Automatic layered tea fruit picking machine

Abstract

The present invention discloses an automatic stratified oil-tea fruit picking machine, comprising a bearing platform, a frame, a plurality of stratified picking devices, a plurality of picking drive devices and a battery, wherein the bottom of the frame is connected to one end of the top of the bearing platform, the battery is installed on the other end of the top of the bearing platform and is used to provide electric energy to the plurality of picking drive devices; the plurality of stratified picking devices are respectively arranged on a plurality of picking drive devices, the plurality of picking drive devices are respectively fixed at different horizontal heights of the frame, and are respectively used to drive the picking actions of the stratified picking devices thereon, the plurality of picking drive devices and the plurality of stratified picking devices are all located on the same side of the frame; the present invention has the advantages of low cost, light weight, flexible steering, simple structure, easy maintenance, strong practicability, and low damage to oil-tea flower buds and branches and leaves.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural and forestry mechanical picking devices, and in particular, relates to an automatic layered tea-oil fruit picking machine. Background Art

[0002] Camellia oleifera is a woody oil crop unique to my country, mainly distributed in mountainous and hilly areas such as Gansu, Guangxi, Guizhou, and Jiangxi. Camellia oil contains high levels of unsaturated fatty acids and has nutritional value for food and health care, and is known as the "Oriental Olive Oil". At present, most of my country's camellia trees grow in hilly and mountainous areas, and picking is mainly done manually with a low degree of mechanization. In recent years, due to labor shortages, the picking of camellia fruits is highly seasonal and has a short maturity cycle, so the picking of camellia fruits has become an important problem that troubles fruit farmers. Camellia oleifera has the characteristics of flowering and fruiting at the same time. During the picking process, it is easy to damage the camellia buds, reducing the yield of the next year and increasing the difficulty of mechanical picking. At present, the domestically developed camellia fruit picking machinery has a high damage rate to the buds, low picking efficiency, and inconvenient walking of the picking machine in hilly and mountainous areas, which hinders the development of my country's camellia machinery, making it difficult for camellia fruit picking machinery to be promoted and applied. Therefore, it is necessary to develop a camellia fruit picking machine that can improve the efficiency of camellia fruit picking and reduce the damage rate of camellia flower buds, which has important research value and good application prospects. Summary of the invention

[0003] In view of the above-mentioned prior art, the purpose of the present invention is to overcome the deficiencies in the prior art and adapt to actual needs, thereby providing an automatic stratified tea fruit picking machine.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic stratified tea-oil fruit picking machine, comprising a carrying platform, a frame, a plurality of stratified picking devices, a plurality of picking drive devices and a battery, the bottom of the frame is connected to one end of the top of the carrying platform, the battery is installed on the other end of the top of the carrying platform, and is used to provide power to the plurality of picking drive devices; the plurality of stratified picking devices are respectively arranged on a plurality of picking drive devices, the plurality of picking drive devices are respectively fixed at different horizontal heights of the frame, and are respectively used to drive the picking action of the stratified picking devices thereon, the plurality of picking drive devices and the plurality of stratified picking devices are all located on the frame on the same side of the frame; wherein each of the multiple layered picking devices includes an upper layered frame, a lower layered frame, a fixed frame I, two layered connecting rods, two rubber rollers, a layered push rod and four bearing seats I; each of the multiple picking drive devices includes two motors, two sliders, an electric push rod, two fixed frames II, two fixed frames III, a cross bar, two support rods and two lead screw linear guide slides, the two motors are respectively installed at the rear ends of the two lead screw linear guide slides, and are respectively used to control the movement of the two sliders relative to the two lead screw linear guide slides, and one end of the two support rods is respectively fixed on the same level of the frame The two ends of the cross bar are respectively fixed to the other ends of the two support rods; the two screw linear guide slides are respectively fixed to the two ends of the cross bar, one end of the upper layer frame is connected to the upper ends of both sides of the fixed frame I, and one end of the lower layer frame is connected to the lower ends of both sides of the fixed frame I; the left and right ends of the fixed frame I are respectively fixed to one end of the two fixed frames III, and the other ends of the two fixed frames III are respectively fixed to one end of the two sliders, and the two sliders are respectively connected to the two screw linear guide slides for movement; one end of the layered push rod passes through the middle of the fixed frame I and is respectively connected to one end of the two layered connecting rods, and the other end is connected to the front end of the electric push rod. The two tiered frames are fixed on one end of the two fixing frames II, and the other ends of the two fixing frames II are respectively fixed on the other ends of the two sliding blocks; the other ends of the two tiered connecting rods are respectively connected to the middle parts of the upper tiered frame and the lower tiered frame, the four bearing seats I are respectively arranged on the other ends of the upper tiered frame and the lower tiered frame, and the other ends of the upper tiered frame and the lower tiered frame are each provided with two bearing seats I, the two ends of the two rubber rollers are respectively connected to the two bearing seats I on the upper tiered frame and the two bearing seats I on the lower tiered frame, when the upper tiered frame and the lower tiered frame clamp the branches, the distance between the rubber roller connected to the upper tiered frame and the rubber stick connected to the lower tiered frame is less than the diameter of the oil tea and greater than the diameter of the flower bud.

