A picking device

Abstract

The present invention discloses a picking device, which includes a picking mechanism, a base, a guide, a picking assembly, and a driving assembly. The guide is arranged on the base and has a guide channel extending in a transverse direction. The guide channel has an entrance and an exit, and the size of the guide channel gradually increases from the entrance to the exit. The picking assembly is arranged in the guide channel and includes a plurality of barbed combs. The barbed combs are slidably connected to the guide via a cam follower and a slide. The barbed combs have a sliding stroke along the extension direction of the guide channel. The plurality of barbed combs are arranged at intervals along the circumference of the guide so that during the sliding stroke, the plurality of barbed combs move closer to or away from each other to clamp or release oil tea fruits. The barbed combs include a plurality of elastically arranged barbs, which are inclined toward the exit. In the technical solution of the present invention, the flower buds will not be damaged during picking.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit picking, in particular to a picking device. Background Art

[0002] At present, tea fruit picking machines generally use push-shake and impact types, that is, the tea fruits are made to fall by shaking the branches. However, this picking method will cause some unripe tea fruits to fall, resulting in losses and unnecessary waste.

[0003] The push-and-shake method uses external force to vibrate the trunk or branches, accelerating the fruit and causing it to separate at its weakest point from the branch, causing it to fall. The impact method uses a striking mechanism to ram or strike the branches, causing the fruit to fall. While these two methods apply force differently, the principle is the same: applying force to the trunk to cause the fruit to fall. Since tea fruits flower and fruit at the same time, using vibration to cause the fruit to fall can damage the flower buds. Summary of the Invention

[0004] The main purpose of the present invention is to provide a picking device, aiming to provide a picking device that can reduce damage to flower buds.

[0005] To achieve the above-mentioned object, the present invention provides a picking device, which includes a picking mechanism, and the picking mechanism includes:

[0006] base;

[0007] a guide member, disposed on the base, having a guide channel extending in a transverse direction, the guide channel having an inlet and an outlet, and a size of the guide channel gradually increasing from the inlet to the outlet;

[0008] A picking assembly is arranged in the guide channel, the picking assembly includes a plurality of barbed comb teeth, the barbed comb teeth are slidably connected to the guide member through a cam follower and a slide groove, the barbed comb teeth have a sliding stroke along the extension direction of the guide channel, the plurality of barbed comb teeth are arranged at intervals along the circumference of the guide member, so that during the sliding stroke, the plurality of barbed comb teeth move closer to or away from each other to clamp or release the oil-tea fruit, the barbed comb teeth include a plurality of elastically arranged barbed parts, and the barbed parts are inclined toward the outlet; and

[0009] The driving assembly is arranged on the base and drives the plurality of barbed comb teeth to connect to each other so as to drive the plurality of barbed comb teeth to move closer to each other when sliding toward the inlet or move away from each other when sliding toward the outlet.

[0010] Optionally, the drive assembly includes:

[0011] An electric push rod, fixedly arranged on the base, and having a movable end that moves in a transverse direction;

[0012] A connecting piece has one end which penetrates the guide channel from the outlet and is rotationally connected to the barbed comb tooth piece, and the other end which is connected to the movable end of the electric push rod through a spring.

[0013] Optionally, a pipe extending in the transverse direction is fixedly mounted on the base, the pipe is connected to the outlet of the guide channel, and the guide member includes:

[0014] A plurality of guide parts, wherein the plurality of guide parts are arranged in a ring shape along the vertical direction and are inclined, and the guide parts are slidably connected to the corresponding barbed comb teeth through cam followers and slide grooves, and the guide parts are rotatably arranged with the pipe;

[0015] An elastic member connects the guide portion and the pipe so that the guide portion can be restored after being rotated.

[0016] Optionally, the picking mechanism further includes a branch picking structure, and the branch picking structure includes:

[0017] A mounting seat, fixedly mounted on the base and extending in an up-down direction;

[0018] a branch-grabbing member comprising a plurality of branch-grabbing portions annularly distributed along the vertical direction on the outside of the guide member, the branch-grabbing portions being slidably connected to the mounting seat, the plurality of branch-grabbing portions having an expanded state in which they slide radially away from the guide member, and a contracted state in which they slide close to the guide member; and

[0019] A plurality of connecting rods are arranged at an angle to the movable end of the electric push rod, and the two ends of the connecting rods are respectively rotatably connected to the movable end of the electric push rod and the corresponding branch-picking part;

[0020] The movable end of the electric push rod moves laterally to pull the angles of the plurality of connecting rods to change, thereby driving the plurality of branch-grabbing parts to switch synchronously between the expanded state and the contracted state.

[0021] Optionally, one end of the connecting rod rotatably connected to the branch-picking part is away from the guide member, and a cam groove is provided laterally on the movable end of the electric push rod. The connecting rod is rotatably connected to the movable end of the electric push rod through a cam follower slidingly arranged in the cam groove.

[0022] Optionally, the picking device further includes an adjusting device, the picking mechanism is provided on the adjusting device, the adjusting device is used to adjust the position of the picking mechanism, a camera is provided on the base, and the adjusting device includes:

[0023] A vertical movement mechanism having a movable end that moves in an up-down direction; and

[0024] A planar joint robot arm, fixedly mounted on the movable end of the vertical moving mechanism, and having a free end;

[0025] Wherein, the base is arranged at the free end of the planar joint mechanical arm.

