CN112219554B - Small self-propelled oil tea fruit picking machine - Google Patents
Small self-propelled oil tea fruit picking machine Download PDFInfo
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- CN112219554B CN112219554B CN202011098902.5A CN202011098902A CN112219554B CN 112219554 B CN112219554 B CN 112219554B CN 202011098902 A CN202011098902 A CN 202011098902A CN 112219554 B CN112219554 B CN 112219554B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 43
- 241001122767 Theaceae Species 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 241000526900 Camellia oleifera Species 0.000 claims abstract description 7
- 210000000078 claw Anatomy 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 31
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 239000003921 oil Substances 0.000 claims 4
- 241000209507 Camellia Species 0.000 claims 1
- 239000010495 camellia oil Substances 0.000 claims 1
- 235000018597 common camellia Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 1
- 240000003553 Leptospermum scoparium Species 0.000 description 1
- 235000015459 Lycium barbarum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005089 fruit drop Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Handcart (AREA)
Abstract
The invention relates to a small self-propelled oil tea fruit picking machine, which comprises a travelling car, a lifting frame, an adjusting mechanism, a rubber roller assembly and a picking head, wherein the lifting frame is arranged on the travelling car; the lower end of the lifting frame is hinged to the front end of the travelling car, and the upper end of the lifting frame can lift up and down relative to the travelling car; the adjusting mechanism is arranged on the travelling crane and the lifting frame, is connected with the position of the lifting frame close to the lower end and is used for driving the upper end of the lifting frame to lift up and down; the rubber roller assembly is rotatably arranged at the bottom of the upper end of the lifting frame and is used for conveying the camellia oleifera fruit branches to be picked towards the upper end of the lifting frame; the picking head is rotatably arranged at the top of the upper end of the lifting frame, and continuously swings back and forth towards the left side and the right side when rotating, so that the oil tea fruits on the branches conveyed by the rubber roller assembly are clamped and fall off from the branches. The picking machine can synchronously avoid branches and flower buds, reliably pick oil tea fruits, is small in size and simple in structure, and is suitable for fruit picking operation with denser fruit trees and more complex terrains.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a small self-propelled oil tea fruit picking machine.
Background
The oil tea fruit has extremely high utilization value and is favored by consumers. The planting area of the oil tea fruits in China is wide, about 6000 tens of thousands of acres are reserved, the oil tea fruits are mainly concentrated in the river and the south of the Yangtze river, and particularly concentrated in three provinces of the river, the Hunan and the Guangxi, so that the picking mode of the oil tea fruits is more demanding. The traditional picking mode mainly adopts manual picking, so that the oil tea fruit picking cost is high, time is consumed and the efficiency is low. At present, the investment and the supporting force of China on the oil tea industry become large, the development of the oil tea industry is objectively stimulated, and the upgrading and the development of the oil tea industry are limited due to the characteristics of low efficiency, high cost, long service life and the like of manual harvesting. There is an increasing demand on oil tea fruit picking machines in the current market, so that there is a need to develop an oil tea fruit mechanical picking machine with simple structure and reliable performance, so as to improve picking efficiency, meet market demands and reduce labor intensity.
Disclosure of Invention
In summary, in order to overcome the defects in the prior art, the invention aims to solve the technical problem of providing a small self-propelled oil tea fruit picking machine.
The technical scheme for solving the technical problems is as follows: a small self-propelled oil tea fruit picking machine comprises a travelling car, a lifting frame, an adjusting mechanism, a rubber roller assembly and a picking head; the lower end of the lifting frame is hinged to the front end of the travelling car, and the upper end of the lifting frame can lift up and down relative to the travelling car; the adjusting mechanism is arranged on the travelling crane and the lifting frame, is connected with the lifting frame at a position close to the lower end and is used for driving the upper end of the lifting frame to lift up and down; the rubber roller assembly is rotatably arranged at the bottom of the upper end of the lifting frame and is used for conveying the camellia oleifera fruit branches to be picked towards the upper end of the lifting frame; the picking head is rotatably arranged at the top of the upper end of the lifting frame, and continuously swings back and forth towards the left side and the right side when rotating, so that oil tea fruits on branches conveyed by the rubber roller assembly are clamped and fall off from the branches.
Based on the technical scheme, the invention can also be improved as follows:
further, the lifting frame comprises a lower frame body and an upper frame body of a frame structure; the lower end of the lower frame body is hinged to the front end of the travelling crane, and the upper end of the lower frame body is hinged to the lower end of the upper frame body; the adjustable mechanism is arranged on the walking vehicle, the lower frame body and the upper frame body, the rubber roller assembly is rotatably arranged at the bottom of the upper end of the upper frame body, and the picking head is rotatably arranged at the top of the upper end of the upper frame body.
