Arm structure of a tea fruit picking machine

Abstract

The present invention discloses an arm structure of an oil-tea fruit picking machine, which relates to the technical field of oil-tea fruit picking machines and includes a support frame, a rope, an arm mechanism and a zipline trolley. The support frame is provided with multiple arms and the lower end is arranged on the ground. The rope is arranged at the upper end of the support frame. The zipline trolley is slidably arranged on the rope. The arm mechanism is arranged above the zipline trolley. The rope is located on one side of the oil-tea fruit tree. The arm mechanism includes a base, a rotating seat, a support arm, a clamping seat and a picking arm. The base is arranged above the zipline trolley. The rotating seat is rotatably arranged on the base. The support arm is provided with multiple arms and the end faces are hinged. One end of the combination of the multiple support arms is hinged to the rotating seat, and the other end is detachably hinged to the clamping seat. The clamping seat is used for sliding and clamping and is arranged on the outer wall of the oil-tea fruit tree trunk. The end face of the clamping seat is provided with an end ring. The present invention makes the picking range larger and the movement more convenient by moving on the rope and cooperating with the detachable clamping seat.

Description

Technical Field

[0001] The invention relates to the technical field of oil-tea fruit picking machines, in particular to an arm structure of an oil-tea fruit picking machine. Background Art

[0002] Camellia oleifera has a very high utilization value and is loved by consumers. my country has a large planting area of ​​more than 60 million mu of Camellia oleifera, mainly concentrated in the south of the Huaihe River and the Yangtze River, especially in Jiangxi, Hunan and Guangxi provinces. Therefore, there are higher requirements for the picking method of Camellia oleifera.

[0003] For example, a small self-propelled oil-tea fruit picking machine described in "CN112219554B" includes a traveling vehicle, a lifting frame, an adjusting mechanism, a rubber roller assembly and a picking head; the lower end of the lifting frame is hinged to the front end of the traveling vehicle, and its upper end can be lifted up and down relative to the traveling vehicle; the adjusting mechanism is installed on the traveling vehicle and the lifting frame, which connects the lifting frame near the lower end and is used to drive the upper end of the lifting frame to lift up and down; the rubber roller assembly is rotatably installed at the bottom of the upper end of the lifting frame, and is used to transport the oil-tea fruit branches to be picked toward the upper end of the lifting frame; the picking head is rotatably installed at the top of the upper end of the lifting frame, and the picking head continuously swings back and forth to the left and right sides while rotating, thereby jamming the oil-tea fruit on the branch transported by the rubber roller assembly and causing the oil-tea fruit to fall off the branch. The picking machine can synchronously avoid branches and flower buds to complete the reliable picking of oil-tea fruits. It is small in size and simple in structure. It is suitable for fruit picking operations with dense fruit trees and complex terrain.

[0004] However, in the prior art, a ground-mobile robotic arm is usually used, as shown in the above-mentioned patent, which extends into the tree crown through a telescopic arm or articulated arm structure to complete the picking. However, this method is not suitable for terrain such as wetlands or slopes. It is difficult to move, which affects the picking coverage rate. In addition, the length of traditional robotic arms is limited. If the crown of the fruit tree is large, it may be difficult to reach the fruits at a higher position. During picking, it is necessary to move the vehicle body on the ground to continuously adjust its position. Only after it is adjusted to the appropriate position can the robotic arm be stretched to the appropriate position. If the ground is uneven, the movement of the vehicle body will increase the preparation time before picking. In addition, if the wheels of the vehicle body roll back and forth near the fruit tree, it may also cause damage to the roots and soil of the fruit tree. Summary of the Invention

[0005] In view of the above existing problems, the present invention is proposed.

