CN114467492A

CN114467492A - Clamping, shearing and collecting integrated compact double-arm type tea row harvesting device and method

Info

Publication number: CN114467492A
Application number: CN202210167838.4A
Authority: CN
Inventors: 赵润茂; 俞焘杰; 陈建能; 贾江鸣; 武传宇; 贺磊盈
Original assignee: Zhejiang Sci Tech University ZSTU
Current assignee: Zhejiang Sci Tech University ZSTU
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-05-13
Anticipated expiration: 2042-02-23
Also published as: CN114467492B

Abstract

The invention discloses a clamping, shearing and collecting integrated compact double-arm type tea interline harvesting device and a method; the harvesting device comprises a movable chassis mechanism and a picking mechanism; the collecting basket and the picking mechanism are borne by the trolley, and the movement of the picking mechanism is realized; carrying out image detection on tea leaves to be picked through an image sensor; obtaining the relative coordinates of the tea leaves to be picked and the picking mechanism through a controller; the picking mechanism is moved to the position where tea leaves are to be picked by adjusting the first motor, the second motor and the third motor; the shearing action is realized by the matching of the shearing assembly and the blade pressing roller, tea leaves are conveyed through the keel chain and the cutter base, and finally the tea leaves fall into the collecting basket. The tea tree picking mechanism is provided with two identical picking mechanisms, so that the tea trees on two sides of the trolley can be picked simultaneously, and the picking efficiency is greatly improved; the tea leaf picking device has higher accuracy, can ensure the quality of picked tea leaves, can realize automatic and intelligent picking of the tea leaves, and reduces the labor intensity of workers.

Description

Clamping, shearing and collecting integrated compact double-arm type tea row harvesting device and method

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a clamping, shearing and harvesting integrated compact double-arm type tea interline harvesting device and method.

Background

The famous tea occupies a great position in the development of the tea industry in China, and particularly in Zhejiang province, the famous tea even occupies 92.0 percent of the total tea yield. However, the demand of the famous tea in domestic and foreign markets is increasing day by day, and the problem of insufficient yield of the famous tea is gradually revealed, the most important problem is that the famous tea needs to carefully select high-quality tea tender shoots as raw materials, and only manual picking at present can meet the requirements of the famous tea on the quality and the yield of the tea tender shoots. Therefore, the development of the famous tea industry can be further promoted by introducing a mechanical picking scheme into the famous tea picking.

The existing mechanical solutions at home and abroad are mostly applied to extensive picking of bulk tea, namely tea tender shoots and tea leaves are not accurately distinguished or even distinguished to pick, the tea trees are inevitably damaged by the picking mode, and the tea quality is reduced. A small part of refined picking mechanical devices cannot give consideration to picking efficiency, have higher requirements on tea tree distribution in a tea garden and tea garden environment, and also cannot solve the actual problem of insufficient yield of famous tea; at present, the difficulties of mechanization of the picking of famous tea include the following: firstly, how the picking machine adapts to changeable tea garden environment; secondly, how to achieve high-efficiency picking on the premise of ensuring the picking precision; thirdly, how to efficiently and simply transport tea tender shoots from the picking tail end back to the tea picking basket; and fourthly, how to ensure that the picking tail end can be fully sheared for certain tea varieties with hard blade roots. In order to solve the problems, an efficient and intelligent tea leaf picking and transporting integrated device is urgently needed, and the device has great significance for further mechanical development of the tea leaf industry.

Disclosure of Invention

In order to solve the problems, the invention provides a clamping, shearing and harvesting integrated compact double-arm type tea interline harvesting device and method, which are used for realizing intelligent and efficient picking of famous tea.

The technical scheme adopted by the invention is as follows:

the invention relates to a clamping, shearing and collecting integrated compact double-arm type tea row harvesting device which comprises a movable chassis mechanism and a picking mechanism; the two picking mechanisms are assembled at the upper end of the movable chassis mechanism; the movable chassis mechanism comprises a trolley, a connecting plate and a collecting basket; the connecting plate is fixed on the upper part of the trolley; the collecting basket is fixed on the connecting plate.

