CN114931022A - A kind of tea garden bud tea picking robot and picking method - Google Patents

A kind of tea garden bud tea picking robot and picking method Download PDF

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Publication number
CN114931022A
CN114931022A CN202210752771.0A CN202210752771A CN114931022A CN 114931022 A CN114931022 A CN 114931022A CN 202210752771 A CN202210752771 A CN 202210752771A CN 114931022 A CN114931022 A CN 114931022A
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China
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tea
frame
rod
wall
collection
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Chinese (zh)
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顾金锋
陈亮
瞿丽丽
郁园园
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Jiangsu Chuangqiang Artificial Intelligence Technology Co Ltd
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Jiangsu Chuangqiang Artificial Intelligence Technology Co Ltd
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Priority to CN202210752771.0A priority Critical patent/CN114931022A/en
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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
    • 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
    • A01D46/22—Baskets or bags attachable to the picker
    • 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
    • A01D46/30—Robotic devices for individually picking crops

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

本发明公开的属于茶叶采摘技术领域，具体为一种茶园芽茶采摘机器人，包括收集框，所述收集框前端的入料口底端均匀的分布若干挂齿，还包括与收集框外壁两侧连接的调节结构，所述调节结构包括安装在收集框两侧连接的扩展组件；与扩展组件外侧连接的移动组件；与移动组件内侧连接的升降组件和安装在收集框外壁后侧的收集袋固定组件，所述收集框内壁底端开设有从入料口往出料口处依次递增的梯形槽，所述移动组件包括支撑板、顶板，所述顶板内侧与收集框之间通过扩展组件连接，本发明通过挂齿与茶树的芽茶与茶树分离，分离后的茶叶落入收集框内壁底端的梯形槽，通过其倾斜度通过收集框输出端外安装的收集袋内。

Figure 202210752771

The invention disclosed in the invention belongs to the technical field of tea picking, in particular to a tea garden bud tea picking robot, comprising a collection frame, a plurality of hanging teeth are evenly distributed at the bottom end of a feeding port at the front end of the collection frame, and a robot connected to both sides of the outer wall of the collection frame is further included. An adjustment structure, the adjustment structure includes an expansion assembly installed on both sides of the collecting frame and connected to the outside of the expansion assembly; a moving assembly connected with the outside of the expanding assembly; a lifting assembly connected with the inner side of the moving assembly and a collection bag fixing assembly installed on the rear side of the outer wall of the collecting frame, The bottom end of the inner wall of the collection frame is provided with a trapezoidal groove that increases sequentially from the inlet to the outlet. The moving assembly includes a support plate and a top plate, and the inner side of the top plate and the collection frame are connected by an expansion assembly. The buds of the tea tree are separated from the tea tree by the hanging teeth, and the separated tea leaves fall into the trapezoidal groove at the bottom end of the inner wall of the collection frame, and pass through the collection bag installed outside the output end of the collection frame through its inclination.

