CN112005718B

CN112005718B - Automatic screening tea picking machine

Info

Publication number: CN112005718B
Application number: CN202010783384.4A
Authority: CN
Inventors: 朱赢鹏; 李亚涛; 陈之威; 贾江鸣; 武传宇; 童俊华; 贺磊盈; 程培林
Original assignee: Zhejiang Sci Tech University ZSTU
Current assignee: Zhejiang Sci Tech University ZSTU
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2023-06-06
Anticipated expiration: 2040-08-06
Also published as: CN112005718A

Abstract

The invention belongs to the field of agricultural machinery. The purpose is to provide an autofilter tea-leaf picker, this tea-leaf picker can realize picking only to the tender leaf of a bud one leaf and a bud two leaves, makes the tender leaf of picking can reach the requirement of famous tea preparation raw materials, guarantees simultaneously that the machine adopts stability and accuracy of process. The technical proposal is as follows: automatic screening tea-leaf picker, its characterized in that: the tea-leaf picker comprises a mobile platform for driving the device to integrally move, a chassis control cabinet arranged on the mobile platform for controlling the movement direction of the mobile platform, a screen assembly movably positioned below the mobile platform for screening tender leaves and old leaves, a plurality of camera groups fixed on the side surfaces of the screen assembly for identifying one bud and one bud of the tender leaves and two leaves, an adsorption assembly for carrying out fixed-point adsorption on the tender leaves identified by the camera groups, and a plurality of groups of delta manipulators for shearing the tender leaves; the delta robot is disposed between the moving platform and the screen assembly.

Description

Automatic screening tea picking machine

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to an automatic screening tea-leaf picker.

Background

Along with the development of economy and the continuous improvement of the living standard of people, people pay more and more attention to the green food, and tea leaves are taken as a natural green drink, have long-term cultural tradition in China, can meet the requirements of human bodies on multiple vitamins and trace elements, have an anti-aging effect, and are favored by vast consumers.

The tea industry is large in scale, manual picking is time-consuming and labor-consuming and low in efficiency, and because tea trees belong to short shrubs, the labor intensity of workers is greatly increased, so that a mechanical device for automatically picking tea is urgently needed. The tea-leaf picker in the current market mainly comprises a single tea-leaf picker and a double tea-leaf picker, wherein the two tea-leaf pickers are mainly used for picking large amount of tea, the requirements on fresh leaves are low, the tea-leaf picker can be three leaves with one bud or even four leaves with one bud, and the requirements of famous tea on the fresh leaves are in a range of one leaf with one bud or two leaves with one bud. For this situation, there is a need to develop an automatic screening tea plucker.

Disclosure of Invention

The invention aims to solve the defects described in the background art, and provides an automatic screening tea-picking machine which can pick only tender leaves with one bud and two leaves, so that the picked tender leaves can meet the requirements of famous tea making raw materials, and meanwhile, the stability and the accuracy of a mechanical picking process are ensured.

The technical scheme provided by the invention is as follows:

automatic screening tea-leaf picker, its characterized in that: the tea-leaf picker comprises a mobile platform for driving the device to integrally move, a chassis control cabinet arranged on the mobile platform for controlling the movement direction of the mobile platform, a screen assembly movably positioned below the mobile platform for screening tender leaves and old leaves, a plurality of camera groups fixed on the side surfaces of the screen assembly for identifying one bud and one bud of the tender leaves and two leaves, an adsorption assembly for carrying out fixed-point adsorption on the tender leaves identified by the camera groups, and a plurality of groups of delta manipulators for shearing the tender leaves; the delta robot is disposed between the moving platform and the screen assembly.

The mobile platform comprises a frame, a supporting plate horizontally fixed on the frame, a plurality of wheels rotatably arranged on two sides of the frame and a plurality of mobile motors which are arranged on the frame and drive the wheels to rotate in a one-to-one correspondence manner; each mobile motor is electrically connected with the chassis control cabinet respectively.

