CN114616982A - Device for collecting tea cores - Google Patents
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- CN114616982A CN114616982A CN202210305548.1A CN202210305548A CN114616982A CN 114616982 A CN114616982 A CN 114616982A CN 202210305548 A CN202210305548 A CN 202210305548A CN 114616982 A CN114616982 A CN 114616982A
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- tea
- end effector
- carbon steel
- core
- spiral
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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- Apparatus For Making Beverages (AREA)
Abstract
The invention discloses a device for collecting tea cores, and relates to a tea-picking machine. The device comprises a tea tender core (00) which is provided with an end effector (10), a conveying pipeline (20), tea storage equipment (30) and an air box 40; the tea leaf core (00), the end effector (10), the conveying pipeline (20) and the tea storage device 30 are communicated in sequence, and the tail end of the conveying pipeline (20) is communicated with the air box (40) in a front-back mode. The invention has the following advantages and positive effects: the tea processing method has the advantages that firstly, the size and the position of tea can be adaptively identified so as to accurately collect tea tender shoots; the shutter type cutter can cut tender shoots of the tea leaves more quickly and efficiently, and the quality of the collected tea leaves is improved; and thirdly, the tea core collecting device is suitable for collecting tea cores in most square mu type tea fields.
Description
Technical Field
The invention relates to a tea picking machine, in particular to a device for picking tea cores.
Background
China is the hometown of tea and also the origin of tea culture. The Chinese tea has been found and utilized for more than four thousand, seven and hundred years, is flourishing and not decaying and is spread all over the world. With the development of times, the agriculture is mechanized, and the tea-picking technology is also mechanized from manual work along with the development of agricultural mechanization. Compared with manual tea picking, most of tea picking machines in the market pick tea by cutting treetops, which not only causes harm to tea trees, but also cannot ensure the quality of picked tea; thus, although the tea picking efficiency is improved, the growth of tea trees and the improvement of the quality of tea leaves are not facilitated. In order to reduce the damage to tea trees and ensure the quality of tea leaves while ensuring the tea picking efficiency, a plurality of researchers in China begin to research the self-adaptive intelligent tea picking robot.
Most of tea picking devices have the problems of large volume, low precision, tea handles of picked tea leaves and the like. Although the tea picking precision can be optimized through the algorithm, the optimization of the algorithm is limited, and if the rapid picking is realized, the picking speed of the tea leaves must be increased while the initial bud recognition speed is increased. Therefore, a device for collecting tea cores is needed.
Disclosure of Invention
The invention aims to overcome the problems and the defects in the prior art and provide a device for collecting tea cores.
The problem that solves provides the device of gathering the tea core that can install on intelligence tea-leaf picking mechanical arm, when guaranteeing the high-speed quick harvesting of tea tree bud, improves the quality of plucking tealeaves.
In order to solve the technical problems, the invention adopts the following technical scheme:
device for collecting tea core (device for short)
Specifically, the device comprises a tea leaf core, an end effector, a conveying pipeline, tea storage equipment and an air box;
the tea core, the end effector, the conveying pipeline and the tea storage equipment are communicated in sequence, and the tail end of the conveying pipeline is communicated with the air box in front and back.
The invention has the following advantages and positive effects:
the tea processing method has the advantages that firstly, the size and the position of tea can be adaptively identified so as to accurately collect tea tender shoots;
the shutter type cutter can cut tender shoots of the tea leaves more quickly and efficiently, and the quality of the collected tea leaves is improved;
and thirdly, the tea core collecting device is suitable for collecting tea cores in most square mu type tea fields.
Drawings
FIG. 1 is a schematic view of the structure of the apparatus;
fig. 2 is a schematic structural view of the end effector 10;
fig. 3 is a schematic structural view of the tea storage device 30;
FIG. 4.1 is a front view of three components of the shutter cutter 12;
FIG. 4.2 is a front view of the shutter cutter 12;
fig. 4.3 is a structural side view of the shutter cutter 12.
In the figure:
00-tender bud of tea.
10-a device for the end-effector,
11-1 st photosensor array;
12-a shutter-type cutter for cutting the workpiece,
121-a spiral compass,
122-a cutting blade, at least one cutting blade,
123-a spiral chassis;
13-a rotating electrical machine;
14-a housing;
15-hose.
And 20, conveying a pipeline.
