CN213662529U - Tooth comb rotation tea-oil camellia fruit end effector of gathering - Google Patents
Tooth comb rotation tea-oil camellia fruit end effector of gathering Download PDFInfo
- Publication number
- CN213662529U CN213662529U CN202022476651.1U CN202022476651U CN213662529U CN 213662529 U CN213662529 U CN 213662529U CN 202022476651 U CN202022476651 U CN 202022476651U CN 213662529 U CN213662529 U CN 213662529U
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- Prior art keywords
- comb
- rotating frame
- tooth
- driving rotating
- frame
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 69
- 239000012636 effector Substances 0.000 title claims abstract description 24
- 235000018597 common camellia Nutrition 0.000 title claims abstract description 9
- 240000001548 Camellia japonica Species 0.000 title abstract description 7
- 239000010495 camellia oil Substances 0.000 title abstract description 6
- 241001122767 Theaceae Species 0.000 claims abstract description 40
- 238000003306 harvesting Methods 0.000 claims abstract description 18
- 210000001520 comb Anatomy 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 7
- 241000209507 Camellia Species 0.000 claims 2
- 239000003921 oil Substances 0.000 abstract description 32
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 244000126211 Hericium coralloides Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- GVJHHUAWPYXKBD-UHFFFAOYSA-N (±)-α-Tocopherol Chemical compound OC1=C(C)C(C)=C2OC(CCCC(C)CCCC(C)CCCC(C)C)(C)CCC2=C1C GVJHHUAWPYXKBD-UHFFFAOYSA-N 0.000 description 2
- 241000526900 Camellia oleifera Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 201000004384 Alopecia Diseases 0.000 description 1
- 206010040925 Skin striae Diseases 0.000 description 1
- 229930003427 Vitamin E Natural products 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 231100000360 alopecia Toxicity 0.000 description 1
- 239000003963 antioxidant agent Substances 0.000 description 1
- 230000003078 antioxidant effect Effects 0.000 description 1
- 235000006708 antioxidants Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- WIGCFUFOHFEKBI-UHFFFAOYSA-N gamma-tocopherol Natural products CC(C)CCCC(C)CCCC(C)CCCC1CCC2C(C)C(O)C(C)C(C)C2O1 WIGCFUFOHFEKBI-UHFFFAOYSA-N 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000009759 skin aging Effects 0.000 description 1
- 230000037380 skin damage Effects 0.000 description 1
- 235000019165 vitamin E Nutrition 0.000 description 1
- 229940046009 vitamin E Drugs 0.000 description 1
- 239000011709 vitamin E Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model relates to a tooth comb rotary type oil tea fruit harvesting end effector, which is characterized by comprising a frame, wherein a driving rotating frame is arranged on the frame through a main shaft and rotates along with the main shaft, a plurality of groups of tooth combs are uniformly distributed on the driving rotating frame along the circumferential direction, and tooth comb ridge beams of the tooth combs are parallel to the main shaft; a holding rotating frame is further arranged on the main shaft on one side of the driving rotating frame, and the holding rotating frame is eccentrically arranged relative to the driving rotating frame; connecting rods are respectively arranged between the holding rotating frame and each group of tooth combs, one end part of a tooth comb ridge beam of each tooth comb penetrates through the driving rotating frame to be in interference fit with one end of the corresponding connecting rod, and the other end of each connecting rod is rotatably connected with the holding rotating frame. The utility model discloses simple structure, ingenious, with low costs, easily promote, pick efficiently, and utilize the difference of tea-oil camellia fruit with the bud size, thereby drag the fruit backward between the broach with the fruit comb and pluck the fruit, reduced the injury to the bud.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine, concretely relates to tooth comb rotation tea-oil camellia fruit end effector of gathering.
Background
The camellia oleifera fruit is a fruit of a camellia oleifera tree, contains vitamin E and antioxidant ingredients, can protect human skin, and particularly can prevent skin damage and aging and enable the skin to be glossy and tender. In addition, if used for washing hair, it can also prevent alopecia and make hair black and bright. In addition, the oil tea fruit also has the effects of removing striae gravidarum and healing wounds. Therefore, the market value of the oil tea fruits is higher and higher, but no better equipment for picking the oil tea fruits exists at present.
At present, the picking of the oil tea fruits is usually completed manually. The oil tea fruit is picked manually, the oil tea fruit is placed in the basket after the oil tea fruit is picked, the picking of the oil tea fruit is completed by continuously repeating the picking and placing processes, a large amount of manpower is wasted in the picking work, and the efficiency of picking the oil tea fruit is greatly reduced by manually picking the oil tea fruit.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned problem among the prior art, the utility model discloses a tooth comb rotation oil tea fruit end effector of gathering.