Figure 202210752771

Description

Tea garden bud tea picking robot and picking method
Technical Field
The invention relates to the technical field of tea picking, in particular to a tea garden bud tea picking robot and a picking method.
Background
China is the hometown of tea, and Chinese people find and utilize tea first. The traditional tea picking mode in China is carried out manually, but the manual tea picking has high labor intensity and low working efficiency, and along with the development of science and technology, the mechanical tea picking mode is accepted by more and more tea farmers. The effect of replacing people by machines is remarkable, and the tea industry can be ensured strongly and continuously and healthily. As the tea industry belongs to labor-intensive industries, manual tea picking has great requirements on physical strength and technology, in recent years, the problems of difficult and expensive labor are increasingly highlighted, the problem becomes an important factor for restricting the promotion of the tea industry and the key for solving the problem of promoting the mechanization level of the tea industry.
The tea picking robot and the tea picking method are invented for picking tea in a tea garden with labor consumption and efficiency improvement because the existing tea picking robot is manually held and swings a collecting frame, a rack on the collecting frame is beaten to separate tea leaves from tea trees, the tea leaves are left in the collecting frame and poured into a collecting bag.
Disclosure of Invention
The present invention has been made in view of the above and/or other problems occurring in the prior art tea garden bud picking robot.
Therefore, the invention aims to provide a tea garden bud tea picking robot which can solve the problems that in the existing tea picking process, the tea leaves are separated from tea trees by manually holding and waving a collecting frame, the tea leaves are left in the collecting frame and poured into a collecting bag after being separated from the tea trees by beating racks on the collecting frame, manpower is consumed, and efficiency is improved.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
a tea garden bud tea picking robot, comprising: the device comprises a collecting frame, a plurality of hanging teeth and adjusting structures, wherein the hanging teeth are uniformly distributed at the bottom end of a feeding port at the front end of the collecting frame;
the adjusting structure comprises expansion components which are arranged on two sides of the collecting frame and connected; a moving component connected with the outer side of the expansion component; the lifting component is connected with the inner side of the moving component, and the collecting bag fixing component is arranged at the rear side of the outer wall of the collecting frame.
As a preferable scheme of the tea garden bud picking robot of the present invention, wherein: collect frame inner wall bottom and offer the dovetail groove that scales up in proper order from pan feeding mouth toward discharge gate department.
As a preferable scheme of the tea garden bud tea picking robot of the present invention, wherein: the movable assembly comprises a supporting plate and a top plate, the inner side of the top plate is connected with the collecting frame through an expansion assembly, and the bottom end of the top plate is connected with the supporting plate through a lifting assembly.
As a preferable scheme of the tea garden bud tea picking robot of the present invention, wherein: the utility model discloses a bearing device, including backup pad, automatic moving wheelset, backup pad bottom, dwang, backup pad outer wall and backup pad are inboard to be connected with universal wheelset outside the rotation, the automatic moving wheelset is installed to backup pad bottom inboard, automatic moving wheelset top fixedly connected with dwang, the dwang outer wall is connected through the bearing rotation with the backup pad is inboard.
As a preferable scheme of the tea garden bud picking robot of the present invention, wherein: the expansion component comprises a motor fixedly arranged at the top end of the supporting plate, and the output end of the motor is fixedly connected with the top end of the rotating rod; and the first expansion hinge rod and the second expansion hinge rod are arranged between the inner side of the top plate and the collection frame.
As a preferable scheme of the tea garden bud picking robot of the present invention, wherein: one end of the first expansion hinge rod is rotatably connected with the right end of the inner side of the top plate, the other end of the first expansion hinge rod is rotatably connected with the left end of the outer side of the collection frame, one end of the second expansion hinge rod is rotatably connected with the left end of the inner side of the top plate, and the other end of the second expansion hinge rod is rotatably connected with the right end of the outer side of the collection frame.
As a preferable scheme of the tea garden bud picking robot of the present invention, wherein: the lifting assembly comprises a first telescopic rod fixedly mounted at the bottom end of the supporting plate, the top end of the first telescopic rod penetrates through two sides of the supporting plate and is respectively and rotatably connected with a first lifting hinge rod and a second lifting hinge rod, and moving blocks are rotatably connected to two ends of the first lifting hinge rod and two ends of the second lifting hinge rod; and the limiting grooves are respectively formed in the supporting plate and the top plate, the inner wall of each limiting groove is connected with the outer wall of the moving block in a sliding mode, and both ends of the moving block are connected with limiting rods in a sliding mode.