The picking mechanism comprises a motor I, a motor II, a motor III, a motor IV, an arm I, an arm II, an arm III, a connecting piece I, a keel chain, a shearing assembly, a blade abutting roller and a slideway; the first motor is fixed on the collecting basket; one end of the first arm is fixedly connected with an output shaft of the first motor, and the other end of the first arm is fixedly connected with the first connecting piece; the second motor is fixed on the first connecting piece; one end of the second arm is fixedly connected with an output shaft of the second motor; the motor III is fixed at the other end of the arm II; one end of the third arm is fixedly connected with an output shaft of the third motor; the two blade pressing rollers are hinged to the other end of the arm III, and the cylindrical surfaces of the two blade pressing rollers are arranged oppositely; an output shaft of the motor II and the roller I form a rotating pair; an output shaft of the motor II is fixed with the roller II; the first roller and the second roller are connected through a keel chain; an output shaft of the motor III and the roller III form a revolute pair, and the roller III penetrates through the keel chain; an output shaft of the first motor is vertically arranged, and output shafts of the second motor, the third motor and the fourth motor are horizontally arranged; a plurality of shearing assemblies are uniformly distributed and fixed on the keel chain along the surrounding direction of the keel chain; the slideway is fixed on the side wall of the first connecting piece, and the input end of the slideway is positioned below the end, close to the second motor, of the keel chain; the shearing assembly comprises a cutter base and spring scissors; the cutter base is fixed on the keel chain; the cutter base is provided with a rectangular cutter groove, and a tea storage cavity is formed between the cutter base and the surface of the keel chain; the middle parts of two shear blades in the spring scissors are hinged through a hinge shaft, and the hinge shaft is fixed in a rectangular knife slot of a knife base; the tail parts of two shear blades in the spring scissors are connected through a spring; the heads of two shear blades in the spring scissors extend out of the rectangular knife slot; two sides of the top surface and the bottom surface of the arm II, which are close to the motor III, are hinged with pressing rollers, two pressing rollers on the top surface press the top surface of the keel chain, and two pressing rollers on the bottom surface press the bottom surface of the keel chain.

And a plurality of image sensors are arranged on the collecting basket and the trolley.

Preferably, the output shaft of the first motor is fixedly connected with the first arm through a second connecting piece.

Preferably, the blade surfaces of the two shear blades in the spring scissors have 30 degrees of sliding cutting angles.

Preferably, the cutter base is fixedly connected with the keel chain through two triangular plates, and an included angle between the cutter base and the keel chain is 45 degrees.

Preferably, the front end of the trolley is provided with a first infrared sensor; and a second infrared sensor is mounted on the inner wall surface of the collecting basket.

Preferably, the first arm, the second arm and the third arm are made of carbon fiber materials.

Preferably, the two blade pressing rollers and the three length directions of the arm form 45 degrees.

Preferably, the length of the first arm, the second arm and the third arm is 500 mm.

The invention discloses a method for picking tea leaves by a clamping, shearing and harvesting integrated compact double-arm type tea leaf row spacing harvesting device, which comprises the following steps:

the trolley drives the picking mechanisms to move, the image sensor detects tea leaves in a detection range and feeds detection signals back to the controller, and the controller processes the detection signals and obtains relative coordinates of the tea leaves to be picked and the pressing rollers of the blades in the two picking mechanisms; then, the controller controls a motor I, a motor II and a motor III in the two picking mechanisms to respectively move the blade pressing rollers in the two picking mechanisms to a position of tea leaves to be picked, which is close to the respective picking mechanisms, so that the tea leaves to be picked are positioned between the two blade pressing rollers; when the motor three driving arm three rotates, the pressing rollers on two sides of the top surface and the bottom surface of the arm two compress the keel chain; then, a motor four in each picking mechanism is started to enable the keel chain to rotate and drive each shearing assembly to move, and the moving direction of each shearing assembly is the surrounding direction from the bottom to the top of each roller pressed by the two blades; when one shearing assembly moves to the position where the two blades abut against the roller, the spring scissors are contacted with the two blade abutting against rollers and continuously move along with the keel chain, and the contact parts of the spring scissors and the two blade abutting against rollers are increased, so that the spring scissors complete shearing action, cut off tea leaves to be picked and fall into a tea leaf storage cavity between the keel chain and the cutter base; the spring scissors and the blade pressing roller are not contacted any more when the keel chain continues to move, and the spring scissors return to the initial state under the action of the spring; the shearing assembly transports the tea leaves to a first connecting piece, the tea leaves overturn, and the tea leaves fall into the slideway and finally fall into the collecting basket.

