CN105123121A - Tea plucking machine - Google Patents
Tea plucking machine Download PDFInfo
- Publication number
- CN105123121A CN105123121A CN201510538669.0A CN201510538669A CN105123121A CN 105123121 A CN105123121 A CN 105123121A CN 201510538669 A CN201510538669 A CN 201510538669A CN 105123121 A CN105123121 A CN 105123121A
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- crank
- tealeaves
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Abstract
The invention discloses a tea plucking machine which can lift, stretch, retract and rotate in a small space. The tea plucking machine comprises a rack assembly. Caterpillar band assemblies are installed on the two sides of the rack assembly. The upper portion of the rack assembly is provided with a gasoline tank, a power mechanism, a rotating and lifting mechanism and a tea leaf collecting box. The rotating and lifting mechanism is provided with a rotating and lifting platform. The upper portion of the rotating and lifting platform is provided with a tea plucking mechanical arm. The tea plucking machine is characterized in that the tea plucking mechanical arm comprises a first vertical installation plate, a vertical rotating air cylinder is arranged on the first vertical installation plate, a rotating shaft of the rotating air cylinder stretches out of the rotating air cylinder and is horizontally arranged, the rotating shaft is fixedly provided with a U-shaped connecting seat, a second vertical installation plate is fixed to the side face of the U-shaped connecting seat, a vertical telescopic air cylinder is arranged on the second vertical installation plate, a horizontal clamping seat is fixed to the end of the vertical telescopic rod of the vertical telescopic air cylinder, a horizontal telescopic air cylinder is installed on the clamping seat, a vertical connecting disc is fixed to the end of a horizontal telescopic rod of the horizontal telescopic air cylinder, and a plucking jaw is installed on the connecting disc.
Description
Technical field
The present invention relates to the technology of picking tea-leaves, particularly a kind of tea picking machine.
Background technology
Tea picking is not only related to the quality of tea making raw material, and affects growing of tea tree.Reasonably pick tea-leaves, can promote that tealeaves increases production to a certain extent, and have the effect of anti-worm of curing the disease.Tea picking seasonal is strong, and especially spring tea, fresh leaf is plucked not in time, will affect into the quality of sampling tea.Traditional way is all picked by hand, and generally work eight hours for each person every day, at most also can only pluck the tealeaves of about 2Kg, and labour intensity is large, and inefficiency.
In order to reduce the labour intensity of picking tea-leaves, improving efficiency of picking tea-leaves, usually adopting tea picking machine to pick tea-leaves at present.Manipulator of picking tea-leaves is the vitals of tea picking machine, and manipulator of picking tea-leaves is arranged on the lift rotary platform of tea picking machine usually.Existing manipulator of picking tea-leaves is formed primarily of two harvesting jaws to be opened/closed, and the end of plucking jaw is provided with blade.When picking tea-leaves, two pluck the first interior pendulum of jaw catches tealeaves, and tealeaves cuts off by the blade then by plucking jaw end, completes the harvesting of tealeaves.
Often there is following problem in above-mentioned tea picking machine manipulator: 1. the tealeaves plucked is picked in tealeaves collecting box by manipulator direct, and Robot actions of picking tea-leaves is very inconvenient, and action is comparatively slow, and collection tealeaves efficiency is low; 2. normally by lifting and revolving dial, picking mechanical arm is placed in different harvesting positions, pluck tealeaves, because tea picking machine self does not possess lifting in little spatial dimension, flexible and pivotal function, and be elevated with the actuating range of revolving dial larger at every turn, therefore, be easy to omit tealeaves, reduce the output of picking tea-leaves; 3. the blade plucking jaw end by means of only mechanical hand getting of picking tea-leaves cuts off tealeaves; cutting dynamics is limited, and tealeaves and tea handle often can be made not to cut off completely, but tealeaves and tea handle to be pullled and to break by plucking jaw and complete harvesting; be easy to make tealeaves incomplete pullling in process, affect post-production.
