43results about How to "Expand the scope of picking" patented technology

The invention relates to a rail-mounted tea picking robot for hilly and mountain areas and belongs to the technical field of agricultural picking machinery. The rail-mounted tea picking robot for thehilly and mountain areas comprises a platform, a driving device, a lifting device installed on the platform, a mechanical arm installed on the lifting device, and a picking hand installed on the output end of the mechanical arm. The robot is used in the hilly and mountain areas, the driving device drives the whole platform to move along a rack rail in the hilly and mountain areas, the lifting device drives the whole mechanical arm to ascend or descend, and thus the height of the picking hand is increased or decreased to adapt to the heights of different tea; and then a first rotating motor candrive the whole mechanical arm and the picking hand to rotate in the vertical direction, the mechanical arm can expand the picking range of the picking hand, a second electric pushing rod works, stems of the tea are shorn off, and the tea is clamped through a clamp and then placed in a proper place. The rail-mounted tea picking robot can be used for picking the tea in the hilly and mountain areas.

The invention belongs to the technical field of agricultural machines, and particularly relates to a portable apple pickup device based on negative pressure suction. The portable apple pickup device comprises an annular cutterhead (1), arc blades (2), an annular rotating disc (3), a shell (4), a control switch (9), a telescopic rod (10), a direct-current motor (11) and a pinion (12); an arc blade set is arranged between the annular rotating disc (3) and the annular cutterhead (1) and comprises three arc blades (2), three holes are formed in the circumference of the annular cutterhead (1), and three radial grooves are formed in the radial direction of the inner side of the annular rotating disc (3); a pin shaft at one end of each arc blade (2) is rotationally connected with one hole in the annular cutterhead (1), and a pin shaft at the other end of each arc blade (2) is located in the radial groove of the annular rotating disc (3); cutting edges of the three arc blades (2) are opposite mutually, and an opening with the size changing along with motion is formed by the three arc blades (2); an apple collecting bag (8) is arranged below the shell (4).

The invention provides a spherical fruit and vegetable picking robot. The spherical fruit and vegetable picking robot comprises a robot body, the robot body is provided with a movement mechanism, andthe movement mechanism is a crawler-type movement wheel, an executing mechanism at the tail end of the robot vacuates a vacuum sucker to adsorb to-be-picked fruits and vegetables through a vacuum pump, a first pressure sensor on the vacuum sucker feeds back negative information of the vacuum sucker, a first linear motor and a second linear motor respectively stretches or compresses a first springand a second spring, so that a first copying finger and a second copying finger expand outward or retract inward to achieve the clamping of the fruit and vegetables with different sizes, second pressure sensors on the first copying finger and second copying finger feed back the clamping force, the surfaces of the inner sides of the first copying finger and second copying finger are covered with soft silicone pads, the damage to the outer peel of the fruits and vegetables is avoided very well, a hydraulic cylinder drives scissors on the end portion of a shear-fork telescopic rod to cut fruit stems, thereby achieving the separation between the to-be-picked fruits and vegetables and plants.

The invention discloses a mechanical auxiliary negative pressure collecting jujube leaf separation automatic jujube-picking machine. The machine comprises a mechanical arm, wherein the mechanical armis attached with a jujube-conveying pipe; the front part and the rear part of the jujube-conveying pipe are respectively connected with an air-suction negative-pressure pipe; the air-suction negative-pressure pipe is connected with the fan; one end of the jujube conveying pipe is communicated with the jujube suction opening on the mechanical arm, the other end is communicated with the jujube leafseparation device, the front part of the jujube suction opening is provided with a jujube claw, and the jujube leaf separation device is used for separating the jujube and the jujube leaf, and a red jujube grading device is arranged at the next station of the jujube leaf separation device, the red jujube grading device is used for grading the red jujube; and the tail end of the red jujube gradingdevice is provided with a red jujube collecting device. The machie adopts a negative-pressure air-suction type jujube-absorbing and a jujube claw auxiliary picking mode, so that the working efficiencyis improved, the hard contact of the picking device and the red jujube is avoided, the peel of the jujube is protected, and the jujube picking is more thorough.

