Camellia oleifera fruit harvesting device and harvesting method thereof

Abstract

The present invention discloses a tea fruit harvesting device and a harvesting method thereof. The device comprises a walking mechanism and a cable-driven harvesting mechanism installed on the walking mechanism. The cable-driven harvesting mechanism comprises a support plate and a rotating driving member installed on the support plate, a rope drum, a rope and a mechanical arm. The rotating driving member drives the rope drum to rotate. One end of the rope is wound on the rope drum, and the other end is connected to a manipulator on the mechanical arm so as to drive the rope to be connected to a tea fruit branch through the manipulator. The present invention drives the rope to be fixed to the tea tree through the manipulator, so as to transmit vibration energy to the branch with the tea fruit to be harvested, so as to shake the tea fruit off, thereby improving the picking efficiency of the tea fruit and reducing the labor intensity and danger of picking. Since the rope is light in weight, the energy consumption is lower; multiple rope-driven harvesting mechanisms are coordinated and controlled to realize the key harvesting of multi-mode tea fruit; and the vibration energy is mainly transmitted to the fruit-hanging area of ​​the tree crown to avoid root damage.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an oil-tea fruit harvesting device and a harvesting method thereof. Background Art

[0002] Camellia oleifera is a woody oil crop unique to my country. It is one of the four major oil-producing tree species in the world, along with olive, oil palm and coconut. It is mainly distributed in the hilly areas of southern China, mostly in Hunan, Jiangxi and Guangxi, and also in small quantities in other places. As of 2022, the domestic camellia planting area is 70.845 million mu, and the tea oil production capacity is 1 million tons.

[0003] However, traditional tea oil fruit harvesting is mainly done manually, and the mechanization rate of harvesting is the lowest among the main work links of newly built tea oil forests, which has become a bottleneck for the full mechanization development of the tea oil industry. In addition, the ripening period of tea oil fruits is concentrated from October to November, and the short picking cycle causes seasonal high-intensity manual labor, which seriously limits the continuous improvement of tea oil production capacity. Therefore, it is urgent to develop agricultural machinery equipment for low-loss and high-efficiency harvesting of tea oil fruits to improve the level of automated mechanical harvesting of tea oil fruits. In the working environment of hilly and mountainous areas with large terrain slopes and complex agricultural machinery operating conditions, traditional agricultural machinery cannot operate normally. Designing lightweight mechanisms to reduce the energy consumption of agricultural machinery is of great significance to promoting the mechanization development of the tea oil industry in hilly and mountainous areas. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a tea fruit harvesting device and a harvesting method thereof.

[0005] In order to solve the above technical problems, the present invention first discloses a tea fruit harvesting device, including a walking mechanism and a rope-driven harvesting mechanism installed on the walking mechanism, the rope-driven harvesting mechanism including a support plate and a rotating driving member installed on the support plate, a rope drum, a rope and a mechanical arm, the rotating driving member drives the rope drum to rotate, one end of the rope is wound around the rope drum, and the other end is connected to a mechanical arm on the mechanical arm so that the rope is driven by the mechanical arm to be connected to a tea tree branch.

[0006] Furthermore, the rope-driven harvesting mechanism also includes a frame and a frame telescopic drive assembly that drives the frame to extend outward from the walking mechanism, the frame is slidably connected to the support plate, the telescopic end of the frame telescopic drive assembly is connected to the frame, and the mechanical arm is mounted on the frame in a positionally adjustable manner.

[0007] Furthermore, the frame telescopic drive assembly includes a screw nut assembly and a screw drive motor, the screw drive motor is driven by a screw of the screw nut assembly, and the nut of the screw nut assembly is connected to the frame.

[0008] Furthermore, the rotating drive member, rope drum, rope and mechanical arm are arranged in multiple groups, the frame forms a U-shaped groove, and the mechanical arm is arranged so that when the trunk of the tea tree enters the U-shaped groove, the mechanical arm is arranged in a ring shape relative to the trunk of the tea tree.