Summary of the invention
The invention is intended to provide one can lifting in little space, flexible and pivotal tea picking machine.
Tea picking machine in this programme, comprise support assembly, the both sides of support assembly are provided with track rail assembly, the top of support assembly is separately installed with petrol tank, actuating unit, slewing lifting mechanism and tealeaves collecting box, petrol tank is actuating unit fuel feeding, actuating unit drives slewing lifting mechanism and the work of aluminium strip assembly respectively by transmission mechanism, slewing lifting mechanism is installed revolution hoistable platform, rotary and lifting platform upper is provided with manipulator of picking tea-leaves, described mechanical hand of picking tea-leaves comprises the first vertical installing plate, first vertical installing plate is provided with vertical rotary cylinder, the rotating shaft of rotary cylinder stretches out rotary cylinder and is horizontally disposed with, rotating shaft is fixed with U-shaped Connection Block, the side of U-shaped Connection Block is fixed with the second vertical installing plate, second vertical installing plate is provided with vertical telescopic cylinder, the end winding support of the vertical expansion link of vertical telescopic cylinder has the deck of level, deck is installed horizontal extension cylinder, the end winding support of the horizontal extension bar of horizontal extension cylinder has vertical terminal pad, terminal pad is provided with harvesting jaw.
Operation principle and the beneficial effect of this programme are as follows:
During work, the crawler travel in track rail assembly is driven by actuating unit, rotary and lifting workbench is driven to rotate or lifting by slewing lifting mechanism, thus drive manipulator of picking tea-leaves to pluck tealeaves at larger space range of motion, and if desired pluck the tealeaves of diverse location among a small circle, then first U-shaped Connection Block is driven to rotate at upright plane by rotary cylinder, after being rotated in place, elongated or shortened by vertical telescopic cylinder, after putting in place, then elongated or shortened by horizontal extension cylinder, adjusting position, after position adjustments is good, pluck tealeaves by plucking jaw.
The tea picking machine of the present invention program pick tea-leaves manipulator can lifting in little space, flexible and revolution, each by behind lift rotary platform location, each also carrying by manipulator of picking tea-leaves drives cylinder trim locations in little space, thus complete the harvesting of each position tealeaves, the tealeaves of any short space can not be omitted, can output of picking tea-leaves be improved, possess practical generalization.
Further, terminal pad is rectangular-shaped, and four sides of terminal pad level are equipped with harvesting jaw.Pluck on station for one and multiple harvesting jaw is set, increase dish slag efficiency.
Further, pluck jaw and comprise symmetrically arranged two clip claw assemblies, each clip claw assembly includes crank, connecting rod and fork, one end of crank is hinged on terminal pad, crank this end hinged with terminal pad is provided with external tooth and the crank of two clip claw assemblies is engaged, one of them crank is driving link, another crank is driven member, the other end of crank and one end of fork hinged, the other end of fork is the bare terminal end of tealeaves, bare terminal end is provided with foliage cutter structure, and connecting rod one end is hinged on terminal pad, and the middle part of the other end and fork is hinged.Above-mentioned harvesting clamping jaw structure is simple, and owing to engaging all the time two crank one end, when therefore plucking, the action of two forks is more stable.
Further, fork is V-shaped, and when making two fork clamping tealeaves, the bare terminal end of two forks is parallel.During due to clamping tealeaves, the bare terminal end of two forks is parallel, therefore, large with the contact area of tealeaves, clamps more stable.
Further, foliage cutter structure is comprised two-way cylinder and is driven the scissors hand opening or close by two-way cylinder.Cut leaf by scissors hand, Qie Ye is more thorough, avoids tealeaves and tea handle not to cut off completely, by plucking jaw, tealeaves and tea handle is pullled the disconnected problem easily making tealeaves incompleteness.