[0006] The purpose of the present invention is to solve the problems in the prior art that the robotic arm is difficult to move in complex terrain and the arm extension is limited.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] On the one hand, the present invention provides an arm structure of an oil tea fruit picking machine, which includes a support frame, a rope, an arm mechanism and a sliding cable trolley. The support frame is provided with multiple and the lower end is arranged on the ground, the rope is arranged at the upper end of the support frame, the sliding cable trolley is slidably arranged on the rope, the arm mechanism is arranged above the sliding cable trolley, and the rope is located on one side of the oil tea fruit tree. The arm mechanism includes a base, a rotating seat, a support arm, a clamping seat and a picking arm. The base is arranged above the sliding cable trolley, and the rotating seat is rotatably arranged on the base. The support arm is provided with multiple and end faces are hinged. One end of the multiple support arm combinations is hinged to the rotating seat, and the other end is detachably hinged to the clamping seat. The clamping seat is used for sliding clamping and is arranged on the outer wall of the oil tea fruit tree trunk. The end face of the clamping seat is provided with an end ring, and the picking arm can be adjusted and slidably arranged on the end ring. The end face of the picking arm is provided with a picking head, and the side wall of the picking arm is provided with a slide, and the upper end opening of the slide extends to just below the picking head.

[0009] Furthermore, the upper end of the support frame is symmetrically provided with a first ring, and the rope is provided with two groups, and the two first rings are sleeved on the two ropes. The lower end of the support frame is set on the ground through a fixed shaft to form a fixed frame, and the lower end of the support frame is set on the ground through a first cylinder to form a lifting frame. The lifting frame and the fixed frame are respectively provided with two and symmetrically arranged. The two fixed frames are located outside the lifting frame, and the first ring is used to limit the rope, wherein the first ring on the fixed frame is fixedly connected to the rope, and the first ring on the lifting frame is slidably connected to the rope. During the picking process, the sling trolley is located between the two lifting frames, and the height of the arm mechanism can be adjusted through the lifting operation of the lifting frame to adapt to fruit trees of different heights.

[0010] Furthermore, a bracket is vertically provided on the fixed shaft, and a telescopic shaft is vertically provided on the bracket toward the upper end of the lifting frame. A second ring adapted to the rope is provided on the upper end of the telescopic shaft, and a second cylinder is hingedly provided on the support frame at the upper end of the fixed shaft. The output end of the second cylinder is hingedly provided to the upper end of the telescopic shaft. By driving and adjusting the length of the second cylinder, the telescopic shaft is driven to rise and fall accordingly. The rope can be straightened by the second ring to ensure the stability of the rope, thereby ensuring the stability of the zipline trolley on the rope.

[0011] Furthermore, two groups of rollers are provided for internal rotation of the zipline trolley, and the two ropes are located between the two groups of rollers. A fifth motor is provided on the zipline trolley, and the rollers are driven to rotate by the fifth motor. By driving the fifth motor to drive the rollers to rotate, the two rollers clamp the ropes and move on the ropes.

[0012] Furthermore, a first motor is provided in the base, the rotating seat is driven to rotate by the first motor, and the adjacent support arms and between the support arms and the rotating seat are driven to rotate by a second motor. A mounting seat is provided on the end face of the support arm for rotation, and the mounting seat and the clamping seat are detachably arranged, and the mounting seat is driven to rotate by a third motor.

[0013] The locking mechanism is configured to lock the locking cam of the locking cam and to lock the locking cam of the locking cam, wherein the locking cam is secured to the locking cam of the locking cam by a spring.

[0014] Furthermore, the clamping seat is provided with two clamping claws on one side away from the mounting seat by rotation, and a third cylinder is provided inside the center of the clamping seat, and the output end of the third cylinder passes through the clamping seat and extends between the two clamping claws, and the end face of the third cylinder is provided with two connecting bars for rotation, and the connecting bars are hinged to the clamping claws on the corresponding side, and the inner side of the clamping claw is provided with a track wheel for rotation, and by driving the third cylinder to contract, the two connecting bars can be pulled to drive the two clamping claws to contract until the track wheel and the tree trunk are tightly hugged, and the driving of the track wheel can move the clamping seat up and down on the tree trunk, so as to facilitate the picking of fruits on the tree in a larger range.

[0015] Furthermore, the end rings are provided with two and are arranged at both ends of the mounting seat, the diameter of the end rings is much larger than the diameter of the trunk, the end rings are provided with an opening on the side away from the mounting seat, the end rings are provided with an annular rail structure, one end of the end ring is rotatably provided with an arc rail connected to the annular rail, the arc rail is rotatably connected to the end ring through a fourth motor, the end face of the arc rail is engaged and connected with the other end of the end ring, a first slider is slidably provided on the end ring, and the lower end of the picking arm is slidably provided in the end ring and the arc rail. When clamping the tree trunk, the clamping seat is clamped close to the trunk, and the fourth motor is driven to rotate and drive the arc rail to rotate toward the inside of the end ring, so that the trunk enters the inside of the end ring. Due to the large diameter of the end ring, the trunk can easily enter. After entering, the fourth motor is driven in reverse to reset the arc rail and close the end ring, and then the first slider is moved on the arc rail to realize the movement of the picking arm around the trunk for picking, which greatly expands the picking range.