Further, the adjusting mechanism comprises a base frame, a sliding block, a lower support, an upper support, a first connecting rod assembly, a second connecting rod assembly, a third connecting rod assembly, a fourth connecting rod assembly, a fifth connecting rod assembly, a sixth connecting rod assembly, a screw, a nut connecting rod and a hand wheel; the base frame is fixed at the top of the travelling car; the sliding block can be arranged on the lower frame body in an up-and-down sliding way; the lower support is fixed on the front side of the lower frame body close to the upper end; the upper support is fixed on the front side of the upper frame body close to the lower end; one end of the first connecting rod assembly is hinged to the top of the front end of the base frame, the other end of the first connecting rod assembly is hinged to one end of the second connecting rod assembly, and the other end of the second connecting rod assembly is hinged to the sliding block; the third connecting rod assembly is hinged with the sliding block, the other end of the third connecting rod assembly is hinged with one end of the fourth connecting rod assembly after extending a preset distance at the rear side of the lower frame body, and the other end of the fourth connecting rod assembly freely penetrates through the lower frame body and is hinged to the lower support; one end of the fifth connecting rod assembly is hinged with the lower support, the other end of the fifth connecting rod assembly extends forwards for a preset distance and then is hinged with one end of the sixth connecting rod assembly, and the other end of the sixth connecting rod assembly is hinged with the upper support;
The screw rod is rotatably arranged in the middle of the rear end of the base frame through a bearing seat, the rear end of the screw rod extends out of the rear end of the base frame, and the front end of the screw rod horizontally extends forwards for a preset distance; the rear end of the nut connecting rod is sleeved on the front end of the screw rod in a threaded manner, and the front end of the nut connecting rod horizontally extends forwards and then is connected with the hinge joint of the other end of the first connecting rod assembly and one end of the second connecting rod assembly; the hand wheel is fixed at the rear end of the screw rod.
Further, the rubber roll assembly comprises a conveying rotating shaft, two turntables, a plurality of wheel spokes, a plurality of mandrels and a plurality of rubber rolls; the conveying rotating shaft is horizontally arranged left and right, rotatably arranged at the bottom of the upper end of the upper frame body, and one end of the conveying rotating shaft extends out of the outer side of the upper frame body and is connected with a conveying transmission gear; the centers of the two turntables are respectively fixed at positions, close to the two ends, of the conveying rotating shaft; the spoke parts are divided into two equal parts, and the first part of spoke parts are uniformly fixed on the first rotary table in a radial manner; the second wheel spokes are arranged in left-right one-to-one correspondence with the first wheel spokes, and the second wheel spokes are uniformly fixed on the second turntable in a radial manner; the mandrel is arranged between the free ends of the two wheel spokes; each mandrel is rotatably sleeved with one rubber roller.
Further, the picking head comprises a picking rotating shaft, two side frame plates and two picking mechanisms; the picking rotating shaft is horizontally arranged left and right, rotatably arranged at the top of the upper end of the upper frame body, and one end of the picking rotating shaft corresponding to the conveying transmission gear extends out of the outer side of the upper frame body and is connected with a picking transmission gear; the center positions of the two side frame plates are respectively fixed at positions, close to two ends, on the picking rotating shaft, and synchronously rotate along with the picking rotating shaft; one ends of the two picking mechanisms are respectively arranged at the positions between the two side frame plates, which correspond to the positions above and below the picking rotating shaft, the other ends of the two picking mechanisms extend to the front and the rear of the space between the two side frame plates by preset distances respectively, and the picking mechanisms synchronously rotate along with the rotation of the two side frame plates and simultaneously swing towards the left side and the right side continuously and reciprocally between the two side frame plates.
Further, a power device is fixed on the walking vehicle, and the output end of the power device is connected with and drives the conveying transmission gear and the picking transmission gear.
Further, be fixed with the reduction gear on the walking car, power device output is connected the input of reduction gear, the driving sprocket is installed to the output of reduction gear, lower support body with the outside of the articulated department of last support body is rotatable to be equipped with intermediate sprocket, the driving sprocket passes through first chain link intermediate sprocket, intermediate sprocket passes through the second chain link carry drive gear with pick drive gear.
