CN210093995U

CN210093995U - Automatic unmanned oil tea picking equipment

Info

Publication number: CN210093995U
Application number: CN201920616791.9U
Authority: CN
Inventors: 王飞; 宋凯; 王佳; 王建; 杨兰芳; 马林; 王虎; 张红瑞
Original assignee: Zhengzhou Yongfeng Biological Fertilizer Industry Co ltd
Current assignee: Zhengzhou Yongfeng Biological Fertilizer Industry Co ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-02-21
Anticipated expiration: 2029-04-30
Also published as: JP3227347U

Abstract

The utility model discloses an automatic unmanned oil tea equipment of picking relates to oil tea harvesting equipment technical field, the utility model discloses equipment of marcing, the top of arm is provided with the camera that is used for observing ripe oil tea fruit, be provided with the collection box that is used for collecting the oil tea fruit on the equipment of marcing, be provided with the controller that is used for controlling automatic unmanned oil tea equipment of picking on the equipment of marcing, the signal input part of controller and the signal output part signal connection of remote controller, the signal output part of controller and the equipment of marcing go up drive arrangement's signal input part electric connection. The signal is transmitted to the display through the camera, the mechanical arm is positioned through the remote controller control positioning mechanism, and then the mechanical arm is driven to move, so that the picking equipment at the top end of the mechanical arm picks the ripe oil-tea camellia fruits, and the problem that the branches are broken due to manual oil-tea camellia fruit picking is avoided through the mechanical mode, and the yield of the oil-tea camellia fruits is influenced.

Description

Automatic unmanned oil tea picking equipment

Technical Field

The utility model relates to an equipment technical field is picked to the tea-oil camellia, more specifically relates to an automatic unmanned tea-oil camellia equipment of picking.

Background

Tea-oil camellia, another name: tea tree, tea oil tree, and white flower tea; camellia oleifera belongs to Theaceae, and is a evergreen small arbor. Its seed can be used for extracting oil (tea oil) for eating, so its name is. The tea oil is clear in color, delicious, rich in nutrition and long in storage life, and is high-quality edible oil; can also be used as lubricating oil and antirust oil for industry. The tea cake is not only a pesticide but also a fertilizer, and can improve the water storage capacity of the farmland and prevent and control pests in the rice field. The pericarp is the raw material for extracting tannin extract. The camellia oleifera is one of four major woody oil plants in the world, grows in high mountains and hilly lands in subtropical regions in south China, and is a pure natural high-grade oil plant specific to China. Mainly focuses on Zhejiang, Jiangxi, Henan, Hunan and Guangxi provinces, and the annual output of the five provinces in China is only about 20 ten thousand tons. The seed contains more than 30% of oil, and can be used for eating, hair moistening, medicine preparation, candle and soap, or used as engine oil substitute.

The color of the skin of the mature oil tea is reddish purple and is easy to distinguish, and the test is carried out according to the practice of the masses of farmers in the oil tea producing area: the oil tea is best to be harvested before seeds are ripe and fruits are not cracked, the time from ripening to cracking of the oil tea fruits is only about 10 days, the oil content and the oil yield of the tea seeds are directly affected due to the fact that the oil tea fruits are too early to be harvested, the oil tea seeds are prone to scattering due to natural cracking of the oil tea fruits and are difficult to be harvested due to the fact that the oil tea fruits are too late to be harvested, and the yield is reduced. At present, the picking of the oil tea fruits mainly depends on manual work, the picking efficiency is low, the labor intensity of the manual work is high, and the oil tea elements have the characteristic of the same period of flowers and fruits, when the oil tea fruits are picked, the new oil tea flowers are in the bud waiting period, and the branches of the oil tea trees are inevitably broken when the oil tea is picked manually, so that the oil tea flowers collide, and the income of the oil tea trees in the coming year is easily influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: in order to solve the problem that the artificial picking tea-oil camellia fruit can break the crotch and influence the income of tea-oil camellia fruit the next year, the utility model provides an automatic unmanned tea-oil camellia equipment of picking.

The utility model discloses a realize above-mentioned purpose and specifically adopt following technical scheme:

the utility model provides an automatic unmanned oil tea equipment of picking, is including the equipment of marcing, it is provided with positioning mechanism to advance the equipment top, positioning mechanism's top is provided with the arm, the top of arm is provided with the equipment of picking that is used for picking the oil tea fruit, the top of arm is provided with the camera that is used for observing ripe oil tea fruit, it is provided with the collection box that is used for collecting the oil tea fruit to advance on the equipment, it is provided with the controller that is used for controlling automatic unmanned oil tea equipment of picking to advance on the equipment, the signal output part of camera and the signal input part signal connection of external display signal receiving arrangement, the signal input part of controller and the signal output part signal connection of remote controller, the signal output part of controller and the signal input part electric connection of advancing on the equipment drive arrangement.

