CN202617725U - Arm frame structure for oil tea fruit picking machine - Google Patents
Arm frame structure for oil tea fruit picking machine Download PDFInfo
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- CN202617725U CN202617725U CN 201220110228 CN201220110228U CN202617725U CN 202617725 U CN202617725 U CN 202617725U CN 201220110228 CN201220110228 CN 201220110228 CN 201220110228 U CN201220110228 U CN 201220110228U CN 202617725 U CN202617725 U CN 202617725U
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Abstract
The utility model discloses an arm frame structure for an oil tea fruit picking machine, belongs to the field of oil tea fruit picking machinery, and aims to solve the problems that the labor intensity is high and the efficiency is low because most of conventional oil tea fruits are manually picked. The arm frame structure for the oil tea fruit picking machine comprises a supporting base, a rotating arm, a hydraulic motor and a worm reducer which are used for driving the rotating arm, a main arm, a main arm driven sliding block, a horizontal swinging seat, a vibrating sliding seat, and hydraulic cylinders which are used for driving the components. The arm frame structure is convenient to operate, can realize the picking movement which meets the requirement range, and is high in work efficiency; the coordination performance among mechanisms is high; particularly the electrohydraulic integrated control is adopted, so that the arm frame structure has high integration degree, is convenient to control, and is high in practicability; the technical support can be provided for the popularization of the plantation of oil tea fruits; and the manual picking is substituted.
Description
Technical field
The utility model relates to forestry harvest machinery technical field, is specially a kind of jib structure that is used for the oil tea fruit picking machine.
Background technology
Oil tea is the important quality raw materials of vegetable oil; Its results have extremely strong seasonality, and for a long time, each oil tea planting site overwhelming majority relies on manual picking oil tea fruit; The manpower, the time ratio that consume are bigger; Picking efficiency is low, and some oil tea be difficult to pluck or pluck less than, human body safety is had certain threat.In the prior art, China fails to address this problem always, and the development of oil tea picking machine is just at the early-stage; Have the oil tea picking machine to come out abroad, though mechanism's automaticity and operating efficiency are higher, yet mechanism is too complicated; And cost is too high, is not suitable for the present situation of China.China's oil tea picking machine still need go into overdrive to develop.
Through to now having become the tea oil tree of the oil tea planting base of scale to study; It is bigger to find that tea oil tree has branch toughness; Basically do not have fruit on the trunk of tea oil tree, fruit mainly is distributed in the front end of tea oil tree branch, that is to say that oil tea fruit is along the surface distributed of tree basically.
The picking mechanical that part is used for oil tea is in the harvesting process, and plucking the position can not reach arbitrarily, tends to cause Lou pluck and need manual work to win equally, influences picking efficiency.
The utility model content:
To the defective of existing oil tea picking mechanical technology, the purpose of the utility model aims to provide a kind of jib structure that is used for the oil tea fruit picking machine, and it can accurately find the correct position of diverse location distance and the trunk of the oil tea fruit tree of different height; Can really come off with the oil tea of picking head to its clamping and vibration so that maturation; Picking efficiency is high, and is easy to operate, practical; Mechanism's coordination performance is good, reduces immature fruit is damaged.
To achieve these goals, the technical scheme of the utility model employing is:
A kind of jib structure that is used for the oil tea fruit picking machine, its design feature are to comprise the bearing that is fixed on the chassis frame; Being contained on the bearing can be around the turning arm of self axis rotation; This turning arm is by the motor driven that is located at the one of which side, and an end of the upper end of said turning arm and principal arm is hinged, and the principal arm driven sliding block of principal arm slip relatively is housed in this principal arm; A said principal arm driven sliding block and a horizontal hunting seat are hinged, and the vibration head slide that connects picking head is housed on this horizontal hunting seat; Between said turning arm and the principal arm, between principal arm and the principal arm driven sliding block, between principal arm driven sliding block and the horizontal hunting seat, be equipped with hydraulic cylinder between horizontal hunting seat and the vibration head slide.
Said motor and worm-gear speed reducer link, and this worm-gear speed reducer and turning arm link.
In order to guarantee that principal arm driven sliding block relative principal arm under the driving of hydraulic cylinder freely stretches, said principal arm is fixedly connected with slide block, and this slide block and principal arm driven sliding block are slidingly connected.
Nationality is by said structure; The described jib structure that is used for the oil tea fruit picking machine of the utility model comprises the rotation arm seat that supports turning arm, is fixed on the bearing on the chassis frame, and being installed on the bearing can be around the turning arm of self axis rotation; The hydraulic motor of driven in rotation arm and worm-gear speed reducer; Through being hingedly mounted on the principal arm on the turning arm, in the principal arm through the bolt slide block, the principal arm driven sliding block of sliding and linking with slide block; Through the hinged horizontal hunting seat that is connected with driven sliding block, connect the vibration head slide and the hydraulic cylinder of picking head.
