control unit (21), and a fan control unit (22); the track control lever (19) is connected to the track drive mechanism (2), the fan control unit (22) is connected to the fan (7), the robotic arm control unit (20) is connected to the robotic arm, and the vibrator control unit (21) is connected to the vibrator.

9. The tracked jujube picking and collecting device according to claim 8, characterized in that, The robotic arm control unit (20) and the vibrator control unit (21) are one or more, with the multiple robotic arm control units (20) connected to multiple robotic arms in a one-to-one correspondence, and the multiple vibrator control units (21) connected to multiple vibrators in a one-to-one correspondence.

10. The tracked jujube picking and collecting device according to claim 8, characterized in that, The tracked jujube picking and collecting device also includes a remote control handle (18); the track control lever (19), the robotic arm control unit (20), the vibrator control unit (21) and the fan control unit (22) are all placed on the remote control handle (18).

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