[0005] Furthermore, the present invention also includes walking wheels, a base frame, a telescopic frame, a pedal, a PLC controller and a FRTK04 wireless controller. The base frame is a hollow quadrilateral frame. The two ends of the telescopic frame are respectively connected to the top of the base frame and the bottom of the load-bearing platform. There are four walking wheels, which are respectively located at the four corners of the bottom of the base frame. The pedal is arranged on the base frame to drive the telescopic frame to rise and fall vertically. The PLC controller is arranged on the upper end of the frame and is used to control the start and stop of the motors in multiple picking drive devices. The FRTK04 wireless controller is arranged on the middle part of the frame and is used to control the start and stop of the electric push rods in multiple picking drive devices. An armrest is also provided on one side of the base frame to facilitate manual holding of the armrest to push the picking machine.

[0006] Furthermore, the bearing platform is a quadrilateral flat plate, the frame is an H-shaped frame, the picking drive devices are provided with five and are respectively fixed at different horizontal heights of the vertical frames at both ends of the frame, the layered picking devices are provided with five and are respectively connected to the upper ends of the five picking drive devices, one end of the two support rods are respectively fixed to the vertical frames at both ends of the frame by bolts and are located at the same horizontal height, the fixing frame I is an I-shaped, with a round hole in the middle, and bolt holes II are provided at the upper and lower ends of both sides, and one end of the upper layered frame is connected to the upper end of the upper layered frame by bolts. The pin is connected with the bolt holes II at the upper ends of both sides of the fixing frame I, and one end of the lower layered frame is connected with the bolt holes II at the lower ends of both sides of the fixing frame I through the pin; the two fixing frames III are both L-shaped plates, one end of which is provided with two bolt holes IV, the center line connection line of the two bolt holes IV is parallel to the width direction of the fixing frame III, and the other end is provided with a bolt hole V, the left and right ends of the fixing frame I are respectively fixed to the bolt holes V at one end of the two fixing frames III by bolts, and the other ends of the two fixing frames III are respectively fixed to the two sliders by bolts passing through the two bolt holes IV The output ends of the two motors are connected to the input ends of the two screw linear guide slides, and are used to control the rotation of the input ends of the screw linear guide slides, thereby driving the slider to move back and forth. One end of the layered push rod passes through the circular hole on the fixed frame I and is connected to one end of the two layered connecting rods by pins, and the other end is connected to the output shaft of the electric push rod by bolts. The two layered connecting rods are both rectangular structures, and each of the two ends has a circular hole. The other ends of the two layered connecting rods are respectively connected to the middle of the upper layer frame and the lower layer frame by pins. The two fixing frames II are both L-shaped plates, one end of which is provided with two bolt holes III, and the centerline connection line of the two bolt holes III is perpendicular to the length direction of the fixing frame II, and the bottom of the other end is provided with a convex block, the convex block is provided with two bolt holes VI, and the centerline connection line of the two bolt holes VI is parallel to the width direction of the fixing frame II, the two ends of the electric push rod are respectively fixed to the bolt holes III at one end of the two fixing frames II by bolts, and the other ends of the two fixing frames II are respectively fixed to the other ends of the two sliders by bolts passing through the bolt holes VI.

[0007] Furthermore, the rubber rollers in the five tiered picking devices are all cylindrical structures, and a rotating shaft is provided at each of their two ends. The rotating shafts at both ends are respectively installed at the other end of the upper tiered frame and the lower tiered frame through bearing seat I to ensure the rotation of the rubber rollers.

[0008] Furthermore, the positive and negative poles of the ten motors and five electric push rods in the five picking drive devices are respectively connected to the positive and negative poles of the battery, and the ten motors are controlled by a PLC controller so that the ten sliders can move synchronously; the five electric push rods are regulated by a FRTK04 wireless controller so that the five layered picking devices can move synchronously, thereby achieving the effect of multi-layer simultaneous picking.

[0009] Furthermore, the upper layer frame is in an I-shape, and the two ends of the I-shape are two rectangular plates, one end of the two rectangular plates are respectively connected to the bolt holes II at the upper ends of both sides of the fixing frame I through pins, and the other ends are respectively provided with two bolt holes I, and the bearing seat I is connected to the other end of the upper layer frame by bolts passing through the two bolt holes I, and the structural shape of the lower layer frame is the same as that of the upper layer frame, one end of which is respectively connected to the bolt holes II at the lower ends of both sides of the fixing frame I through pins, and the other end is also respectively provided with two bolt holes VII of the same size as the bolt holes I and connected to the bearing seat I through the bolt holes VII.