The screen assembly comprises an X guide rail, a Y guide rail and a Z guide rail which are mutually and vertically arranged, and a screen for screening tender leaves and old leaves; the Z guide rail is vertically fixed at the bottom of the supporting plate; the X guide rail is slidably positioned on the Z guide rail through a sliding block matched with the Z guide rail; the Y guide rail is slidably positioned on the X guide rail through a sliding block matched with the X guide rail; the screen is arranged horizontally and slidably positioned on the Y-rail by a slider cooperating with the Y-rail.

The size of each mesh opening in the screen is set to 25mm by 25mm.

The screen was moved 12.5mm simultaneously in the X-direction and Y-direction each time the fine adjustment was performed.

The camera group comprises a mounting frame fixed on one side of the Z guide rail close to the screen and a camera fixed on the mounting frame.

The adsorption component comprises an air box fixed on the supporting plate and a corrugated pipe with one end connected with the air box and the other end connected with the delta manipulator.

The negative pressure provided by the adsorption component is 0.3-0.4kpa; the suction assembly provides a negative pressure for a duration of 1-2s each time.

The delta manipulator comprises a bracket fixed at the bottom of a supporting plate, three groups of rod groups connected in parallel between the bracket and the supporting plate, a straight through pipe vertically fixed above the supporting plate through a straight through pipe fixing seat, a reducer pipe with one end communicated with the upper part of the straight through pipe and the other end communicated with a corrugated pipe, an air claw fixed below the supporting plate through an air claw fixing plate, an air pump fixed on the supporting plate and communicated with the air claw to drive the air claw, a clamping knife fixed at the movable end of the air claw to cut tender leaves, and a sensor arranged on the clamping knife to detect the opening and closing state of the clamping knife; each group of rod groups comprises a sliding block which can be vertically and slidably positioned on the bracket and a connecting rod with one end hinged on the sliding block and the other end hinged on the supporting plate.

The lower part of the straight-through pipe corresponds to the position of the clamping knife so as to ensure that the clamping knife accurately cuts off tender leaves adsorbed in the straight-through pipe.

One side of the clamping knife is provided with a comb shape.

The clamping knife is made of spring steel materials.

The beneficial effects of the invention are as follows:

1. the screen mesh can be finely adjusted up and down, left and right and front and back, so that a tea tree in a region can be conveniently screened for multiple times; the screen cloth moves 12.5mm simultaneously along X direction and Y direction when finely tuning at every turn, and its travel distance is half of screen cloth mesh limit length (25 mm X25 mm promptly), can guarantee that the tender bud that was pressed in the below by the screen cloth before passes the screen cloth and exposes, and old leaf is then pressed in the screen cloth below all the time, greatly reduced the omission ratio of tender bud screening.

2. According to the invention, the adsorption component above the screen mesh provides negative pressure, the low pressure port of the adsorption component is aligned with the tender shoots, and the tender shoots passing through the screen mesh are adsorbed at fixed points, so that the tender shoots are folded, the leaf spread is reduced, the inclined state of the tender shoots is corrected, and the tender leaves are conveniently and accurately sheared by the clamping knife; and the lower part of the straight through pipe corresponds to the position of the clamping knife, so that the tender leaves of the broken stems can be safely sucked into the collecting box, and the stability and the accuracy in the picking process are improved.

3. The clamping knife is made of spring steel materials, one side of the clamping knife is comb-shaped, tender leaves can be cut off, old leaves can be cut off continuously, and the screening and cutting effect is good.

4. The invention has simple structure, safe and reliable work and is suitable for popularization and application.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic diagram of the front view structure of the present invention.

Fig. 3 is a schematic top view of the present invention.

Fig. 4 is a left-hand structural schematic of the present invention.

Fig. 5 is a schematic perspective view of a mobile platform according to the present invention.

Fig. 6 is a schematic perspective view of a screen assembly according to the present invention.

Fig. 7 is a schematic diagram of the front view structure of the delta manipulator according to the present invention.

Fig. 8 is an enlarged schematic view of the portion a in fig. 7.

Fig. 9 is a schematic top view of the delta robot of the present invention.

