CN112273046A

CN112273046A - Tea leaf picking robot

Info

Publication number: CN112273046A
Application number: CN202011387110.XA
Authority: CN
Inventors: 杨剑乐
Original assignee: Shaanxi Zhongjian Jianle Intelligent Robot Co ltd
Current assignee: Shaanxi Zhongjian Jianle Intelligent Robot Co ltd
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-01-29

Abstract

The invention discloses a tea leaf picking robot which comprises a rack, a wheel type traveling mechanism, a visual identification mechanism, a mechanical arm picking mechanism and a tea leaf collecting mechanism, wherein the wheel type traveling mechanism is arranged on the rack; the vision recognition mechanism comprises a camera, a lighting system and a data processor, wherein the wheel type walking mechanism is located below the rack and comprises a suspension system and four-foot wheels, the mechanical arm picking structure is located above the rack and comprises a mechanical arm, a fixed base and a lead screw lifting mechanism, the tea leaf collecting mechanism is located on the side face of the machine body, and the tea leaf collecting mechanism comprises a collecting frame. The robot can realize various terrains, and the picking under various working conditions can also be carried out within 24 hours.

Description

Tea leaf picking robot

Technical Field

The invention relates to the field of agricultural robot application, in particular to a 24-hour all-weather tea leaf picking robot.

Background

The rapid development of science and technology brings great changes to the social life of human beings, and various automatic devices are formed

The device is an indispensable part of human social life, the working fields of various mechanical devices are increasingly wide, and the device performance is continuously developed from simplification to diversification. The exploration of the universe is detected from the deep sea, and the robot is widely applied to various working environments, so that important help is provided for the development of the human society.

With the continuous progress of the times, all the disciplines in the world are in a state of high-speed development, and the robot technology

The research and application range of the technology is far more in China and abroad, and people gradually realize that the agricultural robot can be applied to actual life as a production tool. The application of the robot makes great progress in manufacturing industry, assembly industry and various emerging industrial industries, and has larger development space.

People are increasingly improving their living standard, high-quality tea is a required product for many people, but high-quality tea picking has great disadvantages, and special selection must be carried out manually at a specific time, so that the efficiency is low, and the increasing demand of high-end tea markets cannot be met.

Disclosure of Invention

The invention aims to solve the technical problem of providing a four-foot wheeled all-weather tea leaf picking robot suitable for various terrains, and in order to achieve the technical effect, the invention provides the following specific technical scheme:

a tea picking robot comprises a frame, a wheel type walking mechanism, a visual identification mechanism, a mechanical arm picking mechanism and a tea collection mechanism; the vision recognition mechanism comprises a camera, a lighting system and a data processor, wherein the wheel type walking mechanism is located below the rack and comprises a suspension system and four-foot wheels, the mechanical arm picking structure is located above the rack and comprises a mechanical arm, a fixed base and a lead screw lifting mechanism, the tea leaf collecting mechanism is located on the side face of the machine body, and the tea leaf collecting mechanism comprises a collecting frame.

The manipulator is a spherical surrounding structure, and the left side of the manipulator is provided with a hemisphere, and the middle of the hemisphere is provided with an opening.

The collecting frame is connected with the main body in a buckling mode.

The tea picking robot provided by the invention can realize picking in various terrains and in various working conditions within 24 hours.

Drawings

FIG. 1 is a schematic view of the overall structural framework of the present invention;

FIG. 2 is a schematic view of a robotic arm picking mechanism of the present invention;

FIG. 3 is a schematic view of the robot configuration of the present invention;

reference numerals: the device comprises a rack 1, a wheel type walking mechanism 2, a camera 3, a lighting system 4, four-foot wheels 5, a mechanical arm 6, a mechanical arm 7, a fixed base 8, a lead screw lifting mechanism 9, a guide sheet 10 and a collection frame 11.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.