Further, positioning mechanism includes the location frame, movable mounting has two diaphragms that are parallel to each other, two in the location frame be provided with the driver that is used for driving the diaphragm walking on the location frame on the diaphragm, two be provided with the movable box between the diaphragm, the bottom movable mounting of movable box has two gyro wheels, two all be provided with the rolling slot with gyro wheel looks adaptation on the diaphragm, two fixed mounting has the pivot between the gyro wheel, be provided with a driving motor on the movable box, pass through gear engagement between a driving motor's first output shaft and the pivot, electric connection between the signal input part of driver and a driving motor all and the signal output part of controller.

Further, the arm includes the device case, the inside slidable mounting of device case has the slip case, the top of device case is provided with the opening with slip case looks adaptation, one side of slip case is provided with second driving motor, fixed mounting has the drive wheel on second driving motor's the second output shaft, set up the fixture block that is favorable to the walking on the drive wheel, the device incasement portion is located the drive wheel and is provided with the track with one side, one side that is close to the drive wheel on the track is provided with the draw-in groove with fixture block looks adaptation, electric connection between second driving motor's the signal input part and the signal output part of controller.

Furthermore, the number of the sliding boxes can be a plurality, and the sliding boxes can be sequentially connected in a sliding manner in the same combination mode of the device box and the sliding boxes.

Furthermore, the picking equipment comprises a material passing pipe, the material passing pipe is movably arranged at the top of the mechanical arm, a driving gear for driving the material passing pipe to rotate is arranged on the material passing pipe, the picking equipment further comprises a stepping motor fixedly arranged on the mechanical arm, the signal input end of the stepping motor is electrically connected with the signal input end of the controller, a third output shaft of the stepping motor is meshed with the driving gear through a gear, electric cylinders are fixedly arranged on both sides of the material passing pipe, the signal input end of the electric cylinder is electrically connected with the signal output end of the controller, through holes matched with output rods of the electric cylinders are formed in both sides of the material passing pipe, semicircular claws are fixedly arranged on the output rods of the two electric cylinders and positioned in the material passing pipe, and the two semicircular claws are positioned at the feed inlet of the material passing pipe, two one side of keeping away from each other on the semicircle claw is provided with light-operated in pressure sensor respectively, light-operated and pressure sensor's signal output part all with the signal input part electric connection of controller, the inside of leading to the material pipe just is located two semicircle claws and is provided with the elasticity collecting pipe in the activity under, the discharge end of elasticity collecting pipe is located the collection box directly over, the length of elasticity collecting pipe is greater than the length of picking the distance between equipment and the collection box.

Furthermore, the elastic collecting pipes penetrate through the mechanical arm and the positioning mechanism, the recycling box is arranged inside the advancing equipment, a movable opening for pulling out the recycling box is formed in one side of the advancing equipment, and an opening matched with the elastic collecting pipes is formed in the top of the advancing equipment.

The working principle is as follows: during the use, pass the display with the signal through the camera, when people observe ripe oil tea fruit, fix a position the arm through remote controller control positioning mechanism, the motion of redrive arm, make the picking equipment on arm top pick ripe oil tea fruit, when ripe oil tea fruit enters into logical pipe pan feeding mouth, the message that oil tea fruit got into is detected to the light-operated, send the signal to the controller, the start-up of controller control electric cylinder, thereby make two semi-circular claws can grasp oil tea fruit, pressure sensor conveys the signal for the controller afterwards, controller control step motor starts, make logical pipe rotatory, thereby twist off the root of oil tea fruit, can control logical pipe rotatory fixed number of turns back through the controller, loosen semi-circular claw, oil tea fruit just drops to the collection box through the elastic conveying pipeline.

The utility model has the advantages as follows:

1. the utility model discloses simple structure, convenient to use passes the signal to the display through the camera, and when people observed ripe oil tea fruit, fix a position the arm through remote controller control positioning mechanism, redrive arm motion for the picking equipment on arm top is picked ripe oil tea fruit, and through the mode of such mechanization, has avoided the manual work to pick the oil tea fruit and has leaded to the branch rupture, thereby influences the output of oil tea fruit.