[0026] Optionally, a pipe extending in the transverse direction is fixedly mounted on the base, a discharge channel extending in the vertical direction is provided on the base, the pipe connects the upper end of the discharge channel with the outlet of the guide channel, and the picking device further includes a collecting mechanism to collect the oil-tea camellia fruits picked by the picking mechanism, and the collecting mechanism includes:

[0027] A collecting frame is fixedly mounted on the vertical moving mechanism, with its lower end being open;

[0028] A hose connecting the discharge channel and the collection frame; and

[0029] The load-bearing plate is rotatably arranged at the lower opening of the collecting frame.

[0030] Optionally, the collection mechanism further includes a buffer assembly, the hose is connected to the collection frame via the buffer assembly, and the buffer assembly includes:

[0031] A connecting pipe is fixedly arranged on the collecting frame in the vertical direction, with its two ends respectively connected to the collecting frame and the hose; and

[0032] A plurality of flexible members are fixedly installed in the connecting pipe in an annular shape, and one end of the flexible member away from the connecting pipe is inclined downward.

[0033] Optionally, the picking device further includes a mobile platform, and the mobile platform includes:

[0034] A rotating mechanism having a movable end that rotates in a horizontal direction;

[0035] A swing mechanism, fixedly mounted on the movable end of the rotating mechanism, having a movable end that swings horizontally; and

[0036] A horizontal moving mechanism extending in a horizontal direction and fixedly mounted on a movable end of the swing mechanism, the horizontal moving mechanism having a movable end that moves in a horizontal direction;

[0037] Wherein, the vertical moving mechanism is fixedly installed on the movable end of the horizontal moving mechanism.

[0038] Optionally, the picking device further includes a lifting mechanism, which is used to drive the mobile platform to move up and down, and the lifting mechanism includes:

[0039] Mounting plate;

[0040] A winch, fixedly mounted on the mounting plate;

[0041] A carrying plate is slidably arranged with the mounting plate in an up-down direction; and

[0042] A pulley is provided on the bearing plate, and the pulley is connected to the hoist through a rope;

[0043] Wherein, the rotating mechanism is fixedly mounted on the supporting plate.

[0044] In the technical solution of the present invention, the entrance of the picking channel is used to wrap the oil tea fruit to be picked, and the driving component is used to drive the multiple barbed comb teeth to slide toward the entrance, so that the multiple barbed comb teeth slide and approach each other to clamp the oil tea fruit, and then the driving component is used to drive the multiple barbed comb teeth to slide toward the exit. Due to the inclined setting of the barbed part, the oil tea fruit is not easy to loosen after entering between the multiple barbed comb teeth from the entrance, so that the multiple barbed comb teeth can also clamp the oil tea fruit during the sliding process toward the exit, and can pull the oil tea fruit off when moving toward the exit until the oil tea fruit is released. At the same time, during the picking process, the guide member can be against the tree branch, which is more convenient for picking and will not cause damage to the flower buds during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0046] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of the picking device provided by the present invention;

[0047] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the picking mechanism;

[0048] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the middle part of the picking mechanism;

[0049] Figure 4 for Figure 2 A schematic diagram of the structure of the middle barbed comb tooth member;

[0050] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the vertical movement mechanism and the planar joint robot arm;

[0051] Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the central collection mechanism;

[0052] Figure 7 for Figure 6 Schematic diagram of the three-dimensional structure of the middle buffer component;

[0053] Figure 8 for Figure 1 A schematic diagram of the three-dimensional structure of the hose of the collecting mechanism;

[0054] Figure 9 for Figure 1 Schematic diagram of the three-dimensional structure of the rotating mechanism and the swing mechanism;

[0055] Figure 10 for Figure 1 Schematic diagram of the three-dimensional structure of the horizontal moving mechanism;

[0056] Figure 11 for Figure 1 Schematic diagram of the three-dimensional structure of the lifting mechanism.

[0057] Description of Figure Numbers:

[0058] Label name Label name 1000 Picking device 23 vertical platform 1 Picking agency 3 Planar joint robotic arm 11 base 31 Robotic arm body 111 Discharge channel 4 Collection Agency 12 Guide 41 Collection Box 121 Guide 42 hose 122 elastic parts 43 load-bearing plate 13 Guide channel 44 Buffer components 131 Entrance 441 connecting pipe 132 exit 442 Flexible parts 14 Picking components 5 Rotating mechanism 141 Barbed comb teeth 51 Rotation axis 1411 Barb 52 Connecting plate 15 Drive components 6 Swing mechanism 151 Electric linear actuator 61 drive motor 152 Connectors 7 Horizontal movement mechanism 16 Branch structure 71 horizontal rails 161 Mounting Block 72 Horizontal lead screw 162 Branch picking pieces 73 Horizontal platform 163 connecting rod 8 Lifting mechanism 17 pipeline 81 Mounting plate 18 Camera 82 hoist 2 Vertical movement mechanism 83 Loading plate 21 vertical rails 84 pulley 22 Vertical screw

[0059] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0062] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] At present, tea fruit picking machines generally use push-shake and impact-type methods, that is, they make the tea fruit fall by shaking the branches. However, this picking method will cause some unripe tea fruit to fall, resulting in losses and unnecessary waste. The push-shake method mainly uses external force to make the trunk or branches produce corresponding shaking motion, causing the fruit to produce a certain acceleration, causing the fruit to separate from the weakest connection with the branch and fall; the impact-type mainly uses an impact mechanism to collide with the branch or knock the branch to make the fruit fall off; these two methods have different ways of applying force, but the principle is to apply force to the branches of the tree to make the tea fruit fall. Since tea fruit flowers and fruits at the same time, the method of making the fruit fall by vibration will cause damage to the flower buds.

[0064] The main purpose of the present invention is to provide a picking device, aiming to provide a picking device that can reduce damage to flower buds.