The invention provides a Chinese prickly ash harvesting method and relates to the technical field of crop planting harvesting. The method solves the technical problems of low rate and great picking difficulty in Chinese prickly ash harvesting. The method comprises the steps of when Chinese prickly ash enters a maturity period, determining a picking day; selecting one day with clear weather in a period of 4-8 days before the picking day as a pesticide spraying day; spraying ethephon liquid to leaf surfaces of Chinese prickly ash on the forenoon and afternoon of the pesticide spraying day, wherein the concentration of ethephon liquid is 300mg / kg-450mg / kg; on the third-fourth day after the pesticide spraying day, swing Chinese prickly ash crowns lightly so that Chinese prickly ash fruit can fall on plastic cloths placed on the ground under Chinese prickly ash and thus Chinese prickly ash is harvested and the fruit drop rate can be calculated. The method increases the picking efficiency, reduces the picking difficulty, reduces the picking cost and enlarges the picking scope.

The invention provides a spherical fruit and vegetable flexible picking end executor. The spherical fruit and vegetable flexible picking end executor comprises a control console, a mechanical arm mechanism and a flexible picking end executor body, the control console is internally provided with a control module, an image processing module and an electric power storage module, the upper surface ofthe control console is provided with the mechanical arm mechanism, the mechanical arm mechanism comprises a first connecting block, and the first connecting block is fixed on the upper surface of thecontrol console. The spherical fruit and vegetable flexible picking end executor has the advantages that a first hemispherical fixture and a second hemispherical fixture wrap to-be-picked fruits and vegetables, a hydraulic cylinder drives scissors on the end portion of a shear-fork telescopic rod to cut fruit stems, thereby achieving the separation between the to-be-picked fruits and vegetables and plants, the surfaces of the inner sides of the first hemispherical fixture and second hemispherical fixture are both covered with soft silicone pads, the damage to the outer peel of the fruits and vegetables is avoided very well, the quality of the fruits and vegetables is ensured, flexible picking can be smoothly carried out on tomatoes, apples, oranges and other spherical fruits and vegetables, the university is very good, the openness is strong, and the extension is easy.

The invention discloses a fruit picking robot. The fruit picking robot comprises a walking chassis, a picking execution device arranged on the walking chassis, a lifting device arranged between the walking chassis and the picking execution device, and a fruit collecting device arranged on the walking chassis. The picking execution device comprises a tail end executor and a mechanical arm which is arranged between the tail end executor and the lifting device and used for driving the tail end executor to make multi-degree-of-freedom motion on the lifting device; the tail end executor comprises a mounting frame arranged on the mechanical arm, a fruit stem clamping mechanism arranged at the front end of the mounting frame and used for clamping fruit stems, and a cutting mechanism used for cutting off fruit stems. The robot can automatically pick fruits, and during picking, the fruits can be cut after being fixed, the fruits cannot shake in the picking process, the fruits can be automatically collected after picking is completed, the fruits cannot be damaged, and the picking efficiency is improved.

The invention discloses a single-hand orange picking device. The device comprises a wearable wrist fixing structure and a palm fixing structure, and also comprises a steel cable fixing and adjusting structure, a connecting rod transmission structure and a cutting structure; the wrist fixing structure is connected with the palm fixing structure through a joint bearing frame; the steel cable fixingand adjusting structure is arranged on the wrist fixing structure and is used for fixing and adjusting a steel cable; the connecting rod transmission structure is arranged on a palm fixing structure and is used for connecting the steel cable and the cutting structure; the cutting structure is arranged on the palm fixing structure and comprises a fixed blade and a movable blade which are matched with each other to realize cutting; the movable blade is connected with the connecting rod transmission structure; and the movable blade is controlled by the connecting rod transmission structure. In aprocess that a palm holds an orange, the steel cable is pulled for driving the connecting rod transmission structure to move, so that the movable blade and the fixed blade are controlled to be open and close, and the cutting of an orange stem is realized.

The invention discloses an intelligent robot for picking and sorting fruits and vegetables, which comprises a walking lifting mechanism, a tail end picking mechanism, a fruit receiving and conveying mechanism and a conveying and sorting mechanism, wherein the walking lifting mechanism comprises a moving base and a lifting platform arranged on the moving base, the tail end picking mechanism is arranged on the lifting platform and used for picking fruits and vegetables; the fruit receiving and conveying mechanism is arranged on the lifting platform and used for receiving the fruits and vegetables and conveying the fruits and vegetables to the conveying and sorting mechanism; the conveying and sorting mechanism is arranged on the surface of the lifting platform and sequentially comprises a slope section, a conveying section and a sorting section; the fruits and vegetables roll down to the conveying section through the slope section and are conveyed to the sorting section for sorting according to the sizes and maturity of the fruits and vegetables. The intelligent robot not only automatically picks fruits and vegetables, but also sorts the fruits and vegetables according to the size and maturity of the fruits and vegetables while picking, so that picking and sorting are synchronously carried out.

