CN108555921A - A kind of Hills rail mounted tea picking machinery people - Google Patents
A kind of Hills rail mounted tea picking machinery people Download PDFInfo
- Publication number
- CN108555921A CN108555921A CN201810275275.4A CN201810275275A CN108555921A CN 108555921 A CN108555921 A CN 108555921A CN 201810275275 A CN201810275275 A CN 201810275275A CN 108555921 A CN108555921 A CN 108555921A
- Authority
- CN
- China
- Prior art keywords
- rack
- platform
- hills
- output end
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Hills rail mounted tea picking machinery people, including platform, driving device, the lifting gear being mounted on platform, the mechanical arm being mounted on lifting gear, the picking hands being mounted on mechanical arm output end.By this robot in Hills, driving device drives entire platform to be moved along rack-track in Hills, lifting gear drives entire mechanical arm to rise or fall, to which the height of picking hands be raised and lowered, adapt to the height of different tealeaves, then the first electric rotating machine can drive entire mechanical arm and picking hands to be rotated around vertical direction, mechanical arm can expand the picking range of picking hands, then the second electric pushrod works, it realizes the stalk for cutting tealeaves and is clamped tealeaves with binding clasp, be then put into suitable place.The present invention can pick tealeaves in Hills, belong to the technical field of agriculture picking mechanical.
Description
Technical field
The present invention relates to the technical field of agriculture picking mechanical more particularly to a kind of Hills rail mounted tea pickings
Tool people.
Background technology
At present due to the complexity of tea picking operation, picking the degree of automation is still very low.Domestic tea picking operation
Substantially still complete by hand.Countries in the world face Aging Problem after 21 century, and labour is not only of high cost, but also
Also it is not readily available.Therefore development mechanized harvest technology researchs and develops fruit and vegetable picking robot, has great importance.State
It is inside and outside for fruit and vegetable picking robot still in research and development experimental stage, practical, commercialization process is still very arduous, main
It is exactly the specific structure design of robot and analysis Shortcomings to want one of reason.
Invention content
For the technical problems in the prior art, the purpose of the present invention is：A kind of Hills rail mounted tea is provided
Leaf picking mechanical people, can pick tealeaves in Hills.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of Hills rail mounted tea picking machinery people, including platform, the driving device for driving platform to move,
Lifting gear on platform, the mechanical arm being mounted on lifting gear, the picking hands being mounted on mechanical arm output end.
It is further：Driving device includes the driving motor being mounted on platform, and the power being mounted on platform transmits
Mechanism drives gear, the rack-track of fixed installation；The output end of driving motor is connected to the input terminal of power transfer mechanism
On, driving gear is mounted on the output end of power transfer mechanism, and driving wheel and rack track is meshed.
It is further：Power transfer mechanism includes horizontally disposed first chain kit, and retarder is vertically arranged
Second chain kit, transmission shaft；First driving wheel of the first chain kit is mounted on the output end of driving motor, and first
First follower of chain kit is mounted on the input terminal of retarder, and the second driving wheel of the second chain kit is mounted on
On the output end of retarder, the second follower of the second chain kit is mounted on transmission shaft, and driving geared sleeve is mounted in transmission
On axis；Platform is equipped with supporting rack, and supporting rack is fixed on platform, and transmission shaft passes through supporting rack.
It is further：Driving gear includes two disks placed vertically and multiple cylindrical rods, and one end of cylindrical rod connects
It is connected on a disk, the other end of cylindrical rod is connected on another disk, and multiple cylindrical rods circumferentially uniformly divide
Cloth, multiple cylindrical rods are meshed with rack-track, and the upper end of disk is higher than the lower end of rack-track.
It is further：Supporting rack is equipped with the guide wheel of rotary type installation, and the both ends of guide wheel are equipped with radially protruding part, radial
For protruding parts in the outside of rack-track, the lower end of radially protruding part is less than the upper end of rack-track.
It is further：Lifting gear includes the pedestal being mounted on platform, scissors type elevating device, lifting platform, direct pushing machine
Structure；Scissors type elevating device lower end is fixed on pedestal on one side, and the another side of scissors type elevating device lower end is equipped with lower horizontal push rod, under
Horizontal push rod is slidably mounted on pedestal, and scissors type elevating device upper end is fixed on lifting platform on one side, scissors type elevating device
The another side of upper end is equipped with upper horizontal push rod, and upper horizontal push rod is slidably mounted on lifting platform, and the output end of direct pushing machine structure connects
On lower horizontal push rod.
