CN105075520B - The method of work of tea picking manipulator - Google Patents
The method of work of tea picking manipulator Download PDFInfo
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- CN105075520B CN105075520B CN201510538650.6A CN201510538650A CN105075520B CN 105075520 B CN105075520 B CN 105075520B CN 201510538650 A CN201510538650 A CN 201510538650A CN 105075520 B CN105075520 B CN 105075520B
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- tealeaves
- tea picking
- cylinder
- clamping jaw
- vertical telescopic
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Abstract
This patent discloses it is a kind of can in small space lifting, flexible and revolution tea picking manipulator method of work, comprise the following steps；The first step, receive tea picking and start trigger signal, rotary cylinder rotation, drive vertical telescopic cylinder, horizontal extension cylinder and harvesting clamping jaw rotation；Second step, vertical telescopic cylinder elongation or retraction, so that horizontal extension cylinder and harvesting clamping jaw lifting or decline together；3rd step, the elongation of horizontal extension cylinder or retraction, so as to drive harvesting clamping jaw the 4th step, to pluck two crank opposite direction synchronous axial systems in clamping jaw to tea picking position, drive the bare terminal end of two swing rods first to open and closes up again, clamp one or more pieces tealeaves；5th step, tealeaves is cut down from tealeaves handle by the foliage cutter structure of swing rod bare terminal end；6th step, blower fan start, and the tealeaves under cutting are entered into blade delivery pipe from the stator trough on the inside of swing rod, and be finally transported to tealeaves collecting box.
Description
Technical field
The present invention relates to tea picking technology, more particularly to a kind of method of work of tea picking manipulator.
Background technology
Tea picking is not only related to the quality of tea making raw material, and influences growing for tea tree.It is rational to pick tea-leaves,
Tealeaves can be promoted to increase production to a certain extent, and play the role of to prevent and treat disease pest.Tea picking seasonal is strong, especially spring tea, fresh leaf
Pluck not in time, the quality of sample tea will be influenceed.Traditional way is all picked by hand, and typically work eight hours left sides for each person every day
The right side, 2Kg or so tealeaves at most can only be also plucked, labor intensity is big, and operating efficiency is low.
In order to reduce the labor intensity of tea picking, tea picking efficiency is improved, generally use tea picking machine is picked tea-leaves at present.Tea picking machine
Tool hand is the important component of tea picking machine, and tea picking manipulator is generally arranged on the lift rotary platform of tea picking machine.Existing tea picking
Manipulator is mainly made up of two harvesting clamping jaws to be opened/closed, and the end for plucking clamping jaw is provided with blade.During tea picking, two harvesting clamping jaws
Pendulum interior first catches tealeaves, then cuts off tealeaves by plucking the blade of jaw end, completes the harvesting of tealeaves.
Problems with often be present in above-mentioned tea picking manipulator：1. typically by lifting and revolving dial by picking mechanical arm
Different harvesting positions is placed in, to pluck tealeaves, because tea picking manipulator itself do not possess the lifting in small spatial dimension, stretches
Contracting and the function of revolution, and lift every time it is larger with the actuating range of revolving dial, therefore, it is very easy to omit tealeaves, reduction
The yield of tea picking；2. the blade that jaw end is only plucked by mechanical hand getting of picking tea-leaves cuts off tealeaves, cutting force degree is limited, often makes
Tealeaves is not cut off completely with tea handle, but is broken by plucking clamping jaw and pullling tealeaves and tea handle to complete harvesting, is being pullled
It is easy to make tealeaves incomplete in journey, influences post-production；3. the tealeaves of harvesting is to be sent directly into tealeaves collecting box by manipulator
Interior, tea picking Robot actions are inconvenient, and action is slower, and it is low to collect tealeaves efficiency.
The content of the invention
The invention is intended to provide it is a kind of can in small space lifting, flexible and revolution tea picking manipulator method of work.
The method of work of tea picking manipulator in this programme, comprises the following steps；
The first step, receive tea picking and start trigger signal, rotary cylinder rotation, drive vertical telescopic cylinder, level to stretch
Contracting cylinder and harvesting clamping jaw rotation；
Second step, the elongation of vertical telescopic cylinder or retracts so that horizontal extension cylinder and harvesting clamping jaw together lifting or
Decline；
3rd step, the elongation of horizontal extension cylinder or retraction, so as to drive harvesting clamping jaw to tea picking position；
4th step, two crank opposite direction synchronous axial systems in clamping jaw are plucked, drive the bare terminal end of two swing rods first to open
Close up again, clamp one or more pieces tealeaves, when two swing rods clamp tealeaves, the bare terminal end of two swing rods is parallel.；
5th step, tealeaves is cut down from tealeaves handle by the foliage cutter structure of swing rod bare terminal end, described foliage cutter
Structure is the scissors hand driven by two-way cylinder；
6th step, blower fan start, and the tealeaves under cutting is entered into blade delivery pipe from the stator trough on the inside of swing rod, and finally
It is transported to tealeaves collecting box；
Above-mentioned action is repeated, until the tea picking in three dimensions that picking mechanical arm can reach is finished, afterwards
Rotary and lifting platform acts, and drives tea picking manipulator to next tea picking position.