As a preferable scheme of the tea garden bud picking robot of the present invention, wherein: the two ends of the limiting rod are fixedly connected with the two ends of the inner wall of the limiting groove respectively, a supporting plate of the limiting groove and the two ends of the outer side of the top plate are respectively provided with a telescopic rod II, and the output end of the telescopic rod II extends into the limiting groove and is fixedly connected with one end of the moving block.
As a preferable scheme of the tea garden bud tea picking robot of the present invention, wherein: the fixed subassembly of collection bag includes with collection frame outer wall sliding connection's fixed frame, the equal fixedly connected with link in its both ends, link inboard and fixed frame outside fixed connection, the top, bottom, left end, the right-hand member of link are all fixed a kind and are installed telescopic link three, three output ends of telescopic link pass fixed splint of fixed frame fixedly connected with.
1. As a preferable aspect of the picking method of the tea garden bud picking robot according to the present invention, wherein: also comprises the following steps:
s1: opening the bag opening of the collecting bag, sleeving the bag opening of the collecting bag between the outer wall of the output end of the trapezoidal groove and the inner wall of the fixing frame, controlling the telescopic rod III to push the fixing clamp plate to fix the collecting bag, opening the motor I on the automatic moving wheel set, driving the moving wheel I on the automatic moving wheel set to rotate, driving the supporting plate to move, and performing auxiliary movement and support through the universal wheel set;
s2: the first telescopic rod and the second telescopic rod are controlled, the moving block is driven to move along the limiting rod through the linkage of the first telescopic rod and the second telescopic rod, and meanwhile, the hinged part of the first lifting hinged rod and the second lifting hinged rod is driven to ascend, so that the top plate and the collecting frame are driven to ascend, and the height of the tea tree for collecting bud tea is adjusted;
s3: after the height is adjusted, the rotation of the control motor drives the rotating rod and the automatic moving wheel set fixed at the bottom end of the rotating rod to rotate 90 degrees to the position needing to be translated, and then the automatic moving wheel set drives one side of the supporting plate to translate to adjust the position of the supporting plate;
s4: after the adjustment, the control motor drives and removes after the automatically move wheelset resets, will be through hanging bud tea and the tea tree separation of tooth and tea tree, and the tealeaves after the separation falls into the dovetail groove of collecting frame inner wall bottom, through in the collection bag of its gradient through the outer installation of collection frame output.
Compared with the prior art:
opening the bag opening of the collecting bag, sleeving the bag opening of the collecting bag between the outer wall of the output end of the trapezoidal groove and the inner wall of the fixing frame, and controlling the telescopic rod to push the fixing clamp plate to fix the collecting bag, so that the collecting bag is convenient to replace;
the first telescopic rod and the second telescopic rod are controlled, the first lifting hinge rod and the second lifting hinge rod are driven to ascend at the hinged positions of the first lifting hinge rod and the second lifting hinge rod while the moving block is driven to move along the limiting rod through linkage of the first telescopic rod and the second telescopic rod, so that the top plate and the collecting frame are driven to ascend, adjustment is carried out according to the height of tea trees for collecting bud tea, the rotating rod and the automatic moving wheel set fixed at the bottom end of the rotating rod are driven to rotate for 90 degrees to the position needing translation through rotation of the control motor, and then the automatic moving wheel set drives one side of the supporting plate to translate to adjust the position of the supporting plate;
through hanging bud tea and the tea separation of tooth and tea tree, the tealeaves after the separation falls into the dovetail groove of collecting frame inner wall bottom, through in the collection bag of its gradient through the outer installation of collection frame output.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a cross-sectional view of the present invention;
FIG. 5 is a front view of a first lifting hinge rod and a second lifting hinge rod of the present invention;
FIG. 6 is a side view of the invention of FIG. 5;
figure 7 is a front view of the frame of the present invention.
In the figure: the collecting frame 1, the trapezoid groove 2, the hanging teeth 3, the supporting plate 51, the top plate 52, the automatic moving wheel set 53, the universal wheel set 54, the first expansion link 61, the first lifting hinge rod 62, the second lifting hinge rod 63, the limiting groove 64, the limiting rod 65, the moving block 66, the second expansion link rod 67, the motor 71, the first expansion hinge rod 72, the second expansion hinge rod 73, the rotating rod 74, the fixing frame 81, the connecting frame 82, the third expansion link rod 83 and the fixing clamp plate 84.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a tea garden bud tea picking robot which has the advantages of saving manpower and improving efficiency, and please refer to fig. 1-7, the robot comprises a collecting frame 1, a plurality of hanging teeth 3 are uniformly distributed at the bottom end of a feeding port at the front end of the collecting frame 1, and the robot also comprises an adjusting structure connected with two sides of the outer wall of the collecting frame 1;
the adjusting structure comprises expansion components which are arranged on two sides of the collecting frame 1 and connected with each other; a moving component connected with the outer side of the expansion component; a lifting component connected with the inner side of the moving component and a collection bag fixing component arranged at the rear side of the outer wall of the collection frame 1.