It is further：Direct pushing machine structure includes first motor, turbine, worm screw, first gear, the first rack；First motor
On lifting platform, turbine is mounted on the output end of first motor, and turbine is meshed with worm screw, and first gear is sleeved on snail
On bar, the first rack is slidably mounted on lifting platform, and first gear is meshed with the first rack, and the end of the first rack is solid
It is scheduled on lower horizontal push rod.
It is further：Mechanical arm includes the first electric rotating machine being mounted on lifting gear, is mounted on the first electric rotating
The first micromotor on machine, the rocking arm of vertical rotating formula installation, the second micromotor, the swing arm of vertical rotating formula installation, the
One electric pushrod, flange, the second electric rotating machine；The output end of first micromotor is connected on rocking arm, the end rotation of swing arm
It is mounted on rocking arm, the output end of the second micromotor is connected in swing arm, and the first electric pushrod is mounted on the end of swing arm likes
In portion, flange is mounted on the end of the first electric pushrod, and the second electric rotating machine is mounted on flange, and picking hands are mounted on second
On the output end of electric rotating machine.
It is further：Picking hands include the holder being mounted on the second electric rotating machine output end, rack-mount
Second electric pushrod, two rocking bars being arranged symmetrically, two outside connecting rods being arranged symmetrically, two horizontal compression bars being arranged symmetrically are right
Claim two supporting rods of arrangement；The output end of second electric pushrod is equipped with transverse bar, and one end of rocking bar and transverse bar are hinged, rocking bar
The other end and outside connecting rod it is hinged, be hinged on holder in the middle part of outside connecting rod, one end of outside connecting rod and rocking bar are hinged, outside connecting rod
The end of the other end and horizontal compression bar is hinged, and one end of supporting rod is hinged on holder, and the other end of supporting rod is hinged on horizontal compression bar
On；It is equipped with blade and binding clasp on two horizontal compression bars close to each other or separate.
It is further：Binding clasp includes supporting block, buffer spring, tabletting；Supporting block is mounted on horizontal compression bar, buffering elastic
One end of spring is connected in supporting block, and the other end of buffer spring is connected in tabletting；It is close to each other with two horizontal compression bars
Or it is separate, two panels tabletting is close to each other or separate.
Generally speaking, the invention has the advantages that：
The present invention is suitable for southern hilly and mountainous land tea place, has liberated the labour in tea picking well.The present invention is only
There is a rack-track, i.e., dexterously combine with single track so that tea picking hand can be moved by monorail, realize tea
Comprehensive mechanization of leaf picking.The lifting gear of the present invention is in scissor-type so that tea picking hand has higher stability；It adopts
With multifunctional mechanical arm, the flexibility of tea picking machinery hand and variable tropism are improved.Present invention employs two-stage servo electricity
Dynamic push rod, rocking arm and swing arm so that the picking range of tea picking hand obtains promotion by a relatively large margin.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of driving device first direction.
Fig. 3 is the structural schematic diagram of driving device second direction.
Fig. 4 is the structural schematic diagram of lifting gear.
Fig. 5 is the structural schematic diagram of mechanical arm and lifting gear.
Fig. 6 is the structural schematic diagram of picking hands.
Fig. 7 is the structural schematic diagram at the horizontal compression bar of picking hands.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
It is now attached to what is occurred in Figure of description for the ease of uniformly checking each reference numeral inside Figure of description
Icon note is unitedly described as follows：
1 is platform, and 2 be driving device, and 3 be lifting gear, and 4 be mechanical arm, and 5 be picking hands, and 6 be support base, and 2-1 is to drive
Dynamic motor, 2-2 are the first driving wheel, and 2-3 is the first follower, and 2-4 is retarder, and 2-5 is the second driving wheel, 2-6 second
Follower, 2-7 are transmission shaft, and 2-8 is driving gear, and 2-9 is supporting rack, and 2-10 is rack-track, and 2-11 is guide wheel, and 2-12 is
Radially protruding part, 2-13 are disk, and 2-14 is cylindrical rod, and 3-1 is first motor, and 3-2 is turbine, and 3-3 is worm screw, 3-4
One gear, 3-5 are the first rack, and 3-6 is second sliding slot, and 3-7 is lower horizontal push rod, and 3-8 is scissors type elevating device, and 3-9 is limit
Block, 3-10 are the first sliding groove, and 3-11 is pedestal, and 3-12 is lifting platform, and 4-1 is the first electric rotating machine, and 4-2 is the first micro electric
Machine, 4-3 are rocking arm, and 4-4 is the second micromotor, and 4-5 is swing arm, and 4-6 is the first electric pushrod, and 4-7 is flange, 4-8 the
Two electric rotating machines, 5-1 are holder, and 5-2 is the second electric pushrod, and 5-3 is transverse bar, and 5-4 is rocking bar, and 5-5 is outside connecting rod, 5-6
For horizontal compression bar, 5-7 is supporting rod, and 5-8 is supporting block, and 5-9 is tabletting, and 5-10 is buffer spring, and 5-11 is blade.