[0009] Furthermore, it also includes a slewing support mechanism, which includes a motor support plate, a slewing drive motor, a driving gear and an external gear slewing bearing, the slewing drive motor is mounted on the support plate, the support plate is mounted on the walking mechanism, the external gear slewing bearing is rotatably mounted on the walking mechanism, the support plate is mounted on the external gear slewing bearing, and the driving gear is mounted on the driving shaft of the slewing drive motor and meshes with the external gear slewing bearing.

[0010] Furthermore, a rope pull ring is provided on the fixing seat of the mechanical arm, the rope passes through the rope pull ring, and the rope between the rope pull ring and the rope drum is arranged perpendicular to the axis of the rope drum.

[0011] Furthermore, it also includes an annular foldable scissors collection mechanism that can be arranged along the circumference of the oil tea tree, and the annular foldable scissors collection mechanism is detachably installed with an oil tea fruit collection net. The annular foldable scissors collection mechanism includes a plane ring tree folding scissors group and an inclined upward scissors group, the two ends of the bottom of the inclined upward scissors group are hinged to the plane ring tree folding scissors group, and the two scissors of the plane ring tree folding scissors group are respectively hinged to the telescopic end of the frame telescopic drive assembly and the support plate.

[0012] Furthermore, the walking mechanism is a crawler-type walking chassis.

[0013] Then, the present invention discloses a tea fruit harvesting method, which uses the tea fruit harvesting device. After the manipulator drives the rope to connect to the branches above the trunk of the tea tree, the rotating driving member drives the rope drum, and then drives the branches of the tea tree to vibrate at a frequency f through the rope.

[0014]

[0015] Among them, E is the bending elastic modulus of the tea tree branch, I1 is the moment of inertia of the trunk section, k is the elastic coefficient of the rope; Δl is the distance between the branch and the trunk, l1 is the trunk length, l2 is the branch length, is the angle between the branch and the trunk axis, m1 is the trunk mass, and m2 is the branch mass.

[0016] Furthermore, the rotating drive member, rope drum, rope and mechanical arm are arranged in multiple groups. When driving the same branch, multiple groups of ropes are connected to the same position of the branch or a single group of ropes is connected to a position point under the pre-stiffness condition of the branch.

[0017] Compared with the prior art, the advantages of the present invention are:

[0018] The present invention drives the rope to be fixed to the oil tea tree through the manipulator, so as to transmit the vibration energy to the branch with the oil tea fruit to be harvested, so as to shake the oil tea fruit off, improve the picking efficiency of the oil tea fruit, and reduce the labor intensity and risk of picking. Since the rope is light in weight, the energy consumption is smaller; multiple rope-driven harvesting mechanisms are coordinated and controlled to achieve multi-mode oil tea fruit focused harvesting; and the vibration energy is mainly transmitted to the crown fruit-hanging area to avoid root damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It is an axonometric schematic diagram of the oil-tea fruit harvesting device disclosed in an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the coordination of the slewing support mechanism and the support plate disclosed in the embodiment of the present invention;

[0022] Figure 3 It is an axonometric schematic diagram of a cable-driven harvesting mechanism disclosed in an embodiment of the present invention;

[0023] Figure 4 It is a control schematic diagram of the oil-tea fruit harvesting disclosed in an embodiment of the present invention.