In order to solve the above problems in the prior art, the utility model adopts the following scheme:
a tooth comb rotary type oil tea fruit harvesting end effector comprises a rack, a driving rotary frame is arranged on the rack through a main shaft and rotates along with the main shaft, a plurality of groups of tooth combs are uniformly distributed on the driving rotary frame along the circumferential direction, and tooth comb ridge beams of the tooth combs are parallel to the main shaft; a holding rotating frame is further arranged on the main shaft on one side of the driving rotating frame, and the holding rotating frame is eccentrically arranged relative to the driving rotating frame; connecting rods are respectively arranged between the holding rotating frame and each group of tooth combs, one end part of a tooth comb ridge beam of each tooth comb penetrates through the driving rotating frame to be in interference fit with one end of the corresponding connecting rod, and the other end of each connecting rod is rotatably connected with the holding rotating frame.
Further, the central circular hole of the rotary holding frame is supported by three rollers, wherein a first roller is arranged on the main shaft, and a second roller and a third roller are arranged on the machine frame; the body of the rotary holding frame is of a disc-shaped structure.
Further, the driving rotating frame comprises a first driving rotating disk and a second driving rotating disk, the first driving rotating disk and the second driving rotating disk are symmetrically arranged on the main shaft, and the tooth comb is located between the first driving rotating disk and the second driving rotating disk.
Furthermore, two ends of the main shaft are respectively connected with the frame through corresponding bearings, and the driving motor transmits power to the main shaft through a transmission device.
Further, the transmission includes a sprocket and a chain.
Furthermore, the bottom of the rack is of a grid plate structure, the gap of the grid plate structure corresponds to the comb tooth gap of the tooth comb, and the gap of the grid plate structure is not larger than the comb tooth gap of the tooth comb.
Furthermore, the gap of the grid plate structure is perpendicular to and corresponds to the gap of the comb teeth.
Further, the bottom of the rear end of the rack is also provided with a storage chamber.
Further, the tooth comb comprises a tooth comb ridge beam and a plurality of comb teeth arranged on the tooth comb ridge beam.
Furthermore, each group of comb teeth is provided with 10 comb teeth, the diameter of each comb tooth is 8mm, and the length of each comb tooth is 120 mm; the distance between the central axes of the adjacent comb teeth is 30 mm.
Further, the tooth comb has three groups.
The utility model discloses another aspect still discloses following scheme:
when in work: firstly, aligning an end effector to a region needing to be collected;
secondly, the driving motor is electrified to drive the main shaft, the driving rotating frame and the tooth comb to rotate;
and thirdly, combing the oil tea fruits by the teeth to drive the oil tea fruits to move backwards to be separated from the fruit handles, and dropping the oil tea fruits separated from the fruit handles into a storage chamber on the rack.
The tooth comb rotary oil tea fruit harvesting end effector has the following beneficial effects:
(1) the utility model discloses can avoid the oil tea flower to pick the oil tea fruit, can realize that the more region of accurate alignment oil tea fruit is picked, for artifical the picking, improve fruit picking efficiency greatly.
(2) The utility model discloses thereby utilize the difference of oil tea fruit and bud size, thereby drag fruit comb backward between the broach and pluck the fruit, reduced the injury to the bud.
(3) The utility model discloses a cooperation between tooth comb and the pectination grid tray carries out fruit picking and fruit collection, and the structure is ingenious, and the clean impurity of fruit of collecting is few.
(4) The utility model discloses the structure is simpler, and is with low costs, easily promotes.
Drawings
FIG. 1: the utility model discloses a three-dimensional structure diagram of a tooth comb rotary type oil tea fruit harvesting end effector in the embodiment;
FIG. 2: the tooth comb rotary type oil tea fruit harvesting end effector in the embodiment of the utility model has a three-dimensional structure schematic diagram (after the frame is removed);
FIG. 3: the schematic diagram of the fixing mode of the rotary frame is kept in the embodiment of the utility model;
FIG. 4: the utility model discloses the structural schematic of tooth comb among the embodiment.
Description of reference numerals:
1-a main shaft; 11-a bearing; 2-driving the rotating frame; 21 — a first driving rotating disk; 22 — a second drive rotating disc; 3, combing teeth; 31-a tooth comb ridge beam; 32-comb teeth; 4, a frame; 41-a grid structure; 42-a storage compartment; 5, connecting rods; 6-keeping the rotating frame; 71-a first roller; 72-a second roller; 73 — third roller.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 4 show a specific embodiment of the tooth comb rotation type oil tea fruit harvesting end effector of the present invention. Fig. 1 and 2 are schematic structural diagrams of a tooth comb rotary type oil-tea camellia fruit harvesting end effector in the embodiment; FIG. 3 is a schematic view showing a manner of fixing the holding spin stand in the present embodiment; fig. 4 is a schematic structural view of the comb teeth in the present embodiment.