In conjunction with shown in Fig. 1, a kind of Hills rail mounted tea picking machinery people, including platform, for driving platform to move
Dynamic driving device, the lifting gear being mounted on platform, the mechanical arm being mounted on lifting gear are mounted on mechanical arm and export
Picking hands on end, support base.In the present invention, driving device can drive platform straight reciprocating, lifting gear to be mounted on
The upper surface of platform, mechanical arm are mounted on the upper surface of lifting gear, and support base is used to support the rack-track of driving device.It drives
Dynamic device driving platform movement, to realize that the movement of picking hands, lifting gear are lifted, to realize the liter of picking hands
Drop, mechanical arm can be with flexible rotatings, to realize that the rotation of picking hands, picking hands are used for picking tealeaves.Platform is equipped with rain cover
Canopy.
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, driving device includes the driving motor being mounted on platform, is mounted on platform
Power transfer mechanism drives gear, the rack-track of fixed installation.Rack-track is fixedly mounted on support base, rack-track
Positioned at the lower section of platform, the output end of driving motor is connected on the input terminal of power transfer mechanism, and driving gear is mounted on dynamic
On the output end of force transfer mechanism, driving gear is located at the lower section of rack-track, and driving wheel and rack track is meshed.Driving
The power transfer mechanism that runs through of motor imparts power to driving gear, and driving gear is meshed with rack-track again, and
Rack-track is to be fixedly mounted, and therefore, driving gear meeting straight line is walked about, and because power transfer mechanism is mounted on platform
, it drives the straight line of gear to walk about and is moved linearly by power transfer mechanism band moving platform.
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, power transfer mechanism includes horizontally disposed first chain kit, retarder,
The second chain kit being vertically arranged, horizontal positioned transmission shaft.First driving wheel of the first chain kit, which is mounted on, to be driven
On the output end of dynamic motor, the first follower of the first chain kit is mounted on the input terminal of retarder, the second chain drive
Second driving wheel of component is mounted on the output end of retarder, and the second follower of the second chain kit is mounted on transmission shaft
On, driving geared sleeve is on transmission shaft；Platform is equipped with supporting rack, and supporting rack is fixed on platform, and transmission shaft passes through support
Frame, supporting rack are located at the lower section of platform, and the second follower of the second chain kit is located in supporting rack.Driving motor operates,
It drives the first driving wheel to rotate, is rotated by the first follower of chain-driving, the first follower imparts power to retarder, subtracts
Fast device drives the second driving wheel to operate after slowing down, the second driving wheel is operated by the second follower of chain-driving, and then drives and pass
Moving axis operates, and the rotation of transmission shaft drives the rotation of sliding tooth wheel, driving wheel and rack track to be meshed, and driving gear can roll
It is dynamic, drive the rolling of gear to drive transmission shaft, supporting rack, platform, the movement of entire power transfer mechanism.
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, driving gear includes two disks placed vertically and multiple cylindrical rods, cylindrical rod
One end be connected on a disk, the other end of cylindrical rod is connected on another disk, multiple cylindrical rods circumferentially side
To being uniformly distributed, multiple cylindrical rods are meshed with rack-track, and the upper end of disk is higher than the lower end of rack-track.Correspondingly, tooth
The rack of track lower end also will be special with this kind gear match.This kind of special service life of gear is high, cylindrical rod with
The rack of rack-track lower end engages, and stable drive, the field of conjugate action does not allow destructible.
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, supporting rack is equipped with the guide wheel of rotary type installation, and the both ends of guide wheel are equipped with radial dash forward
Go out portion, radially protruding part is located at the outside of rack-track, and the lower end of radially protruding part is less than the upper end of rack-track.Just it is shown in tooth
Track, i.e. the length direction vertical incidence human eye of rack-track, rack-track are located between two radially protruding parts of guide wheel,
Also be located between two disks, the lower end of two radially protruding parts of guide wheel is located at the top on the outside of rack-track, disk it is upper
End is located at the lower part on the outside of rack-track.The case where radially protruding part can play guiding and prevent from turning on one's side, is expert at and passes by
Cheng Zhong, platform may shake, and due to the restriction effect of radially protruding part, can prevent platform from turning on one's side.