Further, the inner side of fork has stator groove along the axis of fork, and stator groove communicates with blade carrier pipe, and blade carrier pipe communicates with tealeaves collecting box, and blade carrier pipe is connected with blower fan, and blower fan is driven by transmission mechanism.After plucking jaw harvesting, by stator groove, tea leaf conveying is delivered to blade carrier pipe place, under the effect of blower fan, tealeaves sucked blade carrier pipe and be finally transported to tealeaves collecting box, compared to existing directly by manipulator conveying tealeaves of picking tea-leaves, greatly improve the transfer efficiency of tealeaves, and manipulator of picking tea-leaves eliminates transportation work, tealeaves can be plucked always, improve picking efficiency.
Further, be arranged with sleeve outside rotating shaft, be also provided with supporting seat in the side of described vertical installing plate, supporting seat is fixed with gripper shoe, the end face of described gripper shoe has the curved surface identical with described excircle of sleeve curvature, and the end face of described gripper shoe and the cylindrical of described sleeve offset.Outside sleeve, arrange gripper shoe, because the end face of gripper shoe and the cylindrical of sleeve offset, gripper shoe is played a supporting role to sleeve, prevents rotating shaft when rotated, produces Radial Perturbation.
Further, be provided with guide post in the side direction of the second vertical installing plate, the end of guide post and the vertical expansion link of vertical telescopic cylinder are fixed.By setting up guide post in the below of the second vertical installing plate, when vertical telescopic cylinder runs, guide post can shrink with vertical telescopic cylinder, vertical telescopic cylinder is played to the effect of motion guide and reinforcing.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention tea picking machine.
Fig. 2 is the structural representation of each driving cylinder of embodiment of the present invention tea picking machine.
Fig. 3 is the structural representation plucking jaw in embodiment of the present invention tea picking machine.
Fig. 4 is the structural representation of foliage cutter structure in embodiment of the present invention tea picking machine.
Embodiment
Below by embodiment, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: rotary cylinder 1, gripper shoe 2, U-shaped Connection Block 3, vertically telescopic cylinder 4, guide post 5, horizontal extension cylinder 6, terminal pad 7, crank 8, fork 9, connecting rod 10, two-way cylinder 11, scissors hand 12, petrol tank 13, slewing lifting mechanism 14, rotary and lifting platform 15, actuating unit 16, tealeaves collecting box 17, blower fan 18, transmission mechanism 19, blade carrier pipe 20, tea picking machine 21, support assembly 22, track rail assembly 23.
Tea picking machine as shown in Figure 1, support assembly comprises ground floor underframe, second layer underframe and framework, aluminium strip assembly, petrol tank and slewing lifting mechanism are installed on ground floor underframe, actuating unit is arranged on second layer underframe, petrol tank is connected with power assembly for the fuel feeding of power assembly, slewing lifting mechanism is installed revolution hoistable platform, manipulator of picking tea-leaves installed by rotary and lifting platform, tealeaves collecting box is arranged on framework upper rearward, assembling is at forward framework upper, tealeaves collecting box in the present embodiment is with multiple outwardly groove, to increase the receiving volume of casing.Power assembly drives slewing lifting mechanism, aluminium strip assembly and blower fan work respectively by transmission mechanism, and the concrete transmission mechanism driving blower fan is belt gear.
Mechanical hand of picking tea-leaves as shown in Figure 2 comprises the supporting seat of the lower weld level of the first vertical installing plate, and the first vertical installing plate is provided with vertical rotary cylinder, and the rotating shaft of rotary cylinder stretches out rotary cylinder and is horizontally disposed with, and is arranged with sleeve outside rotating shaft.Supporting seat is fixed with gripper shoe, and gripper shoe has two and is arranged symmetrically with the vertical center line of rotating shaft, and to make sleeve uniform force, the end face of gripper shoe has the curved surface identical with excircle of sleeve curvature, and the end face of gripper shoe and the cylindrical of sleeve offset.