Further, the picking mechanism comprises a limiting rod, a hinging rod, a swinging sliding plate, swinging tension springs, two swinging supports, a plurality of cutter racks, a plurality of claw racks, a plurality of rotating tension springs, a pin shaft and a bearing; the limiting rod and the hinging rod are fixed on the same horizontal plane between the two side frame plates along the sequence from front to back or from back to front and correspond to the position above or below the picking rotating shaft; the swing slide plate is positioned between the two side frame plates and corresponds to the position above or below the hinging rod, and two ends of the swing slide plate respectively penetrate through the two side frame plates so as to be installed on the two side frame plates in a left-right sliding manner; the first swing support is fixed at one end of the swing slide plate, and the second swing support is fixed on the first side frame plate and is arranged opposite to the first swing support in left-right direction; two ends of the swing tension spring are fixedly connected with the two swing supports respectively;
One end of each cutter tooth strip is uniformly fixed on the swing slide plate and corresponds to the position between the two side frame plates, and the other end of each cutter tooth strip extends to the front or rear between the two side frame plates for a preset distance; one end of each claw rack is uniformly positioned at the top or the bottom of the limiting rod, the other end of each claw rack extends a preset distance to the front or the rear between the two side frame plates after passing through the top or the bottom of the hinging rod, the corresponding positions of the claw racks are hinged on the hinging rod, and each claw rack is positioned above or below one of the cutter racks; the rotary tension springs are arranged in one-to-one correspondence with the claw racks, one end of each rotary tension spring is connected with a corresponding position on the claw rack, which is close to one end of the claw rack, and the other end of each rotary tension spring is connected with a corresponding position on the hinging rod of the other picking mechanism;
A cylinder is fixed on the picking rotating shaft at a position corresponding to the position between the picking transmission gear and the second side frame plate, a circular ring guide rail is arranged on the periphery of one end, far away from the picking transmission gear, of the cylinder, and one side of the circular ring guide rail is attached to the second side frame plate; one end of the pin shaft is fixed at one end of the swing slide plate, and the other end of the pin shaft extends a preset distance towards one end of the cylinder, which is close to the picking transmission gear; the inner ring of the bearing is fixed at the other end of the pin shaft, and the outer ring of the bearing is tangent to the other side of the circular guide rail; the annular guide rail is provided with a notch which enables the bearing to swing left and right under the action of the tension spring.
Further, the inner walls at two ends of the notch are respectively of a plane structure and an inclined plane structure, the inclined plane structure is positioned behind the plane structure in the rotation direction of the picking rotating shaft, and one end, away from the second side frame plate, of the inclined plane structure is inclined towards the opposite rotation direction of the picking rotating shaft.
Further, the rear end of the walking vehicle is provided with a handle which extends towards the rear side and is used for pushing the walking vehicle, and the bottom of the walking vehicle is rotatably provided with a roller assembly.
The beneficial effects of the invention are as follows:
1. The adjusting mechanism can adjust the pose of the picking head, the oil tea fruits are clamped through the claw racks of the picking head, branches and flower buds can be avoided synchronously, and then the knife racks are assisted in swinging and knocking to finish reliable picking of the oil tea fruits.
2. The power device is arranged on the chassis part of the walking vehicle to provide power for the picking machine and is responsible for the walking of the picking machine, and the picking machine has small volume, simple structure, and practical popularization value, and is suitable for the picking operation of denser fruit trees and more complex terrains.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a rear view of the present invention (with the handle removed);
FIG. 3 is an assembly view of the rubber roll assembly, picking head mounting and upper frame;
FIG. 4 is an assembly view of the adjustment mechanism (excluding the screw and nut links) and the elevator frame;
FIG. 5 is a block diagram of a rubber roll assembly;
FIG. 6 is a front elevational view of the picking head;
FIG. 7 is a rear view of the picking head;
FIG. 8 is a view (front) of the picking head with components such as the picking drive gear removed;
FIG. 9 is a block diagram (front) of the picking head with one picking mechanism removed;
FIG. 10 is a block diagram (front) of the picking head with components such as the other picking mechanism removed;
Fig. 11 is a structural view of a cylinder.
In the drawings, the list of components represented by the various numbers is as follows:
1. The travelling car, 2, the rubber roll subassembly, 3, picking head, 4, lower support, 5, upper support, 6, the bed frame, 7, the slider, 8, the lower carriage, 9, the upper carriage, 10, first link subassembly, 11, second link subassembly, 12, third link subassembly, 13, fourth link subassembly, 14, fifth link subassembly, 15, sixth link subassembly, 16, screw, 17, nut link, 18, hand wheel, 19, conveying pivot, 20, carousel, 21, spoke, 22, dabber, 23, rubber roll, 24, conveying drive gear, 25, picking pivot, 26, side frame plate, 27, picking mechanism, 28, picking drive gear, 29, power device, 30, speed reducer, 31, drive sprocket, 32, intermediate sprocket, 33, first chain, 34, second chain, 35, stop lever, 36, hinge lever, 37, swing slide, 38, swing tension spring, 39, swing support, 40, knife rack, 41, claw rack, 42, rotation tension spring, 43, cylinder, 44, 45, handle, 47, roller assembly, 48, bearing, gap.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1-3, a small self-propelled oil tea fruit picking machine comprises a walking vehicle 1, a lifting frame, an adjusting mechanism, a rubber roller assembly 2 and a picking head 3. The lower end of the lifting frame is hinged to the front end of the traveling car 1, and the upper end of the lifting frame can lift up and down relative to the traveling car 1. The adjusting mechanism is arranged on the walking vehicle 1 and the lifting frame, is connected with the lifting frame at a position close to the lower end and is used for driving the upper end of the lifting frame to lift up and down. The rubber roller assembly 2 is rotatably arranged at the bottom of the upper end of the lifting frame and is used for conveying the camellia oleifera fruit branches to be picked towards the upper end of the lifting frame. Picking head 3 rotatable install the top of lift frame upper end, and picking head 3 is constantly reciprocating the swing towards left and right sides in the pivoted, and then will the oil tea fruit on the branch that rubber roll subassembly 2 transported blocks and makes the oil tea fruit drop from the branch. The rear end of the walking vehicle 1 is provided with a handle 47 extending towards the rear side and used for pushing the walking vehicle, and the bottom of the walking vehicle is rotatably provided with a roller assembly 48.