In conjunction with shown in Fig. 1, Fig. 4, lifting gear include be mounted on platform on pedestal, scissors type elevating device, lifting platform, directly
Pushing mechanism.Pedestal is mounted on the upper surface of platform, and one side (left side in figure) of scissors type elevating device lower end is fixed on pedestal,
The another side (the right in figure) of scissors type elevating device lower end is equipped with lower horizontal push rod, and lower horizontal push rod is slidably mounted on pedestal
On, one side (left side in figure) of scissors type elevating device upper end is fixed on lifting platform, the another side of scissors type elevating device upper end
(the right in figure) is equipped with upper horizontal push rod, and upper horizontal push rod is slidably mounted on lifting platform, and the output end of direct pushing machine structure connects
On lower horizontal push rod.The first sliding groove is equipped on pedestal and lifting platform, upper horizontal push rod can be slided along the first sliding groove of lifting platform
Dynamic, lower horizontal push rod can be slided along the first sliding groove of pedestal；The both ends of upper horizontal push rod and the both ends of lower horizontal push rod are all provided with limited
Position block, the limited block of lower horizontal push rod are located at the outside of pedestal, and the limited block of upper horizontal push rod is located at the outside of lifting platform, and a total of four
A limited block, can limit horizontal push rod and lower horizontal push rod axially moves.
In conjunction with shown in Fig. 1, Fig. 4, direct pushing machine structure includes first motor, turbine, worm screw, first gear, the first rack.First
Motor is mounted on lifting platform, and turbine is mounted on the output end of first motor, and turbine is meshed with worm screw, first gear suit
On worm screw, lifting platform is equipped with second sliding slot, and the first rack is slidably mounted in the second sliding slot of lifting platform, the first tooth
Wheel is meshed with the first rack, and the end of the first rack is fixed on lower horizontal push rod.First gear and the second rack it is equal there are two,
Two first gears are sleeved on the both ends of worm screw, and first motor is located at the centre of two the first racks.First motor drives turbine
Operating, turbines into motion drive worm screw rotation, worm screw rotation that first gear rotation, first gear rotation is driven to drive the first rack edge
Second sliding slot movement, horizontal push rod movement under the mobile promotion of the first rack, and then drive scissors type elevating device rising and under
Drop, the final raising and lowering for realizing mechanical arm and picking hands.
In conjunction with shown in Fig. 1, Fig. 5, mechanical arm includes the first electric rotating machine being mounted on lifting gear, is mounted on the first rotation
The first micromotor on rotating motor, the rocking arm of vertical rotating formula installation, the second micromotor, the pendulum of vertical rotating formula installation
Arm, the first electric pushrod, flange, the second electric rotating machine.First electric rotating machine is mounted on the upper surface of lifting platform, the first electric rotating
360 ° of rotations may be implemented in machine, and are rotated around vertical direction.Rocking arm can be rotatably mounted on electric rotating machine, rocking arm
It can swing up and down, the output end of the first micromotor is connected on rocking arm, and the end of swing arm is pivotally mounted on rocking arm,
Swing arm can be swung up and down, and the output end of the second micromotor is connected in swing arm, and the first electric pushrod is mounted on the end of swing arm
In portion, flange is mounted on the end of the first electric pushrod, and the second electric rotating machine is mounted on flange, and picking hands are mounted on second
On the output end of electric rotating machine.First electric rotating machine can drive the rotation that entire mechanical arm carries out 360 ° around vertical direction,
Rocking arm and swing arm can be swung up and down, and the mechanical arm in two joints, i.e. rocking arm and swing arm is arranged, can expand picking hands
The range of picking, if only rocking arm, without swing arm, then close to the range of the first electric rotating machine, not in the picking range of picking hands
It is interior.Second electric rotating machine can drive the rotation that entire picking hands carry out 360 °.
In conjunction with shown in Fig. 1, Fig. 6, picking hands include the holder being mounted on the second electric rotating machine output end, are mounted on holder
On the second electric pushrod, two rocking bars being arranged symmetrically, two outside connecting rods being arranged symmetrically, two horizontal pressures being arranged symmetrically
Bar, two supporting rods being arranged symmetrically.Second electric pushrod passes through a through-hole of holder, the through-hole that can play guiding role,
Improve the accuracy of the second electric pushrod linear motion.The output end of second electric pushrod is equipped with transverse bar, the both ends of transverse bar
Hinged with two rocking bars respectively, one end of rocking bar and transverse bar are hinged, and the other end and outside connecting rod of rocking bar are hinged, in outside connecting rod
Portion is hinged on holder, and one end of outside connecting rod and rocking bar are hinged, and the other end of outside connecting rod and the end of horizontal compression bar are hinged, supporting rod
One end be hinged on holder, the other end of supporting rod is hinged on horizontal compression bar.On two horizontal compression bars close to each other or separate
It is equipped with blade and binding clasp.Transverse bar, rocking bar, outside connecting rod, horizontal compression bar form a link mechanism, can drive two horizontal compression bars
It is close to each other or separate.Second electric pushrod is stretched out or is retracted, and is driven rocking bar, outside connecting rod rotation successively, is finally driven two cross
Compression bar is close to each other or separate, so that the two panels blade on horizontal compression bar cuts the stalk of tealeaves, binding clasp is by tea clamp
Tightly, and by mechanical arm, lifting gear tealeaves is placed into suitable position.