The bottom end of the inner wall of the collecting frame 1 is provided with a trapezoidal groove 2 which is gradually increased from the feeding port to the discharging port.
The moving component comprises a supporting plate 51 and a top plate 52, the inner side of the top plate 52 is connected with the collecting frame 1 through an expanding component, the bottom end of the top plate 52 is connected with the supporting plate 51 through a lifting component, the outer side of the bottom end of the supporting plate 51 is rotatably connected with a universal wheel set 54, the inner side of the bottom end of the supporting plate 51 is provided with an automatic moving wheel set 53, the top end of the automatic moving wheel set 53 is fixedly connected with a rotating rod 74, the outer wall of the rotating rod 74 is rotatably connected with the inner side of the supporting plate 51 through a bearing, the universal wheel set 54 comprises a roller and a connecting frame, the inner wall of the connecting frame is rotatably connected with the roller, the top end of the connecting frame is rotatably connected with the supporting plate 51, the automatic moving wheel set 53 comprises a connecting frame II, the inner wall of the connecting frame is rotationally connected with a supporting connecting rod, the outer wall of the connecting rod is fixedly connected with a second roller wheel, the outer wall of the connecting frame is fixedly provided with a second motor, the output end of the motor is fixedly connected with the connecting rod, and the second roller is driven to rotate by the rotation of the second motor.
The expansion component comprises a motor 71 fixedly arranged at the top end of the supporting plate 51, and the output end of the motor is fixedly connected with the top end of the rotating rod 74; and a first expansion hinge rod 72 and a second expansion hinge rod 73 which are arranged between the inner side of the top plate 52 and the collection frame 1.
One end of the first expansion hinged rod 72 is rotatably connected with the right end of the inner side of the top plate 52, the other end of the first expansion hinged rod is rotatably connected with the left end of the outer side of the collection frame 1, one end of the second expansion hinged rod 73 is rotatably connected with the left end of the inner side of the top plate 52, and the other end of the second expansion hinged rod is rotatably connected with the right end of the outer side of the collection frame 1.
The lifting assembly comprises a first telescopic rod 61 fixedly installed at the bottom end of the supporting plate 51, the top end of the first telescopic rod penetrates through two sides of the supporting plate 51 and is respectively and rotatably connected with a first lifting hinge rod 62 and a second lifting hinge rod 63, and moving blocks 66 are respectively and rotatably connected with two ends of the first lifting hinge rod 62 and two ends of the second lifting hinge rod 63; and set up the spacing groove 64 on backup pad 51, roof 52 respectively, the inner wall and the movable block 66 outer wall sliding connection of its spacing groove 64, the equal sliding connection in movable block 66 both ends has gag lever post 65, wherein the both ends of gag lever post 65 respectively with spacing groove 65 inner wall both ends fixed connection, set up the backup pad 51 of spacing groove 64 respectively, the equal fixedly connected with telescopic link two 67 in roof 52 outside both ends, the output of telescopic link two 67 extends to in the spacing groove 64 and movable block 66 one end fixed connection.
The collection bag fixing assembly comprises a fixing frame 81 which is in sliding connection with the outer wall of the collection frame 1, connecting frames 82 are fixedly connected to the two ends of the fixing frame, the inner sides of the connecting frames 82 are fixedly connected with the outer sides of the fixing frame 81, three telescopic rods 83 are fixedly mounted at the top end, the bottom end, the left end and the right end of each connecting frame 82, and the output ends of the three telescopic rods 93 penetrate through the fixing frame 81 and are fixedly connected with fixing clamping plates 84.
When in specific use, the person skilled in the art struts the bag mouth of the collecting bag, and the bag mouth of the collecting bag is sleeved between the outer wall of the output end of the trapezoidal groove 2 and the inner wall of the fixing frame 81, the three telescopic rods 83 are controlled to push the fixing clamp plate 84 to fix the collecting bag, the first motor on the automatic moving wheel set 53 is opened, the first moving wheel on the automatic moving wheel set 53 is driven to rotate, the supporting plate 51 is driven to move, and auxiliary moving and supporting are performed through the universal wheel set 54.
Control telescopic link 61 and two 67 of telescopic link, through the linkage of telescopic link 61 and two 67 of telescopic link, drive the movable block 66 when moving along gag lever post 65, drive the articulated department of lift hinge bar 62, two 63 of lift hinge bars and rise to drive roof 52 and collect frame 1 and rise, adjust according to the tea tree height of gathering bud tea.
After the height is adjusted, the rotation of the control motor 71 drives the rotation rod 74 and the automatic moving wheel set 53 fixed at the bottom end of the rotation rod 74 to rotate 90 degrees to the position needing to be translated, and then the automatic moving wheel set 53 drives one side of the support plate 51 to translate to adjust the position.
After the adjustment, control motor 71 drives the back that automatically move wheelset 53 resets and removes, will separate through the bud tea and the tea tree of hanging tooth 3 with the tea tree, and the tealeaves after the separation falls into the dovetail groove 2 of collecting 1 inner wall bottom of frame, through in the collection bag of its gradient through the outer installation of collection frame 1 output.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (10)