Fig. 10 is a schematic perspective view of a camera set according to the present invention.

Fig. 11 is a schematic perspective view of the air pump according to the present invention.

FIG. 12 is a schematic view showing the operation of the screen assembly of the present invention for screening young and old leaves.

FIG. 13 is a schematic view showing the working state of the knife according to the present invention when cutting young leaves.

Reference numerals:

1. a mobile platform; 1-1, wheels; 1-2, a frame; 1-3, a mobile motor; 1-4, a hood; 1-5, supporting plates; 2. a screen assembly; 2-1, X guide rails; 2-2, Y guide rails; 2-3, Z guide rails; 2-4, driving a motor; 2-5, sliding blocks; 2-6, connecting pieces; 2-7, screen mesh; 3. delta robot; 3-1, a bracket; 3-2, a supporting plate; 3-3, a guide block; 3-4, connecting rods; 3-5, reducing pipe; 3-6, a straight-through pipe fixing seat; 3-7, a straight through pipe; 3-8, an air claw fixing plate; 3-9, air claws; 3-10, an air pump; 3-11, clamping knife connecting pieces; 3-12, clamping a knife; 3-13, a sensor; 4. a camera group; 4-1, mounting rack; 4-2, a camera; 5. an adsorption assembly; 5-1, bellows; 5-2, corrugated pipes; 6. chassis control cabinet.

Detailed Description

Further description will be given below of embodiments shown in the drawings.

For convenience of description, the left side of fig. 2 is taken as the front, and the right side of fig. 2 is taken as the rear in this embodiment; the outward direction of the drawing sheet of fig. 2 is left, and the inward direction of the drawing sheet of fig. 2 is right.

In the automatic screening tea-leaf picker shown in fig. 1 to 4, a mobile platform 1 is used for driving a device to integrally move, a chassis control cabinet 6 is arranged on the mobile platform to control the movement direction of the mobile platform, a screen assembly 2 is movably positioned below the mobile platform to screen tender leaves and old leaves, a plurality of camera groups 4 are fixed on the side surface of the screen assembly to identify one bud and two buds in the tender leaves, an adsorption assembly 5 is used for carrying out fixed-point adsorption on the tender leaves identified by the camera groups, and a plurality of groups of delta manipulators 3 are used for cutting the tender leaves; the delta robot is disposed between the moving platform and the screen assembly.

As shown in fig. 5, the mobile platform comprises a frame 1-2, a pallet 1-5, a plurality of (four in the figure) wheels 1-1 and a plurality of (four in the figure) mobile motors 1-3. The supporting plate is horizontally fixed on the frame. Two wheels are rotatably arranged on the left side and the right side of the frame respectively; each wheel is driven by a mobile motor fixed on the frame; each mobile motor is externally provided with a hood 1-4 fixed to the frame for protecting the mobile motor. Each mobile motor is electrically connected with the chassis control cabinet respectively.

As shown in fig. 6, the screen assembly includes an X-rail 2-1, a Y-rail 2-2, a Z-rail 2-3, and a screen 2-7; wherein the X guide rail, the Y guide rail and the Z guide rail are mutually and vertically arranged; in the embodiment, the Z guide rail is vertically fixed at the bottom of the supporting plate; the X guide rail and the Y guide rail are horizontally arranged. Each guide rail is provided with a slide block 2-5 which can slide along the length direction of the guide rail and a driving motor 2-4 which drives the slide block to move. The X guide rail is fixed on a sliding block of the Z guide rail through a connecting piece 2-6; the Y guide rail is fixed on the sliding block of the X guide rail through a connecting piece; the screen cloth is used for sieving young leaves and old leaves, and the screen cloth is horizontally arranged and fixed on the sliding block of the Y guide rail through the connecting piece. When the tea tree screening machine works, each driving motor acts, the position of the screen can be adjusted up and down, front and back and left and right, and tea trees in one area can be conveniently screened for multiple times, so that omission is effectively avoided.