Rotating shaft is fixed with U-shaped Connection Block, two legs being specially U-shaped Connection Block are separately fixed at the two ends of rotating shaft, by rotating shaft driven rotary.The side (the present embodiment is upper surface) of U-shaped Connection Block is welded with the second vertical installing plate, second vertical installing plate is provided with vertical telescopic cylinder, in the present embodiment, two long sides of the second vertical installing plate are also respectively equipped with baffle plate, and vertical telescopic cylinder is between two baffle plates.Be provided with guide post in the side direction of the second vertical installing plate, the end of guide post and the vertical expansion link of vertical telescopic cylinder are fixed.
The end winding support of the vertical expansion link of vertical telescopic cylinder has the deck of level, deck is installed horizontal extension cylinder, the end winding support of the horizontal extension bar of horizontal extension cylinder has vertical terminal pad, and terminal pad is rectangular-shaped, and four sides of terminal pad level are equipped with harvesting jaw.
As shown in Figure 3, the harvesting jaw of the present embodiment comprises symmetrically arranged two clip claw assemblies, and each clip claw assembly includes crank, connecting rod and fork.One end of crank is hinged on terminal pad, and crank this end hinged with terminal pad is provided with external tooth and the crank of two clip claw assemblies is engaged, and one of them crank is driving link, and by motor or rotary cylinder driven rotary, another crank is driven member.Connecting rod one end is hinged on terminal pad, and the middle part of the other end and fork is hinged.The other end of crank and one end of fork hinged, the other end of fork is the bare terminal end of tealeaves.Fork is V-shaped, and when making two fork clamping tealeaves, the bare terminal end of two forks is parallel.
In the present embodiment, the inner side of fork has stator groove (not shown) along the axis of fork, and as shown in Figure 1, stator groove communicates with blade carrier pipe, and blade carrier pipe communicates with tealeaves collecting box, and blade carrier pipe is connected with blower fan.
As shown in Figure 4, bare terminal end has been bolted foliage cutter structure, foliage cutter structure is comprised two-way cylinder and is driven the scissors hand opening or close by two-way cylinder.The end of scissors hand and the piston rod of two-way cylinder are flexible coupling, and when avoiding work, scissors hand blocks, and makes the piston rod of two-way cylinder stuck, damages two-way cylinder.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the embodiment in specification etc. record the content that may be used for explaining claim.
Claims (8)
1. tea picking machine, comprise support assembly, the both sides of support assembly are provided with track rail assembly, the top of support assembly is separately installed with petrol tank, actuating unit, slewing lifting mechanism and tealeaves collecting box, petrol tank is actuating unit fuel feeding, actuating unit drives slewing lifting mechanism and the work of aluminium strip assembly respectively by transmission mechanism, slewing lifting mechanism is installed revolution hoistable platform, rotary and lifting platform upper is provided with manipulator of picking tea-leaves, it is characterized in that, described mechanical hand of picking tea-leaves comprises the first vertical installing plate, first vertical installing plate is provided with vertical rotary cylinder, the rotating shaft of rotary cylinder stretches out rotary cylinder and is horizontally disposed with, rotating shaft is fixed with U-shaped Connection Block, the side of U-shaped Connection Block is fixed with the second vertical installing plate, second vertical installing plate is provided with vertical telescopic cylinder, the end winding support of the vertical expansion link of vertical telescopic cylinder has the deck of level, deck is installed horizontal extension cylinder, the end winding support of the horizontal extension bar of horizontal extension cylinder has vertical terminal pad, terminal pad is provided with harvesting jaw.
2. tea picking machine according to claim 1, is characterized in that: described terminal pad is rectangular-shaped, and four sides of terminal pad level are equipped with harvesting jaw.
3. tea picking machine according to claim 2, it is characterized in that: described harvesting jaw comprises symmetrically arranged two clip claw assemblies, each clip claw assembly includes crank, connecting rod and fork, one end of crank is hinged on terminal pad, crank this end hinged with terminal pad is provided with external tooth and the crank of two clip claw assemblies is engaged, one of them crank is driving link, another crank is driven member, the other end of crank and one end of fork hinged, the other end of fork is the bare terminal end of tealeaves, bare terminal end is provided with foliage cutter structure, connecting rod one end is hinged on terminal pad, the middle part of the other end and fork is hinged.