[0065] In order to solve the above problems, the present invention proposes a picking device, which aims to provide a picking device that can reduce damage to flower buds.

[0066] Figures 1 to 11 This is a structural diagram of an embodiment provided by the present invention.

[0067] Please refer to Figures 1 to 4The present invention proposes a picking device 1000, which includes a picking mechanism 1, and the picking mechanism 1 includes a base 11, a guide member 12, a picking assembly 14 and a driving assembly 15. The guide member 12 is arranged on the base 11, and has a guide channel 13 extending in the transverse direction. The guide channel 13 has an entrance 131 and an exit 132, and the size of the guide channel 13 gradually increases from the entrance 131 to the exit 132; the picking assembly 14 is arranged in the guide channel 13, and the picking assembly 14 includes a plurality of barbed comb teeth 141, and the barbed comb teeth 141 are slidably connected to the guide member 12 through a cam follower and a slide groove. The barbed comb teeth 141 has a sliding stroke along the extension direction of the guide channel 13, and multiple barbed comb teeth 141 are arranged at circumferential intervals along the guide member 12, so that during the sliding stroke, the multiple barbed comb teeth 141 can move closer to or away from each other to clamp or release the tea fruit. The barbed comb teeth 141 includes multiple elastically arranged barbed portions 1411, and the barbed portions 1411 are inclined toward the outlet 132; the driving assembly 15 is arranged on the base 11, driving and connecting multiple barbed comb teeth 141 to drive multiple barbed comb teeth 141 to move closer to each other when sliding toward the entrance 131 or move away from each other when sliding toward the outlet 132.

[0068] In the technical solution of the present invention, the entrance 131 of the picking channel is used to wrap the oil tea fruit to be picked, and the driving component 15 drives the multiple barbed comb teeth 141 to slide toward the entrance 131, so that the multiple barbed comb teeth 141 slide and approach each other to clamp the oil tea fruit, and then the driving component 15 drives the multiple barbed comb teeth 141 to slide toward the outlet 132. Due to the inclined setting of the barbed part 1411, the oil tea fruit is not easy to loosen after entering between the multiple barbed comb teeth 141 from the entrance 131, so that the multiple barbed comb teeth 141 can also jam the oil tea fruit during the sliding process toward the outlet 132, and can pull the oil tea fruit off when moving toward the outlet 132 until the oil tea fruit is released. At the same time, during the picking process, the guide member 12 can press against the tree branches, which is more convenient for picking and will not cause damage to the flower buds during picking.

[0069] Furthermore, in this embodiment, the driving assembly 15 includes an electric push rod 151 and a connecting member 152. The electric push rod 151 is fixedly arranged on the base 11 and has a movable end that moves laterally; one end of the connecting member 152 penetrates into the guide channel 13 from the outlet 132 and is rotatably connected to the barbed comb tooth member 141, and the other end is connected to the movable end of the electric push rod 151 through a spring. The electric push rod 151 is started, and its movable end moves toward the direction of the entrance 131, and then the barbed comb tooth piece 141 is pushed toward the direction of the entrance 131 through the transmission of the connecting piece 152. Under the guidance of the guide piece 12, the multiple barbed comb tooth pieces 141 approach each other, thereby wrapping the oil tea fruit. Due to the inclined setting of the barbed portion 1411, the multiple barbed comb tooth pieces 141 can clamp the oil tea fruit into a deeper position when moving toward the entrance 131, and can also maintain the clamping state of the oil tea fruit within a certain sliding stroke when moving toward the outlet 132, and can simultaneously pull the oil tea fruit off the branch, and then continue to move toward the outlet 132, thereby releasing the oil tea fruit and completing the picking.

[0070] Furthermore, a pipe 17 extending in the transverse direction is fixedly mounted on the base 11, and the pipe 17 is connected to the outlet 132 of the guide channel 13. The guide member 12 includes an elastic member 122 and a plurality of guide portions 121. The plurality of guide portions 121 are arranged in a ring shape in the up and down directions, and the guide portions 121 are arranged at an angle. The guide portions 121 are slidingly connected to the corresponding barbed comb teeth 141 through a cam follower and a slide groove. The guide portion 121 and the pipe 17 are arranged to rotate, and the elastic member 122 connects the guide portion 121 and the pipe 17 so that the guide portion 121 can be restored after rotation. When the barbed comb member 141 slides toward the inlet 131, it will squeeze the guide portion 121, causing the guide portion 121 to open away from one end of the pipe 17, so that the elastic member 122 has an elastic force on the barbed comb member 141 to move closer to each other. When the barbed comb member 141 moves toward the outlet 132, under the elastic action of the elastic member 122, the barbed comb member 141 can further clamp the oil tea fruit, making picking more convenient. In this embodiment, the elastic member 122 includes a metal plate and an elastic silicone ring. The metal plate is fixedly connected to the guide portion 121, and one end of the metal plate is inserted into the groove on the pipe 17 through the elastic silicone ring; wherein, the metal plate has a certain toughness, which can make the guide portion 121 slightly bend, thereby having a clamping effect on the oil tea fruit.

[0071] It can be understood that the diameter formed by the multiple guide parts 121 at the entrance 131 is set to the theoretical maximum tea fruit diameter plus the thickness of the barbed comb tooth part 141, so that the barbed comb tooth part 141 can smoothly wrap fruits of various sizes into the barbed comb tooth structure. Secondly, the diameter formed by the multiple barbed comb tooth parts 141 should be set to the theoretical minimum tea fruit diameter. The purpose is to use the resistance characteristics of the barbed comb tooth structure to stick tea fruits of various sizes in the guide channel 13.