And each Z guide rail is provided with a group of camera units. As shown in fig. 10, the camera set includes a mounting frame 4-1 and a camera 4-2. The mounting frame is fixed on the Z guide rail and is positioned at one side of the Z guide rail, which is close to the screen mesh; the camera is fixed on the mounting frame to discern a bud and a leaf and a tender leaf of two leaves of a bud. In this embodiment, the screen is set to be white, and the color of the screen is clearly compared with that of tea, so that the visual recognition of the camera is facilitated.

As shown in FIG. 1, the adsorption assembly includes a bellows 5-1 and a bellows 5-2. The bellows is fixed above the supporting plate; one end of the corrugated pipe is connected with the bellows, and the other end of the corrugated pipe extends downwards to be connected with the delta manipulator. During operation, the adsorption component carries out positioning adsorption on the tender leaves identified by the camera group, so that the follow-up clamping knife shears the tender leaves, and stability and accuracy in the tea picking process are guaranteed.

As shown in fig. 7 to 9, the delta manipulator comprises a bracket 3-1, a support plate 3-2, three rod groups, a straight-through pipe fixing seat 3-6, a straight-through pipe 3-7, a reducer pipe 3-5, an air claw fixing plate 3-8, an air claw 3-9, an air pump 3-10, a clamping knife connecting piece 3-11, a clamping knife 3-12 and a sensor 3-13. The support is fixed at the bottom of the supporting plate. The three rod groups are connected in parallel between the bracket and the supporting plate; each group of bars comprises a guide block 3-3 vertically slidably positioned on the support and a connecting rod 3-4 hinged at one end to the guide block and at the other end to the support plate. The projection position of the corresponding straight through pipe on the supporting plate is provided with a through hole structure so as to ensure that tender leaves are sucked into the straight through pipe for positioning.

The straight-through pipe fixing seat is fixedly arranged above the supporting plate; the straight-through pipe is vertically fixed on the straight-through pipe fixing seat. One end of the reducer pipe is communicated with the upper part of the straight-through pipe, and the other end of the reducer pipe is communicated with the corrugated pipe. The air claw fixing plate is fixed below the supporting plate; the gas claw is fixed on the gas claw fixing plate. The air pump is fixed on the supporting plate and communicated with the air claw and used for driving the air claw to act. The clamping knife is fixed at the movable end of the air claw through a clamping knife connecting piece and is used for cutting tender leaves adsorbed into the straight-through pipe; preferably, the clamping knife is made of spring steel. As shown in fig. 13, one side of the clamping knife is provided with a comb shape, so that when the clamping knife is closed, tender leaves can be easily sheared, old leaves can be continuously sheared, and the screening of the tender leaves and the old leaves is further realized. The lower part of the straight-through pipe corresponds to the position of the clamping knife so as to ensure that the clamping knife accurately cuts off tender leaves adsorbed in the straight-through pipe. The sensor is arranged on the clamping knife and used for detecting the opening and closing states of the clamping knife.

The working principle of the invention is as follows:

firstly, the chassis control cabinet controls the moving motor to rotate, and the moving platform moves to the tea field under the driving of the moving motor.

Then, the sliding blocks on the Z guide rails move downwards under the drive of the driving motor, the X guide rails, the Y guide rails and the screen mesh move downwards synchronously, the tender leaves on the tea trees pass through the screen mesh, and the old leaves are bent by the screen mesh, as shown in fig. 12.

Then, the camera identifies the tender leaves passing through the screen, and the straight-through pipe carries out fixed-point adsorption on the tender leaves identified by the camera, namely one bud and one leaf and two buds; after the delta mechanical arm moves to a proper picking position, the air pump drives the clamping knife to be closed by driving the air claw, so that fixed-point picking is carried out on the tender leaves of one bud and two leaves adsorbed in the straight-through pipe, and the sheared tender leaves are sucked into the bellows through the bellows.