The lifting frame comprises a lower frame body 4 and an upper frame body 5 of a frame structure. The lower end of the lower frame body 4 is hinged to the front end of the travelling crane 1, and the upper end of the lower frame body is hinged to the lower end of the upper frame body 5. The adjusting mechanism is arranged on the walking vehicle 1, the lower frame body 4 and the upper frame body 5, the rubber roller assembly 2 is rotatably arranged at the bottom of the upper end of the upper frame body 5, and the picking head 3 is rotatably arranged at the top of the upper end of the upper frame body 5.
As shown in fig. 4, the adjusting mechanism includes a base frame 6, a slider 7, a lower support 8, an upper support 9, a first link assembly 10, a second link assembly 11, a third link assembly 12, a fourth link assembly 13, a fifth link assembly 14, a sixth link assembly 15, a screw 16, a nut link 17, and a hand wheel 18. The base frame 6 is fixed on the top of the traveling car 1. The sliding block 7 is arranged on the lower frame body 4 in a vertically sliding way. The lower support 8 is fixed to the front side of the lower frame 4 near the upper end. The upper support 9 is fixed to the front side of the upper frame 5 near the lower end. One end of the first link assembly 10 is hinged at the top of the front end of the base frame 6, the other end of the first link assembly is hinged at one end of the second link assembly 11, and the other end of the second link assembly 11 is hinged at the slider 7. The third link assembly is hinged to the slider 7, the other end of the third link assembly is hinged to one end of the fourth link assembly 13 after extending a preset distance from the rear side of the lower frame 4, and the other end of the fourth link assembly 13 freely passes through the lower frame 4 and is hinged to the lower support 8. One end of the fifth connecting rod assembly 14 is hinged to the lower support 8, the other end of the fifth connecting rod assembly extends forward for a preset distance and then is hinged to one end of the sixth connecting rod assembly 15, and the other end of the sixth connecting rod assembly 15 is hinged to the upper support 9. The screw 16 is rotatably mounted at the middle of the rear end of the base frame 6 through a bearing seat, and the rear end of the screw 16 extends out of the rear end of the base frame 6, and the front end thereof extends forward horizontally by a predetermined distance. The rear end of the nut connecting rod 17 is screwed on the front end of the screw 16, and the front end of the nut connecting rod extends horizontally and forwards to connect the hinge joint of the other end of the first connecting rod assembly 10 and one end of the second connecting rod assembly 11. The hand wheel 18 is fixed to the rear end of the screw 16.
As shown in fig. 5, the rubber roller assembly 2 includes a conveying shaft 19, two turntables 20, a plurality of spokes 21, a plurality of mandrels 22 and a plurality of rubber rollers 23. The conveying rotating shaft 19 is horizontally arranged left and right, rotatably installed at the bottom of the upper end of the upper frame body 5, and one end of the conveying rotating shaft 19 extends out of the outer side of the upper frame body 5 and is connected with a conveying transmission gear 24. The centers of the two turntables 20 are respectively fixed on the conveying rotating shafts 19 at positions close to two ends. The spoke strips 21 are divided into two equal parts, and the first spoke strip 21 is uniformly fixed on the first rotary disk 20 in a radial manner; the second wheel spokes 21 are arranged in one-to-one correspondence with the first wheel spokes 21 left and right, and the second wheel spokes 21 are uniformly fixed on the second rotary disk 20 in a radial manner; the mandrel 22 is arranged between the free ends of the two wheel spokes 21; each of the mandrels 22 is rotatably sleeved with one of the glue rollers 23.