[0016] Furthermore, a second slide rail is provided at the lower edge of the base, a second slider is provided for sliding in the second slide rail, and a counterweight is provided under the second slider, wherein the sliding mode of the second slider and the second slide rail is the same as the sliding mode of the first slider and the arc rail, both of which are curved arc guide rails, and the slide seat matching the curved guide rail, namely the first slider and the second slider, is a special slide seat with a total of four rollers, each two rollers perpendicular to the direction of movement are grouped together and installed on a plate, and the plate is installed on a special bearing and can rotate along the center of the bearing, and the bearing is installed on the slide plate, so that each roller group can rotate along the curved guide rail to ensure the smooth operation of the roller without getting stuck, and the roller group is driven by a motor.

[0017] Furthermore, a storage arm is hingedly provided below the picking arm, and the end surface of the storage arm is assembled and connected to the slide.

[0018] The beneficial effects of the present invention are:

[0019] 1. The present invention moves the cable car on the rope, moves the arm mechanism to the side of the fruit tree, and then unfolds the support arm and rotates the rotating seat at a certain angle so that the unfolded support arm faces the position where picking is required. If there are many fruits on the fruit tree and they are distributed relatively closely, they can be picked from the upper and lower positions respectively. First, the picking arm is extended to the top of the tree crown for picking, or extended to the bottom of the tree crown and moved on the trunk using the clamping seat. The arm mechanism is slid on the rope, making the mobile picking more stable. The cable system reduces the repeated movement time of the ground arm mechanism, so that the arm mechanism can be quickly positioned and picked continuously. In addition, the arm mechanism and the picking machine do not directly contact the ground, avoiding damage to the roots of the fruit trees and the ground soil. It is suitable for wetlands, slopes and other terrains.

[0020] 2. The present invention extends the support arm to the tree trunk and clamps the trunk through the clamping seat, thereby separating the end face of the support arm from the clamping seat. The clamping seat and the picking arm are independently arranged on the tree trunk. By independently controlling the position of the picking head on the end face of the picking arm, it is moved close to the fruit for picking. According to needs, the clamping seat can also be moved up and down on the tree trunk so that the picking arm can pick the fruits on the fruit tree in all directions.

[0021] 3. The present invention provides end rings on which the picking arms can slide, thus preventing the tree trunks from hindering the picking effect. This method can be used to operate on fruit trees with densely distributed fruits.

[0022] 4. The present invention drives the third cylinder to retract, which can pull the two connecting bars to drive the two clamping claws to retract until the track wheel and the tree trunk are tightly embraced, and the track wheel can be driven to move the clamping seat up and down on the tree trunk, so as to facilitate the picking of fruits on the tree in a wider range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 these drawings without paying any creative work.

[0024] Figure 1 A three-dimensional diagram of the arm structure of a tea-oil fruit picking machine provided by the present invention;

[0025] Figure 2 A schematic diagram of a cable trolley of an arm structure of a tea fruit picking machine provided by the present invention;

[0026] Figure 3 A schematic diagram of the internal structure of a cable trolley of an arm structure of an oil-tea fruit picking machine provided by the present invention;

[0027] Figure 4 A schematic diagram of a lifting frame and a fixing frame of an arm structure of a tea-oil fruit picking machine provided by the present invention;

[0028] Figure 5 A schematic diagram of a support frame of an arm structure of a tea-oil fruit picking machine provided by the present invention;

[0029] Figure 6 A schematic diagram of a clamping seat of an arm structure of a tea fruit picking machine provided by the present invention;

[0030] Figure 7 A schematic diagram of a state in which a clamping seat and a mounting seat of an arm structure of an oil-tea fruit picking machine provided by the present invention are separated;

[0031] Figure 8 A schematic diagram of the interior of a clamping seat of an arm structure of a tea-oil fruit picking machine provided by the present invention;

[0032] Figure 9 The invention provides an arm structure of a tea fruit picking machine Figure 8 A magnified schematic diagram of the structure in the middle.

