Camellia oleifera fruit picking equipment

Abstract

The invention provides camellia oleifera fruit picking equipment. The camellia oleifera fruit picking equipment comprises a chassis assembly and a picking mechanism arranged on the chassis assembly; the picking mechanism comprises a mechanical arm and a picking part for picking camellia oleifera fruits; one end of the mechanical arm is connected with the chassis assembly, and the other end is connected with the picking part; the mechanical arm comprises a plurality of arm frame units connected in sequence. The boom unit comprises a first supporting piece, a first mounting part, a second mounting part and at least two telescopic driving parts, the first mounting part is rotatably connected with the second mounting part through a first supporting piece; the second mounting part is connected with the first mounting part of the adjacent boom unit; the space included angle between the first mounting part and the second mounting part is adjusted through the telescopic driving part, the overall posture of the mechanical arm is adjusted by adjusting the space included angle between the first mounting part and the second mounting part of each arm frame unit, and therefore the posture of the mechanical arm can be freely changed in various branches of tea-oil trees, and the mechanical arm is more convenient to use. The falling of camellia oleifera flowers caused by collision with branches during picking can be effectively avoided.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, and in particular to oil-tea fruit picking equipment. Background Art

[0002] Camellia oleifera is an important economic tree species in southern my country, with high nutritional value. The harvesting period of camellia oleifera is usually from late October to late November each year, when the fruit matures naturally. Currently, the fruit is harvested mainly by hand, supplemented by mechanized harvesting. The mechanized harvesting technology used on the market mainly adopts the shaking type. For example, patent document CN109964639A discloses a camellia oleifera collecting and sorting machine, which uses external force to vibrate or shake the trunk or branches of the camellia oleifera tree, so that the camellia oleifera fruit separates from the fruit branches at the weakest point of the connection and falls. However, the flowering and fruiting period of the camellia oleifera tree is the same period, and the camellia oleifera flower will also fall when the camellia oleifera fruit falls, affecting the yield in the second year. However, if the picking relies on manual labor, although the dropping of camellia flowers can be avoided, there are problems such as heavy workload and low efficiency. If a robotic arm is used for picking, the robotic arm is not flexible enough and cannot pick the camellia fruits from the complicated branches of the camellia forest. Therefore, a device is needed that can efficiently pick the camellia fruits without accidentally damaging the camellia flowers. Summary of the invention

[0003] The purpose of the present invention is to provide a tea-oil fruit picking device to solve the technical problem of how to efficiently pick tea-oil fruits without accidentally damaging the tea-oil fruits.

[0004] To solve the above problems, the present invention provides a tea fruit picking device, comprising: a chassis assembly and a picking mechanism arranged on the chassis assembly; the picking mechanism comprises: a mechanical arm and a picking part for picking tea fruit; one end of the mechanical arm is connected to the chassis assembly, and the other end is connected to the picking part; the mechanical arm comprises: a plurality of arm units connected in sequence; wherein the arm unit comprises: a first support member, a first mounting part, a second mounting part and at least two telescopic driving parts; the first mounting part is rotatably connected to the second mounting part through the first support member; the second mounting part is connected to the first mounting part of the adjacent arm unit; the spatial angle between the first mounting part and the second mounting part is adjusted by the telescopic driving part.

[0005] Furthermore, the telescopic driving part in the above-mentioned tea fruit picking equipment is an electric push rod or a pneumatic push rod;

[0006] One end of the telescopic driving part is connected to the first mounting part by a ball joint, and the other end is connected to the second mounting part by a ball joint.

[0007] Furthermore, the telescopic driving part in the above-mentioned tea fruit picking equipment includes: a first electromagnet, a magnetizing part and a reset part; the first electromagnet is arranged on the first mounting part, and correspondingly, the magnetizing part is arranged at the corresponding position of the second mounting part; the reset part is used for resetting the second mounting part.

[0008] Furthermore, the telescopic driving part in the above-mentioned tea fruit picking equipment includes: a first electromagnet and a second electromagnet; the first electromagnet is arranged on the first mounting part, and correspondingly, the second electromagnet is arranged at a corresponding position of the second mounting part.