In conjunction with shown in Fig. 1, Fig. 6, Fig. 7, binding clasp includes supporting block, buffer spring, tabletting；Supporting block is mounted on horizontal compression bar
On, one end of buffer spring is connected in supporting block, and the other end of buffer spring is connected in tabletting；With two horizontal compression bars
Close to each other or separate, two panels tabletting is close to each other or separate.Tabletting can clamp tealeaves, if two horizontal compression bars are with larger speed
When spending close to each other, buffer spring can play a buffer role in, and two panels tabletting is avoided acutely to squeeze tealeaves, to destroy tealeaves.
The principle of the present invention：By the present invention in Hills, driving device to drive entire platform on Hills edge
Rack-track movement, lifting gear drives entire mechanical arm to rise or fall, and to which the height of picking hands be raised and lowered, fits
The height of different tealeaves is answered, then the first electric rotating machine can drive entire mechanical arm and picking hands to be rotated around vertical direction,
The range that i.e. picking hands can be picked is with the maximum radius of the rotation of mechanical arm, and mechanical arm uses two joints, can expand and adopt
The picking range for plucking hand, i.e., from overlook direction, the picking range of picking hands is a circular ring shape, can expand the circular ring shape
Area.Then the second electric pushrod works, and realizes the stalk for cutting tealeaves and is clamped tealeaves with binding clasp, is then put into conjunction
Suitable place.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of Hills rail mounted tea picking machinery people, it is characterised in that：Including platform, for driving platform to move
Driving device, the lifting gear being mounted on platform, the mechanical arm being mounted on lifting gear are mounted on mechanical arm output end
Picking hands.
2. a kind of Hills rail mounted tea picking machinery people described in accordance with the claim 1, it is characterised in that：Driving device
Include the driving motor on platform, the power transfer mechanism being mounted on platform drives gear, the rack of fixed installation
Track；The output end of driving motor is connected on the input terminal of power transfer mechanism, and driving gear is mounted on power transfer mechanism
Output end on, driving wheel and rack track be meshed.
3. a kind of Hills rail mounted tea picking machinery people according to claim 2, it is characterised in that：Power transmits
Mechanism includes horizontally disposed first chain kit, retarder, the second chain kit being vertically arranged, transmission shaft；First
First driving wheel of chain kit is mounted on the output end of driving motor, and the first follower of the first chain kit is installed
On the input terminal of retarder, the second driving wheel of the second chain kit is mounted on the output end of retarder, and the second chain passes
Second follower of dynamic component is mounted on transmission shaft, and driving geared sleeve is on transmission shaft；Platform is equipped with supporting rack, support
Frame is fixed on platform, and transmission shaft passes through supporting rack.
4. a kind of Hills rail mounted tea picking machinery people described in accordance with the claim 3, it is characterised in that：Drive gear
One end of the disk and multiple cylindrical rods placed vertically including two, cylindrical rod is connected on a disk, cylindrical rod it is another
End is connected on another disk, and multiple cylindrical rods are circumferentially uniformly distributed, and multiple cylindrical rods are mutually nibbled with rack-track
It closes, the upper end of disk is higher than the lower end of rack-track.
5. a kind of Hills rail mounted tea picking machinery people described in accordance with the claim 3, it is characterised in that：On supporting rack
The both ends of guide wheel equipped with rotary type installation, guide wheel are equipped with radially protruding part, and radially protruding part is located at the outside of rack-track, diameter
It is less than the upper end of rack-track to the lower end of protruding portion.
6. a kind of Hills rail mounted tea picking machinery people described in accordance with the claim 1, it is characterised in that：Lifting gear
Include the pedestal on platform, scissors type elevating device, lifting platform, direct pushing machine structure；Scissors type elevating device lower end is consolidated on one side
It being scheduled on pedestal, the another side of scissors type elevating device lower end is equipped with lower horizontal push rod, and lower horizontal push rod is slidably mounted on pedestal,
Scissors type elevating device upper end is fixed on lifting platform on one side, and the another side of scissors type elevating device upper end is equipped with upper horizontal push rod, on
Horizontal push rod is slidably mounted on lifting platform, and the output end of direct pushing machine structure is connected on lower horizontal push rod.