The invention has the beneficial effects that:

the collecting basket and the picking mechanism are borne by the trolley; carrying out image detection on tea leaves to be picked through an image sensor, and feeding back the tea leaves to a controller; the relative coordinates of the tea leaves to be picked and the picking mechanism are obtained through the processing and analysis of the controller; the picking mechanism is moved to the position of tea leaves to be picked by adjusting a first motor, a second motor and a third motor of the picking mechanism; the shearing assembly at the most front end of the picking mechanism is abutted to the blade to press the roller (to form a structural form of a cam pair, the blade face of the shear blade is designed to have an equal sliding cutting angle, tea leaves are stable and immovable on the shearing assembly when shearing is realized, and the shearing assembly is prevented from pushing and dropping the cut tea leaves) to realize shearing action on the tea leaves to be picked, the keel chain (which is replaced into a synchronous belt of course) and the cutter base of the picking mechanism are used for conveying the picked tea leaves, and finally the tea leaves fall into a collecting basket to finish the picking process. Therefore, the full-automatic tea picking and positioning, tea picking and tea conveying processes are realized through the mechanical arm type picking mechanism, automatic and intelligent tea picking is realized, and the labor intensity of workers is reduced; the tea tree picking mechanism is provided with two identical picking mechanisms, so that the tea trees on two sides of the trolley can be picked simultaneously, the picking efficiency is greatly improved, and the tea tree picking mechanism has better balance; the invention has higher accuracy and can ensure the quality of picked tea.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a perspective view of the moving chassis mechanism of the present invention;

FIG. 3 is a perspective view of the picking mechanism of the present invention;

FIG. 4 is a perspective view of the inner structure of the present invention with the second and third arms flush;

FIG. 5 is a perspective view of the internal structure of the present invention when the second arm and the third arm form an included angle;

FIG. 6 is a schematic view showing the assembling relationship of the pressing rollers according to the present invention;

FIG. 7 is a schematic view of the pressing roller pressing the keel chain when the second arm and the third arm form an included angle in the invention;

FIG. 8 is a perspective view of the shear assembly of the present invention;

FIG. 9 is a schematic view showing the positional relationship between the blade and the pressing roller according to the present invention;

FIG. 10 is a schematic view of a pair of spring scissors of the present invention being pressed and sheared by a blade pressing roller;

FIG. 11 is a perspective view of the blade pressing roller of the present invention;

figure 12 is a perspective view of the construction of one link of the keel chain of the present invention;

fig. 13 is a perspective view showing the structure of the spring scissors of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The invention discloses a clamping, shearing and collecting integrated compact double-arm type tea row harvesting device, which comprises a movable chassis mechanism 01 and a picking mechanism 02 as shown in figure 1; two picking mechanisms 02 are mounted on the upper end of the moving chassis mechanism 01. As shown in fig. 2, the mobile chassis mechanism 01 includes a trolley 0101, a connecting plate 0102 and a collecting basket 0103; a connecting plate 0102 is fixed on the upper part of a trolley 0101; the collecting basket 0103 is fixed to the connecting plate 0102.