1.一种茶园芽茶采摘机器人，包括收集框（1），所述收集框（1）前端的入料口底端均匀的分布若干挂齿（3），其特征在于：还包括与收集框（1）外壁两侧连接的调节结构；1. A tea garden bud tea picking robot, comprising a collection frame (1), a plurality of hanging teeth (3) are evenly distributed at the bottom end of the feed opening at the front end of the collection frame (1), and characterized in that: it also includes a collection frame (1) ) The adjustment structure connected on both sides of the outer wall; 所述调节结构包括安装在收集框（1）两侧连接的扩展组件；与扩展组件外侧连接的移动组件；与移动组件内侧连接的升降组件和安装在收集框（1）外壁后侧的收集袋固定组件。The adjusting structure includes an expansion assembly installed on both sides of the collection frame (1) and connected to it; a moving assembly connected with the outside of the expansion assembly; a lift assembly connected with the inner side of the moving assembly and a collection bag installed on the rear side of the outer wall of the collecting frame (1). Fixed components. 2.根据权利要求1所述的一种茶园芽茶采摘机器人，其特征在于，所述收集框（1）内壁底端开设有从入料口往出料口处依次递增的梯形槽（2）。2 . The tea garden bud tea picking robot according to claim 1 , wherein the bottom end of the inner wall of the collecting frame ( 1 ) is provided with a trapezoidal groove ( 2 ) that increases sequentially from the feeding port to the discharging port. 3 . 3.根据权利要求2所述的一种茶园芽茶采摘机器人，其特征在于，所述移动组件包括支撑板（51）、顶板（52），所述顶板（52）内侧与收集框（1）之间通过扩展组件连接，所述顶板（52）底端与支撑板（51）之间通过升降组件连接。3. A tea garden bud tea picking robot according to claim 2, characterized in that the moving assembly comprises a support plate (51) and a top plate (52), the inner side of the top plate (52) and the collection frame (1) They are connected through an extension assembly, and the bottom end of the top plate (52) and the support plate (51) are connected through a lift assembly. 4.根据权利要求3所述的一种茶园芽茶采摘机器人，其特征在于，所述支撑板（51）底端外侧转动连接有万向轮组（54），所述支撑板（51）底端内侧安装有自动移动轮组（53），所述自动移动轮组（53）顶端固定连接有转动杆（74），所述转动杆（74）外壁与支撑板（51）内侧通过轴承转动连接。4. A tea garden bud tea picking robot according to claim 3, characterized in that a universal wheel set (54) is rotatably connected to the outer side of the bottom end of the support plate (51), and the bottom end of the support plate (51) is rotatably connected with a universal wheel set (54). An automatic moving wheel set (53) is installed on the inner side, a rotating rod (74) is fixedly connected to the top of the automatic moving wheel set (53), and the outer wall of the rotating rod (74) is rotatably connected with the inner side of the support plate (51) through a bearing. 5.根据权利要求4所述的一种茶园芽茶采摘机器人，其特征在于，所述扩展组件包括固定安装在支撑板（51）顶端的电机（71），其输出端与转动杆（74）顶端固定连接；安装在顶板（52）内侧与收集框（1）之间的扩展铰接杆一（72）、扩展铰接杆二 （73）。5. A tea garden bud tea picking robot according to claim 4, characterized in that the expansion assembly comprises a motor (71) fixedly installed on the top of the support plate (51), the output end of which is connected to the top of the rotating rod (74) Fixed connection; the first expansion hinge rod (72) and the second expansion hinge rod (73) are installed between the inner side of the top plate (52) and the collection frame (1). 6.根据权利要求5所述的一种茶园芽茶采摘机器人，其特征在于，所述扩展铰接杆一（72）一端与顶板（52）内侧右端转动连接，另一端与收集框（1）外侧左端转动连接，所述扩展铰接杆二 （73）一端与顶板（52）内侧左端转动连接，另一端与收集框（1）外侧右端转动连接。