As shown in fig. 1 and 2, the tooth comb rotation type end effector for harvesting oil tea fruits in the present embodiment includes a frame 4, a driving rotating frame 2 is disposed on the frame 4 through a main shaft 1 and rotates along with the main shaft 1, a plurality of groups of tooth combs 3 are uniformly distributed on the driving rotating frame 2 along a circumferential direction, and tooth comb ridge beams 31 of the tooth combs 3 are parallel to the main shaft 1; a holding rotating frame 6 is also arranged on the main shaft 1 at one side of the driving rotating frame 2, and the holding rotating frame 6 is eccentrically arranged relative to the driving rotating frame 2; connecting rods 5 are respectively arranged between the holding rotating frame 6 and each group of the tooth combs 3, one end part of a tooth comb ridge beam 31 of each tooth comb 3 penetrates through the driving rotating frame 2 to be in interference fit with one end of the corresponding connecting rod 5, and the other end of each connecting rod 5 is rotatably connected with the holding rotating frame 6.
Preferably, the central circular hole of the holding rotating frame 6 is supported by three rollers, wherein a first roller 71 is arranged on the main shaft 1, and a second roller 72 and a third roller 73 are mounted on the frame 4; the body of the holding rotating frame 6 has a disc-like structure as shown in fig. 3.
Preferably, the driving rotating frame 2 includes a first driving rotating disk 21 and a second driving rotating disk 22, the first driving rotating disk 21 and the second driving rotating disk 22 are symmetrically disposed on the main shaft 1, and the comb 3 is located between the first driving rotating disk 21 and the second driving rotating disk 22, as shown in fig. 1 and 2.
Preferably, both ends of the main shaft 1 are respectively connected with the frame 4 through corresponding bearings 11, as shown in fig. 1, the driving motor transmits power to the main shaft 1 through a transmission device, and in this embodiment, the driving motor and the transmission device are not shown.
In this embodiment, the transmission includes a sprocket and a chain.
Preferably, the bottom of the frame 4 is a grid structure 41, the gap of the grid structure 41 corresponds to the gap of the teeth comb 3, and the gap of the grid structure 41 is not larger than the gap of the teeth comb 3, as shown in fig. 1.
In the present embodiment, the gaps of the grid plate structures 41 vertically correspond to the gaps of the teeth comb 3, as shown in fig. 1.
Preferably, the bottom of the rear end of the frame 4 is also provided with a storage chamber 42, as shown in fig. 1. In this embodiment, the storage chamber 42 is formed by recessing the rear of the frame 4, and is integrally formed and easy to process.
Preferably, the comb 3 includes a comb ridge beam 31 and a plurality of comb teeth 32 disposed on the comb ridge beam 31, as shown in fig. 4.
In the embodiment, each group of comb teeth 3 is provided with 10 comb teeth 32, the diameter of the comb teeth 32 is 8mm, and the length of the comb teeth 32 is 120 mm; the distance between the axes of adjacent comb teeth 32 is 30mm as shown in fig. 4.
In this embodiment, there are three sets of combs 3, as shown in fig. 1 and 2.
During working, firstly, aligning the end effector to a region to be collected;
secondly, the driving motor is electrified to drive the main shaft 1, the driving rotating frame 2 and the tooth comb 3 to rotate;
thirdly, the teeth comb 3 combs the oil tea fruit to drive the oil tea fruit to move backwards to be separated from the fruit stem, and the oil tea fruit separated from the fruit stem falls into the storage chamber 42 on the rack 4.
The utility model discloses a main shaft drives rotatory drive holder and rotates to make three group's tooth combs rotatory, rotatory broach downstream to the front, after combing the tea-oil camellia fruit to the back motion, the tea-oil camellia fruit receives the effect of tooth comb, and the fruit breaks away from with the carpopodium, falls on the grid tray, rolls into the temporary collection department at gathering mechanism rear.
The utility model discloses can avoid the oil tea flower to pick the oil tea fruit, can realize that the more region of accurate alignment oil tea fruit is picked, for artifical the picking, improve fruit picking efficiency greatly.
The utility model discloses thereby utilize the difference of oil tea fruit and bud size, thereby drag fruit comb backward between the broach and pluck the fruit, reduced the injury to the bud.