[0072] In the actual picking process, it is inevitable that there will be obstructions by branches, which will affect the picking of the picking mechanism 1. Therefore, the picking mechanism 1 also includes a branch picking structure 16, which includes a mounting seat 161, a branch picking member 162 and a plurality of connecting rods 163: the mounting seat 161 is fixedly mounted on the base 11 and extends in the up-down direction; the branch picking member 162 includes a plurality of branch picking parts annularly distributed in the up-down direction on the outside of the guide member 12, the branch picking parts are slidably connected to the mounting seat 161, and the plurality of branch picking parts have an expanded state in which they slide radially away from the guide member 12, and a retracted state in which they slide close to the guide member 12; a plurality of connecting rods 163 are arranged at an angle to the movable end of the electric push rod 151, and their two ends are respectively rotatably connected to the movable end of the electric push rod 151 and the corresponding branch picking part; the movable end of the electric push rod 151 moves laterally to pull the angle change of the plurality of connecting rods 163, so as to drive the plurality of branch picking parts to synchronously switch between the expanded state and the retracted state. When it is necessary to pick branches, the electric push rod 151 is started, and its movable end moves horizontally, thereby driving the angle of the connecting rod 163 to change, thereby driving the multiple branch picking parts to move in a relatively distant direction and enter the expanded state, thereby picking nearby branches and facilitating the picking of tea fruits by the picking mechanism 1. After picking is completed, the multiple branch picking parts are driven to retract again by the electric push rod 151 to avoid collision with external branches during the movement of the picking mechanism 1.

[0073] In this embodiment, one end of the connecting rod 163, which is rotatably connected to the branch-pulling portion, is distal from the guide member 12. A cam groove is defined transversely at the movable end of the electric push rod 151. The connecting rod 163 is rotatably connected to the movable end of the electric push rod 151 via a cam follower slidably disposed in the cam groove. The movable end of the electric push rod 151 moves away from the outlet 132 until the connecting rod 163 rotates to a vertical position and abuts against the mounting seat 161. This allows the plurality of branch-pulling portions to remain in the extended position to pull branches apart. When picking is desired, the electric push rod 151 is activated, causing the movable end of the electric push rod 151 to move toward the outlet 132 for picking. When the branch-pulling portion is to be retracted, the movable end of the electric push rod 151 moves toward the outlet 132, and the cam follower slides in the cam groove. Once the cam follower reaches its limit position, it causes the angle of the connecting rod 163 to change, thereby retracting the branch-pulling portion. This arrangement allows the picking and branch removal of the entire picking mechanism 1 to be performed in sections, reducing the load on the electric push rod 151.

[0074] Please refer to Figure 5 The picking device 1000 further includes an adjustment device, on which the picking mechanism 1 is mounted. The adjustment device is used to adjust the position of the picking mechanism 1. A camera 18 is mounted on the base 11. The adjustment device includes a vertical movement mechanism 2 and a planar joint robotic arm 3. The vertical movement mechanism 2 has a movable end that moves in an up-and-down direction. The planar joint robotic arm 3 is fixedly mounted at the movable end of the vertical movement mechanism 2. The planar joint robotic arm 3 has a free end. The base 11 is mounted at the free end of the planar joint robotic arm 3. The vertical movement mechanism 2 drives the planar joint robotic arm 3 to move in an up-and-down direction, thereby changing the height of the picking mechanism 1. The planar joint robotic arm 3 can drive the picking mechanism 1 to rotate horizontally and vertically, thereby adjusting the orientation of the picking mechanism 1. The vertical movement mechanism 2 and the planar joint robotic arm 3 cooperate to achieve horizontal and vertical movement of the picking mechanism 1. The camera 18 then recognizes the position of the picking mechanism 1, allowing the picking mechanism 1 to reach the correct position for picking.

[0075] In this embodiment, the vertical movement mechanism 2 includes a vertical guide rail 21, which is internally provided with a vertical screw 22 for rotation. The vertical screw is driven by a servo motor. A vertical platform 23 is slidably provided on the vertical guide rail 21 and is threadedly connected to the vertical screw 22. The vertical platform 23 constitutes the movable end of the vertical movement mechanism 2, and the planar joint robot arm 3 is mounted on the vertical platform 23. When the vertical screw rotates, the vertical platform 23 moves up and down along the vertical guide rail 21, thereby adjusting the height of the picking mechanism 1. In another embodiment, the vertical movement mechanism 2 can be a suspension rope and pulley 84 to adjust the height of the picking mechanism 1.

[0076] Furthermore, the planar joint robotic arm 3 includes a plurality of robotic arm bodies 31 extending horizontally, and the plurality of robotic arm bodies 31 are rotatably connected in sequence, and the rotation of the robotic arm bodies 31 is driven by a servo motor. The robotic arm body 31 at the head end is fixedly connected to the vertical platform 23, and the base 11 is rotatably installed on the robotic arm body 31 at the end, and the robotic arm body 31 at the end constitutes the free end of the planar joint robotic arm 3; through the cooperation of the servo motor and the robotic arm body 31, the base 11 can be rotated in the horizontal and vertical directions, and the overall direction of the picking mechanism 1 can be adjusted so that the oil tea fruit to be picked can be quickly located.

