CN217564180U - Unmanned aerial vehicle tea-oil camellia fruit vibration is picked device - Google Patents
Unmanned aerial vehicle tea-oil camellia fruit vibration is picked device Download PDFInfo
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- CN217564180U CN217564180U CN202221767648.8U CN202221767648U CN217564180U CN 217564180 U CN217564180 U CN 217564180U CN 202221767648 U CN202221767648 U CN 202221767648U CN 217564180 U CN217564180 U CN 217564180U
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- arm
- picking
- aerial vehicle
- unmanned aerial
- clamping
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 45
- 240000001548 Camellia japonica Species 0.000 title claims abstract description 25
- 235000018597 common camellia Nutrition 0.000 title claims abstract description 25
- 239000010495 camellia oil Substances 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 239000003921 oil Substances 0.000 claims abstract description 15
- 241001122767 Theaceae Species 0.000 claims abstract description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 10
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 abstract description 2
- 241000526900 Camellia oleifera Species 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 2
- 240000003553 Leptospermum scoparium Species 0.000 description 2
- 235000015459 Lycium barbarum Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 244000147058 Derris elliptica Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000008157 edible vegetable oil Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses an unmanned aerial vehicle oil tea fruit vibration picking device, which comprises an unmanned aerial vehicle and a picking mechanism, wherein the picking mechanism comprises a clamping mechanism for clamping fruit tree branches; the vibration mechanism is used for vibrating the clamped branches to separate the fruits from the fruit handles; the up-down swinging mechanism is used for adjusting the clamping angle of the clamping mechanism, the vibrating mechanism comprises a picking arm and a vibrating motor, the picking arm comprises a main arm and an auxiliary arm, one end of the main arm is connected with the up-down swinging mechanism, the end, far away from the main arm, of the auxiliary arm is provided with the clamping mechanism, the main arm and the auxiliary arm are connected through a connecting cylinder, and the vibrating motor is arranged on the auxiliary arm. The utility model is simple in operation, use in a flexible way, compare and pick one by one in prior art, the vibrating is picked, has improved picking efficiency, and the quality of tea-oil camellia fruit has been guaranteed to the damage of bud and branch to the reduction that simultaneously can be fine.
Description
Technical Field
The utility model relates to a technical field is picked to agricultural product, specifically is a device is picked in vibration of unmanned aerial vehicle tea-oil camellia fruit.
Background
The camellia oleifera is taken as a unique woody oil tree species in China, healthy edible oil raw materials are preferably selected by world grain and agriculture organizations, the fruiting period of the camellia oleifera is about 1 year, the camellia oleifera fruit picking period is 10 mid-year each year, and the harvesting period is short.
Because there is not comparatively ripe oil tea fruit picking machine type at present, it still mainly relies on artifical picking to plant the oil tea on a large scale, but oil tea branch toughness is big, bearing capacity is weak, the twig is softer, the branch leaf is broken easily during manual picking, and oil tea fruit picking operation cycle is long, if pick untimely, then lead to the oil tea fruit to descend with the wet weather, and the growing environment of oil tea tree is mostly hills and hills, current large-scale picking machine is difficult to walk in hills mountain area oil tea-tea camellia forest, the oil tea tree has the characteristic of flowers and fruits in the same period again simultaneously, lead to oil tea fruit picking machine easily to lead to the fact the damage to oil tea fruit bud.
The prior art also has the advantage of using unmanned aerial vehicle to pick the operation, but unmanned aerial vehicle utilizes the radio remote control or compile the procedure by oneself and control its operation, and it compares with current large-scale tea-oil camellia picking machine, has advantages such as small controls the flexibility, can adapt to more complicated tea-oil camellia planting forest, is if the application number: 201921131399.1, the name is an unmanned aerial vehicle picks tea-oil camellia manipulator, including flight mechanism and picking mechanism, flight mechanism includes unmanned aerial vehicle, picking mechanism sets up the right side at unmanned aerial vehicle, picking mechanism includes arm and gripper, the claw on the gripper is the arc structure, be connected through the connecting axle between gripper and the arm, the connecting axle is connected with step motor, still be equipped with the camera in the flight mechanism, gripper and step motor electric connection PLC controller, the device have simple structure, practice thrift the human cost and pick efficient advantage, but this picking device still exists not enoughly: 1. this pick device can only pick a fruit once, picks inefficiency, 2, because the opening of gripper 202 bumps very easily when picking for a short time, leads to in the tea-oil camellia fruit can not effectively get into gripper 202, 3, gripper 202 opening part embeds the blade, also appears the condition of fish tail when the tea-oil camellia fruit gets into gripper 202 easily, influences the quality of tea-oil camellia fruit.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, providing an unmanned aerial vehicle tea-oil camellia fruit vibrates and picks device.