The invention provides a novel fruit picking transportation cart which comprises a frame. A traveling device is arranged at the bottom of the frame, a cab and an engine assembly is arranged on the frame, the engine assembly is used for driving the traveling device, a crank picking device and a lifting device are arranged on the frame, the crank picking device is rotatably mounted on a rotation seat, the rotation seat is fixed onto the frame, a hopper is hinged to the upper portion of the lifting device, a vertical hopper baffle plate is hinged to the rear end of the hopper, supporting leg mounting seats are mounted at two ends of each side of the frame, a supporting leg is hinged to each supporting leg mounting seat, a supporting leg overturning oil cylinder is arranged between each supporting leg and the corresponding supporting leg mounting seat, two ends of each supporting leg overturning oil cylinder are hinged onto the corresponding supporting leg mounting seat and the corresponding supporting leg, and a vertical supporting plate is hinged to the outer side of each supporting leg. The transportation cart has the advantages that picking height is high, picking and transportingranges are wide, the application range is wide, labor intensity is low, and time and labor are saved.

The invention provides a picking system based on cooperative operation of unmanned aerial vehicle groups and a use method, and belongs to the technical field of agriculture. The picking system comprises a picking unmanned aerial vehicle group, an auxiliary unmanned aerial vehicle group and a control module; the picking unmanned aerial vehicle group comprises a plurality of picking unmanned aerial vehicles and used for picking ripe fruits on trees. the auxiliary unmanned aerial vehicle group comprises a plurality of auxiliary unmanned aerial vehicles and used for cutting off branches influencing work of the picking unmanned aerial vehicle group so as to assist picking. and the control module is a computer and is used for receiving and analyzing information fed back by the picking unmanned aerial vehicles and the auxiliary unmanned aerial vehicles so as to better coordinate work of the two unmanned aerial vehicle groups. The picking system is efficient and reasonable in design, and the working efficiency and the resource utilization rate are increased by using the unmanned aerial vehicle groups; and the picking system is novel in structure, can expand the picking range and improve the picking flexibility through cooperation with a linear actuator, and has high application and popularization value.

The invention discloses a small semiautomatic apple picking machine comprising a picking machine head and motor control part, a single-axis telescopic operating lever part, a collecting part and a bottom support frame part; during use, a speed reducing motor is used as a driving source, an arc-shaped blade is driven by the speed reducing motor to shear fruit pedicels to make fruits enter the collecting part, the fruits reach a collecting box by the collecting part, so that it is ensured that the surfaces of the fruits are not damaged; the length and pitching angle of the single-axis telescopicoperating lever part can be manually regulated, so that the picking range is widened; and the bottom support frame part plays a supporting role, can rotatably regulate the spatial position of an operating lever and can also be combined with an agricultural trolley. The small semiautomatic apple picking machine has the advantages that not only is the picking efficiency increased, but also the picking time is saved, the safety of picking personnel during working can also be guaranteed, the labor intensity of a fruit farmer is relieved, and the quality of the fruits is guaranteed.

The invention discloses a roller-type folium mori picking machine. The roller-type folium mori picking machine comprises a support frame, a box, a picking device, and a lifting device. The support frame is installed on the box. The lifting device is installed on the support frame. The picking device comprises two groups of picking units. Each picking unit comprises a machine frame, a rotation shaft, a roller, a motor and a transmission mechanism. The motor A and the transmission mechanism are installed on the machine frame. The machine frame comprises a working end and an installing end positioned at two horizontal ends. Two side walls of the machine frame are provided with a sliding rail and a sliding plate. The front end of the sliding rail is adjacent to the working end. The sliding plate is installed on the sliding rail. The rotation shaft is installed at the front end of the sliding plate. The roller is installed on the rotation shaft. The motor A is connected with the rotation shaft through the transmission mechanism. The transmission mechanism drives the rotation shaft to be rotated so that the roller is driven to be rotated. The roller is alternately provided with multiplegroups of reversed U-type frames along the outer circumference of the roller. The cross side of the U-type frames is provided with a semicircular ring structure. The roller-type folium mori picking machine is rapid in picking speed, high in picking efficiency, and convenient to use, and is capable of effectively reducing the labor intensity of folium mori farmers, and reducing the labor cost.