[0077] Please refer to Figure 6 、 Figure 7 and Figure 8In this embodiment, a pipe 17 extending in the transverse direction is fixedly mounted on the base 11. A discharge channel 111 extending in the vertical direction is provided on the base 11. The pipe 17 connects the upper end of the discharge channel 111 with the outlet 132 of the guide channel 13. The picking device 1000 further includes a collecting mechanism 4 for collecting the oil-tea fruits picked by the picking mechanism 1. The collecting mechanism 4 includes a collecting frame 41, a hose 42, and a bearing plate 43. The collecting frame 41 is fixedly mounted on the vertical guide rail 21 of the vertical moving mechanism 2, and its lower end is open. The hose 42 connects the picking channel and the collecting frame 41. The bearing plate 43 is rotatably disposed at the lower end opening of the collecting frame 41. After the oil-tea fruits are picked by the picking mechanism 1, the oil-tea fruits fall from the picking channel to the hose 42, and then fall through the hose 42 onto the bearing plate 43 in the collecting frame 41, so that the oil-tea fruits can be collected and stored. It is understandable that when the position of the picking mechanism 1 is adjusted by the vertical moving mechanism 2 and the planar joint mechanical arm 3, the hose 42 can make corresponding compensation, so that the hose 42 is not easily damaged, thereby ensuring the stability of the overall structure. When the collection frame 41 is full, the oil tea fruit in the collection frame 41 can be discharged by rotating the load-bearing plate 43, and the load-bearing plate 43 is driven by a motor to rotate. Among them, the hose 42 can be a bellows or a hose 42 made of other materials; in this embodiment, the hose 42 is preferably a bellows, and the bellows is arranged in two sections, one section connecting the picking channel is slightly tilted in the horizontal direction, and the second section is slightly tilted in the vertical direction, so that the fruit can smoothly roll from the picking mechanism 1 into the collection basket. At the same time, the entire bellows is as close as possible to the mechanical arm body 31 and the vertical guide rail 21, and is not easily obstructed by branches.

[0078] When the number of the load-bearing plate 43 is one, when it is rotated to the fully open state, it will be in a tilted state for a relatively long time, and the oil-tea fruits will collide with each other under the action of gravity, which will easily cause the oil-tea fruits to fly around, which is not conducive to collection; in this embodiment, the number of the load-bearing plates 43 is set to two, and the two load-bearing plates 43 rotate relative to each other, so that the oil-tea fruits can fall into the middle of the bottom opening of the collection frame 41, are not easy to fly around, and are convenient for collection.

[0079] When the fruit rolls from the hose 42 to the collection frame 41, it has a certain speed under the action of gravity, which is easy to cause damage, so it is necessary to set a structure that can act as a buffer to reduce the damage of the fruit; in this embodiment, the collection mechanism 4 also includes a buffer component 44, and the hose 42 is connected to the collection frame 41 through the buffer component 44. The buffer component 44 includes a connecting pipe 441 and a plurality of flexible parts 442. The connecting pipe 441 is fixedly arranged on the collection frame 41 in the upper and lower directions, and its two ends are respectively connected to the collection frame 41 and the hose 42. The multiple flexible parts 442, the multiple The flexible member 442 is annularly fixedly installed inside the connecting tube 441. The end of the flexible member 442 away from the connecting tube 441 is tilted downward. There are channels between the multiple flexible members 442 to allow the oil-tea fruit to pass through the connecting tube 441. The flexible member 442 is made of a soft elastic material. When the fruit falls from the hose 42, it falls on the multiple flexible members 442. The flexible member 442 itself has elasticity, which can reduce the banding of the fruit. Since the flexible member 442 is tilted, the fruit can pass through the connecting tube 441 and fall into the collection frame 41. It can be understood that the inner wall of the collection frame 41 is set to an inclined shape. After the fruit falls from the connecting tube 441, it can fall on the inclined part of the collection frame 41, further playing a buffering role.

[0080] Please refer to Figure 9 、 Figure 10 and Figure 11 In order to pick the oil-tea fruit more comprehensively, a rotating mechanism 5 and a swinging mechanism 6 are provided. The purpose of the rotating mechanism 5 is to quickly rotate the picking mechanism 1 to the position where the picking is required, and the purpose of the swinging mechanism 6 is to fine-tune the picking device 1000, thereby achieving more accurate positioning of the oil-tea fruit. In this embodiment, the picking device 1000 also includes a mobile platform, which includes a rotating mechanism 5, a swinging mechanism 6 and a horizontal moving mechanism 7. The rotating mechanism 5 has a movable end that rotates in the horizontal direction; the swinging mechanism 6 is fixedly mounted on the movable end of the rotating mechanism 5 and has a movable end that swings in the horizontal direction; the horizontal moving mechanism 7 extends in the horizontal direction and is fixedly mounted on the movable end of the swinging mechanism 6, and the horizontal moving mechanism 7 has a movable end that moves horizontally; the vertical moving mechanism 2 is fixedly mounted on the movable end of the horizontal moving mechanism 7.

[0081] Among them, the rotating mechanism 5 includes a rotating shaft 51, the lower end of the rotating shaft 51 is rotatably connected to a connecting plate 52, and the connecting plate 52 constitutes the movable end of the rotating mechanism 5 and rotates in the horizontal direction; the rotating mechanism 5 is to ensure that the picking mechanism 1 can pick a tree in all directions. The picking mechanism 1 is connected to the bottom of the connecting plate 52 through the adjusting device and the horizontal moving mechanism 7. The rotating shaft 51 is driven by a motor, and the motor drives the rotation of the rotating shaft 51, and then drives the picking mechanism 1 to rotate with the tree as the center through the adjusting device.