The utility model discloses technical scheme:
unmanned aerial vehicle tea-oil camellia fruit vibration picking device, including unmanned aerial vehicle and picking mechanism, picking mechanism includes
The clamping mechanism is used for clamping the branches of the fruit trees;
the vibration mechanism is used for vibrating the clamped branches to separate the fruits from the fruit handles;
the up-down swinging mechanism is used for adjusting the clamping angle of the clamping mechanism;
the vibration mechanism comprises a picking arm and a vibration motor, the picking arm comprises a main arm and an auxiliary arm, one end of the main arm is connected with the up-down swing mechanism, one end of the auxiliary arm, far away from the main arm, is provided with a clamping mechanism, the main arm and the auxiliary arm are connected through a connecting cylinder, and the vibration motor is arranged on the auxiliary arm.
Further, the auxiliary arm is of a hollow structure.
Furthermore, the clamping mechanism comprises a clamping jaw base, two clamping jaws, a pin, a connecting rod, a center pull rod and a first electric push rod, the tail ends of the two clamping jaws are movably connected with the clamping jaw base respectively, the middle parts of the two clamping jaws are hinged to one end of the connecting rod through the pin, the other end of the connecting rod is connected with one end of the center pull rod, the other end of the center pull rod penetrates through the inside of the auxiliary arm and is connected with the output end of the first electric push rod, the first electric push rod is installed in the connecting cylinder, and two ends of the connecting cylinder are fixedly connected with the main arm and the auxiliary arm respectively.
Furthermore, the clamping surfaces of the two clamping jaws are respectively provided with a sawtooth-shaped rubber block.
Furthermore, the tails of the two clamping jaws are provided with waist-shaped grooves, the clamping jaw base is provided with fixing pins, and the waist-shaped grooves are in sliding fit with the fixing pins.
Further, unmanned aerial vehicle includes undercarriage, rotor seat, rotor horn, well core plate, camera base, lithium cell and frame, well core plate upper portion is equipped with the camera in unmanned aerial vehicle, and the lower part is equipped with the lithium cell.
Further, luffing motion mechanism is including rotating the supporting seat, picking arm fixing base, frame longeron, picking arm connecting rod, second electric putter and electric putter base, rotate the cover on the frame longeron and be equipped with and rotate the supporting seat, rotate and set firmly the picking arm fixing base on the supporting seat, the one end and the picking arm fixing base fixed connection of main arm, the one end and the rotation supporting seat connection of picking arm connecting rod, the other end of picking arm connecting rod is articulated with second electric putter's output activity, second electric putter installs on the electric putter base, the electric putter base is installed in the frame.
Furthermore, a shock pad is arranged between the rotating support seat and the picking arm fixing seat.
The utility model is simple in operation, it is nimble to use, carry on picking mechanism through unmanned aerial vehicle, utilize luffing mechanism to drive clamping mechanism adjustment clamping position in the picking mechanism, rethread clamping mechanism presss from both sides tight fruit tree branch, drive the vibration of the tight branch of clamp through vibration mechanism at last, make the fruit break away from the carpopodium, the quality of tea-oil camellia fruit has been guaranteed, compare and pick one by one in prior art, the vibration is picked, picking efficiency has been improved, simultaneously can be fine reduction to the damage of bud and branch, because vibrating motor keeps away from on unmanned aerial vehicle's the picking arm auxiliary arm, and set up the shock pad between rotation supporting seat and the picking arm fixing base, can reduce the influence of vibration to unmanned aerial vehicle, set up zigzag rubber block through the clamping face at two clamping jaws, can be fine protection branch when keeping pressing from both sides tightly.
Drawings
FIG. 1 is a front view of a preferred embodiment of the present invention;
fig. 2 is a left side view of the preferred embodiment of the present invention;
fig. 3 is a top view of the preferred embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 2;
in the figure: undercarriage 1, picking arm connecting rod 2, second electric push rod 3, rotor 4, rotor seat 5, rotor horn 6, central plate 7, camera 8, camera base 9, lithium battery 10, main arm 11, connecting cylinder 12, sub-arm 13, vibrating motor 14, clamping jaw base 15, clamping jaw 16, pin 17, connecting rod 18, central pull rod 19, frame 20, electric push rod base 21, shock pad 22, first electric push rod 23, rotation supporting seat 24, picking arm fixing seat 25, frame longeron 26, fixing pin 151, waist-shaped groove 161, zigzag rubber block 162.
Detailed Description
The present invention can be further described by the following embodiments, however, the scope of the present invention is not limited to the following embodiments.