[0009] Furthermore, the first supporting member in the above-mentioned tea fruit picking equipment is a first rod member; one end of the first rod member is fixedly connected to the first mounting part, and the other end is ball-jointedly connected to the second mounting part.

[0010] Furthermore, the first supporting member in the above-mentioned tea fruit picking equipment is a first rod member; one end of the first rod member is connected to the first mounting part by a ball joint, and the other end is connected to the second mounting part by a ball joint.

[0011] Furthermore, the first supporting member in the above-mentioned tea fruit picking equipment is a first elastic member; one end of the first elastic member is fixedly connected to the first mounting part, and the other end is fixedly connected to the second mounting part.

[0012] Furthermore, the first elastic member in the above-mentioned tea fruit picking equipment is a spring.

[0013] Furthermore, the number of telescopic driving parts in the above-mentioned tea-oil fruit picking equipment is 3 or 4, and they are symmetrically distributed around the center of the first support member.

[0014] Furthermore, the mechanical arm in the above-mentioned tea-oil fruit picking equipment also includes: a rotating part; the arm units are connected by the rotating part; and the rotating part is used to drive the arm units to rotate relative to adjacent arm units.

[0015] The spatial angle between the first mounting part and the second mounting part of each arm unit is adjusted by the telescopic drive part, thereby adjusting the overall posture of the robotic arm. This allows the robotic arm to change its posture freely among the numerous branches of the oil tea tree, effectively avoiding the falling of the oil tea flowers due to collision with the branches during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the first embodiment of the boom unit in the embodiment of the present invention;

[0018] Figure 3 is another schematic diagram of the first implementation of the boom unit in the embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a second embodiment of the boom unit in an embodiment of the present invention;

[0020] Figure 5 It is a schematic diagram of the mechanism of the third implementation mode of the boom unit in the embodiment of the present invention.

[0021] Reference numerals:

[0022] 1: chassis assembly; 11: camera; 2: picking mechanism; 21: mechanical arm; 211: arm unit; 2111: first support member; 2111a: first rod member; 2111b: first elastic member; 2112: first mounting portion; 2113: second mounting portion; 2114: telescopic driving portion; 212: rotating portion; 22: picking portion. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention. In the description of the present invention, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] refer to Figure 1 , shows an embodiment of the present invention, the oil tea fruit picking device shown includes: a chassis assembly 1 and a picking mechanism 2 arranged on the chassis assembly 1, wherein the picking mechanism 2 includes: a mechanical arm 21 and a picking part 22 for picking oil tea fruits, one end of the mechanical arm 21 is connected to the chassis assembly 1, and the other end is connected to the picking part 22. The mechanical arm 21 includes: a plurality of arm units 211 connected in sequence, Figure 2 The arm unit 211 includes: a first support member 2111, a first mounting portion 2112, a second mounting portion 2113 and at least two telescopic driving portions 2114. The first mounting portion 2112 is rotatably connected to the second mounting portion 2113 through the first support member 2111, and the second mounting portion 2113 is connected to the first mounting portion 2112 of the adjacent arm unit 211. The spatial angle between the first mounting portion 2112 and the second mounting portion 2113 is adjusted by the telescopic driving portion 2114. Specifically, in actual operation, when any one or more telescopic driving portions 2114 drive the second mounting portion 2113, the remaining telescopic driving portions 2114 follow, and the spatial angle between the first mounting portion 2112 and the second mounting portion 2113 will change. Since three non-collinear points can determine a plane, such as Figure 3As shown, at least two telescopic driving parts 2114 are required to drive the second mounting part 2113, that is, the relative position of the second mounting part 2113 with respect to the first mounting part 2112 is determined by the hinge points or contact points between the two telescopic driving parts 2114 and the second mounting part 2113 and the hinge points between the first rod 2111a and the second mounting part 2113, and the hinge points between the telescopic driving parts 2114 and the second mounting part 2113 and the first rod 2111a can be changed. The position of the hinge point between the component 2111a and the second mounting part 2113 in space is adjusted, and then the spatial angle between the first mounting part 2112 and the second mounting part 2113 is adjusted. That is to say, the overall posture of the robotic arm 21 can be adjusted by the telescopic driving part 2114 of each arm unit 211. Compared with the mechanical picking arm used in the existing tea fruit picking equipment, the robotic arm 21 shown in this embodiment has higher flexibility. It can shuttle through the complex branches of the tea tree forest, effectively avoiding accidentally touching the tea flowers during the re-picking process and causing the tea flowers to fall.