6. A tea garden bud tea picking robot according to claim 5, characterized in that one end of the expansion hinge rod (72) is rotatably connected to the inner right end of the top plate (52), and the other end is connected to the outer left end of the collecting frame (1). Rotationally connected, one end of the second expansion hinge rod (73) is rotatably connected to the inner left end of the top plate (52), and the other end is rotatably connected to the outer right end of the collection frame (1). 7.根据权利要求6所述的一种茶园芽茶采摘机器人，其特征在于，所述升降组件包括固定安装在支撑板（51）底端的伸缩杆一（61），其顶端穿过支撑板（51）两侧分别转动连接有升降铰接杆一（62）、升降铰接杆二（63），其中升降铰接杆一（62）两端、升降铰接杆二（63）两端均转动连接有移动块（66）；和分别开设在支撑板（51）、顶板（52）上的限位槽（64），其限位槽（64）的内壁与移动块（66）外壁滑动连接，所述移动块（66）两端均滑动连接有限位杆（65）。7. A tea garden bud tea picking robot according to claim 6, characterized in that the lifting assembly comprises a telescopic rod one (61) fixedly installed at the bottom end of the support plate (51), the top of which passes through the support plate (51) ) on both sides are rotatably connected with lift hinge rod one (62) and lift hinge rod two (63), wherein both ends of lift hinge rod one (62) and lift hinge rod two (63) are rotatably connected with moving blocks ( 66; 66) Both ends are slidably connected to the limit rods (65). 8.根据权利要求7所述的一种茶园芽茶采摘机器人，其特征在于，其中限位杆（65）的两端分别与限位槽（65）内壁两端固定连接，分别开设有所述限位槽（64）的支撑板（51）、顶板（52）外侧两端均固定连接有伸缩杆二（67），所述伸缩杆二（67）的输出端延伸至限位槽（64）内与移动块（66）一端固定连接。8 . The tea garden bud tea picking robot according to claim 7 , wherein the two ends of the limit rod ( 65 ) are fixedly connected to the two ends of the inner wall of the limit groove ( 65 ), respectively, and the limit bars are respectively provided with the limit bars. Two outer ends of the support plate (51) and the top plate (52) of the position slot (64) are fixedly connected with two telescopic rods (67), and the output end of the second telescopic rod (67) extends into the limit groove (64) It is fixedly connected with one end of the moving block (66). 9.根据权利要求1所述的一种茶园芽茶采摘机器人，其特征在于，所述收集袋固定组件包括与收集框（1）外壁滑动连接的固定框（81），其两端均固定连接有连接架（82），所述连接架（82）内侧与固定框（81）外侧固定连接，所述连接架（82）的顶端、底端、左端、右端均固定啊安装有伸缩杆三（83），所述伸缩杆三（93）输出端穿过固定框（81）固定连接有固定夹板（84）。9 . The tea garden bud tea picking robot according to claim 1 , wherein the collection bag fixing assembly comprises a fixing frame ( 81 ) slidably connected to the outer wall of the collection frame ( 1 ), and both ends thereof are fixedly connected with a fixing frame ( 81 ). 10 . A connecting frame (82), the inner side of the connecting frame (82) is fixedly connected with the outer side of the fixing frame (81), and the top, bottom, left and right ends of the connecting frame (82) are all fixed and three telescopic rods (83) are installed ), the output end of the telescopic rod three (93) is fixedly connected with a fixed splint (84) through the fixed frame (81). 10.一种茶园芽茶采摘机器人的采摘方法，其特征在于，还包括如下步骤：10. A picking method for a tea garden bud tea picking robot, characterized in that, further comprising the steps: S1：将收集袋的袋口撑开，并将收集袋的袋口套在梯形槽（2）输出端的外壁与固定框（81）内壁之间，控制伸缩杆三（83）推动固定夹板（84）将收集袋固定后，打开自动移动轮组（53）上的电机一，带动开自动移动轮组（53）上的移动轮一进行转动，从而带动支撑板（51）进行移动，并通过万向轮组（54）进行辅助移动和支撑；S1: Open the bag mouth of the collection bag, and put the bag mouth of the collection bag between the outer wall of the output end of the trapezoidal groove (2) and the inner wall of the fixing frame (81), and control the telescopic rod three (83) to push the fixing splint (84). ) After fixing the collection bag, turn on the motor 1 on the automatic moving wheel set (53) to drive the moving wheel 1 on the