The working principle and beneficial effect of this programme is as follows：
After harvesting, tealeaves is transported at blade delivery pipe by stator groove, in the presence of blower fan, tealeaves inhaled
Enter blade delivery pipe and be finally transported to tealeaves collecting box, tealeaves is directly conveyed by tea picking manipulator compared to existing, significantly
The transfer efficiency of tealeaves is improved, and tea picking manipulator eliminates transportation work, can pluck tealeaves always, improves harvesting effect
Rate, due to clamping tealeaves when, the bare terminal end of two swing rods is parallel, therefore, big with the contact area of tealeaves, clamping it is more stable.
The tea picking manipulator to be worked by this method can lifting, flexible and revolution in small space, every time by lifting back
After turntable positioning, each drive cylinder that can also be carried by tea picking manipulator trim locations in small space are each so as to complete
The harvesting of individual position tealeaves, the tealeaves of any short space will not be omitted, tea picking yield can be improved, possesses practical generalization.
Leaf is cut by scissors hand, Qie Ye is more thorough, avoids tealeaves from not cut off completely with tea handle, by plucking clamping jaw by tealeaves
Disconnected the problem of easily making tealeaves incompleteness is pullled with tea handle.
Further, when vertical telescopic cylinder elongation or retraction, the guide rod lateral positioned at vertical telescopic cylinder with stretching vertically
The piston rod of contracting cylinder synchronously elongates or shortens.When vertical telescopic cylinder is run, guide rod can shrink with vertical telescopic cylinder,
Motion guide is played a part of to the piston rod of vertical telescopic cylinder and reinforced.
Brief description of the drawings
Fig. 1 is the structural representation of each drive cylinder of the embodiment of the present invention.
Fig. 2 is the structural representation that the embodiment of the present invention plucks clamping jaw.
Fig. 3 is the structural representation of foliage cutter structure of the embodiment of the present invention.
Embodiment
Below by embodiment, the present invention is further detailed explanation：
Reference in Figure of description includes：Rotary cylinder 1, supporting plate 2, U-shaped connecting seat 3, vertical telescopic cylinder
4th, guide rod 5, horizontal extension cylinder 6, terminal pad 7, crank 8, swing rod 9, connecting rod 10, two-way cylinder 11, scissors hand 12.
Tea picking manipulator as shown in Figure 1, the support base of the lower weld level of the first horizontal mounting plate, first is vertical
Installing plate is provided with vertical rotary cylinder, and the rotary shaft of rotary cylinder is stretched out rotary cylinder and is horizontally disposed with, and rotates outer shaft sleeve
Provided with sleeve.Supporting plate is fixed with support base, supporting plate is had two and is arranged symmetrically with the vertical centerline of rotary shaft, so that
Sleeve uniform force, the end face of supporting plate have with excircle of sleeve curvature identical curved surface, the end face of supporting plate and sleeve it is outer
Circle offsets.Supporting plate is set outside sleeve, and because the end face of supporting plate and the cylindrical of sleeve offset, supporting plate plays branch to sleeve
Support acts on, and prevents rotary shaft when rotated, produces Radial Perturbation.
U-shaped connecting seat is fixed with rotary shaft, specially the two of U-shaped connecting seat leg is separately fixed at the two of rotary shaft
End, it can be driven and rotated by rotary shaft.The side of U-shaped connecting seat（The present embodiment is upper surface）It is vertically-mounted to be welded with second
Plate, the second horizontal mounting plate are provided with vertical telescopic cylinder, and in the present embodiment, two long sides of the second horizontal mounting plate also divide
Not She You baffle plate, vertical telescopic cylinder is between two baffle plates.Guide rod is installed below the second horizontal mounting plate, is oriented to
The end of bar and the vertical expansion link of vertical telescopic cylinder are fixed.
The end of the vertical expansion link of vertical telescopic cylinder is fixed with horizontal deck, and horizontal extension gas is installed on deck
Cylinder, the end of the horizontal extension bar of horizontal extension cylinder are fixed with vertical terminal pad, and terminal pad is rectangular-shape, terminal pad water
Harvesting clamping jaw is equipped with four flat sides.Terminal pad is rectangular-shape in the present embodiment, four horizontal sides of terminal pad
On be equipped with harvesting clamping jaw.Multiple harvesting clamping jaws are set on one harvesting station, increase tea picking efficiency.
As shown in Figure 2, the harvesting clamping jaw of the present embodiment includes symmetrically arranged two clip claw assemblies, each clip claw assembly
Include crank, connecting rod and swing rod.One end of crank is hinged in terminal pad, and the end that crank is hinged with terminal pad is provided with external tooth
So that the crank engagement of two clip claw assemblies, one of crank is driving link, can drive rotation by motor or rotary cylinder,
Another crank is driven member.Connecting rod one end is hinged in terminal pad, and the middle part of the other end and swing rod is hinged.The other end of crank
It is hinged with one end of swing rod, the other end of swing rod is the bare terminal end of tealeaves.Swing rod is V-shaped so that during two swing rods clamping tealeaves, two
The bare terminal end of swing rod is parallel.Above-mentioned harvesting clamping jaw structure is simple, and because two crank one end are engaged all the time, therefore during harvesting,
The action of two swing rods is more stable.