[0033] Legend:

[0034] 1. Support frame; 2. Rope; 3. Slide trolley; 411. Base; 412. Rotating seat; 413. Support arm; 414. Clamping seat; 415. Picking arm; 416. End ring; 417. Picking head; 5. Slide; 611. First ring; 612. Fixed shaft; 613. Fixed frame; 614. First cylinder; 615. Lifting frame; 711. Bracket; 712. Telescopic shaft; 713. Second ring; 714. Second cylinder; 811. Roller; 812. Fifth motor; 911. First motor; 9 12. Second motor; 913. Mounting seat; 914. Third motor; 101. Insert strip; 102. Slot; 103. Adjustment slot; 104. Spring; 105. Wedge; 106. Wedge slot; 107. First magnetic block; 108. Second magnetic block; 111. Clamp; 112. Third cylinder; 113. Connecting strip; 114. Track wheel; 121. Arc rail; 122. Fourth motor; 123. First slider; 131. Second slide rail; 132. Second slider; 133. Counterweight; 141. Storage arm. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, as referred to herein, "one embodiment" or "an embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0038] See also Figures 1-9The present invention provides a technical solution: an arm structure of an oil-tea fruit picking machine, including a support frame 1, a rope 2, an arm mechanism and a zipline trolley 3, the support frame 1 is provided with multiple and the lower end is set on the ground, the rope 2 is set at the upper end of the support frame 1, the zipline trolley 3 is slidably set on the rope 2, the arm mechanism is set above the zipline trolley 3, the rope 2 is located on one side of the tea oil fruit tree, the arm mechanism includes a base 411, a rotating base 412, a support arm 413, a clamping base 414 and a picking arm 415, the base 411 is set above the zipline trolley 3, the rotating base 412 rotates It is movably arranged on the base 411, and a plurality of support arms 413 are provided and the end faces are hinged. One end of the combination of the plurality of support arms 413 is hinged to the rotating seat 412, and the other end is detachably hinged to the clamping seat 414. The clamping seat 414 is used for sliding clamping and is arranged on the outer wall of the oil tea fruit trunk. The end face of the clamping seat 414 is provided with an end ring 416, and the picking arm 415 is adjustably slidably arranged on the end ring 416. The end face of the picking arm 415 is provided with a picking head 417, and the side wall of the picking arm 415 is provided with a slide 5, and the upper end opening of the slide 5 extends to directly below the picking head 417.

[0039] like Figures 1-9 As shown, the upper end of the support frame 1 is symmetrically provided with a first ring 611, and the rope 2 is provided with two groups. The two first rings 611 are sleeved on the two ropes 2. The lower end of the support frame 1 is set on the ground through a fixed shaft 612, and the combination is a fixed frame 613. The lower end of the support frame 1 is set on the ground through a first cylinder 614, and the combination is a lifting frame 615. The lifting frames 615 and the fixed frames 613 are respectively provided with two and symmetrically arranged. The two fixed frames 613 are located on the outside of the lifting frames 615, and the first ring 611 is used to limit the rope 2. The first ring 611 on the fixed frame 613 is fixedly connected to the rope 2, and the first ring 611 on the lifting frame 615 is slidably connected to the rope 2. During the picking process, the sling trolley 3 is located between the two lifting frames 615. The height of the arm mechanism can be adjusted by the lifting operation of the lifting frame 615 to adapt to fruit trees of different heights.

[0040] like Figures 1-9 As shown, a bracket 711 is vertically provided on the fixed shaft 612, and a telescopic shaft 712 is vertically provided above the end of the bracket 711 facing the lifting frame 615. A second ring 713 adapted to the rope 2 is provided on the upper end of the telescopic shaft 712, and a second cylinder 714 is hingedly provided on the support frame 1 at the upper end of the fixed shaft 612. The output end of the second cylinder 714 is hinged to the upper end of the telescopic shaft 712. By driving and adjusting the length of the second cylinder 714, the telescopic shaft 712 is driven to rise and fall accordingly. The rope 2 can be straightened by the second ring 713 to ensure the stability of the rope 2, thereby ensuring the stability of the zipline trolley 3 on the rope 2.