Said turning arm be through the bearing overall fixed on chassis frame; Connecting rotating joint by hydraulic motor drives; Realize the rotation of turning arm through worm-gear speed reducer through the engagement of pinion and gear wheel, can be locked voluntarily when reaching the angle that turning arm need rotate.Said principal arm is mounted in the turning arm end, and is hinged with turning arm, and through the rotation of Driven by Hydraulic Cylinder principal arm, the slide block in the principal arm use bolt, and the relative slip between the principal arm driven sliding block also is by Driven by Hydraulic Cylinder, thereby realizes stretching of principal arm.Said horizontal hunting seat is hinged with driven sliding block; Realized rotating up and down by hydraulic cylinder, the horizontal hunting seat is hinged with the vibration slide, under the driving of hydraulic cylinder, makes horizontal hunting; Be connected with picking head through the vibration slide at last; Driven by Hydraulic Cylinder vibration picking head rotates, and each parts certain angle free to rotate or the segment length that relatively moves make whole harvesting jib form multiple degrees of freedom like this.
Below the utility model made further specify; As shown in Figure 1; Whole jib structure is fixed on the chassis frame with bearing 3 through rotation arm seat 2, and turning arm 5 provides power through hydraulic motor 1 and worm-gear speed reducer 4, can be around self axis rotation; Worm-gear speed reducer 4 is locked when turning arm 5 forwards the position that needs to, reaches the purpose of location.Principal arm 7 is terminal hinged with turning arm 5, in the principal arm 7 slide block is housed, and reaches the purpose of flexible brachium through the relative slip with principal arm driven sliding block 9.Horizontal hunting seat 10 with driven sliding block 9 is connected through the hinge can rotate up and down around axis in the effect of hydraulic cylinder 14.Between vibration slide 12 and the horizontal hunting seat 10 also is hinged, is driven by hydraulic cylinder 13 and makes horizontal hunting around axis.Vibrate picking head at last and be installed on the vibration slide 12, drive by hydraulic cylinder 11 and realize rotating.Whole harvesting jib has 6 degree of freedom; Pass through the pose of each kinematic pair adjustment picking head during harvesting; Clamp trunk by multiple degrees of freedom jib structure control vibration picking head, vibration can realize that continue, high efficiency, safe operation to cause mellow fruit to come off.
Pluck apparatus in comparison with existing oil tea; The beneficial effect of the utility model is: the vibration picking head of the utility model can be plucked the motion of each parts of jib by Driven by Hydraulic Cylinder; In required scope, adjust attitude; Let picking head carry out clamping, pluck oil tea purpose really to arrive, and can realize that continue, high efficiency, safe operation the fruit tree of diverse location distance and differing heights.
The utility model is easy to operate, the harvesting campaign in the scope that can realize meeting the demands, high efficiency; Inter-agency coordination is functional, particularly adopts electrohydraulic integration control, and integrated level is high; Control is convenient; Practical very strong, can be the popularization that oil tea really plants technical support is provided, replace manual picking.
Below in conjunction with accompanying drawing and embodiment the utility model is done further to set forth.
Description of drawings
Fig. 1 is the front view of a kind of embodiment of the said jib structure of the utility model;
Fig. 2 is the vertical view of Fig. 1.
In the drawings:
The 1-motor; 2-rotates arm seat; The 3-bearing; The 4-worm-gear speed reducer;
6,8,11,13, the 14-hydraulic cylinder; The 7-principal arm; 9-principal arm driven sliding block;
10-horizontal hunting seat; 12-vibrates slide;
Embodiment
A kind of jib structure that is used for the oil tea fruit picking machine, as depicted in figs. 1 and 2, comprise the rotation arm seat 2 that supports turning arm; Be fixed on the bearing 3 on the chassis frame; Being installed on the bearing can be around the turning arm 5 of self axis rotation, and the hydraulic motor 1 and the worm-gear speed reducer 4 of driven in rotation arm 5 are through being hingedly mounted on the principal arm on the turning arm 5; Pass through the bolt slide block in the principal arm; The principal arm driven sliding block 9 of sliding and linking with slide block, through hinged be connected with driven sliding block horizontal hunting seat 10, connect the vibration head slide 12 and the hydraulic cylinder 6,8,11,13,14 of vibration picking head.