[0082] Furthermore, the swing mechanism 6 includes a drive motor 61 fixed on the connecting plate 52, and the output shaft end of the drive motor 61 serves as the movable end of the swing mechanism 6, driving the horizontal moving mechanism 7 to swing, and then driving the picking mechanism 1 to swing; the swing mechanism 6 is designed to achieve a small range of swing of the picking mechanism 1, to ensure that the picking mechanism 1 has a better picking effect, that is, an unfolded state, and when the picking device 1000 moves along the steel cable, the picking part can be swung to one side, that is, a closed state, so that the picking device 1000 will not be unable to move due to the obstruction of branches when the overall movement.

[0083] In the actual picking process, the crown diameters of different fruit trees are different, and the growth positions of tea-oil fruits are also different. This requires the picking mechanism 1 to have an extension function to pick all tea-oil fruits as much as possible, and the extension of the picking mechanism 1 is realized by the horizontal moving mechanism 7. In this embodiment, the horizontal moving mechanism 7 includes a horizontal guide rail 71 rotatably arranged on the output shaft of the driving motor 61 in the swinging mechanism 6, and a horizontal lead screw 72 is rotatably arranged inside the horizontal guide rail 71. The horizontal lead screw is driven to rotate by a servo motor, and a horizontal platform 73 is slidably arranged on the horizontal guide rail 71 and threadedly connected to the horizontal lead screw 72. The horizontal platform 73 constitutes the movable end of the horizontal moving mechanism 7; when the horizontal lead screw rotates, the horizontal platform 73 slides along the horizontal guide rail 71, and then drives the picking mechanism 1 to move horizontally through the transmission of the adjusting mechanism. In another embodiment, the horizontal moving mechanism 7 includes an electric push rod extending horizontally, and the output end of the electric push rod constitutes the movable end of the horizontal moving mechanism 7, which can also drive the picking to move horizontally, thereby having an advancing and extending function, and picking as many tea fruits as possible.

[0084] The picking device 1000 is installed on a steel cable during actual use. Aerial picking can reduce the interference of terrain factors on picking. Different fruit trees have different heights. When setting up the aerial steel cable, the height of the highest fruit tree on the line must be exceeded. Therefore, the height of the picking device 1000 must be adjustable. The position of the steel cable is fixed and can only be moved along a fixed track. The picking device 1000 can only be moved above the fruit tree and cannot be accurately positioned. The lifting mechanism 8 is used to ensure that the picking device 1000 is close to the treetop from above, thereby realizing the positioning of the fruit tree by the picking device 1000. That is, the picking device 1000 also includes a lifting mechanism 8, which is used to drive the mobile platform to move vertically. The lifting mechanism 8 includes a mounting plate 81, a hoist 82, a supporting plate 83, and a pulley 84. The hoist 82 is fixedly mounted on the mounting plate 81. The supporting plate 83 and the mounting plate 81 are arranged to slide vertically. The pulley 84 is mounted on the supporting plate 83 and is connected to the hoist 82 via a rope. The rotating mechanism 5 is fixedly mounted on the supporting plate 83. In this embodiment, the entire picking device 1000 is hoisted on a steel cable via the mounting plate 81. The hoist 82 and the pulley 84 are combined to control the rope length to control the lifting and lowering of the supporting plate 83, thereby controlling the height of the mobile platform and other structures.

[0085] It is understandable that a plurality of guide rods are fixedly connected to the upper end of the supporting plate 83 , and the mounting plate 81 is slidably connected to the plurality of guide rods, thereby improving the stability of the supporting plate 83 when it is raised or lowered.