30-a tea storage device for storing the tea,
31-a pipeline for storing the tea,
311-the 2 nd photo sensor array,
312-a pressure sensor module, and,
313-a slide way, wherein the slide way is provided with a slide way,
314-bottom motor;
32-tea storage box.
40-a wind box, wherein,
41-an air draft pipeline;
42, a fan.
Detailed Description
The following detailed description will be made in conjunction with the accompanying drawings and examples.
Structure of device
1. The totality of the apparatus
As shown in fig. 1, comprises a work object, namely a tea tender core 00, and is provided with an end effector 10, a conveying pipeline 20, a tea storage device 30 and an air box 40;
tender core 00 of tealeaves, end effector 10, pipeline 20 and storage tea equipment 30 communicate in proper order, and pipeline 20's terminal and bellows 40 front and back communicate.
2. Functional parts of a device
0) Tender core 00 of tea
Referring to fig. 1, the tender core 00 of tea leaves is the object of the present invention.
1) End effector 10
As shown in fig. 1 and 2, the end effector 10 includes a 1 st photosensor array 11, a shutter cutter 12, a rotary motor 13, a housing 14, and a hose 15;
the position and connection relation is as follows:
the shell 14 wraps other parts of the whole end effector 10, the hose 15 penetrates through the whole end effector 10 and is located at the central shaft position, the shutter type cutter 12 is arranged at the front end of the end effector 10, the rotating motor 13 is arranged at the right end of the shutter type cutter 12 and is connected through the driving gear, the 1 st photoelectric sensor array 11 is divided into 3 sections, the first section and the second section are connected and attached behind the shutter type cutter, and the third section is located at the middle position of the end effector 10.
(1) 1 st photosensor array 11
As shown in fig. 2, the 1 st photosensor array 11 is an array in which four photosensors are orthogonally arranged, and a small-sized sheet-like photosensor is selected.
Specifically, the 1 st photosensor array 11 is a circumferential ring sensor array, and is attached to the housing 14.
This structure can laminate shell 14 better, and the response interval of increase sensor strengthens the sensing signal of sensor, detects the position and the size of the tender core 00 of tealeaves better.
(2) Shutter type cutter 12
As shown in fig. 4.1, 4.2, and 4.3, the shutter cutter 12 is a small cutter, which includes a compass screw 121, a cutting blade 122, and a chassis screw 123, and its positions and connections are:
the 8 cutting blades 122 are placed counterclockwise at an angle to form an equilateral octagon; the screw base 123 is placed under the equilateral octagon formed by the 8 cutting blades 122, the cylindrical insert of the cutting blade 122 is snapped into the equilateral octagon groove of the screw base 123, the screw compass 121 is placed above the cutting blades, and the cylindrical insert on the cutting blade 122 is snapped into the curved hollow of the screw compass 121.
The spiral compass 121 is a circular carbon steel sheet, and eight curved hollows are formed on the circular carbon steel sheet to form a regular spiral structure.
The cutting blade 122 is a carbon steel blade with a narrow top and a wide bottom, the top of the blade is a sharp angle of 45 degrees which is subjected to sharpening treatment, and the bottom of the blade is provided with a cylindrical embedding body which penetrates through the carbon steel blade.
The spiral chassis 123 is a circular carbon steel sheet, an equilateral octagonal groove is formed in the circular carbon steel sheet, the equilateral octagonal groove and the circular carbon steel sheet share a center point, the center of the circular carbon steel sheet is in a circular hollow structure, and a gear edge with 1/4 circumferences is arranged on the right side.
The working mechanism of the shutter cutter 12 is:
the rotating motor 13 and the shutter type cutter 12 are connected by a driving gear, the rotating motor 13 rotates to drive the driving gear to rotate, the driving gear drives the spiral chassis 123 to rotate, the cylindrical embedded body of the cutting blade 122 is driven by the equilateral octagonal groove of the spiral chassis 123, the equilateral octagonal groove of the spiral chassis 123 and the curved hollow-out motion of the spiral compass 121 move, and the equilateral octagonal shape surrounded by the eight cutting blades 122 gradually shrinks to be closed along with the motion of the cylindrical embedded body of the cutting blade 122.
(3) Rotating electric machine 13
The rotating electrical machine 13 is a general-purpose electric motor, such as a 42-loop electric motor.
(4) Outer casing 14
The housing 14 is rectangular and made of a light-blocking material and is the support for the end effector 10, ensuring less ambient light therein.