As shown in fig. 3, 4, 5, 8 and 9, the picking mechanism 02 includes a motor one 0201, a motor two 0206, a motor three 0208, a motor four 0212, an arm one 0203, an arm two 0207, an arm three 0214, a connecting member one 0205, a keel chain 0210, a shearing assembly 0211, a blade pressing roller 0213 and a slideway 0204; a first motor 0201 is fixed on the collecting basket 0103; one end of the first arm 0203 is fixedly connected with an output shaft of the first motor 0201, and the other end of the first arm 0203 is fixedly connected with the first connecting piece 0205; the second motor 0206 is fixed on the first connecting piece 0205; one end of the second arm 0207 is fixedly connected with an output shaft of the second motor 0206; the motor III 0208 is fixed at the other end of the arm II 0207; one end of the arm III 0214 is fixedly connected with an output shaft of the motor III 0208; the two blade pressing rollers 0213 are hinged to the other ends of the arms III 0214, and the cylindrical surfaces of the two blade pressing rollers 0213 are arranged oppositely; an output shaft of the motor II 0206 and the roller I form a revolute pair; an output shaft of the motor IV 0212 is fixed with the roller II; the first roller and the second roller are connected through a keel chain 0210 (a single link of the keel chain is shown in figure 12); an output shaft of the motor III 0208 and a roller III form a revolute pair, the roller III penetrates through the keel chain 0210 and can support the keel chain 0210 when the arm III 0214 moves; an output shaft of the first motor 0201 is vertically arranged, and output shafts of the second motor 0206, the third motor 0208 and the fourth motor 0212 are horizontally arranged; a plurality of shearing assemblies 0211 are uniformly distributed and fixed on the keel chain 0210 along the surrounding direction of the keel chain 0210; the slideway 0204 is fixed on the side wall of the first connecting piece 0205, and the input end of the slideway 0204 is positioned below the end of the keel chain 0210 close to the second motor 0206; shearing assembly 0211 includes knife base 0301 and spring scissors 0302; the cutter base 0301 is fixed on the keel chain 0210; a rectangular knife slot is formed in the cutter base 0301, and a tea storage cavity is formed between the surfaces of the cutter base 0301 and the keel chain 0210; the middle parts of two shear blades in the spring scissors 0302 are hinged through a hinge shaft, and the hinge shaft is fixed in the rectangular knife slot of the knife base 0301; the tails of the two shear blades in the spring scissors 0302 are connected through a spring (or the middle parts of the two shear blades are connected through a torsional spring at the position of a hinged shaft); the heads of the two shear blades in the spring scissors 0302 extend out of the rectangular knife slot. As shown in fig. 6 and 7, two sides of the top surface and the bottom surface of the arm two 0207 near to the motor three 0208 are hinged with a pressing roller 0209, two pressing rollers 0209 on the top surface press the top surface of the keel chain 0210, and two pressing rollers 0209 on the bottom surface press the bottom surface of the keel chain 0210, so that the keel chain 0210 can keep close fit with the roller three when the arm three 0214 moves.

A plurality of image sensors are respectively arranged on the collecting basket 0103 and the trolley; the image sensor identifies and processes the image of the tea leaves to be picked, transmits the image signal to the controller, and the controller processes the image signal to obtain the relative coordinates of the tea leaves to be picked and the two blades of the picking mechanism 02 which are pressed against the roller 0213, so that the picking mechanism 02 is controlled to pick the tea leaves.

As a preferred embodiment, the output shaft of the motor I0201 is fixedly connected with the arm I0203 through a connecting piece II 0202.

As a preferred embodiment, spring scissors 0302 have facets that are 30 ° chamfered (30 ° chamfered for each facet that is arcuate) for both blades.

As a preferred embodiment, as shown in fig. 8 and 13, the knife base 0301 is fixedly connected with the keel chain 0210 through two triangular plates, and the included angle between the knife base 0301 and the keel chain 0210 is 45 °; the spring scissors 0302 can conveniently realize the shearing action; meanwhile, the two triangular plates can block and protect the tea falling after being sheared.

As a preferred embodiment, the front end of the trolley 0101 is provided with a first infrared sensor; the infrared sensor I can detect obstacles on a travelling route; an infrared sensor II is arranged on the inner wall surface of the collecting basket 0103; the second infrared sensor can detect the stacking height of the tea leaves in the collecting basket 0103, and when the second infrared sensor detects that the stacking height of the tea leaves exceeds a preset value, a signal is fed back to the controller, and the controller prompts an operator.

As a preferred embodiment, arm one 0203, arm two 0207 and arm three 0214 are made of carbon fiber materials.