[0086] In this embodiment, the lifting mechanism 8 includes a mounting plate 81, a winch 82, a supporting plate 83 and a pulley 84; the winch 82 is fixedly mounted on the mounting plate 81; the supporting plate 83 and the mounting plate 81 are slidingly arranged in the up and down directions; the pulley 84 is arranged on the supporting plate 83, and the pulley 84 is connected to the winch 82 through a rope; the rotating mechanism 5 is fixedly mounted on the supporting plate 83; the entire picking device 1000 is hoisted on the steel cable through the mounting plate 81, and the rope length is controlled by the combination of the winch 82 and the pulley 84 to control the lifting and lowering of the supporting plate 83, thereby controlling the height of the mobile platform and other structures. The horizontal moving mechanism 7 includes a horizontal guide rail 71 rotatably arranged on the output shaft of the driving motor 61 in the swinging mechanism 6, and a horizontal lead screw 72 is rotatably arranged inside the horizontal guide rail 71. The horizontal lead screw is driven to rotate by a servo motor, and a horizontal platform 73 threadedly connected to the horizontal lead screw 72 is slidably arranged on the horizontal guide rail 71. The horizontal platform 73 constitutes the movable end of the horizontal moving mechanism 7; when the horizontal lead screw rotates, the horizontal platform 73 slides along the horizontal guide rail 71, and then drives the picking mechanism 1 to move horizontally through the transmission of the adjusting mechanism. The rotating mechanism 5 includes a rotating shaft 51, and the lower end of the rotating shaft 51 is rotatably connected to a connecting plate 52. The connecting plate 52 serves as the movable end of the rotating mechanism 5 and rotates in the horizontal direction. The rotating mechanism 5 is designed to ensure that the picking mechanism 1 can pick a tree in all directions. The picking mechanism 1 is connected to the bottom of the connecting plate 52 through the adjusting device and the horizontal moving mechanism 7. The rotating shaft 51 is driven by a motor, and the motor drives the rotation of the rotating shaft 51, and then drives the picking mechanism 1 to rotate around the tree through the adjusting device. The swing mechanism 6 includes a drive motor 61 fixed on the connecting plate 52, and the output shaft end of the drive motor 61 serves as the movable end of the swing mechanism 6, driving the horizontal moving mechanism 7 to swing, and then driving the picking mechanism 1 to swing; the swing mechanism 6 is to achieve a small range of swing of the picking mechanism 1, to ensure that the picking mechanism 1 has a better picking effect, that is, the unfolded state, and when the picking device 1000 moves along the steel cable, the picking part can be swung to one side, that is, the closed state, so that the picking device 1000 will not be unable to move due to the obstruction of branches when the overall movement.The vertical moving mechanism 2 includes a vertical guide rail 21, and a vertical screw 22 is provided for rotation inside the vertical guide rail 21. The vertical screw is driven to rotate by a servo motor. A vertical platform 23 is slidingly provided on the vertical guide rail 21 and is threadedly connected to the vertical screw 22. The vertical platform 23 constitutes the movable end of the vertical moving mechanism 2, and the planar joint robotic arm 3 is installed on the vertical platform 23; when the vertical screw rotates, the vertical platform 23 moves up and down along the vertical guide rail 21, thereby adjusting the height of the picking mechanism 1. The planar joint robotic arm 3 includes a plurality of robotic arm bodies 31 extending horizontally, and the plurality of robotic arm bodies 31 are rotatably connected in sequence. The rotation of the robotic arm bodies 31 is driven by a servo motor. The robotic arm body 31 at the head end is fixedly connected to the vertical platform 23, and the base 11 is rotatably installed on the robotic arm body 31 at the end. Through the cooperation of the servo motor and the robotic arm body 31, the base 11 can be rotated in the horizontal and vertical directions, and the overall direction of the picking mechanism 1 can be adjusted so that the oil tea fruit to be picked can be quickly located.The picking mechanism 1 includes a base 11, a guide member 12, a picking assembly 14 and a driving assembly 15. The guide member 12 is arranged on the base 11 and has a guide channel 13 extending in the transverse direction. The guide channel 13 has an entrance 131 and an exit 132. The size of the guide channel 13 gradually increases from the entrance 131 to the exit 132. The picking assembly 14 is arranged in the guide channel 13. The picking assembly 14 includes a plurality of barbed comb teeth 141. The barbed comb teeth 141 are arranged in the guide channel 13. The barbed comb tooth member 141 is slidably connected to the guide member 12 through a cam follower and a slide groove, and the barbed comb tooth member 141 has a sliding stroke along the extension direction of the guide channel 13. A plurality of the barbed comb tooth members 141 are arranged at intervals along the circumference of the guide member 12, so that during the sliding stroke, the plurality of the barbed comb tooth members 141 move closer to or away from each other to clamp or release the oil tea fruit. The barbed comb tooth member 141 includes a plurality of elastically arranged barbed portions 1411, and the barbed portions 1411 are inclined toward the outlet 132. The driving assembly 15 is provided on the base 11, and drives the plurality of the barbed comb teeth 141 to drive the plurality of the barbed comb teeth 141 to slide toward the entrance 131 and move closer to each other or away from each other when sliding toward the exit 132; the entrance 131 of the picking channel is used to wrap the oil tea fruit to be picked, and the driving assembly 15 drives the plurality of the barbed comb teeth 141 to slide toward the entrance 131, so that the plurality of the barbed comb teeth 141 slide and move closer to each other, thereby clamping the oil tea fruit. The plurality of barbed comb teeth 141 are then driven by the driving assembly 15 to slide toward the outlet 132. Due to the inclined setting of the barbed portion 1411, the oil-tea fruit is not easy to get loose after entering between the plurality of barbed comb teeth 141 from the entrance 131, so that the plurality of barbed comb teeth 141 can also hold the oil-tea fruit during the process of sliding toward the outlet 132, and can be pulled off when moving toward the outlet 132 until the oil-tea fruit is released. At the same time, during the picking process, the guide member 12 can be pressed against the tree branches, making picking more convenient.A pipe 17 extending in the transverse direction is fixedly installed on the base 11, and a discharge channel 111 extending in the up and down directions is provided on the base 11. The pipe 17 connects the upper end of the discharge channel 111 with the outlet 132 of the guide channel 13. The picking device 1000 also includes a collecting mechanism 4 to collect the oil-tea fruits picked by the picking mechanism 1. The collecting mechanism 4 includes a collecting frame 41, a hose 42 and a load-bearing plate 43. The collecting frame 41 is fixedly mounted on the vertical guide rail 21 of the vertical moving mechanism 2, and its lower end is open. The hose 42 connects the picking channel and the collecting frame 41, and the load-bearing plate 43 is rotatably set at the lower end opening of the collecting frame 41. After the oil-tea fruits are picked by the picking mechanism 1, the oil-tea fruits fall from the picking channel to the hose 42, and then fall onto the load-bearing plate 43 in the collecting frame 41 through the hose 42, so that the oil-tea fruits can be collected and stored. The buffer assembly 44 includes a connecting tube 441 and a plurality of flexible parts 442. The connecting tube 441 is fixedly arranged on the collecting frame 41 in the up and down directions, and its two ends are respectively connected to the collecting frame 41 and the hose 42. The plurality of flexible parts 442 are fixedly installed in a ring shape inside the connecting tube 441. The flexible parts 442 are tilted downward at one end away from the connecting tube 441. There are channels between the plurality of flexible parts 442 for oil tea fruit to pass through the connecting tube 441; wherein, the flexible parts 442 are made of soft elastic material. When the fruit falls from the hose 42, it falls on the plurality of flexible parts 442. The flexible parts 442 themselves are elastic, so as to reduce the banding of the fruit. Since the flexible parts 442 are tilted, the fruit can pass through the connecting tube 441 and fall into the collecting frame 41.