As shown in fig. 6-10, the picking head 3 includes a picking shaft 25, two side frame plates 26, and two picking mechanisms 27. The picking rotating shaft 25 is horizontally arranged left and right, rotatably mounted at the top of the upper end of the upper frame body 5, and one end of the picking rotating shaft 25 corresponding to the conveying transmission gear 24 extends out of the outer side of the upper frame body 5 and is connected with a picking transmission gear 28. The center positions of the two side frame plates 26 are respectively fixed at positions near two ends of the picking shaft 25, and synchronously rotate along with the picking shaft 25. One ends of the two picking mechanisms 27 are respectively installed at positions between the two side frame plates 26 corresponding to the upper and lower sides of the picking shaft 25, the other ends thereof extend a predetermined distance toward the front and rear sides between the two side frame plates 26, respectively, and the picking mechanisms 27 rotate synchronously with the rotation of the two side frame plates 26 while continuously swinging reciprocally between the two side frame plates 26 toward the left and right sides. The picking mechanism 27 comprises a limiting rod 35, a hinging rod 36, a swing sliding plate 37, a swing tension spring 38, two swing supports 39, a plurality of cutter racks 40, a plurality of claw racks 41, a plurality of rotation tension springs 42, a pin shaft 44 and a bearing 45. The limiting rod 35 and the hinge rod 36 are fixed on the same horizontal plane between the two side frame plates 26 along the sequence from front to back or from back to front and correspond to the position above or below the picking rotating shaft 25. The swing slide plate 37 is located between the two side frame plates 26 and corresponds to a position above or below the hinge rod 36, and two ends of the swing slide plate 37 respectively penetrate through the two side frame plates 26, so as to be mounted on the two side frame plates 26 in a left-right sliding manner. The first swing support 39 is fixed to one end of the swing slide plate 37, and the second swing support 39 is fixed to the first side frame plate 26 and is disposed opposite to the first swing support 39 from the left to the right. Two ends of the swing tension spring 38 are fixedly connected with two swing supports 39 respectively. One ends of all the cutter bars 40 are uniformly fixed to the swing slide plate 37 at positions corresponding to the positions between the two side frame plates 26, and the other ends thereof extend a predetermined distance toward the front or rear between the two side frame plates 26. One end of each claw rack 41 is uniformly positioned at the top or bottom of the limiting rod 35, the other end of each claw rack 41 extends a preset distance to the front or rear between the two side frame plates 26 after passing through the top or bottom of the hinging rod 36, and the corresponding position of each claw rack 41 is hinged on the hinging rod 36, and each claw rack 41 is positioned above or below one of the knife racks 40. The rotating tension springs 42 are arranged in one-to-one correspondence with the claw racks 41, and one end of each rotating tension spring 42 is connected with a corresponding position on the claw rack 41, which is close to one end of the claw rack 41, and the other end of each rotating tension spring is connected with a corresponding position on the hinging rod 36 of the other picking mechanism 27. A cylinder 43 is fixed on the picking rotating shaft 25 at a position corresponding to the position between the picking transmission gear 28 and the second side frame plate 26, a circular guide rail is arranged on the periphery of one end of the cylinder 43 away from the picking transmission gear 28, and one side of the circular guide rail is attached to the second side frame plate 26. One end of the pin 44 is fixed to one end of the swing slider 37, and the other end thereof extends toward one end of the cylinder 43 adjacent to the picking gear 28 by a predetermined distance. The inner ring of the bearing 45 is fixed on the other end of the pin 44, and the outer ring of the bearing is tangential to the other side of the circular guide rail. As shown in fig. 11, the annular guide rail is provided with a notch 46 for swinging the bearing 45 left and right by the tension spring. The inner walls at two ends of the notch 46 are respectively a planar structure and an inclined structure, the inclined structure is positioned behind the planar structure in the rotation direction of the picking shaft 25, and one end of the inclined structure away from the second side frame plate 26 is inclined towards the opposite rotation direction of the picking shaft 25.
The walking vehicle 1 is fixed with a power device 29, and the output end of the power device 29 is linked with and drives the conveying transmission gear 24 and the picking transmission gear 28, specifically as follows: the walking vehicle 1 is fixedly provided with a speed reducer 30, the output end of the power device 29 is connected with the input end of the speed reducer 30, the output end of the speed reducer 30 is provided with a driving sprocket 31, the outer side of the hinged position of the lower frame 4 and the upper frame 5 is rotatably provided with a middle sprocket 32, the driving sprocket 31 is connected with the middle sprocket 32 through a first chain 33, and the middle sprocket 32 is connected with the conveying transmission gear 24 and the picking transmission gear 28 through a second chain 34.
The working process of the oil tea fruit picking machine is completely described as follows:
The hand grip 47 drives the cart 1 to travel the cart 1 to the location where the tea tree is to be picked. Then the position of the picking head 3 is adjusted through the adjusting mechanism, so that the picking head 3 is lifted to reach the vicinity of branches needing to pick oil tea fruits, and the specific operation is as follows: and the hand wheel 18 is manually rotated, the hand wheel 18 rotates to drive the screw rod 16 to rotate, and the nut connecting rod 17 horizontally moves after the screw rod 16 rotates and stretches relative to the screw rod 16. After the nut connecting rod 17 moves horizontally, the first connecting rod assembly 10 and the second connecting rod assembly 11 are mutually close or far away, the third connecting rod assembly 12 and the fourth connecting rod assembly 13 are mutually close or far away, the fifth connecting rod assembly 14 and the sixth connecting rod assembly 15 are mutually close or far away, meanwhile, the sliding block 7 slides up and down on the lower frame body 4, the upper frame body 5 rotates relative to the lower frame body 4 through movement of the components, and accordingly the upper end of the upper frame body 5 rises and falls up and down, and the picking head 3 arranged at the upper end of the upper frame body 5 also rises and falls up and down synchronously. When the picking head 3 is lifted up and down to correspond to the branches of the oil tea fruits to be picked, the hand wheel 18 stops rotating, and then the picking of the oil tea fruits can be started.