(5) Flexible pipe 15
The flexible tube 15 is a long tube made of a light-transmitting material, and improves the accuracy and the working efficiency of the 1 st photosensor array 11 for detecting the position and the size of the tea tender shoot 00.
2) Conveying pipe 20
The delivery conduit 20 is a long tube, plastic, which is a passage for the tender core 00 of tea leaves and air.
3) Tea storage device 30
As shown in fig. 3, the tea storage device 30 includes a tea storage pipe 31 and a tea storage box 32 which are communicated with each other.
(1) Tea storage pipeline 31
The tea storage pipeline 31 is rectangular, is a channel of the tender tea core 00, and is provided with a No. 2 photoelectric sensor array 311, a pressure sensor module 312, a slide 313 and a bottom motor 314; the position and connection relation is as follows: the 2 nd photoelectric sensor array 311 is arranged in the middle of the channel, the pressure sensor module 312 and the slide 313 are connected at an included angle of 60 degrees and arranged at the bottom of the channel, and the bottom motor 314 is horizontally arranged beside the pressure sensor module 312 and attached to the outer wall of the channel.
The 2 nd photosensor array 311 is identical in structure to the 1 st photosensor array 11.
The pressure sensor module 312 is a module for attaching a pressure sensor to a movable metal plate, and a small disc-type pressure sensor is used.
The bottom motor 314 is a universal motor, such as a 24-DC brushless motor.
The slide 313 is a stainless steel slide, and a layer of plant lubricating film is coated on the slide to reduce the friction force of the slide.
(2) Tea storage box 32
As shown in fig. 3, the tea storage box 32 is a square and is a storage container for the tea cores 00.
4) Air box 40
As shown in fig. 1, the wind box 40 includes a suction duct 41 and a blower 42 communicating front and rear.
(1) Draft duct 41
As shown in fig. 1, the air exhaust duct 41 is a long tube, and is of a two-outlet type, the upper outlet provides suction to the whole device, the lower outlet provides a downward suction, and the size of the lower outlet is smaller than that of the upper outlet, so as to guide the air flow without affecting the suction of the whole device.
(2) Fan 42
As shown in fig. 1, the blower 42 is a conventional device for drawing air from the device and accelerating the flow of air in the device, so that the pressure in the device is reduced and suction is generated.
3. Mechanism of operation of the device
1) The device is placed above tea tender shoots 00, the No. 1 photoelectric sensor array 11 works, the fan 42 is started, and the end effector 10 generates suction.
2) The end effector 10 adaptively adjusts the size of an inlet of the end effector 10 by controlling an opening in the shutter type cutter 12 according to the result of the photoelectric sensor array 11 in the No. 1, so that the tea shoots 00 are prevented from being sucked into the end effector 10 and the tea shoots 00 are prevented from being sucked into the end effector 10, and the tea shoots 00 automatically enter the end effector 10 in an air suction mode, thereby reducing the precision of algorithm positioning and improving the precision of tea shoot 00 collection.
3) If the tea tender shoot 00 is in the end effector 10 and the suction position is not aligned, only a part of the tender shoot enters the end effector 10 or is in a skew state, the No. 1 photoelectric sensor array 11 senses the position and the size of the initial shoot, and the position of the end effector 10 is adjusted to enable the tea tender shoot 00 to completely enter the end effector 10.
4) The first and second sections of the photoelectric sensor array 11 of the 1 st section sense the position and size of the tea tender bud 00, when sensing that the cross section of the tender bud reaches the minimum, the rotating motor 13 is started, the driving gear drives the spiral chassis 123 to rotate, the cutting blade 122 contracts and pinches off the tender bud.
5) The tender shoots are sucked into the end effector 10 along the hose 15, and are sensed by the 1 st section of the photoelectric sensor array 11 and the 1 st section of the photoelectric sensor array 11, the rotating motor 13 rotates in the opposite direction, and the driving gear drives the shutter type cutter 12 to return to the original position, so that the air flow and the air pressure difference in the conveying pipeline 20 are recovered.