After picking the young leaves of one bud and two buds passing through the screen, the sliding blocks on the Z guide rail move upwards under the drive of the driving motor, the X guide rail, the Y guide rail and the screen move upwards synchronously, and the sliding blocks on the X guide rail and the Y guide rail are subjected to front-back and left-right fine adjustment under the drive of the driving motor. After the adjustment is finished, the sliding blocks on the Z guide rails move downwards again, the X guide rails, the Y guide rails and the screen mesh move downwards again, the missed tender leaves on the tea trees pass through the screen mesh, and the old leaves are bent again by the screen mesh. And carrying out fixed-point picking and collecting on the screened and identified tender leaves through the operation. In this way, a region is screened, identified, picked and collected for multiple times until all buds of one bud and two buds of one bud are picked in the region.

Finally, the moving platform moves forward to the next picking area, and the actions are repeated to perform continuous picking operation.

Finally, it should be noted that the above list is only specific embodiments of the present invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.

Claims

1. Automatic screening tea-leaf picker, its characterized in that: the tea-leaf picker comprises a mobile platform (1) for driving the whole device to move, a chassis control cabinet (6) arranged on the mobile platform for controlling the movement direction of the mobile platform, a screen assembly (2) movably positioned below the mobile platform for screening tender leaves and old leaves, a plurality of camera groups (4) fixed on the side surfaces of the screen assembly for identifying one bud and two buds in the tender leaves, an adsorption assembly (5) for carrying out fixed-point adsorption on the tender leaves identified by the camera groups, and a plurality of groups of delta manipulators (3) for shearing the tender leaves; the delta manipulator is arranged between the mobile platform and the screen assembly;

the mobile platform comprises a frame (1-2), a supporting plate (1-5) horizontally fixed on the frame, a plurality of wheels (1-1) rotatably arranged on two sides of the frame and a plurality of mobile motors (1-3) which are arranged on the frame and drive the wheels to rotate in a one-to-one correspondence manner; each mobile motor is electrically connected with the chassis control cabinet respectively;

the screen assembly comprises an X guide rail (2-1), a Y guide rail (2-2) and a Z guide rail (2-3) which are arranged vertically to each other, and a screen (2-7) for screening young leaves and old leaves; the Z guide rail is vertically fixed at the bottom of the supporting plate; the X guide rail is slidably positioned on the Z guide rail through a sliding block matched with the Z guide rail; the Y guide rail is slidably positioned on the X guide rail through a sliding block matched with the X guide rail; the screen is horizontally arranged and is slidably positioned on the Y guide rail through a sliding block matched with the Y guide rail;

the adsorption component comprises an air box (5-1) fixed on the supporting plate, and a corrugated pipe (5-2) with one end connected with the air box and the other end connected with the delta manipulator;

the delta manipulator comprises a bracket (3-1) fixed at the bottom of a supporting plate, a supporting plate (3-2), three rod groups connected in parallel between the bracket and the supporting plate, a straight-through pipe (3-7) vertically fixed above the supporting plate through a straight-through pipe fixing seat (3-6), a reducing pipe (3-5) with one end communicated with the upper part of the straight-through pipe and the other end communicated with a corrugated pipe, an air claw (3-9) fixed below the supporting plate through an air claw fixing plate (3-8), an air pump (3-10) fixed on the supporting plate and communicated with the air claw to drive the air claw, a clamp knife (3-12) fixed at the movable end of the air claw to cut tender leaves, and a sensor (3-13) arranged on the clamp knife to detect the opening and closing state of the clamp knife; each group of the rod groups comprises a guide block (3-3) which can be vertically and slidably positioned on the bracket and a connecting rod (3-4) one end of which is hinged on the sliding block and the other end of which is hinged on the supporting plate;

2. The automatic screening tea plucking machine of claim 1, wherein: the size of each mesh opening in the screen is set to 25mm by 25mm.

3. The automatic screening tea plucking machine of claim 2, wherein: the camera group comprises a mounting frame (4-1) fixed on one side of the Z guide rail close to the screen mesh and a camera (4-2) fixed on the mounting frame.

4. An autofilter tea leaf picker according to claim 3 wherein: one side of the clamping knife is provided with a comb shape.

5. The automatic screening tea plucking machine of claim 4, wherein: the clamping knife is made of spring steel materials.