As shown in fig. 1-3, a tea leaf picking robot comprises a frame 1, a wheel type traveling mechanism 2, a vision recognition mechanism, a mechanical arm picking mechanism and a tea leaf collecting mechanism, wherein the vision recognition mechanism comprises a camera 3, a lighting system 4 and a data processor, the wheel type traveling mechanism 2 is located below the frame 1, the wheel type traveling mechanism comprises a suspension system and four-foot wheels 5, the mechanical arm picking mechanism is located above the frame, the mechanical arm picking mechanism comprises a mechanical arm 6, a mechanical arm 7, a fixed base 8 and a lead screw lifting mechanism 9, the tea leaf collecting mechanism is located on the side face of the machine body, the tea leaf collecting mechanism comprises a guide plate 10 and a collecting frame 11, the robot can realize various terrains, and picking under various working conditions can be carried out for 24 hours.

The wheel type walking device comprises a pair of front wheels, a pair of rear wheels and a roller mounting seat, wherein the front wheels and the rear wheels are respectively connected with the roller mounting seat, the front wheels and the rear wheels are all independent systems, and spring damping devices are carried on the side faces of the wheels to prevent overlarge jolt on some hollow road sections and influence on the operation of the robot.

Visual identification mechanism, including camera, lighting system, data processor, adopt visual identification system to carry out the analysis to tealeaves and whether pick the action, lighting system picks in order to adapt to various environment, data processing system mainly passes through the video transmission of camera, whether the action is picked through the assignment of comparison carrying out the instruction.

The mechanical arm picking structure comprises a mechanical arm, a fixed base and a lead screw lifting mechanism, wherein the mechanical arm is a hydraulic arm connected with the mechanical arm through a rotating shaft, the mechanical arm is a spherical surrounding structure, the drawing and releasing of the electromagnet are driven to control the spherical shape to be enough, an opening is formed in the middle of a hemisphere on the left side of the mechanical arm, the opening is just opposite to the square side of the hemispherical opening and is connected with a temporary collecting box, an automatic opening and closing device is arranged at the bottom of the box, the half edge of the opening and closing of the spherical opening and closing of the semi-edge is driven by a motor to adopt a blade structure, the omission of tea leaves is prevented in the picking process, the opening and closing of the semi-edge are driven by the motor, the picking action is realized, the mechanical arm can rotate 90 degrees after the picking action is finished to enable the tea leaves to enter the temporary collecting box, the tea leaves to be subjected to centralized processing once every, the picking of many topography is carried out, prevents the appearance at dead angle.

The tea leaf collecting mechanism comprises a collecting frame, the collecting frame and the main body are of a buckle structure, and the collecting frame and the main body are detachably connected to facilitate turnover of the tea leaf collecting mechanism.

In the use process of the tea leaf picking machine, the tea leaf picking machine is placed at a place where tea leaves need to be picked, the tea leaf picking machine is driven by a driving system to move in a specified route, a camera captures a target which can be picked in the picking process and transmits the target to a processor, the processor issues an instruction after data processing, a mechanical arm captures the target under the command of the mechanical arm, the target is cut after being captured, then the target is rotated by 90 degrees and stored in a temporary collecting box, the mechanical arm is transferred to the upper portion of a guide sheet in a large range when the tea leaves are picked ten times, and the bottom of the temporary collecting box is opened to enable the tea leaves to enter a collecting frame along the guide sheet. Thus, the tea picking work is completed.

Claims

1. A tea picking robot is characterized by comprising a rack, a wheel type traveling mechanism, a visual identification mechanism, a mechanical arm picking mechanism and a tea collecting mechanism; the vision recognition mechanism comprises a camera, a lighting system and a data processor, wherein the wheel type walking mechanism is located below the rack and comprises a suspension system and four-foot wheels, the mechanical arm picking structure is located above the rack and comprises a mechanical arm, a fixed base and a lead screw lifting mechanism, the tea leaf collecting mechanism is located on the side face of the machine body, and the tea leaf collecting mechanism comprises a collecting frame.

2. A tea plucking robot as claimed in claim 1, wherein the robot is a spherical enclosure with a hemisphere at the left side and an opening in the middle of the hemisphere.

3. The tea plucking robot according to claim 1, wherein the collection frame is snap-fit to the body.