The utility model discloses a cooperation between tooth comb and the pectination grid tray is carried out the fruit and is picked and the fruit is collected, and the structure is ingenious, and the fruit of collecting is also clean.
The utility model discloses the structure is simpler, and is with low costs, easily promotes.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (10)
1. The tooth comb rotary type oil tea fruit harvesting end effector is characterized by comprising a rack, a driving rotating frame is arranged on the rack through a main shaft and rotates along with the main shaft, a plurality of groups of tooth combs are uniformly distributed on the driving rotating frame along the circumferential direction, and tooth comb ridge beams of the tooth combs are parallel to the main shaft; a holding rotating frame is further arranged on the main shaft on one side of the driving rotating frame, and the holding rotating frame is eccentrically arranged relative to the driving rotating frame; connecting rods are respectively arranged between the holding rotating frame and each group of tooth combs, one end part of a tooth comb ridge beam of each tooth comb penetrates through the driving rotating frame to be in interference fit with one end of the corresponding connecting rod, and the other end of each connecting rod is rotatably connected with the holding rotating frame.
2. The rotary oil tea fruit harvesting end effector of claim 1, wherein the central circular hole of the holding rotating frame is supported by three rollers, wherein a first roller is arranged on the main shaft, and a second roller and a third roller are mounted on the frame; the body of the rotary holding frame is of a disc-shaped structure.
3. The rotary toothed comb oil tea fruit harvesting end effector of claim 1, wherein the driving rotating frame comprises a first driving rotating disk and a second driving rotating disk, the first driving rotating disk and the second driving rotating disk are symmetrically arranged on the main shaft, and the toothed comb is located between the first driving rotating disk and the second driving rotating disk.
4. The tooth comb rotary type oil-tea camellia fruit harvesting end effector as claimed in claim 1, 2 or 3, wherein two ends of the main shaft are respectively connected with the frame through corresponding bearings, and the driving motor transmits power to the main shaft through a transmission device.
5. The rotary oil tea fruit harvesting end effector of claim 4, wherein the transmission comprises a sprocket and a chain.
6. The rotary oil-tea camellia fruit harvesting end effector of claim 1, wherein the bottom of the frame is a grid plate structure, the gap of the grid plate structure corresponds to the gap of the comb teeth of the tooth comb, and the gap of the grid plate structure is not greater than the gap of the comb teeth of the tooth comb.
7. The rotary oil tea fruit harvesting end effector of claim 1 or 6, wherein the bottom of the rear end of the frame is further provided with a storage chamber.
8. The rotary oil tea fruit harvesting end effector of claim 1, wherein the tooth comb comprises a tooth comb ridge beam and a plurality of comb teeth arranged on the tooth comb ridge beam.
9. The rotary oil tea fruit harvesting end effector of claim 8, wherein each group of teeth combs has 10 teeth, the teeth have a diameter of 8mm and a length of 120 mm; the distance between the central axes of the adjacent comb teeth is 30 mm.
10. The rotary oil tea fruit harvesting end effector of claims 1, 2, 3, 5, 6, 8 or 9, wherein the teeth comb has three sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022476651.1U CN213662529U (en) | 2020-11-01 | 2020-11-01 | Tooth comb rotation tea-oil camellia fruit end effector of gathering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022476651.1U CN213662529U (en) | 2020-11-01 | 2020-11-01 | Tooth comb rotation tea-oil camellia fruit end effector of gathering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213662529U true CN213662529U (en) | 2021-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022476651.1U Expired - Fee Related CN213662529U (en) | 2020-11-01 | 2020-11-01 | Tooth comb rotation tea-oil camellia fruit end effector of gathering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213662529U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112352542A (en) * | 2020-11-01 | 2021-02-12 | 西北农林科技大学 | Tooth comb rotary type oil tea fruit harvesting end effector and working method thereof |
| CN113812262A (en) * | 2021-09-10 | 2021-12-21 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
-
2020
- 2020-11-01 CN CN202022476651.1U patent/CN213662529U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112352542A (en) * | 2020-11-01 | 2021-02-12 | 西北农林科技大学 | Tooth comb rotary type oil tea fruit harvesting end effector and working method thereof |
| CN112352542B (en) * | 2020-11-01 | 2023-12-22 | 西北农林科技大学 | Tooth comb rotary type oil tea fruit harvesting end effector and working method thereof |
| CN113812262A (en) * | 2021-09-10 | 2021-12-21 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
| CN113812262B (en) * | 2021-09-10 | 2022-08-12 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210713 |