[0041] like Figures 1-9As shown, two sets of rollers 811 are provided for internal rotation of the zipline trolley 3, and the two ropes 2 are located between the two sets of rollers 811. A fifth motor 812 is provided on the zipline trolley 3, and the rollers 811 are driven to rotate by the fifth motor 812. By driving the fifth motor 812 to drive the rollers 811 to rotate, the two rollers 811 clamp the ropes 2 and move on the ropes 2.

[0042] like Figures 1-9 As shown, a first motor 911 is provided in the base 411, and the rotating seat 412 is driven to rotate by the first motor 911. The adjacent support arms 413 and the support arms 413 and the rotating seat 412 are driven to rotate by the second motor 912. The end surface of the support arm 413 is rotated with a mounting seat 913, and the mounting seat 913 and the clamping seat 414 are detachably arranged. The mounting seat 913 is driven to rotate by a third motor 914.

[0043] like Figures 1-9 As shown, the mounting seat 913 is symmetrically provided with an insert 101, and the clamping seat 414 is provided with a slot 102 that is suitable for the insert 101 near the insert 101. The clamping seat 414 is provided with an adjustment slot 103 that is connected to the slot 102. A wedge 105 is provided in the adjustment slot 103 through a spring 104. The insert 101 is provided with a wedge slot 106 that is adapted to the wedge 105. The inner end of the adjustment slot 103 is provided with a first magnetic block 107. The wedge 105 is provided with a second magnetic block 108 that is mutually attracted to the first magnetic block 107. When the insert 101 is inserted into the slot 102, the insert 101 pushes the wedge 105 to push it up The first magnetic block 107 is energized to prevent the insertion strip 101 from being pulled out of the slot 102, thereby ensuring the installation stability of the mounting base 913 and the clamping base 414. When disassembling, the first magnetic block 107 is energized. The first magnetic block 107 has magnetic properties and is attracted to the second magnetic block 108, so that the spring 104 is compressed and the wedge block 105 is retracted into the adjustment groove 103, completely separated from the insertion strip 101. At this time, the insertion strip 101 can be smoothly pulled out of the slot 102 to achieve separation.

[0044] like Figures 1-9As shown, the clamping seat 414 is provided with two clamping claws 111 by rotating on one side away from the mounting seat 913, and a third cylinder 112 is provided inside the center of the clamping seat 414. The output end of the third cylinder 112 passes through the clamping seat 414 and extends between the two clamping claws 111. The end face of the third cylinder 112 is provided with two connecting bars 113 for rotation. The connecting bars 113 are hinged to the clamping claws 111 on the corresponding side, and the inner side of the clamping claw 111 is provided with a track wheel 114 for rotation. By driving the third cylinder 112 to contract, the two connecting bars 113 can be pulled to drive the two clamping claws 111 to contract until the track wheel 114 is tightly hugged to the tree trunk, and driving the track wheel 114 can move the clamping seat 414 up and down on the tree trunk, so as to facilitate picking fruits from the tree in a larger range.

[0045] like Figures 1-9 As shown, two end rings 416 are provided and are arranged at both ends of the mounting seat 913. The diameter of the end ring 416 is much larger than the diameter of the trunk. The end ring 416 is provided with an opening on the side away from the mounting seat 913. The end ring 416 is provided with a ring rail structure. One end of the end ring 416 is rotatably provided with an arc rail 121 connected to the ring rail. The arc rail 121 is rotatably connected to the end ring 416 through the fourth motor 122. The end face of the arc rail 121 is engaged with the other end of the end ring 416 and is connected. A first slider 123 is slidably provided on the end ring 416, and the lower end of the picking arm 415 is slidably provided at the end When clamping a tree trunk, the clamping seat 414 is clamped close to the trunk, and the fourth motor 122 is driven to rotate to drive the arc rail 121 to rotate toward the end ring 416, so that the trunk can enter the end ring 416. Since the diameter of the end ring 416 is large, the trunk can enter easily. After entering, the fourth motor 122 is driven in the reverse direction to reset the arc rail 121 and close the end ring 416. Then, the first slider 123 is moved on the arc rail 121 to realize the picking arm 415 moving around the trunk for picking, which greatly expands the picking range.