4. tea picking machine according to claim 3, is characterized in that: described fork is V-shaped, and when making two fork clamping tealeaves, the bare terminal end of two forks is parallel.
5. tea picking machine according to claim 3, is characterized in that: described foliage cutter structure is comprised two-way cylinder and driven the scissors hand opening or close by two-way cylinder.
6. tea picking machine according to claim 3, it is characterized in that: the inner side of fork has stator groove along the axis of fork, and stator groove communicates with blade carrier pipe, and blade carrier pipe communicates with tealeaves collecting box, blade carrier pipe is connected with blower fan, and blower fan is driven by transmission mechanism.
7. tea picking machine according to claim 1, it is characterized in that: outside described rotating shaft, be arranged with sleeve, also supporting seat is provided with in the side of described vertical installing plate, supporting seat is fixed with gripper shoe, the end face of described gripper shoe has the curved surface identical with described excircle of sleeve curvature, and the end face of described gripper shoe and the cylindrical of described sleeve offset.
8. tea picking machine according to claim 1, is characterized in that: be provided with guide post in the side direction of the second vertical installing plate, the end of guide post and the vertical expansion link of vertical telescopic cylinder are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538669.0A CN105123121B (en) | 2015-08-28 | 2015-08-28 | Tea picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538669.0A CN105123121B (en) | 2015-08-28 | 2015-08-28 | Tea picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105123121A true CN105123121A (en) | 2015-12-09 |
| CN105123121B CN105123121B (en) | 2018-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510538669.0A Active CN105123121B (en) | 2015-08-28 | 2015-08-28 | Tea picking machine |
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| Country | Link |
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| CN (1) | CN105123121B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684744A (en) * | 2016-01-27 | 2016-06-22 | 吴静 | Automatic tea tree trimming and harvesting machine |
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|---|---|---|---|---|
| JP2005143362A (en) * | 2003-11-13 | 2005-06-09 | Terada Seisakusho Co Ltd | Running type tealeaf plucker |
| CN203194156U (en) * | 2013-02-22 | 2013-09-18 | 农业部南京农业机械化研究所 | Self-propelled straddle-riding type tea leaf picker |
| JP2013223440A (en) * | 2012-04-20 | 2013-10-31 | Ochiai Cutlery Mfg Co Ltd | Tea leaf plucking machine |
| CN203563362U (en) * | 2013-09-25 | 2014-04-30 | 四川农业大学 | Automatic tea leaf picking vehicle |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
| CN204579178U (en) * | 2015-03-03 | 2015-08-26 | 安徽农业大学 | The self-propelled tea picking machine in a kind of tea place |
-
2015
- 2015-08-28 CN CN201510538669.0A patent/CN105123121B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005143362A (en) * | 2003-11-13 | 2005-06-09 | Terada Seisakusho Co Ltd | Running type tealeaf plucker |
| JP2013223440A (en) * | 2012-04-20 | 2013-10-31 | Ochiai Cutlery Mfg Co Ltd | Tea leaf plucking machine |
| CN203194156U (en) * | 2013-02-22 | 2013-09-18 | 农业部南京农业机械化研究所 | Self-propelled straddle-riding type tea leaf picker |
| CN203563362U (en) * | 2013-09-25 | 2014-04-30 | 四川农业大学 | Automatic tea leaf picking vehicle |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204579178U (en) * | 2015-03-03 | 2015-08-26 | 安徽农业大学 | The self-propelled tea picking machine in a kind of tea place |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684744A (en) * | 2016-01-27 | 2016-06-22 | 吴静 | Automatic tea tree trimming and harvesting machine |
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| Publication number | Publication date |
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| CN105123121B (en) | 2018-01-09 |
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