The invention discloses a four-degree-of-freedom multi-eye visual rotary flight type picking robot and a picking method thereof. The picking robot comprises an unmanned aerial vehicle, a picking mechanism and a multi-eye visual device, wherein the picking mechanism comprises a telescopic rod and a picking mechanical hand, and the picking mechanism and the multi-eye visual device are mounted on theunmanned aerial vehicle; and the unmanned aerial vehicle communicates with an industrial control computer and a computer through a cable or wireless manner for data transmission and system control. Integrated design of the unmanned aerial vehicle and the picking mechanism is realized, the four-degree-of-freedom multi-eye visual rotary flight type picking robot is a four-degree-of-freedom pickingrobot, multiple-oriented picking can be realized, the picking range is extended, and the picking efficiency is improved; and the designed picking mechanical hand can dynamically change free expandingand contracting of middle finger joints of three fingers according to the size of fruits, the holding capacity of the mechanical hand on the fruits is improved, and the applicability is high.

The invention relates to the field of machinery, in particular to an extensible fruit picking mechanical device driven by a rope. The extensible fruit picking mechanical device comprises a shearing mechanism, an extensible mechanism, a handheld support mechanism, a containing net bag and the rope. Fruit picking is realized by utilizing mutual cooperation of actions among the extensible mechanism,the handheld support mechanism and the shearing mechanism, and the extensible fruit picking mechanical device is supportive of manual operation, convenient to carry and high in efficiency.

The invention discloses a domestic stepping device used in the process of picking up grapes. The domestic stepping device comprises a home wall; a lifting mechanism is arranged at one side of the homewall; a picking mechanism is arranged above the lifting mechanism; an extension mechanism is arranged on the lifting mechanism; the picking mechanism comprises chutes, check blocks, interception plates, a collection box, pulleys, a collection port, a rotary round ring, a telescopic hose, a metal supporting ring, a connection band, a connection ring, an elastic rope, a hand-held scissor, an inclined baffle and a movement mechanism; the extension mechanism comprises an extension groove, a small-sized groove, a servo motor, a stepping table, spherical balls, an I-shaped supporting groove, a rotary motor, a fixed bearing, a rotating shaft, an electric telescopic rod, a transverse strut, supporting legs, an infrared distancer and a connection mechanism; a controller is arranged at one side ofthe upper end of the home wall. The domestic stepping device has the beneficial effects of simple structure and high practicality.

The invention discloses a strawberry picking device. The device comprises a handle, a telescopic mechanism and a shearing mechanism; a battery pack and a first forward and reverse motor are arranged in a tube cavity of the handle; the telescopic mechanism comprises an outer tube, an inner tube, a first lead screw and a first lead screw nut. The shearing mechanism comprises a movable blade, a fixedblade, a second forward and reverse motor, a second lead screw nut and a connecting plate; the middle of the movable blade is hinged to the middle of the fixed blade, and the movable blade and the fixed blade are in a scissor fork shape; the second lead screw nut is in threaded connection with a rotating shaft of the second forward and reverse motor; one end of the connecting plate is hinged to the second lead screw nut, and the other end of the connecting plate is hinged to the rear end of the movable blade. The device replaces manual strawberry picking, the picking range can be widened, thepicking efficiency and quality can be improved, and the labor intensity is reduced.

The invention provides a mulberry picking machine with an improved structure, belonging to the technical field of agricultural equipment. The present invention includes a housing, the housing includesan outer shell plate and an inner shell plate, the inner shell plate is located on the inside of the outer shell plate, A mounting cavity is formed between the inner shell plate and the outer shell plate, the left and right sides of the mounting chamber are provided with a plurality of air collecting boxes, the left and right side walls of the inner shell plate are vertically provided with a plurality of long sliding slots, A storage chamber is arranged in the gas collecting box, A supercharge air pump is arranged at that top of the out shell, A supercharge air pump is communicated with a storage cham through an air pipe, A plurality of through holes are arranged on the side wall of the gas collecting box close to the inner shell plate, The through hole is communicated with the connectingpipe, the other end of the connecting pipe extends out the sliding slot hole and the end part is provided with an air jet head, a plurality of air holes are arranged on the air jet head, a driving mechanism capable of sliding the air collecting box up and down along the sliding slot hole is arranged in the mounting cavity, and a receiving mechanism capable of receiving dropped mulberry is arranged on the left and right sides of the inner shell plate. The invention blows the mulberry off through the non-contact airflow to ensure the integrity of the mulberry.