[0010] Furthermore, the support rods in the same picking drive device have the same length, while the support rods in different picking drive devices have different lengths. From top to bottom, they are the first-layer picking drive device to the fifth-layer picking drive device. From the support rods in the first-layer picking drive device to the support rods in the fourth-layer picking drive device, the length of each layer of support rods decreases by 200 mm. The length of the support rods in the first layer is 800 mm, and the length of the support rods in the fifth layer is the same as that of the support rods in the fourth layer.

[0011] Furthermore, the bottom of the frame is connected to one end of the top of the load-bearing platform by bolts, and a pillar is provided at each of the front and rear ends of the frame. One end of the pillar is connected to both sides of the bottom of the vertical frame at both ends of the frame by bolts, and the other end is installed on one end of the top of the load-bearing platform by bolts.

[0012] Furthermore, the running wheels are pneumatic tires.

[0013] Furthermore, the rubber roller is made of rubber material.

[0014] The beneficial effects of the present invention are as follows: the present invention has relatively low cost, simple structure, easy maintenance, simple operation, easy to use, strong practicality, light weight, flexible steering, and is suitable for walking on gentle slopes; the automatic layered oil tea fruit multi-layer picking head can realize one-time large-scale oil tea fruit picking, and the spacing and rotation between the rubber rollers cause less damage to the oil tea flower buds and branches and leaves during the process of picking oil tea fruits. The picking machine can adjust the picking height according to the height of the oil tea tree and adjust the extended distance of the picking head according to the sparseness and length of the branches. The picking degree is high, the adaptability to the picking environment is good, the coordination performance between the picking mechanisms is excellent, the continuity of the picking action can be guaranteed, the picking efficiency is high, the missed picking rate is low, and the damage to the oil tea flower buds and branches and leaves is particularly low. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the present invention;

[0016] Figure 2 It is a partial enlarged view of the A part in the main view of the present invention;

[0017] Figure 3 It is a front view of the layered picking device of the present invention;

[0018] Figure 4 A top view of the layered picking device of the present invention;

[0019] Figure 5 It is a partial enlarged view of part B in the top view of the layered picking device of the present invention;

[0020] Figure 6 It is a schematic diagram of the installation structure of the fixing frame II, the electric push rod and the slider of the present invention;

[0021] Figure 7 It is a structural schematic diagram of the rubber roller of the present invention;

[0022] Figure 8 is a three-dimensional diagram of the fixing frame I of the present invention;

[0023] Fig. 9 A three-dimensional diagram of the fixing frame II of the present invention;

[0024] Fig.10 is a three-dimensional diagram of the fixing frame III of the present invention;

[0025] Fig.11 It is a schematic diagram of the connection structure of the slider, the motor, the lead screw and the linear guide slide of the present invention;

[0026] Fig.12 It is a schematic diagram of the connection structure between the screw nut and the slider of the present invention.