[0046] like Figures 1-9 As shown, a second slide rail 131 is provided at the lower edge of the base 411, and a second slider 132 is provided for sliding in the second slide rail 131, and a counterweight block 133 is provided under the second slider 132, wherein the sliding mode of the second slider 132 and the second slide rail 131 is the same as the sliding mode of the first slider 123 and the curved rail 121, which are both curved curved guide rails, and the slide seat matching the curved guide rail, namely the first slider 123 and the second slider 132, is a special slide seat with a total of four rollers, each two rollers perpendicular to the direction of movement are grouped together and mounted on a plate, and the plate is mounted on a special bearing and can rotate along the center of the bearing, and the bearing is mounted on the slide plate, so that each roller group can rotate along the curved guide rail to ensure smooth operation of the roller without getting stuck, and the roller group is driven by a motor.

[0047] like Figures 1-9 As shown, a storage arm 141 is hingedly provided below the picking arm 415 , and the end surface of the storage arm 141 is assembled and connected to the slide 5 .

[0048] Working principle: multiple ropes 2 are installed in the orchard, and the ropes 2 are laid in the upper middle of the side of the fruit tree. When the fruit is ripe and needs to be picked, the zipline trolley 3 can be moved on the rope 2 to move the arm mechanism to the side of the fruit tree, and then the support arm 413 is unfolded, and the rotating seat 412 is rotated to a certain angle so that the unfolded support arm 413 faces the position where the fruit needs to be picked. If there are many fruits on the fruit tree and they are distributed more densely, they can be picked from the upper and lower positions respectively. First, the picking arm 415 is extended to the top of the tree crown, and the picking head 417 is moved to the fruit and picked according to the drive adjustment of the arm mechanism. The picked fruit falls into the slide 5, and the fruit slides smoothly to the ground in the slide 5 for collection. If the fruit below is to be collected, the support arm 413 can be extended to the trunk, and the trunk is clamped by the clamping seat 414, and the end face of the support arm 413 is separated from the clamping seat 414. The holding seat 414 and the picking arm 415 are independently arranged on the tree trunk. By independently controlling the position of the picking head 417 on the end face of the picking arm 415, it is moved close to the fruit for picking. According to needs, the clamping seat 414 can also move up and down on the tree trunk so that the picking arm 415 can pick the fruits on the fruit tree in all directions. Through the provided end ring 416, the picking arm 415 can slide on the end ring 416 to avoid the trunk from hindering the picking effect. This method can be used to operate fruit trees with densely distributed fruits, and the picking is carried out from the outside of the fruit tree to avoid the situation where violent picking causes branch breakage as much as possible. The arm mechanism is slidably set on the rope 2, which makes the mobile picking more stable. The sling system reduces the repeated movement time of the ground arm mechanism, so that the arm mechanism can be quickly positioned and continuously picked. In addition, the arm mechanism and the picking machine do not directly contact the ground, avoiding damage to the roots of the fruit trees and the ground soil. It is suitable for wetlands, slopes and other terrains.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An arm structure of a tea fruit picking machine, characterized by: The invention comprises a support frame (1), a rope (2), an arm mechanism and a zipline trolley (3), wherein the support frame (1) is provided with a plurality of arms and the lower end is arranged on the ground, the rope (2) is arranged at the upper end of the support frame (1), the zipline trolley (3) is slidably arranged on the rope (2), the arm mechanism is arranged above the zipline trolley (3), the rope (2) is located on one side of the tea oil fruit tree, the arm mechanism comprises a base (411), a rotating base (412), a support arm (413), a clamping base (414) and a picking arm (415), the base (411) is arranged above the zipline trolley (3), the rotating base (412) is rotatably arranged on the base (411), the support arm (413) is provided with a plurality of arms and an end hinge The plurality of support arms (413) are connected, one end of the combination of the support arms (413) is hinged to the rotating seat (412), and the other end is detachably hinged to the clamping seat (414), the clamping seat (414) is used for sliding clamping and is set on the outer wall of the oil tea fruit trunk, the end face of the clamping seat (414) is provided with an end ring (416), the picking arm (415) is adjustable and slidably set on the end ring (416), the end face of the picking arm (415) is provided with a picking head (417), the side wall of the picking arm (415) is provided with a slide (5), the upper end opening of the slide (5) extends to the bottom of the picking head (417), the upper end of the support frame (1) is symmetrically provided with a first ring (611), the rope (2) is provided with two groups, the two first rings (611) are provided. 11) is sleeved on the two ropes (2), the lower end of the support frame (1) is set on the ground through a fixed shaft (612), and the combination is a fixed frame (613), the lower end of the support frame (1) is set on the ground through a first cylinder (614), and the combination is a lifting frame (615), the lifting frame (615) and the fixed frame (613) are respectively provided with two and symmetrically arranged, the two fixed frames (613) are located outside the lifting frame (615), a bracket (711) is vertically provided on the fixed shaft (612), a telescopic shaft (712) is vertically provided on the bracket (711) toward the upper end of one end of the lifting frame (615), and a second ring (713) adapted to the rope (2) is provided on the upper end of the telescopic shaft (712), the fixed shaft (612) is provided with a second ring (713) adapted to the rope (2), and the fixed shaft (612) is provided with a second ring (713) adapted to the rope (2). A second cylinder (714) is hingedly provided on the support frame (1) at the upper end of the fixed shaft (612), and an output end of the second cylinder (714) is hingedly provided with the upper end of the telescopic shaft (712). The clamping seat (414) is provided with two clamping claws (111) by rotating on a side away from the mounting seat (913). A third cylinder (112) is provided inside the center of the clamping seat (414). The output end of the third cylinder (112) passes through the clamping seat (414) and extends between the two clamping claws (111). Two connecting bars (113) are provided on the end surface of the third cylinder (112) by rotation. The connecting bars (113) are hingedly provided with the clamping claws (111) on the corresponding side, and a track wheel (114) is provided on the inner side of the clamping claw (111) by rotation.