The power device 29 is started, the intermediate chain wheel 32 is driven to rotate by the first chain 33, and the conveying transmission gear 24 and the picking transmission gear 28 are simultaneously driven to rotate by the second chain 34 after the intermediate chain wheel 32 rotates, namely the rubber roller assembly 2 and the picking head 3 are simultaneously driven:
(1) After being driven, the rubber roller assembly 2 conveys the camellia oleifera fruit branches to be picked towards the upper end of the lifting frame/the picking head 3: the conveying transmission gear 24 drives the turntable 20 to rotate, the rubber roller 23 on the turntable 20 moves circularly to convey the camellia oleifera fruit branches to be picked towards the picking head 3, and the rubber roller 23 rotates while moving circularly, so that the damage to the camellia oleifera fruit branches caused by the rotation of the rubber roller can be avoided.
(2) After the picking head 3 is driven, the claw racks 41 rotate and the cutter racks 40 continuously swing back and forth towards the left side and the right side at the same time: the picking transmission gear 28 rotates to drive the two side frame plates 26 to rotate through the picking rotating shaft 25, the side frame plates 26 rotate to drive the claw racks 41 to rotate on one hand, and the bearings 45 fixedly connected with the side frame plates 26 simultaneously do circular motion along the side walls of the circular guide rail on the other hand. The claw racks 41 rotate to clamp the oil tea fruits on the branches conveyed by the rubber roller 23 between two adjacent claw racks 41, and when the claw racks 41 collide with thicker branches, the claw racks can stretch and rotate the tension springs 42 and rotate to cling to the bottoms of the branches to bypass the branches, so that the claw racks 41 are prevented from rotating to cause damage to the branches, and the claw racks 41 can reset under the action of the rotation tension springs 42 after bypassing the branches. In the process that the bearing 45 moves circularly along the side wall of the circular guide rail, when the bearing 45 moves to the position of the notch 46, the bearing 45 slides into the notch 46 under the action of the swinging tension spring 38 and swings the swinging slide plate 37 to one side, so that the knife rack 40 arranged on the swinging slide plate 37 swings synchronously to one side, and the knife rack 40 swings to one side and cuts off the fruit stem of the oil tea fruit clamped by the claw rack 41, so that the oil tea fruit finally drops from the branches to finish picking. The bearing 45 continues to do circular motion along the side wall of the circular guide rail, slides out of the notch 46 along the inclined surface of the notch 46 and swings towards the other side, and the cutter bar 40 mounted on the swing slide plate 37 swings towards the other side synchronously to reset for picking again.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (4)
1. The small self-propelled oil tea fruit picking machine is characterized by comprising a traveling vehicle (1), a lifting frame, an adjusting mechanism, a rubber roller assembly (2) and a picking head (3); the lower end of the lifting frame is hinged to the front end of the travelling car (1), and the upper end of the lifting frame can lift up and down relative to the travelling car (1); the adjusting mechanism is arranged on the travelling car (1) and the lifting frame, is connected with the lifting frame at a position close to the lower end and is used for driving the upper end of the lifting frame to lift up and down; the rubber roller assembly (2) is rotatably arranged at the bottom of the upper end of the lifting frame and is used for conveying the camellia oleifera fruit branches to be picked towards the upper end of the lifting frame; the picking head (3) is rotatably arranged at the top of the upper end of the lifting frame, and the picking head (3) continuously swings back and forth towards the left side and the right side while rotating, so that oil tea fruits on branches conveyed by the rubber roller assembly (2) are clamped and fall off from the branches;
The lifting frame comprises a lower frame body (4) and an upper frame body (5) of a frame structure; the lower end of the lower frame body (4) is hinged to the front end of the travelling crane (1), and the upper end of the lower frame body is hinged to the lower end of the upper frame body (5); the adjusting mechanism is arranged on the travelling crane (1), the lower frame body (4) and the upper frame body (5), the rubber roller assembly (2) is rotatably arranged at the bottom of the upper end of the upper frame body (5), and the picking head (3) is rotatably arranged at the top of the upper end of the upper frame body (5);