[0027] In the figure: walking wheel 1, base frame 2, telescopic frame 3, bearing platform 4, battery 5, handrail 6, pillar 7, frame 8, electric push rod 9, motor 10, layered push rod 11, bearing seat Ⅰ12, support rod 13, bolt hole Ⅰ14, linear guide slide 15, slider 16, upper layer frame 17, layered connecting rod 18, lower layer frame 19, bolt hole Ⅱ20, cross bar 21, rubber roller 22, bolt hole Ⅲ23, round hole 24, pedal 25, fixed frame Ⅰ26, fixed frame Ⅱ27, fixed frame Ⅲ28, threaded hole Ⅳ29, bolt hole Ⅴ30, rotating shaft 31, bolt hole Ⅵ32, bolt hole Ⅶ33, bump 34, FRTK04 wireless controller 35, PLC controller 36, screw 37, bearing seat Ⅱ38, screw nut 39, screw linear guide slide 40. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0029] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "center", "vertical", "horizontal", "top", "bottom", "inside", "outside", "middle", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In addition, in the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] Example: Figures 1 to 10As shown, the present invention provides an automatic stratified tea-oil fruit picking machine, comprising a carrying platform 4, a frame 8, a plurality of stratified picking devices, a plurality of picking drive devices and a battery 5, wherein the bottom of the frame 8 is connected to one end of the top of the carrying platform 4, and the battery 5 is installed on the other end of the top of the carrying platform 4 and is used to provide power to the plurality of picking drive devices; the plurality of stratified picking devices are respectively arranged on a plurality of picking drive devices, and the plurality of picking drive devices are respectively fixed at different horizontal heights of the frame 8 and are respectively used to drive the picking action of the stratified picking devices thereon, and the plurality of picking drive devices and the plurality of stratified picking devices are all located on the same side of the frame 8; wherein each of the plurality of stratified picking devices comprises an upper stratified frame 17, a lower layer frame 19, a fixed frame I 26, two layered connecting rods 18, two rubber rollers 22, a layered push rod 11 and four bearing seats I 12; each of the multiple picking drive devices includes two motors 10, two sliders 16, an electric push rod 9, two fixed frames II 27, two fixed frames III 28, a cross bar 21, two support rods 13 and two screw linear guide slides 40, the two motors 10 are respectively installed at the rear ends of the two screw linear guide slides 40, and are respectively used to control the movement of the two sliders 16 relative to the two screw linear guide slides 40, one end of the two support rods 13 is respectively fixed at the same horizontal height of the frame 8; the two ends of the cross bar 21 are respectively fixed to the two support rods 13; the two screw linear guide slides 40 are respectively fixed on the two ends of the cross bar 21, one end of the upper layer frame 17 is connected to the upper ends of the two sides of the fixed frame Ⅰ26, and one end of the lower layer frame 19 is connected to the lower ends of the two sides of the fixed frame Ⅰ26; the left and right ends of the fixed frame Ⅰ26 are respectively fixed to one end of the two fixed frames Ⅲ28, and the other ends of the two fixed frames Ⅲ28 are respectively fixed to one end of the two sliders 16, and the two sliders 16 are respectively connected to the two screw linear guide slides 40 for movement; one end of the layered push rod 11 passes through the middle of the fixed frame Ⅰ26 and is respectively connected to one end of the two layered connecting rods 18, and the other end is connected to the front end of the electric push rod 9, and the two ends of the electric push rod 9 are respectively fixed to one end of the two fixed frames Ⅱ27 The other ends of the two fixing frames II 27 are respectively fixed to the other ends of the two sliders 16; the other ends of the two layered connecting rods 18 are respectively connected to the middle parts of the upper layered frame 17 and the lower layered frame 19, the four bearing seats I 12 are respectively arranged on the other ends of the upper layered frame 17 and the lower layered frame 19, and two bearing seats I 12 are arranged on the other ends of the upper layered frame 17 and the lower layered frame 19, and the two ends of the two rubber rollers 22 are respectively connected to the two bearing seats I 12 on the upper layered frame 17 and the two bearing seats I 12 on the lower layered frame 19. When the upper layered frame 17 and the lower layered frame 19 clamp the branches, the distance between the rubber roller 22 connected to the upper layered frame 17 and the rubber stick 22 connected to the lower layered frame 19 is less than the diameter of the oil tea and greater than the diameter of the flower bud.