As a preferred embodiment, as shown in fig. 9 and 11, the two blade pressing rollers 0213 are both at 45 ° to the length direction of the arm iii 0214, so that when the cutting assembly 0211 passes through the blade pressing rollers, the included angle between the spring scissors 0302 and the two blade pressing rollers 0213 is smaller, which facilitates the cutting action of the spring scissors 0302.

As a preferred embodiment, arms one 0203, arm two 0207 and arm three 0214 are all 500mm long; the growth height of the green tea tree is generally 800-1000mm, and the width is generally 1200-1600mm, so that when the lengths of the arm one 0203, the arm two 0207 and the arm three 0214 are all 500mm, the tea leaf picking efficiency of the picking mechanism 02 is optimal.

A driving mechanism of the trolley 0101, a first motor 0201, a second motor 0206, a third motor 0208, a fourth motor 0212, an image sensor, a first infrared sensor and a second infrared sensor are all connected with the controller; the driving mechanism of the trolley 0101, the first motor 0201, the second motor 0206, the third motor 0208 and the fourth motor 0212 are controlled by the controller.

As a preferred embodiment, the invention relates to a method for picking tea by a clamping, shearing and collecting integrated compact double-arm tea row harvesting device, which comprises the following steps:

the trolley 0101 drives the picking mechanisms 02 to move, the image sensor detects tea leaves in a detection range and feeds detection signals back to the controller, and the controller processes the detection signals and obtains relative coordinates of the tea leaves to be picked and the blade pressing rollers 0213 in the two picking mechanisms 02; then, the controller controls the first motor 0201, the second motor 0206 and the third motor 0208 in the two picking mechanisms 02 to respectively move the blades in the two picking mechanisms 02 to the positions of the tea leaves to be picked, which are close to the respective picking mechanisms 02, so that the tea leaves to be picked are positioned between the two blade pressing rollers 0213; when the motor III 0208 drives the arm III to rotate, the pressing rollers on the two sides of the top surface and the bottom surface of the arm II 0207 press the keel chains uniformly, so that the defect or tea falling caused by loosening of the keel chains is avoided; next, the motor four 0212 in each picking mechanism 02 is started to rotate the keel chain 0210 to drive each shearing component 0211 to move, and the moving direction of the shearing component 0211 is the surrounding direction from the bottom to the top of the two blades pressing against the roller 0213; when one shearing assembly 0211 moves to the two blade pressing rollers 0213, the spring scissors 0302 are in contact with the two blade pressing rollers 0213, the contact parts of the spring scissors 0302 and the two blade pressing rollers 0213 are increased along with the continuous movement of the keel chain 0210, so that the spring scissors 0302 complete the shearing action (as shown in fig. 10), cut off the tea leaves to be picked and fall into the tea leaf storage cavity between the keel chain 0210 and the cutter base 0301; the spring scissors 0302 and the blade pressing roller 0213 are not contacted any more as the keel chain 0210 continues to move, and the spring scissors 0302 return to the initial state under the action of the spring; the shearing assembly 0211 transports the tea leaves to the first 0205 connecting part, the tea leaves overturn, fall into the sliding channel 0204 and finally fall into the collecting basket 0103.

Claims

1. The utility model provides a press from both sides and cut compact two arm-type tealeaves row harvesting device of receipts integration, includes removal chassis mechanism, its characterized in that: also comprises a picking mechanism; the two picking mechanisms are assembled at the upper end of the movable chassis mechanism; the movable chassis mechanism comprises a trolley, a connecting plate and a collecting basket; the connecting plate is fixed on the upper part of the trolley; the collecting basket is fixed on the connecting plate;