[0087] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A picking device, characterized in that: The picking device includes a picking mechanism, and the picking mechanism includes: base; a guide member, disposed on the base, having a guide channel extending in a transverse direction, the guide channel having an inlet and an outlet, and a size of the guide channel gradually increasing from the inlet to the outlet; A picking assembly is arranged in the guide channel, the picking assembly includes a plurality of barbed comb teeth, the barbed comb teeth are slidably connected to the guide member through a cam follower and a slide groove, the barbed comb teeth have a sliding stroke along the extension direction of the guide channel, the plurality of barbed comb teeth are arranged at intervals along the circumference of the guide member, so that during the sliding stroke, the plurality of barbed comb teeth move closer to or away from each other to clamp or release the oil-tea fruit, the barbed comb teeth include a plurality of elastically arranged barbed parts, and the barbed parts are inclined toward the outlet; and a driving assembly, disposed on the base, drivingly connecting the plurality of barbed comb teeth to drive the plurality of barbed comb teeth to move closer to each other when sliding toward the inlet or away from each other when sliding toward the outlet; A pipe extending in the transverse direction is fixedly mounted on the base, the pipe being connected to the outlet of the guide channel, and the guide member comprises: A plurality of guide parts, wherein the plurality of guide parts are arranged in a ring shape along the vertical direction and are inclined, and the guide parts are slidably connected to the corresponding barbed comb teeth through cam followers and slide grooves, and the guide parts are rotatably arranged with the pipe; An elastic member connects the guide portion and the pipe so that the guide portion can be restored after being rotated.

2. The picking device according to claim 1, characterized in that The drive assembly includes: An electric push rod, fixedly arranged on the base, and having a movable end that moves in a transverse direction; A connecting piece has one end which penetrates the guide channel from the outlet and is rotationally connected to the barbed comb tooth piece, and the other end which is connected to the movable end of the electric push rod through a spring.

3. The picking device according to claim 2, characterized in that: The picking mechanism further includes a branch picking structure, which includes: A mounting seat, fixedly mounted on the base and extending in an up-down direction; a branch-grabbing member comprising a plurality of branch-grabbing portions annularly distributed along the vertical direction on the outside of the guide member, the branch-grabbing portions being slidably connected to the mounting seat, the plurality of branch-grabbing portions having an expanded state in which they slide radially away from the guide member, and a contracted state in which they slide close to the guide member; and A plurality of connecting rods are arranged at an angle to the movable end of the electric push rod, and the two ends of the connecting rods are respectively rotatably connected to the movable end of the electric push rod and the corresponding branch-picking part; The movable end of the electric push rod moves laterally to pull the angles of the plurality of connecting rods to change, thereby driving the plurality of branch-grabbing parts to switch synchronously between the expanded state and the contracted state.

4. The picking device according to claim 3, characterized in that: One end of the connecting rod rotatably connected to the branch-grabbing part is away from the guide member, and a cam groove is opened laterally on the movable end of the electric push rod. The connecting rod is rotatably connected to the movable end of the electric push rod through a cam follower slidingly arranged in the cam groove.

5. The picking device according to any one of claims 1 to 4, characterized in that: The picking device further includes an adjusting device, the picking mechanism is provided on the adjusting device, the adjusting device is used to adjust the position of the picking mechanism, a camera is provided on the base, and the adjusting device includes: A vertical movement mechanism having a movable end that moves in an up-down direction; and A planar joint robot arm, fixedly mounted on the movable end of the vertical moving mechanism, and having a free end; Wherein, the base is arranged at the free end of the planar joint mechanical arm.

6. The picking device according to claim 5, characterized in that: A pipe extending in the transverse direction is fixedly mounted on the base, and a discharge channel extending in the vertical direction is provided on the base, wherein the pipe connects the upper end of the discharge channel with the outlet of the guide channel, and the picking device further comprises a collecting mechanism for collecting the oil-tea camellia fruits picked by the picking mechanism, and the collecting mechanism comprises: A collecting frame is fixedly mounted on the vertical moving mechanism, with its lower end being open; A hose connecting the discharge channel and the collection frame; and The load-bearing plate is rotatably arranged at the lower opening of the collecting frame.

7. The picking device according to claim 6, characterized in that: The collection mechanism further includes a buffer assembly, through which the hose is connected to the collection frame, and the buffer assembly includes: A connecting pipe is fixedly arranged on the collecting frame in the vertical direction, with its two ends respectively connected to the collecting frame and the hose; and A plurality of flexible members are fixedly installed in the connecting pipe in an annular shape, and one end of the flexible member away from the connecting pipe is inclined downward.

8. The picking device according to any one of claims 6 to 7, characterized in that: The picking device further includes a mobile platform, which includes: A rotating mechanism having a movable end that can rotate in the horizontal direction; A swing mechanism, fixedly mounted on the movable end of the rotating mechanism, having a movable end capable of swinging in the horizontal direction; and A horizontal moving mechanism extending in the horizontal direction and fixedly mounted on the movable end of the swing mechanism, the horizontal moving mechanism having a movable end capable of translationally moving in the horizontal direction; Wherein, the vertical moving mechanism is fixedly installed on the movable end of the horizontal moving mechanism.

9. The picking device according to claim 8, characterized in that The picking device further includes a lifting mechanism, which is used to drive the mobile platform to move up and down, and the lifting mechanism includes: Mounting plate; A winch, fixedly mounted on the mounting plate; A carrying plate is slidably arranged with the mounting plate in an up-down direction; and A pulley is provided on the bearing plate, and the pulley is connected to the hoist through a rope; Wherein, the rotating mechanism is fixedly mounted on the supporting plate.

Images