automatic moving wheel set (53) to rotate, thereby driving the support plate (51) to move, and through the ten thousand Auxiliary movement and support to the wheel set (54); S2：控制伸缩杆一（61）和伸缩杆二（67），通过伸缩杆一（61）和伸缩杆二（67）的联动，带动移动块（66）沿着限位杆（65）移动的同时，带动升降铰接杆一（62）、升降铰接杆二（63）铰接处上升，从而带动顶板（52）和收集框（1）进行上升，根据采集芽茶的茶树高度进行调节；S2: Control the first telescopic rod (61) and the second telescopic rod (67), and drive the moving block (66) to move along the limit rod (65) through the linkage of the first telescopic rod (61) and the second telescopic rod (67). At the same time, it drives the hinge joint of the lifting hinge rod 1 (62) and the lifting hinge rod 2 (63) to rise, thereby driving the top plate (52) and the collecting frame (1) to rise, and adjusts according to the height of the tea tree from which the bud tea is collected; S3：高度调节后，控制电机（71）的转动带动转动杆（74）及转动杆（74）底端固定的自动移动轮组（53）向需要平移的位置进行转动90度，再由自动移动轮组（53）带动支撑板（51）一侧平移，调节其位置；S3: After the height adjustment, the rotation of the control motor (71) drives the rotating rod (74) and the automatic moving wheel group (53) fixed at the bottom of the rotating rod (74) to rotate 90 degrees to the position that needs to be translated, and then the automatic movement The wheel group (53) drives the support plate (51) to translate on one side to adjust its position; S4：调整结束后，控制电机（71）带动自动移动轮组（53）复位后进行移动，将通过挂齿（3）与茶树的芽茶与茶树分离，分离后的茶叶落入收集框（1）内壁底端的梯形槽（2），通过其倾斜度通过收集框（1）输出端外安装的收集袋内。S4: After the adjustment is completed, the control motor (71) drives the automatic moving wheel group (53) to reset and then move, separate the bud tea from the tea tree through the hanging teeth (3), and the separated tea leaves fall into the inner wall of the collection frame (1). The trapezoidal groove (2) at the bottom end passes through the collecting bag installed outside the output end of the collecting frame (1) through its inclination.
CN202210752771.0A 2022-06-30 2022-06-30 A kind of tea garden bud tea picking robot and picking method Pending CN114931022A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115812432A (en) * 2022-12-30 2023-03-21 山东省威科泰激光科技有限公司 Tea-leaf picker based on image recognition
CN116965231A (en) * 2023-07-18 2023-10-31 山东科技大学 An integrated device for tea picking, transportation, collection and packaging

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Publication number Priority date Publication date Assignee Title
CN208609421U (en) * 2018-07-26 2019-03-19 宁德师范学院 A simple automatic tea picking device
CN109548478A (en) * 2019-01-17 2019-04-02 广州市丹爵通讯科技有限公司 A kind of automation tea picking machine easy to use with regulatory function

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
CN208609421U (en) * 2018-07-26 2019-03-19 宁德师范学院 A simple automatic tea picking device
CN109548478A (en) * 2019-01-17 2019-04-02 广州市丹爵通讯科技有限公司 A kind of automation tea picking machine easy to use with regulatory function

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115812432A (en) * 2022-12-30 2023-03-21 山东省威科泰激光科技有限公司 Tea-leaf picker based on image recognition
CN116965231A (en) * 2023-07-18 2023-10-31 山东科技大学 An integrated device for tea picking, transportation, collection and packaging
CN116965231B (en) * 2023-07-18 2024-06-18 山东科技大学 Big tea picking, transporting, collecting and packing integrated device

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