[0032] Preferably, the present invention also includes a walking wheel 1, a base frame 2, a telescopic frame 3, a pedal 25, a PLC controller 36 and a FRTK04 wireless controller 35, the base frame 2 is a hollow quadrilateral frame, the two ends of the telescopic frame 3 are respectively connected to the top of the base frame 2 and the bottom of the carrying platform 4, the walking wheel 1 is provided with four, which are respectively located at the four corners of the bottom of the base frame 2, the pedal 25 is provided on the base frame 2, and is used to drive the telescopic frame 3 to rise and fall vertically, the PLC controller 36 is arranged on the upper end of the frame 8 and is used to control the start and stop of the motor 10 in multiple picking drive devices, the FRTK04 wireless controller 35 is arranged on the middle part of the frame 8 and is used to control the start and stop of the electric push rod 9 in multiple picking drive devices, and a handrail 6 is also provided on one side of the base frame 2, which is convenient for manual grasping of the handrail 6 to push the picking machine.

[0033] Preferably, the bearing platform 4 is a quadrilateral flat plate, the frame 8 is an H-shaped frame, the picking drive device is provided with five and respectively fixed at different horizontal heights of the vertical frames at both ends of the frame 8, the layered picking device is provided with five and respectively connected to the upper ends of the five picking drive devices, one end of the two support rods 13 is respectively fixed to the vertical frames at both ends of the frame by bolts and is located at the same horizontal height, the fixing frame I26 is an I-shaped shape, a circular hole 24 is provided in the middle, and bolt holes II20 are provided at the upper and lower ends of both sides, and one end of the upper layer frame 17 is connected to the upper ends of both sides of the fixing frame I26 by pins. The lower layered frame 19 is connected with the bolt holes II20 at the lower ends of the fixing frame I26 at one end by a pin; the two fixing frames III28 are both L-shaped plates, one end of which is provided with two bolt holes IV29, the center line of the two bolt holes IV29 is parallel to the width direction of the fixing frame III28, and the other end is provided with a bolt hole V30, the left and right ends of the fixing frame I26 are respectively fixed to the bolt holes V30 at one end of the two fixing frames III28 by bolts, and the other ends of the two fixing frames III28 are respectively fixed to one end of the two sliders 16 by bolts passing through the two bolt holes IV29; The output ends of the two motors 10 are respectively connected to the input ends of the two screw linear guide slides 40, and are respectively used to control the rotation of the input ends of the screw linear guide slides 40, thereby driving the reciprocating movement of the slider 16. One end of the layered push rod 11 passes through the circular hole 24 on the fixed frame Ⅰ26 and is respectively connected to one end of the two layered connecting rods 18 by pins, and the other end is connected to the output shaft of the electric push rod 9 by bolts; the two layered connecting rods 18 are both rectangular structures, and each of the two ends has a circular hole, and the other ends of the two layered connecting rods 18 are respectively connected to the middle of the upper layer frame 17 and the lower layer frame 19 by pins. The two fixing frames II27 are both L-shaped plates, and two bolt holes III23 are provided on one end of each, and the center lines of the two bolt holes III23 are perpendicular to the length direction of the fixing frame II27. A protrusion 34 is provided at the bottom of the other end, and two bolt holes VI32 are provided on the protrusion 34, and the center lines of the two bolt holes VI32 are parallel to the width direction of the fixing frame II27. The two ends of the electric push rod 9 are respectively fixed to the bolt holes III23 at one end of the two fixing frames II27 by bolts, and the other ends of the two fixing frames II27 are respectively fixed to the other ends of the two sliders 16 by bolts passing through the bolt holes VI32.