7. a kind of Hills rail mounted tea picking machinery people according to claim 6, it is characterised in that：Direct pushing machine structure
Including first motor, turbine, worm screw, first gear, the first rack；First motor is mounted on lifting platform, and turbine is mounted on the
On the output end of one motor, turbine is meshed with worm screw, and first gear is sleeved on worm screw, and the first rack is slidably mounted on
On lifting platform, first gear is meshed with the first rack, and the end of the first rack is fixed on lower horizontal push rod.
8. a kind of Hills rail mounted tea picking machinery people described in accordance with the claim 1, it is characterised in that：Mechanical arm packet
The first electric rotating machine on lifting gear is included, the first micromotor being mounted on the first electric rotating machine, vertical rotating
The rocking arm of formula installation, the second micromotor, the swing arm of vertical rotating formula installation, the first electric pushrod, flange, the second electric rotating
Machine；The output end of first micromotor is connected on rocking arm, and the end of swing arm is pivotally mounted on rocking arm, the second micro electric
The output end of machine is connected in swing arm, and the first electric pushrod is mounted on the end of swing arm, and flange is mounted on the first electric pushrod
End on, the second electric rotating machine be mounted on flange on, picking hands be mounted on the second electric rotating machine output end on.
9. a kind of Hills rail mounted tea picking machinery people according to claim 8, it is characterised in that：Pick handbag
Include the holder on the second electric rotating machine output end, the second rack-mount electric pushrod, two be arranged symmetrically
Rocking bar, two outside connecting rods being arranged symmetrically, two horizontal compression bars being arranged symmetrically, two supporting rods being arranged symmetrically；Second is electronic
The output end of push rod is equipped with transverse bar, and one end of rocking bar and transverse bar are hinged, and the other end and outside connecting rod of rocking bar are hinged, outside connecting rod
Middle part be hinged on holder, one end of outside connecting rod is hinged with rocking bar, and the other end of outside connecting rod and the end of horizontal compression bar are hinged, branch
One end of strut is hinged on holder, and the other end of supporting rod is hinged on horizontal compression bar；Two horizontal pressures close to each other or separate
Blade and binding clasp are equipped on bar.
10. a kind of Hills rail mounted tea picking machinery people according to claim 9, it is characterised in that：Binding clasp
Including supporting block, buffer spring, tabletting；Supporting block is mounted on horizontal compression bar, and one end of buffer spring is connected in supporting block, is delayed
The other end for rushing spring is connected in tabletting；It is close to each other or separate with two horizontal compression bars, two panels tabletting it is close to each other or
It is separate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275275.4A CN108555921A (en) | 2018-03-30 | 2018-03-30 | A kind of Hills rail mounted tea picking machinery people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275275.4A CN108555921A (en) | 2018-03-30 | 2018-03-30 | A kind of Hills rail mounted tea picking machinery people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108555921A true CN108555921A (en) | 2018-09-21 |
Family
ID=63533649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810275275.4A Pending CN108555921A (en) | 2018-03-30 | 2018-03-30 | A kind of Hills rail mounted tea picking machinery people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555921A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220227A (en) * | 2018-11-01 | 2019-01-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of Famous High-quality Tea picking robot |
| CN109463129A (en) * | 2018-12-29 | 2019-03-15 | 贺州学院 | A kind of picking mechanical arm |
| CN109877860A (en) * | 2019-03-15 | 2019-06-14 | 温州大学 | It is a kind of it is two-way can simultaneous retractable Dual-motors Driving assemble clamping jaw |
| CN110199688A (en) * | 2019-06-28 | 2019-09-06 | 大连理工大学 | A kind of industrial hemp field pickup, pier root, packing and inlet composite machine equipment |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110774262A (en) * | 2019-10-23 | 2020-02-11 | 湖南军成科技有限公司 | Rotary line truss manipulator |