The embodiment is as follows: as shown in figures 1-4, the unmanned aerial vehicle oil tea fruit vibration picking device comprises an unmanned aerial vehicle and a picking mechanism, wherein the picking mechanism comprises a vibration mechanism, a clamping mechanism and an up-and-down swinging mechanism: the unmanned aerial vehicle comprises an undercarriage 1, a rotor 4, a rotor seat 5, a rotor arm 6, a central plate 7, a camera 8, a camera base 9, a lithium battery 10 and a rack 20, wherein the camera 8 is arranged at the upper part of the central plate 7 of the unmanned aerial vehicle, the lithium battery 10 is arranged at the lower part of the central plate 7 of the unmanned aerial vehicle, the camera 8 can identify camellia oleifera abel branches, the lithium battery 10 supplies power to the whole device, and the lithium battery 10 can be connected with an external generator through a long line to realize real-time charging due to the fact that the power supplied by the lithium battery 10 is short in endurance time; in this embodiment, the vibrating mechanism includes a picking arm and a vibrating motor 14, the picking arm includes a main arm 11 and an auxiliary arm 13, one end of the main arm 11 is connected with an up-down swinging mechanism, the up-down swinging mechanism is used for adjusting a clamping angle of a clamping mechanism, one end of the auxiliary arm 13, which is far away from the main arm 11, is provided with the clamping mechanism, the clamping mechanism can clamp branches, the main arm 11 and the auxiliary arm 13 are connected through a connecting cylinder 12, and the vibrating motor 14 is arranged on the auxiliary arm 13. The utility model discloses an unmanned aerial vehicle carries on picking mechanism, utilizes luffing mechanism to drive clamping mechanism adjustment clamping angle among the picking mechanism, and rethread clamping mechanism presss from both sides tight fruit tree branch, drives the vibration of pressing from both sides tight branch through vibration mechanism at last, makes the fruit break away from the carpopodium, has improved and has picked efficiency, has guaranteed the quality of tea-oil camellia fruit.
In this embodiment, the sub-arm 13 has a hollow structure as shown in fig. 2.
In this embodiment, the clamping mechanism includes a clamping jaw base 15, two clamping jaws 16, a pin 17, a connecting rod 18, a central pull rod 19 and a first electric push rod 23, the ends of the two clamping jaws 16 are movably connected with the clamping jaw base 15, the middle portions of the two clamping jaws 16 are hinged to one end of the connecting rod 18 through the pin 17, the other end of the connecting rod 18 is connected with one end of the central pull rod 19, one end of the central pull rod 19 penetrates through the inside of the auxiliary arm 13 and is connected with the output end of the first electric push rod 23, the first electric push rod 23 is installed in the connecting cylinder 12, two ends of the connecting cylinder 12 are fixedly connected with the main arm 11 and the auxiliary arm 13, further, a saw-toothed rubber block 162 is arranged on the clamping surfaces of the two clamping jaws 16, the saw-toothed rubber block 162 can protect the branches, further, the tail portions of the two clamping jaws have a waist-shaped groove 161, a fixing pin 151 is arranged on the clamping jaw base 15, the waist-shaped groove 161 is in sliding fit with the fixing pin 151, and the clamping mechanism pulls the central pull rod 18 through the second electric push rod 3 to drive the hinged pin of the middle portions of the clamping jaws to move, so as to clamp the branches.
In this embodiment, the luffing mechanism includes a rotating support seat 24, a picking arm fixing seat 25, a frame longitudinal beam 26, a picking arm connecting rod 2, a second electric push rod 3 and an electric push rod base 21, the rotating support seat 24 is sleeved on the frame longitudinal beam 26, the picking arm fixing seat 25 is fixedly arranged on the rotating support seat 24, one end of the main arm 11 is fixedly connected with the picking arm fixing seat 25, one end of the picking arm connecting rod 2 is connected with the rotating support seat 24, the other end of the picking arm connecting rod 2 is movably hinged to an output end of the second electric push rod 3, the second electric push rod 3 is mounted on the electric push rod base 21, the electric push rod base 21 is mounted on the frame 20, the picking arm connecting rod 2 is driven to move by controlling the extension and retraction of the second electric push rod 3, the picking arm connecting rod 2 moves to drive the picking arm fixing seat 25 to rotate along with the rotating support seat 24, so as to drive the picking arm to rotate to realize the angle adjustment of the clamping mechanism, and enable the clamping mechanism to flexibly clamp branches.
In this embodiment, further, rotating and being equipped with shock pad 22 between supporting seat 24 and the picking arm fixing base 25, shock pad 22 can play the cushioning effect, reduces the influence of vibration to unmanned aerial vehicle.