[0034] Preferably, the rubber rollers 22 in the five layered picking devices are all cylindrical structures, and a rotating shaft 31 is provided at each of their two ends. The rotating shafts 31 at both ends are respectively installed at the other end of the upper layer frame 17 and the lower layer frame 19 through bearing seats Ⅰ12 to ensure the rotation of the rubber rollers 22.

[0035] Preferably, the positive and negative poles of the ten motors 10 and the five electric push rods 9 in the five picking drive devices are respectively connected to the positive and negative poles of the battery 5, and the ten motors 10 are controlled by a PLC controller 36, so that the ten sliders 16 can move synchronously; the five electric push rods 9 are regulated by a FRTK04 wireless controller 35, so that the five layered picking devices can move synchronously, thereby achieving the effect of multi-layer simultaneous picking.

[0036] Preferably, the upper layer frame 17 is in an I-shape, and the two ends of the I-shape are two rectangular plates, one end of the two rectangular plates are respectively connected to the bolt holes Ⅱ20 at the upper ends of both sides of the fixing frame Ⅰ26 by pins, and the other ends are respectively provided with two bolt holes Ⅰ14, and the bearing seat Ⅰ12 is connected to the other end of the upper layer frame 17 by bolts passing through the two bolt holes Ⅰ14, and the structural shape of the lower layer frame 19 is the same as that of the upper layer frame 17, one end of which is respectively connected to the bolt holes Ⅱ20 at the lower ends of both sides of the fixing frame Ⅰ26 by pins, and the other end is also respectively provided with two bolt holes Ⅶ33 of the same size as the bolt holes Ⅰ14 and is connected to the bearing seat Ⅰ12 through the bolt holes Ⅶ33.

[0037] Preferably, the support rods 13 located in the same picking drive device have the same length, and the support rods 13 located in different picking drive devices have different lengths, from the first layer of picking drive devices to the fifth layer of picking drive devices, and the length of the support rods 13 in the first layer of picking drive devices to the support rods 13 in the fourth layer of picking drive devices, each layer of support rods 13 decreases by 200 mm in length, the length of the first layer of support rods 13 is 800 mm, and the length of the fifth layer of support rods 13 is the same as the length of the fourth layer of support rods 13.

[0038] Preferably, the bottom of the frame 8 is connected to one end of the top of the supporting platform 4 by bolts, and a pillar 7 is provided at each of the front and rear ends of the frame 8, one end of the pillar 7 is connected to both sides of the bottom of the vertical frame at both ends of the frame 8 by bolts, and the other end is installed on one end of the top of the supporting platform 4 by bolts.

[0039] Preferably, the running wheel 1 is a pneumatic tire.

[0040] Preferably, the rubber roller 22 is made of rubber material.

[0041] In the present invention, the two ends of the cross bar 21 are respectively fixed to the upper ends of the other ends of the two support rods 13 by bolts; the two screw linear guide slides each include a screw 37, two bearing seats II 38 and a linear guide slide 15 (such as Figure 11~Figure 12As shown), the two screw rods 37 are respectively installed on the two ends of the two linear guide slides 15 through two bearing seats II 38, and the two linear guide slides 15 are respectively fixed to the upper ends of the two ends of the cross bar 21 by bolts, wherein: the shaft diameter of the screw rod 37 is 8mm, the lead is 4mm, the stroke is 300mm, the total length of the linear guide slide 15 is 400mm, and the net stroke is 300mm. The middle parts of the two sliders 16 are respectively arranged on the two screw rods 37 through screw nuts 39, and the bottoms of the two ends are respectively in contact with the end faces of the linear guide slide 15. The screw nuts 39 can move relative to the two screw rods 37 and are respectively fixed to the two sliders 16 by screws. The output ends of the two motors 10 are respectively connected to the input ends of the two screw rods 37, and are respectively used to control the rotation of the screw rods 37, thereby driving the reciprocating movement of the slider 16 through the screw nuts 39, wherein: the motor 10 is a 42 stepping motor with a current of 1.5A.