The invention discloses a bionic six-feet robot with a picking function, belongs to the technical field of machinery manufacturing, and aims at solving the problem that harvesting conditions of existing low crops are complicated, a current machine cannot adapt to a complicated vegetation environment, and therefore manual picking is needed. The robot comprises a six-feet robot body and a picking manipulator. The six-feet robot body is characterized in that the six-feet robot body is supported and moves by six independent mechanical feet, an all-degree-of-freedom manipulator body is installed onthe upper portion of the robot body, and a camera is installed at the rear end of the manipulator body. The robot has the advantages that the structure is simple, the designing is ingenious, the costis low, the robot can effectively adapt to the working environment where the crops are grown, and the picking capability is improved.

The invention discloses an opposite-rotation-cutter-wheel fruit picking device capable of achieving drop-point-controllable collection. The opposite-rotation-cutter-wheel fruit picking device comprises a pitching platform, an opposite-rotation cutter wheel assembly and a parallel platform assembly, wherein the opposite-rotation cutter wheel assembly comprises a left cutter wheel, a right cutter wheel, a cutter wheel base, rotary discs and cutter wheel motors, the left cutter wheel and the right cutter wheel are oppositely rotatably arranged on one side of the cutter wheel base through the rotary discs respectively, and the left cutter wheel and the right cutter wheel are respectively in drive connection with the cutter wheel motors fixed on the other side of the cutter wheel base; the pitching platform comprises a base plate, a U-shaped base, a pitching motor and a U-shaped rotary ring, the U-shaped base and the pitching motor are fixed on the base plate, the U-shaped rotary ring is rotatably connected to the U-shaped base, and the output end of the pitching motor is connected with the U-shaped rotary ring through a transmission mechanism; the parallel platform assembly comprises a three-freedom-degree parallel platform and a collecting device. The opposite-rotation-cutter-wheel fruit picking device which has a pitching rotation freedom degree is large in picking range, high in error-tolerant rate, high in flexibility and capable of lowering labor intensity and increasing picking safety.

The invention discloses an auxiliary system for crop picking in a facility agriculture environment and a control method. The auxiliary system comprises guide rails, a chassis mechanism and a moving platform, wherein the chassis mechanism is provided with a supporting bottom plate, the supporting bottom plate is installed on the guide rails through walking wheel assemblies arranged at the bottom, the walking wheel assemblies are driven by a driving mechanism and drive the supporting bottom plate to reciprocate in the direction of the guide rails, vertical baffles are symmetrically arranged on the two sides of the upper end of the supporting bottom plate, a carrying table assembly and a lifting assembly used for driving the carrying table assembly to move up and down are arranged by corresponding to the vertical baffle on each side, and the moving platform is connected to the carrying table assemblies and synchronously moves up and down along with the carrying table assemblies; and the moving platform comprises a moving flat plate and a position control device for ensuring the stability of the moving platform. The auxiliary system can be used in cooperation with a picking system, manpower is saved to the maximum extent, a mechanical arm picking range is enlarged, and the picking efficiency is improved.

The invention relates to the field of agricultural machinery. The purpose is to provide a tea picking manipulator based on the iris mechanism, which can accurately locate and pick tea leaves, greatly improve the quality of tea picking, thereby realizing the non-destructive and efficient picking of young tea leaves, with simple actions and stable structure reliable features. The technical solution is: a tea picking manipulator based on an iris mechanism, which is characterized in that it includes a frame, a comb horizontally fixed at the bottom of the frame to filter tea leaves, and one-to-one correspondence between two adjacent comb teeth of the comb. Several groups of manipulators for picking tea leaves and several driving mechanisms installed on the frame and correspondingly driving each manipulator to move vertically; each comb tooth of the comb is equipped with a miniature camera for identifying tea leaves.