[0025] Increasing the number of telescopic drive units 2114 can enhance the flexibility and operation accuracy of the robot arm 21, as well as the structural strength of the overall structure, but it also increases the control difficulty, and the number of telescopic drive units 2114 can be adjusted according to actual needs. In this embodiment, 3 or 4 telescopic drive units 2114 can be used, and are symmetrically distributed around the center of the first support member 2111.

[0026] The telescopic drive part 2114 can be an electric push rod or a pneumatic push rod. In this case, one end of the telescopic drive part 2114 is connected to the first mounting part 2112 by a ball joint, and the other end is connected to the second mounting part 2113 by a ball joint. When the length of any one or more ends of the telescopic drive parts 2114 becomes longer or shorter, the lengths of the remaining ends of the telescopic drive parts 2114 are adaptively adjusted, and the spatial angle between the first mounting part 2112 and the second mounting part 2113 changes. By driving the telescopic drive parts 2114 at different positions, the spatial angle between the first mounting part 2112 and the second mounting part 2113 can be accurately adjusted.

[0027] The telescopic driving part 2114 can also be a first electromagnet, a magnetizing part and a reset part. The first electromagnet is arranged on the first mounting part 2112, and correspondingly, the magnetizing part is arranged at the corresponding position of the second mounting part 2113. The first electromagnet attracts the magnetizing part to drive the second mounting part 2113, and the reset part is responsible for resetting the second mounting part 2113. The reset part can be a spring or other components.

[0028] The telescopic driving part 2114 can also be a first electromagnet and a second electromagnet. The first electromagnet is arranged on the first mounting part 2112, and correspondingly, the second electromagnet is arranged at the corresponding position of the second mounting part 2113. The driving of the second mounting part 2113 can be completed by adsorption or repulsion between the first electromagnet and the second electromagnet.

[0029] refer to Figure 2 , shows a first embodiment of the arm unit 211, in which the first support member 2111 is a first rod member 2111a, one end of the first rod member 2111a is fixedly connected to the first mounting portion 2112, and the other end is ball-jointed to the second mounting portion 2113, one end of the telescopic driving portion 2114 is hingedly connected to the first mounting portion 2112, and the other end is hingedly connected to the second mounting portion 2113.

[0030] refer to Figure 4 , shows a second embodiment of the arm unit 211, in which the first support member 2111 is a first rod 2111a, one end of the first rod 2111a is connected to the first mounting portion 2112 by a ball joint, and the other end is connected to the second mounting portion 2113 by a ball joint, one end of the telescopic driving portion 2114 is connected to the first mounting portion 2112 by a ball joint, and the other end is connected to the second mounting portion 2113 by a ball joint, since each connection position is a ball joint connection, at this time, if the axis of each telescopic driving portion 2114 and the axis of the first rod 2111a are parallel to each other, This will result in limited stiffness, stability and degrees of freedom of the arm unit 211. Therefore, to avoid this situation, the distance between the connection point of the telescopic drive part 2114 and the second mounting part 2113 needs to be greater than the distance between the connection point of the telescopic drive part 2114 and the first mounting part 2112. Such a setting can make the overall structure of the robot arm 21 thick at one end and thin at the other end, while also contributing to the lightweight of the structure. The thick end of the overall structure of the robot arm 21 is connected to the chassis assembly 1, and the thin end of the overall structure of the robot arm 21 is connected to the picking part 22.

[0031] refer to Figure 5 , shows a third embodiment of the arm unit 211, in which the first support member 2111 is a first elastic member 2111b, one end of the first elastic member 2111b is fixedly connected to the first mounting portion 2112, and the other end is fixedly connected to the second mounting portion 2113. Since the first elastic member 2111b is elastic and can be plastically deformed, it will not prevent the change of the spatial angle between the first mounting portion 2112 and the second mounting portion 2113. Specifically, the first elastic member 2111b is a spring, and the appropriate spring specifications can be selected according to actual conditions.