[0042] In the present invention, the electric push rod 9 is a 12V universal electric push rod, and its stroke is 35mm.

[0043] In the present invention, five layered picking devices are provided, which can effectively improve the picking efficiency. The rubber roller 22 is made of rubber material, which has certain toughness and hardness, and can avoid damage to the oil tea fruit branches during the picking process.

[0044] In the present invention, the diameters of the bolt holes I and VII are both 5 mm, the diameters of the bolt holes II, III, IV and VI are all 6 mm, and the diameter of the bolt hole V is 8 mm.

[0045] The working principle of the present invention is: when the harvester is picking oil-tea fruits, the harvester is first pushed to a suitable position in front of the oil-tea fruit tree, and the pedal is pressed according to the size of the tree to raise the picking device to a suitable position, and then the positive and negative electrodes of the battery 5 are respectively connected to the positive and negative electrodes of the electric push rod 9 and the motor 10, and after checking that the circuit is correct, the switch of the electric push rod 9 is pressed to turn on the electric push rod 9, and the output end of the electric push rod 9 is fixedly connected with the input end of the layered push rod 11 by bolts, and the power is transmitted to the layered push rod 11, and the output end of the layered push rod 11 is connected with the layered connecting rod 18 by a pin, and the power is transmitted to the layered connecting rod 18, and the layered connecting rod 18 pushes the upper layer frame 17 and the lower layer frame 19 to open and close, thereby realizing the clamping and relaxation of the branches, and the five electric push rods 9 are controlled by an FRTK04 wireless controller 35, which can realize the synchronous reverse up and down movement of five pairs of upper layer frames 17 and lower layer frames 19 at the same time; when the upper layer frame 17 and the lower layer frame 19 are in the same position, the upper layer frame 17 and the lower layer frame 19 are in the same position, and ... After the layered frame 19 is opened to a certain angle, the switch of the electric push rod 9 controller is turned off, and then the control switch of the motor 10 is turned on. The output shaft of the motor 10 is connected to the input end of the screw 37 in the screw linear guide slide 40 through a coupling, thereby transmitting power to the screw 37 in the screw linear guide slide 40, causing the screw 37 to rotate. The slider 16 is connected to the screw 37 in the screw linear guide slide 40 through a screw nut 39, wherein the screw nut 39 is fixed to the slider 16 by a screw. The rotation of the screw 37 in the screw linear guide slide 40 drives the slider 16 to move forward through the screw nut 37, thereby driving the layered picking device and the electric push rod 9 connected to the fixed frame II 27 to move forward together. Since the ten motors 10 are controlled by one PLC controller 36, the five layered picking devices can move forward at the same time. When the layered picking device reaches the picking position, the switch of the motor 10 controller is turned off. At this time, the switch of the electric push rod 9 controller is turned on. When the layer push rod 11 is at the innermost end, the switch of the electric push rod 9 controller is turned off. Since the layer push rod 11 tightly pulls the upper layer frame 17 and the lower layer frame 19 through the layer connecting rod 18, the rubber roller 22 in the upper layer frame and the rubber roller 22 in the lower layer frame maintain a stable distance, so the upper layer frame 17 and the lower layer frame 19 clamp the oil tea branches. At this time, the switch of the motor 10 controller is turned on, and the motor 10 drives the screw 37 in the screw linear guide slide 40 to rotate, thereby driving the slider 16 to move inward through the screw nut 39. At this time, the rubber roller 22 pulls the branch and moves inward at the same time, thereby completing the oil tea fruit picking process.When the upper tier rack 17 and the lower tier rack 19 clamp the branches, the spacing between the rubber rollers 22 in the upper tier rack 17 and the lower tier rack 19 is smaller than the diameter of the oil tea fruit and larger than the diameter of the flower bud, thereby reducing damage to the flower buds and leaves; the rotating shafts 31 at both ends of the rubber rollers 22 are installed at the other end of the upper tier rack 17 and the lower tier rack 19 through the bearing seat Ⅰ12, so the rubber rollers 22 will also rotate when they are rubbed and collided during the process of picking oil tea fruits, which can effectively improve the picking effect and reduce damage to the flower buds and leaves.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic layered tea fruit picking machine, comprising a carrying platform (4), a frame (8), a plurality of layered picking devices, a plurality of picking drive devices and a storage battery (5), wherein the bottom of the frame (8) is connected to one end of the top of the carrying platform (4), the storage battery (5) is mounted on the other end of the top of the carrying platform (4) and is used to provide power to the plurality of picking drive devices; the plurality of layered picking devices are respectively arranged on a plurality of picking drive devices, the plurality of picking drive devices are respectively fixed at different levels of the frame (8) and are respectively used to drive the picking action of the layered picking devices thereon, the plurality of picking drive devices and the plurality of layered picking devices are all located on the same side of the frame (8); and characterized in that: Each of the plurality of layered picking devices comprises an upper layer frame (17), a lower layer frame (19), a fixed frame I (26), two layered connecting rods (18), two rubber rollers (22), a layered push rod (11) and four bearing seats I (12); each of the plurality of picking drive devices comprises two motors (10), two sliders (16), an electric push rod (9), two fixed frames II (27), two fixed frames III (28), a cross bar (21), two support rods (13) and two screw linear guide slides (40); the two motors (10) are respectively mounted on the two screw linear guide slides (4 0), and are respectively used to control the movement of the two sliders (16) relative to the two screw linear guide rail slides (40), one end of the two support rods (13) are respectively fixed at the same horizontal height of the frame (8); the two ends of the cross bar (21) are respectively fixed to the other ends of the two support rods (13); the two screw linear guide rail slides (40) are respectively fixed to the two ends of the cross bar (21), one end of the upper layer frame (17) is connected to the upper ends of both sides of the fixed frame I (26), and one end of the lower layer frame (19) is connected to the lower ends of both sides of the fixed frame I (26); the left and right ends of the fixed frame I (26) are respectively fixed to one end of the two fixed frames III (28) The two fixed frames III (28) are respectively fixed on one end of the two sliders (16), and the two sliders (16) are respectively connected to the two screw linear guide rail slides (40) in a movable manner; one end of the layered push rod (11) passes through the middle of the fixed frame I (26) and is respectively connected to one end of the two layered connecting rods (18), and the other end is connected to the front end of the electric push rod (9), and the two ends of the electric push rod (9) are respectively fixed on one end of the two fixed frames II (27), and the other ends of the two fixed frames II (27) are respectively fixed to the other ends of the two sliders (16); the other ends of the two layered connecting rods (18) are respectively connected to the upper layer frame (17) and the lower layer frame (19). ), the four bearing seats I (12) are respectively arranged on the other end of the upper layer frame (17) and the lower layer frame (19), and two bearing seats I (12) are respectively arranged on the other end of the upper layer frame (17) and the lower layer frame (19), and the two ends of the two rubber rollers (22) are respectively connected to the two bearing seats I (12) on the upper layer frame (17) and the two bearing seats I (12) on the lower layer frame (19), and when the upper layer frame (17) and the lower layer frame (19) clamp the branches, the distance between the rubber roller (22) connected to the upper layer frame (17) and the rubber roller (22) connected to the lower layer frame (19) is smaller than the diameter of the oil tea and larger than the diameter of the flower bud.