6) Picked tea tender shoots 00 are conveyed to a tea storage device 30 through a conveying pipeline 20, the tea tender shoots 00 fall into a tea storage pipeline 31 due to gravity and suction force of an exhaust pipeline 41, a movable gate at the bottom of the tea storage pipeline 31 is in a normally closed state, the tea storage pipeline 31 is in a closed state, no gas flows, and the suction force of the device is enhanced; the tea shoots 00 are temporarily stored in the tea storage pipeline 31, when the bottom pressure sensing module 312 senses a certain pressure, the motor 314 at the bottom of the tea storage pipeline 31 is started to drive the pressure sensor module 312 to be opened, the pressure sensor module 312 is attached to the slide way 313, the tea shoots 00 fall into the tea storage box 32, and then the pressure sensor module 312 is closed.
7) Under normal conditions, pressure sensor module 312 can experience the internal situation through pressure sensor, open pressure sensor module 312 when reaching certain pressure, however because the pressure is less than external pressure in storing up tea pipeline 31, in addition tealeaves burgeon 00 is fluffy, the space between tealeaves burgeon 00 and tealeaves burgeon 00 is big, cause tealeaves burgeon 00 to pile up too high problem in storing up tea pipeline 31, store up suitable high 2 nd photoelectric sensor array 311 of adding in tea pipeline 31, when 2 nd photoelectric sensor array 311 is sheltered from for more than 3 seconds, pressure sensor module 312 opens automatically.
Second, the application method
The operation steps are as follows:
firstly, working a photoelectric sensor array 11 in a 1 st stage, and placing a tea picking device above tea tender shoots 00;
secondly, the fan 42 is started, the end effector generates 10 suction force, and tea tender shoots 00 are sucked into the end effector 10;
and thirdly, the position of the end effector 10 is adjusted through the identification of the 1 st photoelectric sensor array 11.
Fourthly, the first section and the second section of the 1 st photoelectric sensor array 11 recognize that the cross section of the tea tender shoot 00 is minimum, the rotating motor 13 is started to drive the shutter type cutter 12 to contract and clamp off the tea tender shoot 00, the tea tender shoot 00 passes through the third section of the 1 st photoelectric sensor array 11 through suction, and the tea tender shoot 00 is determined to pass through the end effector 10 and the shutter type cutter 12 is reset.
Fifthly, the tea tender shoots 00 enter the tea storage device 30 through the conveying device 20, and the picking work is finished.
Claims (3)
1. The utility model provides a gather device of tea-core which characterized in that:
comprises a tea tender core (00) which is provided with an end effector (10), a conveying pipeline (20), a tea storage device (30) and an air box (40);
the tea core (00), the end effector (10), the conveying pipeline (20) and the tea storage device (30) are communicated in sequence, and the tail end of the conveying pipeline (20) is communicated with the air box (40) in a front-back mode.
2. A tea core harvesting apparatus according to claim 1, wherein:
the end effector (10) comprises a 1 st photoelectric sensor array (11), a shutter type cutter (12), a rotating motor (13), a shell (14) and a hose (15); the position and connection relation is as follows: the shell (14) wraps other parts of the whole end effector (10), the hose (15) penetrates through the whole end effector (10) and is located at the central axis position, the shutter type cutter (12) is arranged at the front end of the end effector (10), the rotating motor (13) is arranged at the right end of the shutter type cutter (12) and is connected through the driving gear, the 1 st photoelectric sensor array (11) is divided into 3 sections, the first section and the second section are connected and attached behind the shutter type cutter (12), and the third section is located at the middle position of the end effector (10);
the 1 st photoelectric sensor array (11) is an array formed by four photoelectric sensors in orthogonal distribution, and small sheet-shaped photoelectric sensors are selected;
the shutter cutter (12) is a small cutter, comprising a spiral compass (121), a cutting blade (122) and a spiral chassis (123), and the positions and connection relations of the cutter are as follows: 8 cutting blades (122) are placed counterclockwise at an angle to form an equilateral octagon; the spiral chassis (123) is arranged below an equilateral octagon formed by 8 cutting blades (122), a cylindrical embedded body of each cutting blade (122) is clamped in an equilateral octagon groove of the spiral chassis (123), the spiral compass (121) is arranged above the cutting blades, and the cylindrical embedded body on each cutting blade (122) is clamped in a curved hollowed-out space of the spiral compass (121);
the spiral compass (121) is a round carbon steel sheet, eight bent hollows are arranged on the circular carbon steel sheet, and a regular spiral structure is formed;
the cutting blade (122) is a carbon steel blade with narrow upper part, flat lower part and wide thickness, the upper part is a sharp angle of 45 degrees which is subjected to sharpening treatment, the lower part is provided with a cylindrical embedding body, and the cylindrical embedding body penetrates through the carbon steel blade;
the spiral chassis (123) is a circular carbon steel sheet, an equilateral octagonal groove is formed in the circular carbon steel sheet, the equilateral octagonal groove and the circular carbon steel sheet share a center point, the center of the circular carbon steel sheet is in a circular hollow structure, and a gear edge with 1/4 circumferences is arranged on the right side of the circular carbon steel sheet.