2. The utility model discloses simple structure, convenient to use is through at the inside sliding connection sliding box of device case to set up the sliding box into a plurality of, and all through the same compound mode sliding connection in proper order between device case and the sliding box between a plurality of sliding box, make the arm can stretch out and draw back longer in the limited space of unmanned picking equipment, thereby make the tea-oil camellia fruit that is located the eminence also can be picked, such setting makes equipment more comprehensive when carrying out the tea-oil camellia and pick.

3. The utility model discloses simple structure, high durability and convenient use, when ripe oil tea fruit enters into logical pipe pan feeding mouth, the light-operated message that can detect the oil tea fruit and get into, send the signal to the controller, the start of controller control electric cylinder, thereby make two semi-circular claws can promptly the oil tea fruit, pressure sensor gives the controller with signal transmission afterwards, controller control step motor starts, make logical pipe rotatory, thereby twist off the root of oil tea fruit, can control logical pipe rotatory fixed number of turns back through the controller, loosen semi-circular claw, the oil tea fruit just drops the collection box through the elastic conveying pipeline, avoided cutting off oil tea fruit tree branch when picking the oil tea fruit through such mode, thereby influence the output of the oil tea fruit of the coming year.

4. The utility model discloses simple structure, convenient to use is through running through the arm with the elastic conveying pipeline and advancing the equipment to with the collection box setting in the inside of advancing the equipment, make equipment at the during operation, the elastic conveying pipeline can not hang on the branch, and tear the elastic conveying pipeline apart, influence the normal clear of equipment.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic structural view of the positioning mechanism of the present invention;

FIG. 3 is a schematic view of the internal structure of the movable box of the present invention;

fig. 4 is a schematic structural view of the mechanical arm of the present invention;

fig. 5 is a schematic structural view of the picking device of the present invention;

fig. 6 is a schematic structural view of the picking device of the present invention.

Reference numerals: 1-traveling equipment, 2-positioning mechanism, 2-1-positioning frame, 2-2-driver, 2-3-transverse plate, 2-4 movable box, 2-5-roller, 2-6-rotating shaft, 2-7-first driving motor, 3-mechanical arm, 301-device box, 302-sliding box, 303-second driving motor, 304-driving wheel, 305-track, 4-picking equipment, 401-material passing pipe, 402-electric cylinder, 403-semi-circular claw, 404-driving gear, 405-stepping motor, 406-light control, 407-elastic collecting pipe, 408-pressure sensor, 5-camera, 6-recycling box and 7-controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Please refer to fig. 1-3, the utility model provides an automatic unmanned tea-oil camellia equipment of picking, including equipment 1 of marcing, equipment 1 top of marcing is provided with positioning mechanism 2, positioning mechanism 2's top is provided with arm 3, arm 3's top is provided with the equipment 4 of picking that is used for picking the tea-oil camellia fruit, arm 3's top is provided with the camera 5 that is used for observing ripe tea-oil camellia fruit, be provided with the collection box 6 that is used for collecting the tea-oil camellia fruit on the equipment 1 of marcing, be provided with the controller 7 that is used for controlling automatic unmanned tea-oil camellia equipment of picking on the equipment 1 of marcing, camera 5's signal output part and external display signal receiving device's signal input part signal connection, the signal input part of controller 7 and the signal output part signal connection of remote controller, the signal output part of controller 7 and the signal input part.

In this embodiment, the positioning mechanism 2 includes a positioning frame 2-1, two parallel transverse plates 2-3 are movably mounted on the positioning frame 2-1, drivers 2-2 for driving the transverse plates to walk on the positioning frame are disposed on the two transverse plates 2-3, a movable box 2-4 is disposed between the two transverse plates 2-3, two rollers 2-5 are movably mounted at the bottom of the movable box 2-4, rolling grooves adapted to the rollers are disposed on the two transverse plates 2-3, a rotating shaft 2-6 is fixedly mounted between the two rollers 2-5, a first driving motor 2-7 is disposed on the movable box 2-4, a first output shaft of the first driving motor 2-7 is engaged with the rotating shaft 2-6 through a gear, and signal input ends of the drivers 2-2 and 7 and a signal output end of the controller 7 are electrically connected And (6) connecting.

The signal is transmitted to the display through the camera 5, when people observe mature oil tea fruits, the mechanical arm 3 is positioned through the remote controller control positioning mechanism 2, and then the mechanical arm 3 is driven to move, so that the picking equipment 4 at the top end of the mechanical arm 3 picks the mature oil tea fruits, and through the mechanized mode, the phenomenon that branches are broken due to manual oil tea fruit picking is avoided, and the yield of the oil tea fruits is influenced.