Described turning arm 5 be through bearing 3 overall fixed on chassis frame; Connecting rotating joint by hydraulic motor 1 drives; Realize the rotation of turning arm 5 through worm-gear speed reducer 4 through the engagement of pinion and gear wheel, can be locked voluntarily when reaching the angle that turning arm need rotate.Described principal arm 7 is mounted in the turning arm end; Hinged with turning arm 5, through the rotation of hydraulic cylinder 6 driving principal arms, the slide block in the principal arm is used bolt; And the relative slip between the principal arm driven sliding block 9 also is to be driven by hydraulic cylinder 8, thereby realizes the flexible of principal arm.Described horizontal hunting seat 10 is hinged with driven sliding block; Realized rotating up and down by hydraulic cylinder, the horizontal hunting seat is hinged with the vibration slide, under the driving of hydraulic cylinder, makes horizontal hunting; Be connected with picking head through vibration slide 12 at last; Driven by Hydraulic Cylinder vibration picking head rotates, and each parts certain angle free to rotate or the segment length that relatively moves make whole harvesting jib form multiple degrees of freedom like this.
Before body movement arrives the oil tea fruit tree that needs to pluck; Stop,, turn to the desired position by hydraulic motor 1 and worm-gear speed reducer 4 driven in rotation arms 5 earlier by the said jib structure that is used for the oil tea fruit picking machine of operator the utility model; Worm-gear speed reducer 4 is locked; Then driving the principal arm 7 that is hinged on the turning arm end by hydraulic cylinder 6 and rotate, is that principal arm driven sliding block 9 moved with respect to principal arm 7 under hydraulic cylinder 8 drove equally, flexible principal arm 7 to appropriate length; Turn an angle up and down by hydraulic cylinder 14 drivings with driven sliding block 9 hinged horizontal hunting seats 10; Being the vibration slide 12 hinged with it can be made certain angle under the driving of hydraulic cylinder 13 horizontal hunting then, is that the vibration picking head that is connected with vibration slide 12 turns to correct position by hydraulic cylinder 11 drivings at last, and the target trunk is carried out clamping; Rely on the vibrating motor on the vibration picking head that trunk is fit to the vibration of frequency and amplitude, achieve the goal so that the oil tea fruit of maturation comes off from branch.
The content that the foregoing description is illustrated is to be understood that to these embodiment and only is used to be illustrated more clearly in the utility model; And be not used in the restriction the utility model scope; After having read the utility model, those skilled in the art all fall within the application's accompanying claims institute restricted portion to the modification of the various equivalent form of values of the utility model.
Claims (3)
1. a jib structure that is used for the oil tea fruit picking machine is characterized in that, comprises the bearing (3) that is fixed on the chassis frame, and being contained on the bearing (3) can be around the turning arm (5) of self axis rotation, and this turning arm (5) is driven by the motor that is located at the one of which side (1); One end of the upper end of said turning arm (5) and principal arm (7) is hinged; The principal arm driven sliding block (9) of principal arm (7) slip relatively is housed in this principal arm (7); Said principal arm driven sliding block (9) is hinged with a horizontal hunting seat (10), and the vibration head slide (12) that connects picking head is housed on this horizontal hunting seat (10); Between said turning arm (5) and the principal arm (7), between principal arm (7) and the principal arm driven sliding block (9), between principal arm driven sliding block (9) and the horizontal hunting seat (10), be equipped with hydraulic cylinder between horizontal hunting seat (10) and the vibration head slide (12).
2. according to the said jib structure that is used for the oil tea fruit picking machine of claim 1, it is characterized in that said motor (1) links with worm-gear speed reducer (4), this worm-gear speed reducer (4) links with turning arm (5).