The adjusting mechanism comprises a base frame (6), a sliding block (7), a lower support (8), an upper support (9), a first connecting rod assembly (10), a second connecting rod assembly (11), a third connecting rod assembly (12), a fourth connecting rod assembly (13), a fifth connecting rod assembly (14), a sixth connecting rod assembly (15), a screw (16), a nut connecting rod (17) and a hand wheel (18); the base frame (6) is fixed at the top of the walking vehicle (1); the sliding block (7) can be arranged on the lower frame body (4) in an up-down sliding way; the lower support (8) is fixed on the front side of the lower frame body (4) close to the upper end; the upper support (9) is fixed on the front side of the upper frame body (5) close to the lower end; one end of the first connecting rod assembly (10) is hinged to the top of the front end of the base frame (6), the other end of the first connecting rod assembly is hinged to one end of the second connecting rod assembly (11), and the other end of the second connecting rod assembly (11) is hinged to the sliding block (7); the third connecting rod assembly is hinged with the sliding block (7), the other end of the third connecting rod assembly is hinged with one end of the fourth connecting rod assembly (13) after extending a preset distance at the rear side of the lower frame body (4), and the other end of the fourth connecting rod assembly (13) freely penetrates through the lower frame body (4) and is hinged to the lower support (8); one end of the fifth connecting rod assembly (14) is hinged with the lower support (8), the other end of the fifth connecting rod assembly extends forwards for a preset distance and then is hinged with one end of the sixth connecting rod assembly (15), and the other end of the sixth connecting rod assembly (15) is hinged to the upper support (9);
The screw rod (16) is rotatably arranged in the middle of the rear end of the base frame (6) through a bearing seat, the rear end of the screw rod (16) extends out of the rear end of the base frame (6), and the front end of the screw rod horizontally extends forwards for a preset distance; the rear end of the nut connecting rod (17) is sleeved on the front end of the screw rod (16) in a threaded manner, and the front end of the nut connecting rod horizontally extends forwards and then is connected with the hinge joint of the other end of the first connecting rod assembly (10) and one end of the second connecting rod assembly (11); the hand wheel (18) is fixed at the rear end of the screw rod (16);
The rubber roller assembly (2) comprises a conveying rotating shaft (19), two turntables (20), a plurality of wheel spokes (21), a plurality of mandrels (22) and a plurality of rubber rollers (23); the conveying rotating shaft (19) is horizontally arranged left and right, rotatably arranged at the bottom of the upper end of the upper frame body (5), and one end of the conveying rotating shaft (19) extends out of the upper frame body (5) and is connected with a conveying transmission gear (24); the centers of the two turntables (20) are respectively fixed at positions, close to two ends, of the conveying rotating shaft (19); the spoke strips (21) are divided into two equal parts, and the first spoke strip (21) is uniformly fixed on the first rotary disc (20) in a radial manner; the second spoke (21) is arranged in one-to-one correspondence with the first spoke (21), and the second spoke (21) is uniformly fixed on the second rotary disc (20) in a radial manner; the mandrel (22) is arranged between the free ends of the two spoke pieces (21); each mandrel (22) is rotatably sleeved with one rubber roller (23);
The picking head (3) comprises a picking rotating shaft (25), two side frame plates (26) and two picking mechanisms (27); the picking rotating shafts (25) are horizontally arranged left and right and rotatably arranged at the top of the upper end of the upper frame body (5), and one end of each picking rotating shaft (25) corresponding to the corresponding conveying transmission gear (24) extends out of the outer side of the upper frame body (5) and is connected with a picking transmission gear (28); the center positions of the two side frame plates (26) are respectively fixed at positions, close to two ends, of the picking rotating shaft (25) and synchronously rotate along with the picking rotating shaft (25); one ends of the two picking mechanisms (27) are respectively arranged at the positions between the two side frame plates (26) corresponding to the upper part and the lower part of the picking rotating shaft (25), the other ends of the two picking mechanisms extend to the front and the rear of the space between the two side frame plates (26) by preset distances respectively, and the picking mechanisms (27) synchronously rotate along with the rotation of the two side frame plates (26) and simultaneously continuously swing back and forth towards the left side and the right side between the two side frame plates (26);
The picking mechanism (27) comprises a limiting rod (35), a hinging rod (36), a swing sliding plate (37), a swing tension spring (38), two swing supports (39), a plurality of cutter racks (40), a plurality of claw racks (41), a plurality of rotation tension springs (42), a pin shaft (44) and a bearing (45); the limiting rod (35) and the hinging rod (36) are fixed on the same horizontal plane between the two side frame plates (26) along the sequence from front to back or from back to front and correspond to the position above or below the picking rotating shaft (25); the swinging slide plate (37) is positioned between the two side frame plates (26) and corresponds to the position above or below the hinging rod (36), and two ends of the swinging slide plate (37) respectively penetrate through the two side frame plates (26) so as to be arranged on the two side frame plates (26) in a left-right sliding way; the first swing support (39) is fixed at one end of the swing slide plate (37), and the second swing support (39) is fixed on the first side frame plate (26) and is arranged opposite to the first swing support (39) in the left-right direction; two ends of the swing tension spring (38) are fixedly connected with two swing supports (39) respectively;