Example 2

Referring to fig. 1 and fig. 4, fig. 5, this embodiment is further optimized on the basis of embodiment 1, specifically, the mechanical arm 3 includes a device box 301, a sliding box 302 is slidably mounted inside the device box 301, an opening adapted to the sliding box 302 is provided at the top of the device box 301, a second driving motor 303 is provided at one side of the sliding box 302, a driving wheel 304 is fixedly mounted on a second output shaft of the second driving motor 303, a fixture block beneficial to walking is provided on the driving wheel 304, a rail 305 is provided at the same side of the device box 301 located at the driving wheel 304, a clamping groove adapted to the fixture block is provided at one side of the rail 305 close to the driving wheel 304, a signal input end of the second driving motor 303 is electrically connected to a signal output end of the controller 7, the number of the sliding boxes 302 may be several, and the several sliding boxes may be sequentially slidably connected in the same combination manner as the device box 301 and the sliding box 302.

Through at inside sliding connection sliding box 302 of device case 301 to with sliding box 302 setting up to a plurality of, and all through the same compound mode sliding connection in proper order between device case 301 and the sliding box 302 between a plurality of sliding box 302, make arm 3 can stretch out and draw back longer in the limited space of unmanned picking equipment, thereby make the tea-oil camellia fruit that is located the eminence also can be plucked, such setting up makes equipment more comprehensive when carrying out the tea-oil camellia and plucking.

Example 3

Referring to fig. 1, 5 and 6, the present embodiment is optimized based on example 1 or 2, specifically, the picking apparatus 4 includes a material passing pipe 401, the material passing pipe 401 is movably installed on the top of the mechanical arm 3, a driving gear 404 for driving the material passing pipe 401 to rotate is disposed on the material passing pipe 401, the picking apparatus 4 further includes a stepping motor 405 fixedly installed on the mechanical arm, a signal input end of the stepping motor 405 is electrically connected to a signal input end of the controller 7, a third output shaft of the stepping motor 405 is engaged with the driving gear 404 through a gear, electric cylinders 402 are fixedly installed on both sides of the material passing pipe 401, the signal input end of the electric cylinders 402 is electrically connected to a signal output end of the controller, through holes adapted to output rods of the electric cylinders 402 are formed on both sides of the material passing pipe 401, semi-circular claws 403 are fixedly installed on output rods of the two electric cylinders 402 and inside the material passing pipe, two semicircle claws 403 are all located at the feed inlet of the material passing pipe, one side of the two semicircle claws 403 which is far away from each other is respectively provided with a light control 406 on a pressure sensor 408, the signal output ends of the light control 406 and the pressure sensor 408 are all electrically connected with the signal input end of a controller 7, the inside of the material passing pipe 401 is movably provided with an elastic collecting pipe 407 under the two semicircle claws, the discharge end of the elastic collecting pipe 407 is located right above a recycling box 6, and the length of the elastic collecting pipe 407 is greater than the length of the distance between the picking equipment 4 and the recycling box 6.

When ripe oil tea fruit enters into logical pipe 401 pan feeding mouth, light-operated 406 detectable oil tea fruit gets into the message, with signal transmission to controller 7, controller 7 control electric cylinder 402 start, thereby make two semicircle claws 403 can grasp the oil tea fruit, pressure sensor 408 conveys the signal for controller 7 afterwards, controller 7 control step motor 405 starts, make logical pipe 401 rotatory, thereby twist off the root of oil tea fruit, can control logical pipe 401 through controller 7 after rotatory fixed number of turns, loosen semicircle claw 403, the oil tea fruit just drops to the collection box 6 through elastic material conveying pipe 407, avoided cutting off oil tea fruit tree branch when picking the oil tea fruit through such mode, thereby influence the output of oil tea fruit in the next year.

Example 4

Referring to fig. 1, 4 and 5, embodiment 4 is further optimized based on any one of embodiments 1 to 3, specifically, the elastic collecting pipe 407 penetrates through the mechanical arm 3 and the positioning mechanism 2, the recycling bin 6 is disposed inside the traveling device 1, a moving opening for pulling out the recycling bin 6 is disposed on one side of the traveling device 1, and an opening matched with the elastic collecting pipe 407 is disposed on the top of the traveling device 1.

Through running through arm 3 with elastic conveying pipeline 407 and the equipment of marcing to with collection box 6 setting in the inside of the equipment of marcing, make equipment at the during operation, the elastic conveying pipeline can not hang on the branch, and tear elastic conveying pipeline 407 apart, influence the normal clear of equipment.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.