The utility model discloses a concrete working process:
hover unmanned aerial vehicle control to around the tea-oil camellia tree crown through the remote control, utilize the camera on central plate upper portion of unmanned aerial vehicle to fix a position the tea-oil camellia fruit, then select the more branch of tea-oil camellia fruit, control the arm of picking through second electric putter 3, to suitable angle, control first electric putter 23 and contract, first electric putter 23 contracts and drives central pull rod 19 pulling connecting rod 18, it presss from both sides the branch tightly to make two clamping jaws 16, it vibrates the tea-oil camellia branch to press from both sides tight back start-up vibrating motor, the tea-oil camellia fruit can break away from the carpopodium and fall into outside collection device, pick action more than the equal repetition at every turn, alright realize picking in succession.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (8)
1. Unmanned aerial vehicle tea-oil camellia fruit vibration picking device, including unmanned aerial vehicle and picking mechanism, its characterized in that, picking mechanism includes
The clamping mechanism is used for clamping the branches of the fruit trees;
the vibration mechanism is used for vibrating the clamped branches to separate the fruits from the fruit stalks;
the up-down swinging mechanism is used for adjusting the clamping angle of the clamping mechanism;
the vibration mechanism comprises a picking arm and a vibration motor, the picking arm comprises a main arm and an auxiliary arm, one end of the main arm is connected with the up-and-down swing mechanism, a clamping mechanism is arranged at one end, far away from the main arm, of the auxiliary arm, the main arm is connected with the auxiliary arm through a connecting cylinder, and the vibration motor is arranged on the auxiliary arm.
2. The unmanned aerial vehicle tea-oil camellia fruit vibration picking device of claim 1, wherein the auxiliary arm is of a hollow structure.
3. The unmanned aerial vehicle tea-oil camellia fruit vibration picking device according to claim 2, wherein the clamping mechanism comprises a clamping jaw base, two clamping jaws, a pin, a connecting rod, a central pull rod and a first electric push rod, the tail ends of the two clamping jaws are movably connected with the clamping jaw base respectively, the middle parts of the two clamping jaws are hinged at one end of the connecting rod through the pin, the other end of the connecting rod is connected with one end of the central pull rod, the other end of the central pull rod penetrates through the inside of the auxiliary arm and is connected with the output end of the first electric push rod, the first electric push rod is installed in the connecting cylinder, and the two ends of the connecting cylinder are fixedly connected with the main arm and the auxiliary arm respectively.
4. The unmanned aerial vehicle oil tea fruit vibration picking device according to claim 3, characterized in that saw-tooth-shaped rubber blocks are respectively arranged on the clamping surfaces of the two clamping jaws.
5. The unmanned aerial vehicle tea-oil camellia fruit vibration picking device according to claim 3, wherein the tail parts of the two clamping jaws are provided with waist-shaped grooves, the clamping jaw bases are provided with fixing pins, and the waist-shaped grooves are in sliding fit with the fixing pins.
6. The unmanned aerial vehicle tea-oil camellia fruit vibration picking device according to claim 1, wherein the unmanned aerial vehicle comprises an undercarriage, a rotor seat, a rotor arm, a central plate, a camera base, a lithium battery and a frame, the camera is arranged on the upper portion of the central plate of the unmanned aerial vehicle, and the lithium battery is arranged on the lower portion of the central plate of the unmanned aerial vehicle.
7. The unmanned aerial vehicle oil tea fruit vibration picking device of claim 6, wherein the up-and-down swinging mechanism comprises a rotating support seat, a picking arm fixing seat, a frame longitudinal beam, a picking arm connecting rod, a second electric push rod and an electric push rod base, the rotating support seat is sleeved on the frame longitudinal beam in a rotating mode, the picking arm fixing seat is fixedly arranged on the rotating support seat, one end of a main arm is fixedly connected with the picking arm fixing seat, one end of the picking arm connecting rod is connected with the rotating support seat, the other end of the picking arm connecting rod is movably hinged with an output end of the second electric push rod, the second electric push rod is mounted on the electric push rod base, and the electric push rod base is mounted on the frame.
8. The unmanned aerial vehicle oil tea fruit vibration picking device of claim 7, characterized in that a shock pad is arranged between the rotary supporting seat and the picking arm fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221767648.8U CN217564180U (en) | 2022-07-11 | 2022-07-11 | Unmanned aerial vehicle tea-oil camellia fruit vibration is picked device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221767648.8U CN217564180U (en) | 2022-07-11 | 2022-07-11 | Unmanned aerial vehicle tea-oil camellia fruit vibration is picked device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217564180U true CN217564180U (en) | 2022-10-14 |
Family
ID=83534144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221767648.8U Expired - Fee Related CN217564180U (en) | 2022-07-11 | 2022-07-11 | Unmanned aerial vehicle tea-oil camellia fruit vibration is picked device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217564180U (en) |
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2022
- 2022-07-11 CN CN202221767648.8U patent/CN217564180U/en not_active Expired - Fee Related
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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: 20221014 |