the picking mechanism comprises a motor I, a motor II, a motor III, a motor IV, an arm I, an arm II, an arm III, a connecting piece I, a keel chain, a shearing assembly, a blade abutting roller and a slideway; the first motor is fixed on the collecting basket; one end of the first arm is fixedly connected with an output shaft of the first motor, and the other end of the first arm is fixedly connected with the first connecting piece; the second motor is fixed on the first connecting piece; one end of the second arm is fixedly connected with an output shaft of the second motor; the motor III is fixed at the other end of the arm II; one end of the third arm is fixedly connected with an output shaft of the third motor; the two blade pressing rollers are hinged to the other end of the arm III, and the cylindrical surfaces of the two blade pressing rollers are arranged oppositely; an output shaft of the motor II and the roller I form a rotating pair; an output shaft of the motor II is fixed with the roller II; the first roller and the second roller are connected through a keel chain; an output shaft of the motor III and the roller III form a revolute pair, and the roller III penetrates through the keel chain; an output shaft of the first motor is vertically arranged, and output shafts of the second motor, the third motor and the fourth motor are horizontally arranged; a plurality of shearing assemblies are uniformly distributed and fixed on the keel chain along the surrounding direction of the keel chain; the slideway is fixed on the side wall of the first connecting piece, and the input end of the slideway is positioned below the end, close to the second motor, of the keel chain; the shearing assembly comprises a cutter base and spring scissors; the cutter base is fixed on the keel chain; the cutter base is provided with a rectangular cutter groove, and a tea storage cavity is formed between the cutter base and the surface of the keel chain; the middle parts of two shear blades in the spring scissors are hinged through a hinge shaft, and the hinge shaft is fixed in a rectangular knife slot of a knife base; the tail parts of two shear blades in the spring scissors are connected through a spring; the heads of two shear blades in the spring scissors extend out of the rectangular knife slot; two sides of the top surface and the bottom surface of the second arm, which are close to the third position of the motor, are hinged with pressing rollers, the two pressing rollers on the top surface press the top surface of the keel chain, and the two pressing rollers on the bottom surface press the bottom surface of the keel chain; and a plurality of image sensors are arranged on the collecting basket and the trolley.

2. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: and an output shaft of the first motor is fixedly connected with the first arm through a second connecting piece.

3. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: the sliding cutting angles of the blade faces of two shear blades in the spring scissors are both 30 degrees.

4. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: the cutter base is fixedly connected with the keel chain through the two triangular plates, and an included angle between the cutter base and the keel chain is 45 degrees.

5. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: the front end of the trolley is provided with a first infrared sensor; and a second infrared sensor is mounted on the inner wall surface of the collecting basket.

6. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: the first arm, the second arm and the third arm are made of carbon fiber materials.

7. The integrated compact double-arm tea row harvesting device of claim 1, wherein: the included angles between the two blade abutting rollers and the three length directions of the arms are both 45 degrees.

8. The integrated compact dual-arm tea row harvesting device of claim 1, wherein: the length of the first arm, the length of the second arm and the length of the third arm are all 500 mm.

9. The method for picking tea leaves by the clamping, shearing and collecting integrated compact double-arm tea row harvesting device as claimed in any one of claims 1 to 8, wherein the method comprises the following steps: the method comprises the following specific steps:

the trolley drives the picking mechanisms to move, the image sensor detects tea leaves in a detection range and feeds detection signals back to the controller, and the controller processes the detection signals and obtains relative coordinates of the tea leaves to be picked and the pressing rollers of the blades in the two picking mechanisms; then, the controller respectively moves the blade pressing rollers in the two picking mechanisms to a position of tea to be picked close to the respective picking mechanisms by controlling the first motor, the second motor and the third motor in the two picking mechanisms, so that the tea to be picked is positioned between the two blade pressing rollers; when the motor three driving arm three rotates, the pressing rollers on two sides of the top surface and the bottom surface of the arm two compress the keel chain; then, a motor IV in each picking mechanism is started to enable the keel chain to rotate and drive each shearing assembly to move, and the moving direction of each shearing assembly is the surrounding direction from the bottom to the top of the pressing roller by the two blades; when one shearing assembly moves to the position where the two blades abut against the roller, the spring scissors are in contact with the two blade abutting against rollers and continuously move along with the keel chain, and the contact parts of the spring scissors and the two blade abutting against rollers are increased, so that the spring scissors complete shearing action, cut off tea leaves to be picked and fall into a tea leaf storage cavity between the keel chain and the cutter base; the spring scissors and the blade are not contacted with each other any more when the keel chain continues to move, and the spring scissors return to the initial state under the action of the spring; the shearing assembly transports the tea leaves to a first connecting piece, the tea leaves overturn, and the tea leaves fall into the slideway and finally fall into the collecting basket.