| CN112715161A (en) * | 2021-01-12 | 2021-04-30 | 河南科技大学 | Auxiliary system for picking crops in facility agricultural environment and control method |
| CN112917482A (en) * | 2021-01-19 | 2021-06-08 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Foldable three-dimensional carrying device and method |
| CN113119068A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Multi-degree-of-freedom gripping device and robot applying same |
| CN113484063A (en) * | 2021-07-08 | 2021-10-08 | 河南农业大学 | Corn leaf sampling device |
| CN113785694A (en) * | 2021-10-23 | 2021-12-14 | 江西省农业科学院农业工程研究所 | Tea intelligent picking equipment based on deep learning and computer vision recognition |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN114467492A (en) * | 2022-02-23 | 2022-05-13 | 浙江理工大学 | Clamping, shearing and collecting integrated compact double-arm type tea row harvesting device and method |
| CN115380737A (en) * | 2022-08-17 | 2022-11-25 | 国网浙江省电力有限公司双创中心 | Cultivation facility and cultivation method for mechanically-harvested cucumbers under photovoltaic panel in hilly area |
| CN116061149A (en) * | 2023-03-17 | 2023-05-05 | 华南农业大学 | Rod-shaped crop manipulator |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU722519A1 (en) * | 1978-04-07 | 1980-03-25 | Сибирское научно-производственное лесозаготовительное объединение | Clamping and cutting apparatus for forest-extraction machine |
| JP2007274995A (en) * | 2006-04-10 | 2007-10-25 | Ochiai Cutlery Mfg Co Ltd | Tea leaf-plucking machine |
| CN202574221U (en) * | 2012-04-12 | 2012-12-05 | 集辰（福建）农林发展有限公司 | Hillside orchard monorail transport vehicle |
| CN204350661U (en) * | 2014-12-17 | 2015-05-27 | 安徽农业大学 | A kind of end effector of famous green tea picking robot |
| CN204721871U (en) * | 2015-05-11 | 2015-10-28 | 北京农业智能装备技术研究中心 | Fruit and vegetable intelligence picker system |
| CN205739204U (en) * | 2016-05-11 | 2016-11-30 | 宁波利豪机械有限公司 | A kind of hillside orchard monorail transit equipment |
| CN107006218A (en) * | 2017-05-09 | 2017-08-04 | 南京林业大学 | The bionical harvesting of tealeaves refers to |
| CN107053253A (en) * | 2017-05-04 | 2017-08-18 | 西安航空学院 | Super redundant manipulator |
| CN107371600A (en) * | 2017-08-10 | 2017-11-24 | 浙江大学昆山创新中心 | A kind of mechanical device and system for plucking tealeaves |
| CN206811989U (en) * | 2017-03-17 | 2017-12-29 | 上海杰销自动化科技有限公司 | Can self-locking robot hand |
| CN107567822A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Tea picking machine |
| CN207070634U (en) * | 2017-08-25 | 2018-03-06 | 新昌县三新空调风机有限公司 | A kind of tea leaf picker |
| CN208117867U (en) * | 2018-03-30 | 2018-11-20 | 华南农业大学 | A kind of tea plucking device suitable for Hilly region |
-
2018
- 2018-03-30 CN CN201810275275.4A patent/CN108555921A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU722519A1 (en) * | 1978-04-07 | 1980-03-25 | Сибирское научно-производственное лесозаготовительное объединение | Clamping and cutting apparatus for forest-extraction machine |
| JP2007274995A (en) * | 2006-04-10 | 2007-10-25 | Ochiai Cutlery Mfg Co Ltd | Tea leaf-plucking machine |
| CN202574221U (en) * | 2012-04-12 | 2012-12-05 | 集辰（福建）农林发展有限公司 | Hillside orchard monorail transport vehicle |
| CN204350661U (en) * | 2014-12-17 | 2015-05-27 | 安徽农业大学 | A kind of end effector of famous green tea picking robot |
| CN204721871U (en) * | 2015-05-11 | 2015-10-28 | 北京农业智能装备技术研究中心 | Fruit and vegetable intelligence picker system |
| CN205739204U (en) * | 2016-05-11 | 2016-11-30 | 宁波利豪机械有限公司 | A kind of hillside orchard monorail transit equipment |
| CN206811989U (en) * | 2017-03-17 | 2017-12-29 | 上海杰销自动化科技有限公司 | Can self-locking robot hand |
| CN107053253A (en) * | 2017-05-04 | 2017-08-18 | 西安航空学院 | Super redundant manipulator |
| CN107006218A (en) * | 2017-05-09 | 2017-08-04 | 南京林业大学 | The bionical harvesting of tealeaves refers to |
| CN107567822A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Tea picking machine |
| CN107371600A (en) * | 2017-08-10 | 2017-11-24 | 浙江大学昆山创新中心 | A kind of mechanical device and system for plucking tealeaves |
| CN207070634U (en) * | 2017-08-25 | 2018-03-06 | 新昌县三新空调风机有限公司 | A kind of tea leaf picker |
| CN208117867U (en) * | 2018-03-30 | 2018-11-20 | 华南农业大学 | A kind of tea plucking device suitable for Hilly region |
Non-Patent Citations (1)
| Title |
|---|
| 郭晓燕;洪添胜;高锐涛;杨晓彬;张成;常星亮;游展辉;吴伟斌;: "茶叶采摘机的造型优化设计和人机因素研究", no. 01, pages 46 - 47 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220227A (en) * | 2018-11-01 | 2019-01-18 | 江苏集萃智能制造技术研究所有限公司 | A kind of Famous High-quality Tea picking robot |