One end of each cutter tooth strip (40) is uniformly fixed on the swing slide plate (37) and corresponds to the position between the two side frame plates (26), and the other end extends to the front or the rear between the two side frame plates (26) for a preset distance; one end of each claw rack (41) is uniformly positioned at the top or the bottom of the limiting rod (35), the other end of each claw rack (41) extends a preset distance to the front or the rear between the two side frame plates (26) through the top or the bottom of the hinging rod (36), the corresponding position of each claw rack (41) is hinged on the hinging rod (36), and each claw rack (41) is positioned above or below one knife rack (40); the rotary tension springs (42) are arranged in one-to-one correspondence with the claw racks (41), one end of each rotary tension spring (42) is connected with a corresponding claw rack (41) at a position close to one end of each claw rack (41), and the other end of each rotary tension spring is connected with a corresponding position on the hinging rod (36) of the other picking mechanism (27);
A cylinder (43) is fixed on the picking rotating shaft (25) at a position corresponding to the position between the picking transmission gear (28) and the second side frame plate (26), a circular ring guide rail is arranged on the periphery of one end, far away from the picking transmission gear (28), of the cylinder (43), and one side of the circular ring guide rail is attached to the second side frame plate (26); one end of the pin shaft (44) is fixed at one end of the swing slide plate (37), and the other end extends a preset distance towards one end of the cylinder (43) close to the picking transmission gear (28); an inner ring of the bearing (45) is fixed at the other end of the pin shaft (44), and an outer ring of the bearing is tangential to the other side of the circular guide rail; a notch (46) which enables the bearing (45) to swing left and right under the action of the swing tension spring is arranged on the circular guide rail;
The inner walls at two ends of the notch (46) are respectively of a plane structure and an inclined plane structure, the inclined plane structure is positioned behind the plane structure in the rotation direction of the picking rotating shaft (25), and one end, away from the second side frame plate (26), of the inclined plane structure is inclined towards the direction opposite to the rotation direction of the picking rotating shaft (25).
2. The small self-propelled oil tea fruit picking machine according to claim 1, wherein a power device (29) is fixed on the travelling car (1), and an output end of the power device (29) is connected with and drives the conveying transmission gear (24) and the picking transmission gear (28).
3. The small self-propelled oil tea fruit picking machine according to claim 2, wherein a speed reducer (30) is fixed on the travelling car (1), an output end of the power device (29) is connected with an input end of the speed reducer (30), a driving sprocket (31) is mounted at an output end of the speed reducer (30), an intermediate sprocket (32) is rotatably arranged at an outer side of a hinged position of the lower frame body (4) and the upper frame body (5), the driving sprocket (31) is connected with the intermediate sprocket (32) through a first chain (33), and the intermediate sprocket (32) is connected with the conveying transmission gear (24) and the picking transmission gear (28) through a second chain (34).
4. A small self-propelled tea-oil camellia fruit picking machine according to any one of claims 1 to 3, characterized in that the rear end of the travelling carriage (1) is provided with a handle (47) extending towards the rear side for pushing it, the bottom of which is rotatably provided with a roller assembly (48).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011098902.5A CN112219554B (en) | 2020-10-14 | 2020-10-14 | Small self-propelled oil tea fruit picking machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011098902.5A CN112219554B (en) | 2020-10-14 | 2020-10-14 | Small self-propelled oil tea fruit picking machine |
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| CN112219554A CN112219554A (en) | 2021-01-15 |
| CN112219554B true CN112219554B (en) | 2024-06-11 |
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| CN114451144B (en) * | 2022-03-17 | 2023-07-25 | 河北省科学院应用数学研究所 | Fruit picking end effector |
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| GB191001685A (en) * | 1910-01-22 | 1910-08-18 | Oskar Lange | Improvements in Machines for Picking, Scutching and Swingling Flax or the like. |
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| EP3087820A1 (en) * | 2015-04-30 | 2016-11-02 | Andreas Stihl AG & Co. KG | Harvesting device and rake for a harvesting device |
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| CN109220220A (en) * | 2018-08-16 | 2019-01-18 | 昆明理工大学 | One kind shaking formula nut cropper and its a working method |
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| GB191001685A (en) * | 1910-01-22 | 1910-08-18 | Oskar Lange | Improvements in Machines for Picking, Scutching and Swingling Flax or the like. |
| EP3087820A1 (en) * | 2015-04-30 | 2016-11-02 | Andreas Stihl AG & Co. KG | Harvesting device and rake for a harvesting device |
| CN105940864A (en) * | 2016-06-30 | 2016-09-21 | 江西农业大学 | Rubber roller type automatic oil tea fruit harvester |
| CN108243719A (en) * | 2018-01-31 | 2018-07-06 | 广西师范大学 | A kind of drum-type mulberry leaf picker |
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