2. The automatic layered tea fruit picking machine according to claim 1 is characterized in that: The machine also comprises a walking wheel (1), a base frame (2), a telescopic frame (3), a pedal (25), a PLC controller (36) and an FRTK04 wireless controller (35). The base frame (2) is a hollow quadrilateral frame. The two ends of the telescopic frame (3) are respectively connected to the top of the base frame (2) and the bottom of the carrying platform (4). Four walking wheels (1) are provided, which are respectively located at the four corners of the bottom of the base frame (2). The pedal (25) is provided on the base frame (2) and is used to drive the telescopic frame (3) to vertically lift. The PLC controller (36) is provided on the upper end of the frame (8) and is used to control the start and stop of the motor (10) in the plurality of picking drive devices. The FRTK04 wireless controller (35) is provided on the middle part of the frame (8) and is used to control the start and stop of the electric push rod (9) in the plurality of picking drive devices. A handrail (6) is also provided on one side of the base frame (2) to facilitate manual grasping of the handrail (6) to push the picking machine.

3. The automatic layered tea fruit picking machine according to claim 2 is characterized in that: The bearing platform (4) is a quadrilateral flat plate, the frame (8) is an H-shaped frame, five picking drive devices are provided and are respectively fixed at different horizontal heights on the vertical frames at both ends of the frame (8), five layered picking devices are provided and are respectively connected to the upper ends of the five picking drive devices, one end of the two support rods (13) are respectively fixed to the vertical frames at both ends of the frame by bolts and are located at the same horizontal height, the fixing frame I (26) is an I-shaped shape, a circular hole (24) is provided in the middle, and bolt holes II (20) are provided at the upper and lower ends of both sides, and one end of the upper layered frame (17) is connected to the bolt holes II (20) at the upper ends of both sides of the fixing frame I (26) by pins , one end of the lower layered frame (19) is connected to the bolt holes II (20) at the lower ends of both sides of the fixing frame I (26) through a pin; the two fixing frames III (28) are both L-shaped plates, one end of which is provided with two bolt holes IV (29), the center lines of the two bolt holes IV (29) are parallel to the width direction of the fixing frame III (28), and the other end is provided with a bolt hole V (30), the left and right ends of the fixing frame I (26) are respectively fixed to the bolt holes V (30) at one end of the two fixing frames III (28) by bolts, and the other ends of the two fixing frames III (28) are respectively fixed to one end of the two sliders (16) by bolts passing through the two bolt holes IV (29); the two motors (1 The output ends of the two layered push rods (11) are respectively connected to the input ends of the two screw linear guide slides (40) and are respectively used to control the rotation of the input ends of the screw linear guide slides (40), thereby driving the slider (16) to reciprocate. One end of the layered push rod (11) passes through the circular hole (24) on the fixed frame I (26) and is respectively connected to one end of the two layered connecting rods (18) by a pin, and the other end is connected to the output shaft of the electric push rod (9) by a bolt. The two layered connecting rods (18) are both rectangular structures, and each of the two ends has a circular hole. The other ends of the two layered connecting rods (18) are respectively connected to the middle of the upper layer frame (17) and the lower layer frame (19) by a pin. The two fixed The frames II (27) are all L-shaped plates, one end of which is provided with two bolt holes III (23), and the center lines of the two bolt holes III (23) are perpendicular to the length direction of the fixed frame II (27), and the bottom of the other end is provided with a convex block (34), and the convex block (34) is provided with two bolt holes VI (32), and the center lines of the two bolt holes VI (32) are parallel to the width direction of the fixed frame II (27), and the two ends of the electric push rod (9) are respectively fixed to the bolt holes III (23) at one end of the two fixed frames II (27) by bolts, and the other ends of the two fixed frames II (27) are respectively fixed to the other ends of the two sliders (16) by bolts passing through the bolt holes VI (32).

4. The automatic layered tea fruit picking machine according to claim 3 is characterized in that: The rubber rollers (22) in the five stratified picking devices are all cylindrical structures, and are each provided with a rotating shaft (31) at both ends. The rotating shafts (31) at both ends are respectively installed at the other ends of the upper stratified frame (17) and the lower stratified frame (19) through bearing seats I (12) to ensure the rotation of the rubber rollers (22).

5. The automatic layered tea fruit picking machine according to claim 3 is characterized in that: The positive and negative electrodes of the ten motors (10) and the five electric push rods (9) in the five picking drive devices are respectively connected to the positive and negative electrodes of the battery (5); the ten motors (10) are controlled by a PLC controller (36) so that the ten slide blocks (16) can move synchronously; the five electric push rods (9) are regulated by an FRTK04 wireless controller (35) so that the five layered picking devices can move synchronously, thereby achieving the effect of multi-layer simultaneous picking.

6. The automatic layered tea fruit picking machine according to claim 3 is characterized in that: The upper layer frame (17) is in an I-shaped shape, and the two ends of the I-shaped shape are two rectangular plates. One end of the two rectangular plates is respectively connected to the bolt holes II (20) at the upper ends of the two sides of the fixing frame I (26) by pins, and the other end is respectively provided with two bolt holes I (14). The bearing seat I (12) is connected to the other end of the upper layer frame (17) by bolts passing through the two bolt holes I (14). The structure and shape of the lower layer frame (19) are the same as the structure and shape of the upper layer frame (17). One end of the lower layer frame is respectively connected to the bolt holes II (20) at the lower ends of the two sides of the fixing frame I (26) by pins, and the other end is also provided with two bolt holes VII (33) of the same size as the bolt holes I (14) and is connected to the bearing seat I (12) through the bolt holes VII (33).

7. The automatic layered tea fruit picking machine according to claim 3 is characterized in that: The support rods (13) located in the same picking drive device have the same length, while the support rods (13) located in different picking drive devices have different lengths. From top to bottom, they are the first-layer picking drive device to the fifth-layer picking drive device. From the support rods (13) in the first-layer picking drive device to the support rods (13) in the fourth-layer picking drive device, the length of each layer of support rods (13) decreases by 200 mm. The length of the first-layer support rods (13) is 800 mm. The length of the fifth-layer support rods (13) is the same as the length of the fourth-layer support rods (13).

8. The automatic layered tea fruit picking machine according to claim 3 is characterized in that: The bottom of the frame (8) is connected to one end of the top of the bearing platform (4) by bolts, and a support column (7) is provided at each of the front and rear ends of the frame (8), one end of each support column (7) is connected to both sides of the bottom of the vertical frame at both ends of the frame (8) by bolts, and the other end is installed on one end of the top of the bearing platform (4) by bolts.

9. The automatic layered tea fruit picking machine according to claim 2, characterized in that: The running wheels (1) are pneumatic tires.

10. The automatic layered tea fruit picking machine according to claim 1, characterized in that: The rubber roller (22) is made of rubber material.

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