[0024] Legend:

[0025] 1. Walking mechanism;

[0026] 2. Slewing support mechanism; 21. Slewing drive motor; 22. Driving gear; 23. Motor support plate; 24. External gear slewing bearing;

[0027] 3. Rope-driven harvesting mechanism; 31. Rotating drive member; 32. Rope drum; 33. Rope; 34. Screw-driven motor; 35. Support plate; 36. Nut; 37. Screw; 38. Guide rail slider assembly; 39. Ring-shaped foldable scissor collection mechanism; 391. Planar ring tree foldable scissor assembly; 392. Inclined upward scissor assembly; 310. Frame; 311. Mechanical arm; 312. Mechanical hand; 313. Rope pull ring; 314. U-shaped groove;

[0028] 4. Trunk;

[0029] 5. Branching. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0031] like Figure 1-3 As shown, the embodiment of the present invention first discloses a tea fruit harvesting device, including a walking mechanism 1 and a cable-driven harvesting mechanism 3 installed on the walking mechanism 1, wherein the walking mechanism 1 is a crawler-type walking chassis, the middle of the chassis is a circular groove, and is connected to the inner ring of the outer gear slewing bearing 24 by bolts. The cable-driven harvesting mechanism 3 includes a support plate 35 and a rotating driving member 31 installed on the support plate 32, a rope drum 32, a rope 33 and a mechanical arm 311, the rotating driving member 31 drives the rope drum 32 to rotate, one end of the rope 33 is wound on the rope drum 32, and the other end is connected to the mechanical arm 312 on the mechanical arm 311 so as to drive the rope 33 to be fixed to the tea tree through the mechanical arm 312. The present invention drives the rope 33 to be fixed to the tea tree through the mechanical arm 312, so as to transmit the vibration energy to the branch with the tea fruit to be harvested, so as to shake the tea fruit off, thereby improving the picking efficiency of the tea fruit and reducing the labor intensity and danger of picking. Since the rope is light in weight, energy consumption is lower; multiple rope-driven harvesting mechanisms 3 are coordinated and controlled to achieve multi-mode focused harvesting of tea oil fruits; and the vibration energy is mainly transmitted to the fruit-bearing area of ​​the crown to avoid root damage.

[0032] In this embodiment, the cable-driven harvesting mechanism 3 also includes a frame 310 and a frame telescopic drive assembly that drives the frame 310 to extend outside the walking mechanism 1. The frame 310 is slidably connected to the support plate 35. Specifically, the bottom of the frame 310 is connected to the support plate 35 through a guide rail assembly to ensure the telescopic accuracy. The telescopic end of the frame telescopic drive assembly is connected to the frame 310. The mechanical arm 311 is installed on the frame 310 in a positionally adjustable manner, and can be directly slidably connected to the frame 310 or detachably connected with bolts.

[0033] In this embodiment, the rack telescopic drive assembly includes a screw nut assembly and a screw drive motor 34, the screw drive motor 34 is driven by a screw 37 of the screw nut assembly, specifically, it can be connected through a gear assembly or a coupling, and the nut 36 of the screw nut assembly is connected to the rack 310. Thus, the telescopic movement of the rack 310 is realized.

[0034] In this embodiment, in order to realize simultaneous operation of multiple positions of the tea oil tree and improve the harvesting efficiency, the rotating drive member 31, the rope drum 32, the rope 33 and the mechanical arm 311 are arranged in multiple groups, the frame 310 is formed with a U-shaped groove 314, and the mechanical arm 311 is arranged so that when the trunk of the tea oil tree enters the U-shaped groove 314, the mechanical arm 311 is arranged in a ring shape relative to the trunk of the tea oil tree.

[0035] In this embodiment, a slewing support mechanism 2 is also included, and the slewing support mechanism 2 includes a motor support plate 23, a slewing drive motor 21, a driving gear 22 and an external gear slewing bearing 24. The slewing drive motor 21 is mounted on a support plate 35, and the support plate 35 is mounted on the traveling mechanism 1, and can be connected by welding or bolts. The lower side of the circular plate of the support plate 35 is bolted and fixed to the outer ring of the external gear slewing bearing 24. The external gear slewing bearing 24 is rotatably mounted on the traveling mechanism 1, the support plate 35 is mounted on the external gear slewing bearing 24, and the driving gear 22 is mounted on the driving shaft of the slewing drive motor 21 and meshed with the external gear slewing bearing 24. When the slewing drive motor 21 is working, it drives the driving gear 22 to move, and the external gear slewing bearing 24 and the support plate 35 meshed with it rotate accordingly, thereby improving the working range.

[0036] In this embodiment, a rope pull ring 313 is provided on the fixing seat of the mechanical arm 311, and the rope pull ring 313 can play a role of steering. The rope 33 passes through the rope pull ring 313, and the rope 33 between the rope pull ring 313 and the rope drum 32 is arranged perpendicular to the axis of the rope drum 32. Therefore, the rope 33 can be arranged perpendicular to the axis of the rope drum 32 when winding, avoiding problems such as rope slipping out and entanglement. In addition, the service life of the rope can be increased.

[0037] In this embodiment, in order to facilitate the orderly collection of the tea oil fruits after they fall and improve the collection efficiency, it also includes an annular foldable scissors collection mechanism 39 that can be arranged along the circumference of the tea oil tree. The annular foldable scissors collection mechanism 39 is detachably installed with a tea oil fruit collection net. The annular foldable scissors collection mechanism 39 includes a plane ring tree folding scissors group 391 and an inclined upward scissors group 392. The two ends of the bottom of the inclined upward scissors group 392 are hinged to the plane ring tree folding scissors group 391. The two scissors of the plane ring tree folding scissors group 391 are respectively hinged to the telescopic end of the frame telescopic drive assembly and the support plate 35. Therefore, through the drive of the frame telescopic drive assembly, the plane ring tree folding scissors group 391 and the inclined upward scissors group 392 can form a trumpet mouth with an opening upward, which is convenient for preventing the tea oil fruits from scattering everywhere.

[0038] Then, if Figure 4As shown, the present invention discloses a tea fruit harvesting method, using the tea fruit harvesting device, after the manipulator 312 drives the rope 33 to connect to the branch 5 above the trunk 4 of the tea tree, the rotating driving member 31 drives the rope reel 32, and then drives the branch 5 of the tea tree to vibrate at a frequency f through the rope 33,

[0039]

[0040] Where E is the bending elastic modulus of the oil tea branch, MPa; I1 is the moment of inertia of the main trunk 4 section, mm 4 k is the elastic coefficient of the rope 33; Δl is the distance between the rope 33 and the trunk 4 at the location where the branch 5 is connected, mm; l1 is the length of the trunk 4, mm; l2 is the length of the branch 5, mm; is the angle between the branch 5 and the trunk 4 axis, (°). m1 is the mass of the trunk 4, kg; m2 is the mass of the branch 5, kg. Through the above control method, the frequency of the passive excitation of the branch 5 is close to the natural frequency, and the oil tea fruit can be quickly shaken off.

[0041] Among them, the derivation process of frequency f is as follows:

[0042] Assume that the basic unit of the oil tea tree bifurcated is composed of three cylindrical flexible rods, as shown in the figure. The main trunk 4 of the tree with a length of l1 is fixed to the ground at one end, and the other end is connected to two symmetrically growing branches 5. The length of branch 5 is l2, and the angle between the axis of each branch 5 and the axis of the main trunk 4 is φ b The masses of the three flexible rods are simplified into point masses, which are evenly distributed at both ends of the rods.

[0043] The rope 33 is connected to the branch Δl, and the rope 33 is fixed on the ground at a distance l from the trunk 4. Figure 4 As shown:

[0044]

[0045]

[0046] Deflection of the rope after deflection (Δx) 2 =(l 绳 -(l 绳 +Δx)) 2

[0047] =(l 绳 +Δx) 2 +l 绳 2 -2(l 绳 +Δx)·l 绳

[0048] The sum of kinetic energy:

[0049]

[0050] The sum of elastic potential energy:

[0051]

[0052] Lagrangian dynamics:

[0053]

[0054]

[0055] θ(t)=θ0(t)+εθ1(t)+ε 2 θ2(t)+...+

[0056]

[0057] make Therefore, only the part related to θ is selected.

[0058]

[0059]

[0060] In this embodiment, the rotating drive member 31, the rope drum 32, the rope 33 and the mechanical arm 311 are arranged in multiple groups. When driving the same branch 5, multiple groups of ropes 33 are connected to the same position of the branch 5 or a single group of ropes 33 is connected to a position point under the pre-stiffness condition of the branch 5, thereby achieving a similar rigid connection and driving effect for the branch 5, thereby realizing fast and high-frequency driving of the branch 5.

[0061] The working principle of the present invention is as follows:

[0062] First, the self-propelled belt walking chassis 11 moves to the vicinity of the target tea oil tree, and the rotary drive motor 21 drives the active gear 22 to move, and the external toothed rotary bearing 24 engaged with it and the cable-driven support plate 35 rotate accordingly, finding the appropriate position of the tree trunk at the circular groove extending from the lower end of the support plate 35, and the rotary drive motor 21 stops rotating.

[0063] Then, the screw drive motors 34 on both sides start to rotate forward at the same time, driving the nuts of the screw 37 to drive, and the plane ring tree folding scissor fork group 391 of the ring-shaped foldable scissor fork collection mechanism 39 connected to the nuts 36 on the screw 37 on both sides makes a ring-shaped unfolding movement along the tree body, and the inclined upward scissor fork group 392 extends along the crown direction. The frame 310 connected to the nuts 36 on the screw 37 on both sides extends outward along the sliding direction, and the mechanical arm 311 is distributed at 120° around the entire tree body, and then the screw drive motor 34 stops working. Then the mechanical arm 311 starts to extend, finds a suitable main branch of the oil tea tree body, and the mechanical arm 312 drives the rope 33 to fix it on the main branch of the oil tea tree body to separate from the mechanical arm 312, and then the mechanical arm 312 is retracted.

[0064] Next, the three rotating drive parts 31 (cable drive motors) generate forward and reverse motions, driving the rope reel 32 to retract and release the rope 33 back and forth. The rope 33 is fixed on the main branch of the oil tea tree to generate a vibration on the tree. The high-frequency vibration of the branches is stimulated by pulling the rope, and the tree produces a high-acceleration vibration response. Because the mass of the oil tea fruit is much greater than the mass of the flower bud, when the vibration acceleration is controlled within a certain range, the inertial force of the oil tea fruit will be greater than the detachment force of the fruit stalk, while the inertial force of the flower bud is less than the detachment force of the flower stalk, thus achieving the goal of harvesting the oil tea fruit and retaining the flower bud. The oil tea fruit falls on the collection mesh fixed on the inner side of the annular foldable scissors collection mechanism 39, and is then collected.

[0065] Finally, after the collection is completed, the rotary drive member 31 stops working, and the manipulator 312 extends again to retract the rope 33. Then the screw drive motors 34 on both sides start to reverse at the same time, retracting the annular foldable scissor collection mechanism 39 and the frame 310 to complete the collection work.

[0066] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A tea fruit harvesting device, characterized in that: The invention comprises a walking mechanism (1) and a rope-driven harvesting mechanism (3) installed on the walking mechanism (1), wherein the rope-driven harvesting mechanism (3) comprises a support plate (35) and a rotating driving member (31) installed on the support plate (35), a rope drum (32), a rope (33) and a mechanical arm (311), wherein the rotating driving member (31) drives the rope drum (32) to rotate, one end of the rope (33) is wound on the rope drum (32), and the other end is connected to the mechanical arm (311). The arm (311) is connected to a mechanical arm (312) so as to drive a rope (33) to be connected to a branch of the oil tea tree through the mechanical arm (312); the rope-driven harvesting mechanism (3) further comprises a frame (310) and a frame telescopic driving assembly driving the frame (310) to extend outward from the walking mechanism (1); the frame (310) is slidably connected to the support plate (35); the telescopic end of the frame telescopic driving assembly is connected to the frame (310); the mechanical arm (311) is positionally adjustable. The mechanical arm (311) is installed on the frame (310) in a manner; the rotating drive member (31), the rope drum (32), the rope (33) and the mechanical arm (311) are arranged in a plurality of groups; the frame (310) is formed with a U-shaped groove (314); the mechanical arm (311) is arranged so that when the trunk of the oil tea tree enters the U-shaped groove (314), the mechanical arm (311) is arranged in a circumferential direction relative to the trunk of the oil tea tree; and the mechanical arm (311) further comprises an annular foldable scissor collection mechanism arranged in a circumferential direction along the oil tea tree. (39), the annular foldable scissor collection mechanism (39) is detachably installed with a tea fruit collection net, and the annular foldable scissor collection mechanism (39) comprises a plane ring tree folding scissor group (391) and an inclined upward scissor group (392), the two ends of the bottom of the inclined upward scissor group (392) are hinged to the plane ring tree folding scissor group (391), and the two scissors of the plane ring tree folding scissor group (391) are respectively hinged to the telescopic end of the frame telescopic drive assembly and the support plate (35).

2. The oil-tea fruit harvesting device according to claim 1, characterized in that: The frame telescopic drive assembly comprises a screw nut assembly and a screw drive motor (34); the screw drive motor (34) is driven by a screw (37) of the screw nut assembly; and the nut (36) of the screw nut assembly is connected to the frame (310).

3. The oil-tea fruit harvesting device according to any one of claims 1-2, characterized in that: The invention also comprises a slewing support mechanism (2), wherein the slewing support mechanism (2) comprises a motor support plate (23), a slewing drive motor (21), a driving gear (22) and an external gear slewing bearing (24), wherein the slewing drive motor (21) is mounted on the support plate (35), the support plate (35) is mounted on the walking mechanism (1), the external gear slewing bearing (24) is rotatably mounted on the walking mechanism (1), the support plate (35) is mounted on the external gear slewing bearing (24), and the driving gear (22) is mounted on the driving shaft of the slewing drive motor (21) and meshes with the external gear slewing bearing (24).

4. The oil-tea fruit harvesting device according to any one of claims 1-2, characterized in that: A rope pull ring (313) is arranged on the fixing seat of the mechanical arm (311), the rope (33) passes through the rope pull ring (313), and the rope (33) between the rope pull ring (313) and the rope drum (32) is arranged perpendicular to the axis of the rope drum (32).

5. The oil-tea fruit harvesting device according to any one of claims 1-2, characterized in that: The walking mechanism (1) is a crawler-type walking chassis.

6. A method for harvesting oil-tea camellia fruits, characterized in that: The tea fruit harvesting device according to any one of claims 1 to 5 is characterized in that after the manipulator (312) drives the rope (33) to connect to the branch (5) above the trunk (4) of the tea tree, the rotating drive member (31) drives the rope drum (32), thereby driving the branch (5) of the tea tree to vibrate at a frequency f through the rope (33). Wherein, E is the bending elastic modulus of the tea tree branch, I1 is the cross-sectional inertia moment of the trunk (4), k is the elastic coefficient of the rope (33); Δl is the distance between the rope (33) and the trunk (4) where the branch (5) is connected, l1 is the length of the trunk (4), l2 is the length of the branch (5), is the angle between the branch (5) and the axis of the trunk (4), m1 is the mass of the trunk (4), and m2 is the mass of the branch (5).

7. The method for harvesting oil-tea camellia fruits according to claim 6, characterized in that: The rotating drive member (31), the rope drum (32), the rope (33) and the mechanical arm (311) are arranged in multiple groups. When driving the same branch (5), multiple groups of ropes (33) are connected to the same position of the branch (5) or a single group of ropes (33) is used to connect to a position point of the branch (5) under pre-stiffness conditions.

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