3. A tea core harvesting apparatus according to claim 1, wherein:
the tea storage device (30) comprises a tea storage pipeline (31) and a tea storage box (32) which are communicated up and down;
the tea storage pipeline (31) is rectangular, is a channel of the tender tea core (00), and is provided with a No. 2 photoelectric sensor array (311), a pressure sensor module (312), a slide way (313) and a bottom motor (314); the position and connection relation is as follows: the 2 nd photoelectric sensor array (311) is arranged in the middle of the channel, the pressure sensor module (312) and the slide way (313) are connected at an included angle of 60 degrees and arranged at the bottom of the channel, and the bottom motor (314) is horizontally arranged beside the pressure sensor module (312) and attached to the outer wall of the channel;
the 2 nd photoelectric sensor array (311) has the same structure as the 1 st photoelectric sensor array (11);
the pressure sensor module (312) is a module for attaching the pressure sensor to a movable metal sheet, and a small disc type pressure sensor is selected;
the slideway (313) is a stainless steel slideway, and a layer of plant lubricating film is coated on the slideway to reduce the friction force of the slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210305548.1A CN114616982B (en) | 2022-03-25 | 2022-03-25 | Device for collecting tea cores |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210305548.1A CN114616982B (en) | 2022-03-25 | 2022-03-25 | Device for collecting tea cores |
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| Publication Number | Publication Date |
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| CN114616982A true CN114616982A (en) | 2022-06-14 |
| CN114616982B CN114616982B (en) | 2023-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210305548.1A Active CN114616982B (en) | 2022-03-25 | 2022-03-25 | Device for collecting tea cores |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB756964A (en) * | 1953-11-20 | 1956-09-12 | Pullman Spring Filled Company | Improvements in rotary cutters for harvesting and like machines |
| JPH0639783A (en) * | 1992-07-24 | 1994-02-15 | Takeshi Oe | Pipes cutting tool |
| JP2005143362A (en) * | 2003-11-13 | 2005-06-09 | Terada Seisakusho Co Ltd | Running type tealeaf plucker |
| JP3194590U (en) * | 2014-05-31 | 2014-12-04 | 康甫 松山 | Tea leaf transport and storage mechanism for plucking machine |
| CN108990548A (en) * | 2018-06-28 | 2018-12-14 | 浙江大学 | A kind of tea picking unmanned plane suitable for different terrain |
| CN111771536A (en) * | 2020-07-28 | 2020-10-16 | 杭州电子科技大学 | Tea tender bud picking machine and method |
| CN112005719A (en) * | 2020-08-06 | 2020-12-01 | 浙江理工大学 | Tea tender shoot identification and picking method |
-
2022
- 2022-03-25 CN CN202210305548.1A patent/CN114616982B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB756964A (en) * | 1953-11-20 | 1956-09-12 | Pullman Spring Filled Company | Improvements in rotary cutters for harvesting and like machines |
| JPH0639783A (en) * | 1992-07-24 | 1994-02-15 | Takeshi Oe | Pipes cutting tool |
| JP2005143362A (en) * | 2003-11-13 | 2005-06-09 | Terada Seisakusho Co Ltd | Running type tealeaf plucker |
| JP3194590U (en) * | 2014-05-31 | 2014-12-04 | 康甫 松山 | Tea leaf transport and storage mechanism for plucking machine |
| CN108990548A (en) * | 2018-06-28 | 2018-12-14 | 浙江大学 | A kind of tea picking unmanned plane suitable for different terrain |
| CN111771536A (en) * | 2020-07-28 | 2020-10-16 | 杭州电子科技大学 | Tea tender bud picking machine and method |
| CN112005719A (en) * | 2020-08-06 | 2020-12-01 | 浙江理工大学 | Tea tender shoot identification and picking method |
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| CN114616982B (en) | 2023-02-07 |
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