Claims

1. The utility model provides an automatic unmanned oil tea equipment of picking, includes equipment of marcing (1), its characterized in that: the top of the travelling equipment (1) is provided with a positioning mechanism (2), the top of the positioning mechanism (2) is provided with a mechanical arm (3), the top of the mechanical arm (3) is provided with a picking device (4) for picking the oil tea fruits, the top of the mechanical arm (3) is provided with a camera (5) for observing mature oil tea fruits, the advancing equipment (1) is provided with a recovery tank (6) for collecting oil tea fruits, the advancing equipment (1) is provided with a controller (7) for controlling automatic unmanned oil tea picking equipment, the signal output end of the camera (5) is in signal connection with the signal input end of a signal receiving device of an external display, the signal input end of the controller (7) is in signal connection with the signal output end of the remote controller, and the signal output end of the controller (7) is electrically connected with the signal input end of a driving device on the traveling equipment (1).

2. The automatic unmanned harvesting camellia oleifera equipment of claim 1, wherein: the positioning mechanism (2) comprises a positioning rack (2-1), two transverse plates (2-3) parallel to each other are movably mounted on the positioning rack (2-1), two drivers (2-2) used for driving the transverse plates to walk on the positioning rack are arranged on the transverse plates (2-3), a movable box (2-4) is arranged between the transverse plates (2-3), two idler wheels (2-5) are movably mounted at the bottom of the movable box (2-4), rolling grooves matched with the idler wheels are formed in the two transverse plates (2-3), a rotating shaft (2-6) is fixedly mounted between the idler wheels (2-5), a first driving motor (2-7) is arranged on the movable box (2-4), and a first output shaft of the first driving motor (2-7) is meshed with the rotating shaft (2-6) through a gear And the signal input ends of the driver (2-2) and the first driving motor (2-7) are electrically connected with the signal output end of the controller (7).

3. The automatic unmanned harvesting camellia oleifera equipment of claim 1, wherein: arm (3) are including device case (301), the inside slidable mounting of device case (301) has slip case (302), the top of device case (301) is provided with the opening with slip case (302) looks adaptation, one side of slip case (302) is provided with second driving motor (303), fixed mounting has drive wheel (304) on the second output shaft of second driving motor (303), be provided with the fixture block that does benefit to the walking on drive wheel (304), the inside same one side that lies in drive wheel (304) of device case (301) is provided with track (305), one side that is close to drive wheel (304) on track (305) is provided with the draw-in groove with fixture block looks adaptation, electric connection between the signal input part of second driving motor (303) and the signal output part of controller (7).

4. The automatic unmanned harvesting camellia oleifera equipment of claim 3, wherein: the number of the sliding boxes (302) can be a plurality, and the sliding boxes can be sequentially connected in a sliding manner in the same combination mode of the device box (301) and the sliding boxes (302).

5. The automatic unmanned harvesting camellia oleifera equipment of claim 1, wherein: picking equipment (4) including leading to material pipe (401), it has the top of arm (3) to lead to material pipe (401) movable mounting, it is provided with drive gear (404) that is used for driving self rotation to lead to on material pipe (401), picking equipment (4) still includes step motor (405) of fixed mounting on the arm, electric connection between the signal input part of step motor (405) and the signal input part of controller (7), the third output shaft of step motor (405) passes through gear and drive gear (404) meshing, the equal fixed mounting in both sides that leads to material pipe (401) has electric cylinder (402), electric connection between the signal input part of electric cylinder (402) and the signal output part of controller, the through-hole with the output pole looks adaptation of electric cylinder (402) is all seted up to the both sides that lead to material pipe (401), two on the output pole of electric cylinder (402) and be located the inside fixed mounting that leads to material pipe have half round claw (403) Two semicircle claw (403) all are located the feed inlet department of logical material pipe, two one side of keeping away from each other on semicircle claw (403) is provided with light-operated (406) respectively in pressure sensor (408), light-operated (406) and pressure sensor (408)'s signal output part all with the signal input part electric connection of controller (7), the inside of leading to material pipe (401) just is located two semicircle claws under the activity be provided with elasticity collecting pipe (407), the discharge end of elasticity collecting pipe (407) is located collection box (6) directly over, the length of elasticity collecting pipe (407) is greater than the length of picking the distance between equipment (4) and collection box (6).

6. The automatic unmanned harvesting camellia oleifera equipment of claim 5, wherein: the elastic collecting pipe (407) penetrates through the mechanical arm (3) and the positioning mechanism (2), the recycling box (6) is arranged inside the advancing equipment (1), a movable opening for pulling out the recycling box (6) is formed in one side of the advancing equipment (1), and an opening matched with the elastic collecting pipe (407) is formed in the top of the advancing equipment (1).