[0032] The robot arm 21 further includes a rotating part 212 , through which the arm units 211 are connected. The rotating part 212 is used to drive the arm unit 211 and adjacent arm units 211 to rotate, thereby greatly improving the flexibility of the robot arm 21 .

[0033] When actually picking tea-oil fruits, the chassis assembly 1 is first driven to a predetermined position, and then the surrounding environment is observed through the camera 11 installed on the chassis assembly 1. Then the robotic arm 21 begins to adjust the overall posture according to the actual situation, so that the picking part 22 moves to the tea-oil fruit to pick the tea-oil fruit. Since the robotic arm 21 has a higher degree of freedom and flexibility than a traditional rigid robotic arm, similar to an octopus arm, it has a better obstacle avoidance effect and can effectively avoid colliding with tree branches and causing the tea flowers to fall, and can also better pick the tea-oil fruits.

[0034] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A tea fruit picking device, characterized in that: include: A chassis assembly and a picking mechanism disposed on the chassis assembly; The picking mechanism comprises: a mechanical arm and a picking part for picking oil-tea fruits; One end of the mechanical arm is connected to the chassis assembly, and the other end is connected to the picking part; The mechanical arm comprises: a plurality of arm units connected in sequence; Wherein, the arm unit comprises: a first support member, a first mounting portion, a second mounting portion and at least two telescopic driving portions; The first mounting portion is rotatably connected to the second mounting portion via the first supporting member; The second mounting portion is connected to the first mounting portion of the adjacent arm unit; The spatial angle between the first mounting portion and the second mounting portion is adjusted by the telescopic driving portion.

2. The oil-tea fruit picking device according to claim 1, characterized in that: The telescopic driving part is an electric push rod or a pneumatic push rod; One end of the telescopic driving part is connected to the first mounting part with a ball joint, and the other end is connected to the second mounting part with a ball joint.

3. The oil-tea fruit picking device according to claim 1, characterized in that: The telescopic driving part comprises: a first electromagnet, a magnetic attraction part and a reset part; The first electromagnet is arranged on the first mounting portion, and correspondingly, the magnetizing portion is arranged at a corresponding position of the second mounting portion; The resetting portion is used for resetting the second mounting portion.

4. The oil-tea fruit picking device according to claim 1, characterized in that: The telescopic driving part comprises: the first electromagnet and the second electromagnet; The first electromagnet is disposed on the first mounting portion, and correspondingly, the second electromagnet is disposed at a corresponding position of the second mounting portion.

5. The oil-tea fruit picking device according to claim 1, characterized in that: The first supporting member is a first rod; One end of the first rod is fixedly connected to the first mounting portion, and the other end is ball-jointedly connected to the second mounting portion.

6. The oil-tea fruit picking device according to claim 1, characterized in that: The first supporting member is the first rod; One end of the first rod is connected to the first mounting portion with a ball joint, and the other end is connected to the second mounting portion with a ball joint; One end of the telescopic driving part is connected to the first mounting part with a ball joint, and the other end is connected to the second mounting part with a ball joint; The distance between the connection points of the telescopic drive portion and the second mounting portion is greater than the distance between the connection points of the telescopic drive portion and the first mounting portion.

7. The oil-tea fruit picking device according to claim 1, characterized in that: The first supporting member is a first elastic member; One end of the first elastic member is fixedly connected to the first mounting portion, and the other end of the first elastic member is fixedly connected to the second mounting portion.

8. The oil-tea fruit picking device according to claim 7, characterized in that: The first elastic member is a spring.

9. The oil-tea fruit picking device according to claim 1, characterized in that: The number of the telescopic driving parts is 3 or 4, and they are symmetrically distributed around the center of the first supporting member.

10. The oil-tea fruit picking device according to claim 1, characterized in that: The mechanical arm further comprises: a rotating portion; The arm units are connected via the swivel portion; The rotating part is used to drive the arm unit to rotate relative to the adjacent arm unit.

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