In the present embodiment, the axial direction of the inner side of swing rod along swing rod is provided with stator groove（Not shown in figure）, it is fixed in stator groove
There is blade delivery pipe, blade delivery pipe communicates with tealeaves collecting box, cuts blade delivery pipe and is connected with air exhauster.
As shown in Figure 3, foliage cutter structure has been bolted on bare terminal end, foliage cutter structure includes two-way cylinder and passed through
Two-way cylinder drives the scissors hand for opening or closing.The end of scissors hand and the piston rod of two-way cylinder are flexible coupling, and avoid work
When, scissors hand blocks, and makes the piston rod of two-way cylinder stuck, damages two-way cylinder.
The method of work of tea picking manipulator, comprises the following steps in this implementation；
The first step, receive tea picking and start trigger signal, rotary cylinder rotation, drive vertical telescopic cylinder, level to stretch
Contracting cylinder and harvesting clamping jaw rotation；
Second step, the elongation of vertical telescopic cylinder or retracts so that horizontal extension cylinder and harvesting clamping jaw together lifting or
Decline, when vertical telescopic cylinder extends or retracted, the work of the guide rod lateral positioned at vertical telescopic cylinder and vertical telescopic cylinder
Stopper rod synchronously elongates or shortens；
3rd step, the elongation of horizontal extension cylinder or retraction, so as to drive harvesting clamping jaw to tea picking position；
4th step, two crank opposite direction synchronous axial systems in clamping jaw are plucked, drive the bare terminal end of two swing rods first to open
Close up again, clamp one or more pieces tealeaves, when two swing rods clamp tealeaves, the bare terminal end of two swing rods is parallel；
5th step, tealeaves is cut down from tealeaves handle by the foliage cutter structure of swing rod bare terminal end, foliage cutter structure is logical
Cross the scissors hand that two-way cylinder drives；
6th step, blower fan start, and the tealeaves under cutting is entered into blade delivery pipe from the stator trough on the inside of swing rod, and finally
It is transported to tealeaves collecting box；
Above-mentioned action is repeated, until the tea picking in three dimensions that picking mechanical arm can reach is finished, afterwards
Rotary and lifting platform acts, and drives tea picking manipulator to next tea picking position.
Above-described is only embodiments of the invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme
Excessive description., without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these should also be considered as protection scope of the present invention, and these are implemented all without the influence present invention
Effect and practical applicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as embodiment can be used for the content for explaining claim.
Claims (2)
1. the method for work of tea picking manipulator, it is characterised in that comprise the following steps；
The first step, receive tea picking and start trigger signal, rotary cylinder rotation, drive vertical telescopic cylinder, horizontal extension gas
Cylinder and harvesting clamping jaw rotation；
Second step, vertical telescopic cylinder elongation or retraction, so that horizontal extension cylinder and harvesting clamping jaw lifting or decline together；
3rd step, the elongation of horizontal extension cylinder or retraction, so as to drive harvesting clamping jaw to tea picking position；
4th step, two crank opposite direction synchronous axial systems in clamping jaw are plucked, drive the bare terminal end of two swing rods first to open and close again
Hold together, clamp one or more pieces tealeaves, when two swing rods clamp tealeaves, the bare terminal end of two swing rods is parallel；
5th step, tealeaves is cut down from tealeaves handle by the foliage cutter structure of swing rod bare terminal end, described foliage cutter structure is
The scissors hand driven by two-way cylinder；
6th step, blower fan start, and the tealeaves under cutting are entered into blade delivery pipe from the stator trough on the inside of swing rod, and finally convey
To tealeaves collecting box；
Above-mentioned action is repeated, until the tea picking in three dimensions that picking mechanical arm can reach is finished, is turned round afterwards
Hoistable platform acts, and drives tea picking manipulator to next tea picking position.
2. the method for work of the tea picking manipulator according to claim 1, it is characterised in that：Vertical telescopic cylinder elongation
Or when retracting, the piston rod of the guide rod lateral positioned at vertical telescopic cylinder and vertical telescopic cylinder synchronously elongates or shortens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538650.6A CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538650.6A CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
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| CN105075520A CN105075520A (en) | 2015-11-25 |
| CN105075520B true CN105075520B (en) | 2018-03-13 |
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| CN201510538650.6A Active CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576593B (en) * | 2017-02-24 | 2023-07-14 | 四川农业大学 | Clamping end transmission device of efficient tea picking machine |
| CN111149514B (en) * | 2020-01-19 | 2021-07-06 | 浙江理工大学 | Rotary folding type tea single-bud picking manipulator |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1949782B1 (en) * | 2007-01-24 | 2009-05-13 | Jörg Meyer | Cutting device |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
-
2015
- 2015-08-28 CN CN201510538650.6A patent/CN105075520B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1949782B1 (en) * | 2007-01-24 | 2009-05-13 | Jörg Meyer | Cutting device |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
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| CN105075520A (en) | 2015-11-25 |
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