| CN109463129A (en) * | 2018-12-29 | 2019-03-15 | 贺州学院 | A kind of picking mechanical arm |
| CN109877860A (en) * | 2019-03-15 | 2019-06-14 | 温州大学 | It is a kind of it is two-way can simultaneous retractable Dual-motors Driving assemble clamping jaw |
| CN110199688A (en) * | 2019-06-28 | 2019-09-06 | 大连理工大学 | A kind of industrial hemp field pickup, pier root, packing and inlet composite machine equipment |
| CN110432000B (en) * | 2019-08-23 | 2024-06-11 | 佛山科学技术学院 | Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110774262A (en) * | 2019-10-23 | 2020-02-11 | 湖南军成科技有限公司 | Rotary line truss manipulator |
| CN113119068A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Multi-degree-of-freedom gripping device and robot applying same |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN112715161A (en) * | 2021-01-12 | 2021-04-30 | 河南科技大学 | Auxiliary system for picking crops in facility agricultural environment and control method |
| CN112917482A (en) * | 2021-01-19 | 2021-06-08 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Foldable three-dimensional carrying device and method |
| CN113484063A (en) * | 2021-07-08 | 2021-10-08 | 河南农业大学 | Corn leaf sampling device |
| CN113785694A (en) * | 2021-10-23 | 2021-12-14 | 江西省农业科学院农业工程研究所 | Tea intelligent picking equipment based on deep learning and computer vision recognition |
| CN113785694B (en) * | 2021-10-23 | 2023-01-31 | 江西省农业科学院农业工程研究所 | Tea intelligent picking equipment based on deep learning and computer vision recognition |
| CN114467492B (en) * | 2022-02-23 | 2022-11-25 | 浙江理工大学 | Clamping, shearing and harvesting integrated compact double-arm type tea row spacing harvesting device and method |
| CN114467492A (en) * | 2022-02-23 | 2022-05-13 | 浙江理工大学 | Clamping, shearing and collecting integrated compact double-arm type tea row harvesting device and method |
| CN115380737A (en) * | 2022-08-17 | 2022-11-25 | 国网浙江省电力有限公司双创中心 | Cultivation facility and cultivation method for mechanically-harvested cucumbers under photovoltaic panel in hilly area |
| CN115380737B (en) * | 2022-08-17 | 2023-08-15 | 国网浙江省电力有限公司双创中心 | Cultivation facility and cultivation method for mechanically-picked cucumber under photovoltaic panel in hilly area |
| CN116061149A (en) * | 2023-03-17 | 2023-05-05 | 华南农业大学 | Rod-shaped crop manipulator |
| CN116061149B (en) * | 2023-03-17 | 2023-06-23 | 华南农业大学 | Rod-shaped crop manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108555921A (en) | A kind of Hills rail mounted tea picking machinery people | |
| CN208117867U (en) | A kind of tea plucking device suitable for Hilly region | |
| CN202617725U (en) | Arm frame structure for oil tea fruit picking machine | |
| CN109952859B (en) | Rotary twisting type pineapple picking device | |
| CN206855535U (en) | A kind of carrot slice even action cutting equipment | |
| CN208739609U (en) | A kind of automation pineapple picking machine | |
| CN108513795B (en) | Pineapple picking machine and working method | |
| CN210519478U (en) | Lifting platform for pruning and picking fruits of fruit growers | |
| CN208971964U (en) | Placement device based on parallelogram mechanism | |
| CN113752272A (en) | Orange picking robot | |
| CN210247568U (en) | Electric telescopic picking frame for dragon fruits | |
| CN108082923A (en) | A kind of mechanical arm on automobile assembly line grabs component device | |
| CN201663816U (en) | Four-bar picking head used for oil-tea camellia fruit picking machine | |
| CN109997509A (en) | Small berry picking machine with soft rope | |
| CN213548429U (en) | Small-size self-propelled oil tea fruit picking machine | |
| CN215683536U (en) | Pruning device for landscaping arbor | |
| CN106068919B (en) | Vibrating comb-brush type medlar picking machine | |
| CN115053697A (en) | Comb-type camellia oleifera fruit picking device and picking method thereof | |
| CN213127136U (en) | Watermelon picking device | |
| CN209897668U (en) | Car is picked to scalable little touching shear type fruit intelligence of remote control | |
| CN209693490U (en) | A kind of raspberry picker of anti-fruit breakage | |
| CN112219554A (en) | Small-size self-propelled oil tea fruit picking machine | |
| CN207305429U (en) | One kind is used for eminence fruit picker | |
| CN108476707B (en) | Tassel cutting assembly for mechanical harvesting operation of root crops | |
| CN208675812U (en) | Jujube device is adopted in the beating of multiple degrees of freedom manual imitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |