Handheld camellia oleifera fruit harvesting device and use method thereof

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a handheld oil tea fruit harvesting device. The handheld oil tea fruit harvesting device comprises a rack, a driving mechanism, a harvesting mechanism and a controller; the driving mechanism is fixed at one end of the rack; the driving mechanism is connected with the harvesting mechanism, and the controller controls the driving mechanism to drive the harvesting mechanism to reciprocate at different speeds; the harvesting mechanism comprises a connecting plate, a winding drum rotation driving motor, a rope winding drum, a rope and a manipulator, the winding drum rotation driving motor, the rope winding drum, the rope and the manipulator are mounted on the connecting plate, the winding drum rotation driving motor drives the rope winding drum to rotate, one end of the rope is wound and fixed on the rope winding drum, and the other end of the rope is connected with the manipulator; and the manipulator is used for grasping or loosening the camellia oleifera tree branches. The invention further provides a using method of the handheld oil tea fruit harvesting device. The handheld oil tea fruit harvesting device is low in vibration sense and high in harvesting efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a handheld oil-tea fruit harvesting device and a use method thereof. Background Art 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. As of 2022, the domestic camellia planting area is 70.845 million mu, and the tea oil production capacity is 1 million tons.

[0002] Patent CN115226493B discloses a telescopic umbrella-shaped tea fruit picking machine and a picking method thereof, comprising a handheld telescopic device, a power device, a driving device and a striking device; the handheld telescopic device comprises an end handheld rod, an intermediate handheld rod 1 and a top handheld rod; the driving device comprises a crank turntable, a connecting rod 2 and a sliding seat; the striking device comprises a fixed cylinder, a comb brush sleeve and a variable cross-section comb brush finger. This patent uses a variable cross-section comb brush finger to directly act on the tea fruit, and directly applies force to the tea fruit by opening and closing the variable cross-section comb brush finger. Due to the smooth surface of the tea fruit, this device and method will lead to a large picking loss rate. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology, and provide a handheld oil tea fruit harvesting device which is easy to carry and has a high harvesting rate, including: a frame, a driving mechanism, a harvesting mechanism and a controller; The driving mechanism is fixed at one end of the frame; the driving mechanism is connected to the harvesting mechanism, and the controller controls the driving mechanism to drive the harvesting mechanism to reciprocate at different speeds; The harvesting mechanism includes a drum rotation drive motor, a rope winding drum, a rope, and a manipulator. The drum rotation drive motor drives the rope winding drum to rotate. One end of the rope is wound and fixed on the rope winding drum, and the other end of the rope is connected to the manipulator. The manipulator is used to grasp or loosen the branches of the oil tea fruit tree.

[0004] In one embodiment, the driving mechanism includes a driving motor, an eccentric wheel, a connecting rod and a slider. A slide rail is provided on the frame. The driving motor is transmission-connected to the eccentric wheel. One end of the connecting rod is connected to the eccentric wheel, and the other end is connected to the slider. The slider is installed on the slide rail, and the driving motor drives the slider to slide along the slide rail.

[0005] In one embodiment, the eccentric wheel is provided with a plurality of bolt holes with different eccentricities, and the connecting rod is connected to the eccentric wheel via a detachable connecting rod bolt, and the connecting rod is switchably connected to different bolt holes as required.

[0006] In one embodiment, a connecting plate is provided on the sliding block, and the rope winding drum is fixed on the connecting plate.

[0007] In one embodiment, a push-type buckle mechanism is provided between the manipulator and the rope winding drum, and the push-type buckle mechanism is fixed on the frame. The push-type buckle mechanism includes a buckle base, a buckle spring arranged in the bayonet base, a buckle connector connected to the bayonet base, and a buckle arranged on the buckle connector, and the buckle connector is used in conjunction with the buckle base; the buckle limits the position of the manipulator by limiting the rope.

[0008] In one embodiment, the robot includes a gripper bracket connected to a rope, a gripper spring arranged on the gripper bracket, a gripper connecting rod connected to the gripper bracket through a screw, and a gripper connected to the gripper connecting rod. A slide groove is provided on the gripper bracket, and the screw slides in the slide groove to drive the gripper connecting rod to extend and retract.

[0009] Based on the same inventive concept, a method for using the handheld camellia fruit harvesting device is also provided, comprising: Open the manipulator and aim it at the oil tea fruit branch that needs to be grasped; The robot grasps the branches of the oil tea fruit tree; The manipulator is separated from the frame, and the drum rotation drive motor rotates forward to drive the rope reel to rotate and release the rope, keeping the rope in a taut state; The controller controls the driving mechanism to drive the manipulator of the harvesting mechanism to repeatedly pull the branches at a first speed and rebound the branches at a second speed to complete the harvesting, wherein the second speed is more than 5 times the first speed.

[0010] In one embodiment, the robot grasps the oil tea fruit branch, comprising the steps of: Push the screw rod, the claw spring is stretched, the claw opens and extends toward the oil tea fruit branch, and after the claw reaches the predetermined position, release the screw rod and the claw grasps the branch.

[0011] In one embodiment, the robot detaches from the frame comprising the steps of: Press the buckle downward, the buckle spring is compressed, the buckle releases the restriction on the gripper bracket, and the gripper bracket is separated from the frame.

[0012] In one embodiment, after harvesting is completed, it also includes: pushing the screw rod, the claw spring is stretched, the claw opens and falls off the oil tea fruit branch; the reel rotation drive motor reverses to drive the rope reel to rotate and recycle the rope, pressing the buckle downward, the buckle spring is compressed, and after the manipulator returns to the frame, the buckle is released to limit the movement of the manipulator, and the reel rotation drive motor stops running.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: the harvesting mechanism of the handheld oil tea fruit harvesting device of the present application includes a drum rotating drive motor, a rope winding drum, a rope, and a manipulator, wherein the drum rotating drive motor drives the rope winding drum to rotate, one end of the rope is wound and fixed on the rope winding drum, and the other end of the rope is connected to the manipulator, and the manipulator is used to grasp or loosen the oil tea fruit branches. The controller controls the driving mechanism to drive the harvesting mechanism to reciprocate at different speeds; by controlling the speed conversion of the driving mechanism, the manipulator slowly pulls back the branch and quickly rebounds the branch, thereby dropping the oil tea fruit, and the oil tea fruit is collected by using a collection cloth or a net, and the above device is used to pull and collect the oil tea fruit at a low frequency. Compared with the device that shakes off the tea oil fruit by vibration, the present application reduces the vibration sense transmitted to the user. In addition, the harvesting rate of the present application is much higher than that of the device that directly uses a combing brush finger to directly act on the oil tea fruit for picking. The handheld oil tea fruit harvesting device of the present application is simple in structure and portable, and is suitable for quantitative industrial production. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a schematic structural diagram of a handheld tea fruit harvesting device according to an embodiment of the present application; Figure 2 This is a schematic diagram of the structure of a harvesting mechanism of a handheld oil-tea fruit harvesting device according to one embodiment of the present application; Figure 3 This is a schematic diagram of the structure of a press-type buckle mechanism of a handheld oil-tea fruit harvesting device according to an embodiment of the present application; Figure 4 This is a schematic structural diagram of a handheld tea-oil fruit harvesting device from another perspective according to one embodiment of the present application.

[0016] Figure numerals: 1. driving mechanism; 11. driving motor; 12 eccentric wheel; 13 frame; 14. connecting rod; 15 slider; 16 connecting plate; 17. slide rail; 2. harvesting mechanism; 21. hand claw bracket; 22. bolt; 23. hand claw spring; 24 hand claw connecting rod; 25 hand claw; 3. press-type snap mechanism; 31. snap base; 32. snap spring; 33. snap connector; 34. snap; 4. rope reel; 5. rope; 6. screw; 7. hand claw bolt one; 8. hand claw bolt two; 9. reel rotation drive motor. DETAILED DESCRIPTION

[0017] 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.

[0018] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0019] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0020] See also Figure 1-4 , a handheld oil-tea fruit harvesting device of one embodiment of the present application includes: a driving mechanism 1, a frame 13, a harvesting mechanism 2 and a controller. The driving mechanism 1 is fixed at one end of the frame 13; the driving mechanism 1 is connected to the harvesting mechanism 2, and the controller controls the driving mechanism 1 to drive the harvesting mechanism 2 to reciprocate at different speeds. Specifically, the harvesting mechanism 2 includes a drum rotation driving motor 9, a rope reel 4, a rope 5, and a manipulator. The drum rotation driving motor 9 drives the rope reel 4 to rotate, one end of the rope 5 is wound and fixed on the rope reel 4, and the other end of the rope 5 is connected to the manipulator, which is used to grasp or loosen the branches of the oil-tea fruit. Preferably, a shoulder strap can be connected to the frame 13 to facilitate the user to carry the device.

[0021] Specifically, the driving mechanism 1 is a crank slider mechanism, which mainly includes a driving motor 11, an eccentric wheel 12, a connecting rod 14 and a slider 15. Among them, the eccentric wheel 12 is connected to the driving motor 11 through a flat key, and a plurality of bolt holes with different eccentricities are provided on the eccentric wheel 12. One end of the connecting rod 14 is connected to the eccentric wheel 12 through a bolt, and the other end of the connecting rod 14 is connected to the slider 15 through a bolt. In the specific use process, according to different needs, by switching the connecting rod 14 to connect with different bolt holes on the eccentric wheel 12, the manipulator can perform a pulling movement of various amplitudes to achieve multi-mode adaptive oil tea fruit harvesting. The slide rail 17 is fixed to the frame 13 by bolts, and the slider 15 is installed on the slide rail 17. The slider 15 is provided with a connecting plate 16, and the rope winding drum 4 is fixed on the connecting plate 16. The rope winding drum 4 is connected to the drum rotation driving motor 9 through a flat key. One end of the rope 5 is wound on the rope winding drum 4, and the other end is connected to the hand claw bracket 21. When the controller controls the drive motor 11 to start, the eccentric wheel 12 and the connecting rod 14 are used to transmit the movement so that the slider 15 reciprocates along the slide rail 17 at different speeds. The slider 15 and the slide rail are used in combination to achieve linear motion. The structure is simple and easy to operate. Of course, other methods that can achieve motion, such as screws, transmission belts, etc., can also be used in other embodiments. During specific use, the drive motor 11 causes the manipulator to slowly pull back the branches and quickly rebound the branches, and use the rebound force to make the tea fruit fall. Preferably, the controller controls the drive motor 11 to drive the manipulator of the harvesting mechanism 2 to repeatedly pull the branches at a first speed, and rebound the branches at a second speed to complete the harvest, wherein the second speed is more than 5 times the first speed, preferably 5-10 times.

[0022] Specifically, in one embodiment, the manipulator of the harvesting mechanism 2 includes a claw bracket 21 connected to the rope 5, a claw spring 23 arranged on the claw bracket 21, a claw connecting rod 24 connected to the claw bracket 21 through a screw 6, and a claw 25 connected to the claw connecting rod 24. The claw connecting rod 24 includes two small connecting rods connected to each other, and the two small connecting rods are connected by a claw bolt 7. The claw 25 is connected to the claw connecting rod 24 through a claw bolt 8. A sliding groove is provided on the claw bracket 21, and the screw 6 slides in the sliding groove to drive the claw connecting rod 24 to extend and retract.

[0023] Specifically, in one embodiment, a push-type buckle mechanism 3 is provided between the manipulator and the rope winding drum 4, and the push-type buckle mechanism 3 is fixed on the frame 13. The push-type buckle mechanism 3 includes a buckle base 31, a buckle spring 32 arranged in the bayonet base 31, a buckle connector 33 connected to the bayonet base 31, and a buckle 34 arranged on the buckle connector 33. The buckle connector 33 is used in conjunction with the buckle base 31; the buckle 34 limits the position of the manipulator by limiting the rope 5.

[0024] Specifically, when the claw 25 is retracted, the snap spring 32 is in its original state, and the snap 34 limits the rope 5 and thus limits the movement of the claw bracket 21, ensuring that the claw bracket 21 does not fall off; when the claw 25 is released, the snap 34 is pressed, the snap spring 32 is in a contracted state, and the claw bracket 21 smoothly leaves the frame 13.

[0025] The method for using the handheld tea fruit harvesting device according to one embodiment of the present application comprises the following steps: S10, opening the manipulator and aligning it with the oil-tea camellia fruit branch that needs to be grasped; S20, the manipulator grasps the oil-tea camellia fruit branch; Specifically, the user carries the handheld tea oil harvesting device and walks to the vicinity of the target tea oil tree, pushes the screw 6 on the manipulator, the claw spring 23 is stretched, the claw 25 is opened, and the claw 25 is extended to the tea oil fruit branch. After reaching the position, the screw 6 is released and the claw 25 grasps the branch.

[0026] S30, the manipulator is separated from the frame, and the drum rotation drive motor rotates forward to drive the rope reel to rotate and release the rope to keep the rope in a taut state; Specifically, the buckle 34 is pressed downward, the buckle spring 32 is compressed, the buckle 34 releases the restriction on the claw bracket 21, and the claw bracket 21 falls off the frame 13. At the same time, the drum rotation drive motor 9 starts to rotate forward, driving the rope winding drum 4 to rotate and release the rope 5. After the user moves to a safe position, the drum rotation drive motor 9 stops running and keeps the rope 5 in a taut state.

[0027] S40, the controller controls the driving mechanism to drive the manipulator of the harvesting mechanism to repeatedly pull the branches at a first speed and rebound the branches at a second speed to complete the harvesting, wherein the second speed is more than 5 times the first speed, preferably 5-10 times.

[0028] The driving motor 11 starts to run, driving the slider 15 to perform a reciprocating motion in one cycle, and the slider 15 transmits the motion to the gripper 25 through the rope. The controller controls the driving motor 11 to perform two motions at different speeds in one cycle, so that the gripper 25 slowly pulls back the oil-tea fruit branch and quickly rebounds the oil-tea fruit branch, realizing the low-frequency pulling of the oil-tea fruit branch by the manipulator, reducing the vibration, and completing the harvesting of the oil-tea fruit.

[0029] Specifically, in one embodiment, after the harvest is completed, the drive motor 11 stops running. The user walks to the vicinity of the claw 25 with the handheld device, manually pushes the screw 6 on the manipulator, the claw spring 23 is stretched, the claw 25 opens and falls off the oil tea fruit branch. The reel rotation drive motor 9 starts to reverse, driving the rope reel 4 to rotate and recycle the rope 5, while pressing the buckle 34 downward, the buckle spring 32 is compressed, and when the manipulator returns to the frame 13, the buckle 34 is released to limit the movement of the manipulator, and the reel rotation drive motor 9 stops running.

[0030] The harvesting mechanism of the handheld oil tea fruit harvesting device of the present application includes a connecting plate and a drum rotating drive motor installed on the connecting plate, a rope winding drum, a rope, and a manipulator. The drum rotating drive motor drives the rope winding drum to rotate, one end of the rope is wound and fixed on the rope winding drum, and the other end of the rope is connected to the manipulator, and the manipulator is used to grasp or loosen the oil tea fruit branches. The controller controls the driving mechanism to drive the harvesting mechanism to reciprocate at different speeds; by controlling the speed conversion of the driving mechanism, the manipulator slowly pulls back the branch and quickly rebounds the branch, so that the oil tea fruit falls off, and the oil tea fruit is collected by using a collection cloth or a net, and the above device is used to pull and collect the oil tea fruit at a low frequency. Compared with the device that shakes off the tea oil fruit by vibration, the present application reduces the vibration sense transmitted to the user. In addition, the harvesting rate of the present application is much higher than that of the device that directly uses a combing brush finger to directly act on the oil tea fruit for picking. The handheld oil tea fruit harvesting device of the present application is simple in structure and portable, and is suitable for quantitative industrial production.

Claims

1. A handheld camellia fruit harvesting device, characterized in that: include: Frame, drive mechanism, harvesting mechanism and controller; The driving mechanism is fixed at one end of the frame; the driving mechanism is connected to the harvesting mechanism, and the controller controls the driving mechanism to drive the harvesting mechanism to reciprocate at different speeds; The harvesting mechanism includes a drum rotation drive motor, a rope winding drum, a rope, and a manipulator. The drum rotation drive motor drives the rope winding drum to rotate. One end of the rope is wound and fixed on the rope winding drum, and the other end of the rope is connected to the manipulator. The manipulator is used to grasp or loosen the branches of the oil tea fruit tree.

2. The handheld tea fruit harvesting device according to claim 1, characterized in that: The driving mechanism includes a driving motor, an eccentric wheel, a connecting rod and a slider. A slide rail is provided on the frame. The driving motor is transmission-connected to the eccentric wheel. One end of the connecting rod is connected to the eccentric wheel, and the other end is connected to the slider. The slider is installed on the slide rail, and the driving motor drives the slider to slide along the slide rail.

3. The handheld tea fruit harvesting device according to claim 2, characterized in that: The eccentric wheel is provided with a plurality of bolt holes with different eccentric distances, and the connecting rod is connected to the eccentric wheel via a detachable connecting rod bolt, and the connecting rod is switchably connected to different bolt holes as required.

4. The handheld tea fruit harvesting device according to claim 1, characterized in that: The sliding block is provided with a connecting plate, and the rope winding drum is fixed on the connecting plate.

5. The handheld tea fruit harvesting device according to claim 1, characterized in that: A push-type snap mechanism is provided between the manipulator and the rope winding drum, and the push-type snap mechanism is fixed on the frame. The push-type snap mechanism includes a snap base, a snap spring arranged in the snap base, a snap connector connected to the snap base, and a snap arranged on the snap connector, and the snap connector is used in conjunction with the snap base; the snap restricts the position of the manipulator by restricting the position of the gripper bracket.

6. The handheld tea fruit harvesting device according to claim 1, characterized in that: The manipulator includes a gripper bracket connected to a rope, a gripper spring arranged on the gripper bracket, a gripper connecting rod connected to the gripper bracket through a screw rod, and a gripper connected to the gripper connecting rod. A slide groove is provided on the gripper bracket, and the screw rod slides in the slide groove to drive the gripper connecting rod to extend and retract.

7. A method for using the handheld oil-tea fruit harvesting device according to any one of claims 1 to 6, characterized in that: include: Open the manipulator and aim it at the oil tea fruit branch that needs to be grasped; The robot grasps the branches of the oil tea fruit tree; The manipulator is separated from the frame, and the drum rotation drive motor rotates forward to drive the rope reel to rotate and release the rope, keeping the rope in a taut state; The controller controls the driving mechanism to drive the manipulator of the harvesting mechanism to repeatedly pull the branches at a first speed and rebound the branches at a second speed to complete the harvesting, wherein the second speed is more than 5 times the first speed.

8. The method of use according to claim 7, characterized in that: The manipulator grasps the oil tea fruit branch including the following steps: Push the screw rod, the claw spring is stretched, the claw opens and extends toward the oil tea fruit branch, and after the claw reaches the predetermined position, release the screw rod and the claw grasps the branch.

9. The method of use according to claim 7, characterized in that: The robot detaches from the rack including the following steps: Press the buckle downward, the buckle spring is compressed, the buckle releases the restriction on the gripper bracket, and the gripper bracket is separated from the frame.

10. The method of use according to claim 7, characterized in that: After harvesting is completed, it also includes: pushing the screw, the claw spring is stretched, the claw opens and falls off the oil tea fruit branch; the reel rotation drive motor reverses to drive the rope reel to rotate and recycle the rope, pressing the buckle downward, the buckle spring is compressed, and after the manipulator returns to the frame, the buckle is released to limit the movement of the manipulator, and the reel rotation drive motor stops running.

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