The invention discloses an agricultural robot for picking, which comprises a rectangular box body and a storage device installed in the rectangular box body; the agricultural robot for picking also includes an adjustment device arranged at the upper end of the rectangular box body The shearing device on the upper end of the adjustment device can store the fruit perfectly through the function of the storage device, and the one end of the shearing device can be moved stably through the function of the adjustment device, and the fruit and the rhizome can be separated by the function of the shearing device. Separation; the side surface of the rectangular box is provided with air holes, the air holes are fixedly connected with the rectangular box, the upper surface of the rectangular box is provided with a controller, the controller is fixedly connected with the rectangular box, and the side surface of the rectangular box is provided with a push armrest. The invention has the advantages of simple structure and strong practicability.

The invention discloses a self-propelled orchard picking robot, and belongs to the technical field of agricultural robots, the self-propelled orchard picking robot comprises a walking chassis, and a manipulator auxiliary moving platform and a fruit conveying mechanism which are opposite are fixedly arranged at the top of the walking chassis; the mechanical arm auxiliary moving platform comprises an X-axis sliding frame, a first Y-axis sliding frame and a Z-axis sliding frame which are sequentially connected, the Z-axis sliding frame is connected with a second Y-axis sliding frame, and a mechanical arm is fixedly arranged at the end of the second Y-axis sliding frame. The fruit conveying mechanism comprises a telescopic pipe assembly, and the telescopic pipe assembly can stretch out, draw back and move so as to be kept below the mechanical arm all the time.

The invention discloses a protective device for picking grapes at home, which comprises a cement platform, and a protective mechanism is arranged on the cement platform; a trampling and picking mechanism is arranged in the protection range of the protective mechanism; a supporting mechanism is arranged in the trampling and picking mechanism, and a line blocking mechanism is arranged in the protective mechanism. The trampling and picking mechanism includes a trampling table, a circular groove, a fixed bearing, a rotation axis, a circular fixed rod, a circular trampling rod, an inclined shore, aguard rail, a square groove, and a collecting tank; the protective mechanism includes a fixing column, a placing platform, an automatic take-up device, a line outlet passage, an intercepting plate, rolling wheels, connecting lines, a conical flaring, a connecting plate, connecting rings, a protection cushion, and an arc lock catch; the line blocking mechanism includes a small groove, a first electromagnet, a metal line blocking plate, a first semi-circle line blocking hole, a line blocking groove, a second electromagnet, a fixed plate, and a second semi-circle line blocking hole; a controlleris arranged at the upper end of the one fixing columns. The protective device for picking the grapes at home has the advantages of simple structure and strong practicability.

The invention discloses a portable fruit picker. A plurality of fruit handle clamps with upward openings are arranged in a square-hole sliding groove block and used for closely clamping fruit handles,a locking stopper is arranged at the upper end of the first sliding groove block and approaches to the upper inclined sliding groove block, the locking stopper is used for closely locking the fruit handle clamps, a shear with an upward opening is arranged on the upper portion of the locking stopper and mounted at the top end of a hollow supporting rod, an unlocking top block is arranged at a lower inclined sliding groove block and used for unlocking the fruit handle clamps and approaches to the second sliding groove block, and a control mechanism is used for controlling the shear to shear thefruit handles and can push the fruit handle clamps in the first sliding groove block to move upwards. When the portable fruit picker picks fruits, the picker only contacts with the fruit handles, thefruit picker does not contacts with pulp of the fruits in transporting, picking quality of the fruits can be ensured, follow-up storage and transportation of the fruits are facilitated, the hollow supporting rod is long, the picking range is prolonged, working range is wide, picking efficiency is greatly improved, and labor intensity can be effectively reduced.

The invention discloses a movable all-round control jujube hitting machine. The bottom of a base is provided with a universal wheel to achieve a movement function, a support rod is vertically fixed onthe top surface of the base, a rotating frame is mounted on the support rod, the outer side wall of a rotating tube of the rotating frame is respectively hinged with a lifting frame through an upperswing rod and a lower swing rod, a tilting tension spring is connected between the rotating tube and the lifting frame, a pulling rope is fixed at the lower portion of the lifting frame, and the pulling rope is pulled down to overcome the tension of the tension spring to control the height of the lifting frame; a hopper is fixedly connected to the side of the lifting frame, the upper portion of the lifting frame is hinged with a motor fixing seat, a motor is installed, and a motor rotating shaft is connected with a centrifugal boring head; the machine can perform flexible lifting operation androtating operation at a specified position, it is possible to perform the jujube hitting operation at almost any height and any position after the frame is fixed, and the manipulation is simple. It is also easy to operate the lifting frame and the hopper to move down and perform an unloading operation after the end of jujube hitting.