2. The arm structure of the oil-tea fruit picking machine according to claim 1, characterized in that: The zipline trolley (3) is provided with two groups of rollers (811) for internal rotation, and the two ropes (2) are located between the two groups of rollers (811). The zipline trolley (3) is provided with a fifth motor (812), and the rollers (811) are driven to rotate by the fifth motor (812).

3. The arm structure of the oil-tea fruit picking machine according to claim 2, characterized in that: A first motor (911) is provided in the base (411), the rotating seat (412) is driven to rotate by the first motor (911), and the adjacent support arms (413) and the support arms (413) and the rotating seat (412) are driven to rotate by the second motor (912). The end surface of the support arm (413) is provided with a mounting seat (913) for rotation. The mounting seat (913) and the clamping seat (414) are detachably provided, and the mounting seat (913) is driven to rotate by a third motor (914).

4. The arm structure of the oil-tea fruit picking machine according to claim 3, characterized in that: The mounting seat (913) is symmetrically provided with an inserting strip (101), the clamping seat (414) is provided with a slot (102) that is adapted to fit the inserting strip (101) on one side thereof close to the inserting strip (101), an adjusting slot (103) that is connected to the slot (102) is provided inside the clamping seat (414), a wedge block (105) is provided in the adjusting slot (103) via a spring (104), the inserting strip (101) is provided with a wedge slot (106) that is adapted to fit the wedge block (105), a first magnetic block (107) is provided at the inner end of the adjusting slot (103), and a second magnetic block (108) that is adsorbed to the first magnetic block (107) is provided on the wedge block (105).

5. The arm structure of the oil-tea fruit picking machine according to claim 4, characterized in that: Two end rings (416) are provided and are arranged at both ends of the mounting seat (913). The diameter of the end ring (416) is much larger than the diameter of the tree trunk. The end ring (416) is provided with an opening on the side away from the mounting seat (913). The end ring (416) is provided with a ring rail structure. One end of the end ring (416) is rotatably provided with an arc rail (121) connected to the ring rail. The arc rail (121) is rotatably connected to the end ring (416) through a fourth motor (122). The end surface of the arc rail (121) is engaged and connected with the other end of the end ring (416). A first slider (123) is slidably provided on the end ring (416). The lower end of the picking arm (415) is slidably provided in the end ring (416) and the arc rail (121).

6. The arm structure of the oil-tea fruit picking machine according to claim 5, characterized in that: A second slide rail (131) is provided at the lower edge of the base (411), a second slider (132) is slidably provided in the second slide rail (131), and a counterweight (133) is provided below the second slider (132).

7. The arm structure of the oil-tea fruit picking machine according to claim 1, characterized in that: A storage arm (141) is hingedly provided below the picking arm (415), and the end surface of the storage arm (141) is assembled and connected to the slideway (5).

Images