3. according to the said jib structure that is used for the oil tea fruit picking machine of claim 1, it is characterized in that said principal arm (7) is fixedly connected with slide block, this slide block and principal arm driven sliding block (9) are slidingly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220110228 CN202617725U (en) | 2012-03-21 | 2012-03-21 | Arm frame structure for oil tea fruit picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220110228 CN202617725U (en) | 2012-03-21 | 2012-03-21 | Arm frame structure for oil tea fruit picking machine |
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| Publication Number | Publication Date |
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| CN202617725U true CN202617725U (en) | 2012-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220110228 Expired - Fee Related CN202617725U (en) | 2012-03-21 | 2012-03-21 | Arm frame structure for oil tea fruit picking machine |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103416161A (en) * | 2013-07-12 | 2013-12-04 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
| WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
| CN104653102A (en) * | 2015-02-05 | 2015-05-27 | 广东顺德孔山重工机械有限公司 | Wide-angle pitching and swinging down-the-hole drill |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105940864A (en) * | 2016-06-30 | 2016-09-21 | 江西农业大学 | Rubber roller type automatic oil tea fruit harvester |
| CN108064559A (en) * | 2017-12-19 | 2018-05-25 | 安徽农业大学 | A kind of multi-cylinder encircling type electric and magnetic oscillation camellia oleifera fruit picker |
| CN108243720A (en) * | 2018-01-11 | 2018-07-06 | 温州大学激光与光电智能制造研究院 | Fruit picking robot high up in the air |
| CN108271530A (en) * | 2018-01-22 | 2018-07-13 | 安徽农业大学 | A kind of solid root of double mechanical arms shakes a formula camellia oleifera fruit picker |
| CN108541457A (en) * | 2017-12-28 | 2018-09-18 | 湘潭大学 | A kind of vehicle-mounted shake formula device for picking fruit |
| CN108811758A (en) * | 2018-05-11 | 2018-11-16 | 哈尔滨理工大学 | A kind of novel more mechanical arm fruit collecting carts |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN110537420A (en) * | 2019-10-10 | 2019-12-06 | 浙江海洋大学 | Coconut picking device |
| CN111673765A (en) * | 2020-06-19 | 2020-09-18 | 湖南湘源金穗智能装备有限公司 | Oil tea picking manipulator |
| CN113228937A (en) * | 2021-06-08 | 2021-08-10 | 农业农村部南京农业机械化研究所 | Fruit all-in-one of gathering |
| CN114679963A (en) * | 2022-04-27 | 2022-07-01 | 中国农业大学 | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method |
| CN114847006A (en) * | 2022-05-25 | 2022-08-05 | 重庆交通职业学院 | Automatic durian picking device |
-
2012
- 2012-03-21 CN CN 201220110228 patent/CN202617725U/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103416161B (en) * | 2013-07-12 | 2014-10-15 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
| CN103416161A (en) * | 2013-07-12 | 2013-12-04 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
| CN104653102A (en) * | 2015-02-05 | 2015-05-27 | 广东顺德孔山重工机械有限公司 | Wide-angle pitching and swinging down-the-hole drill |
| CN105409452B (en) * | 2015-12-24 | 2017-09-22 | 米莹莹 | Multi-functional fruit picker |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105940864A (en) * | 2016-06-30 | 2016-09-21 | 江西农业大学 | Rubber roller type automatic oil tea fruit harvester |
| CN108064559A (en) * | 2017-12-19 | 2018-05-25 | 安徽农业大学 | A kind of multi-cylinder encircling type electric and magnetic oscillation camellia oleifera fruit picker |
| CN108064559B (en) * | 2017-12-19 | 2023-09-15 | 安徽农业大学 | Multi-cylinder encircling type electromagnetic vibration oil tea fruit picking device |
| CN108541457A (en) * | 2017-12-28 | 2018-09-18 | 湘潭大学 | A kind of vehicle-mounted shake formula device for picking fruit |
| CN108243720A (en) * | 2018-01-11 | 2018-07-06 | 温州大学激光与光电智能制造研究院 | Fruit picking robot high up in the air |
| CN108243720B (en) * | 2018-01-11 | 2019-08-20 | 温州大学激光与光电智能制造研究院 | Fruit picking robot high up in the air |
| CN108271530A (en) * | 2018-01-22 | 2018-07-13 | 安徽农业大学 | A kind of solid root of double mechanical arms shakes a formula camellia oleifera fruit picker |
| CN108271530B (en) * | 2018-01-22 | 2024-01-16 | 安徽农业大学 | Root-fixing and branch-shaking type oil tea fruit picking device with double mechanical arms |
| CN108811758A (en) * | 2018-05-11 | 2018-11-16 | 哈尔滨理工大学 | A kind of novel more mechanical arm fruit collecting carts |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN110537420A (en) * | 2019-10-10 | 2019-12-06 | 浙江海洋大学 | Coconut picking device |
| CN111673765A (en) * | 2020-06-19 | 2020-09-18 | 湖南湘源金穗智能装备有限公司 | Oil tea picking manipulator |
| CN113228937A (en) * | 2021-06-08 | 2021-08-10 | 农业农村部南京农业机械化研究所 | Fruit all-in-one of gathering |
| CN114679963A (en) * | 2022-04-27 | 2022-07-01 | 中国农业大学 | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method |
| CN114679963B (en) * | 2022-04-27 | 2023-03-07 | 中国农业大学 | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method |
| CN114847006A (en) * | 2022-05-25 | 2022-08-05 | 重庆交通职业学院 | Automatic durian picking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20130321 |