CN115057047B

CN115057047B - Tea baling press and tealeaves picking robot thereof

Info

Publication number: CN115057047B
Application number: CN202210926278.6A
Authority: CN
Inventors: 杨艳; 赵立军; 黎斌; 龙婵娟; 冯凯鑫; 谭涛; 刘芮君
Original assignee: Chongqing University of Arts and Sciences
Current assignee: Chongqing University of Arts and Sciences
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2023-12-12
Anticipated expiration: 2042-08-03
Also published as: CN115057047A

Abstract

The invention discloses a tea packing machine and a tea picking robot thereof, wherein the tea packing machine comprises a packing module, the packing module comprises a movable frame, an outer end plate and side plates, the two side plates are respectively fixed on two sides of the outer end plate, and a first side plate groove and a second side plate groove are respectively arranged on the side plates; the movable frame is movably arranged between the two side plates, two sides of the movable frame are respectively assembled with the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft respectively pass through the first side plate groove and the second side plate groove and are assembled with two ends of the unfolding connecting plate; the unfolding connecting plate on one side is hinged with one end of the unfolding support rod through a third rotating shaft, the other end of the unfolding support rod is provided with a unfolding short shaft, the unfolding short shaft is clamped into the unfolding chute, the unfolding chute is arranged on the unfolding seat, and the unfolding seat is assembled with the unfolding guide rail; the unfolding seat is provided with an unfolding rack, the unfolding rack is in meshed transmission with an unfolding gear, the unfolding gear is arranged on an unfolding rotating shaft, and the unfolding rotating shaft is arranged on a packing frame.

Description

Tea baling press and tealeaves picking robot thereof

Technical Field

The invention relates to tea picking equipment, in particular to a tea packing machine and a tea picking robot.

Background

Tea leaf picking is always a highly manual work because the position and length of the tender buds need to be judged in the picking process, and then the tender buds are pinched off to finish picking. Tea leaf picking has been highly dependent on manual labor for thousands of years due to the need for accurate manual identification and verification during operation. However, along with the development of artificial intelligence, the identification of tea trees can be realized in an image scanning mode at present, so that the positions, the orientations, the pinching lengths of the buds and the like of the buds can be identified. At this time, if the identified information is input into the picking machine, the picking target is anchored by utilizing the existing VR technology, then a picking path is generated, and the picking of the picking machine can be realized by generating a control instruction of the picking machine through the path information, and the principle is very similar to the existing technologies of strawberry picking, cherry picking and the like. And big data can be used for training, so that iteration is continued, and the recognition accuracy is improved continuously.

Based on the mature technology of current artificial intelligence machine image recognition, automated control to and the high problem of relying on the manual work of present tealeaves picking, this case provides a tealeaves picking robot, and it can discern the tealeaves that needs to pick to the tealeaves tree and fix a position, then picks, pack output to tealeaves.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a tea packing machine and a tea picking robot thereof, which can pack picked tea leaves and output the packed tea leaves.

In order to achieve the above purpose, the invention provides a tea packing machine, which comprises a packing module, wherein the packing module comprises a movable frame, an outer end plate and side plates, the two side plates are respectively fixed on two sides of the outer end plate, a first side plate groove and a second side plate groove are respectively arranged on the side plates, two ends of the first side plate groove are closed ends, one end of the second side plate groove is a closed end, and the other end of the second side plate groove penetrates through the side plates; the movable frame is movably arranged between the two side plates, two sides of the movable frame are respectively assembled with the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft respectively pass through the first side plate groove and the second side plate groove and are then assembled with two ends of the unfolding connecting plate; the bottom of the movable frame is provided with a supporting plate which is used for lifting the bag;

the unfolding connecting plate on one side is hinged with one end of the unfolding supporting rod through a third rotating shaft, the other end of the unfolding supporting rod is provided with a unfolding short shaft, the unfolding short shaft is clamped in an unfolding chute and can be assembled in a sliding manner, the unfolding chute is arranged on an unfolding seat, the unfolding seat is clamped with an unfolding guide rail and can be assembled in a sliding manner, and the unfolding guide rail is arranged on a packing frame; the unfolding seat is provided with an unfolding rack, the unfolding rack is in meshing transmission with an unfolding gear, the unfolding gear is arranged on an unfolding rotary shaft, the unfolding rotary shaft is arranged on a packing frame and is provided with an unfolding worm wheel, the unfolding worm wheel is in meshing transmission with an unfolding worm, the unfolding worm is arranged on an unfolding motor shaft, the unfolding motor shaft is arranged in an unfolding motor, and the unfolding motor is arranged on the packing frame.

As a further improvement of the invention, a first reset shaft is arranged on the middle part of the unfolding connecting plate at the other side, the first reset shaft is assembled with one end of a pull belt, the pull belt is assembled or wound with a third reset shaft after bypassing the second reset shaft, and the pull belt has elasticity; the second reset shaft and the third reset shaft are arranged on a bag supply side plate, the bag supply side plate is arranged on a bag supply frame, the third reset shaft is also assembled with a coil spring, a curled steel belt is arranged in the coil spring, the third reset shaft is assembled with the inner end of the steel belt, and the outer end of the steel belt is directly or indirectly fixed with the bag supply side plate; in the initial state, the steel belt is in an uncrimped state, the drawstring is in a lowest stretching state, and a packing bag is loaded on the movable frame at the moment; when the bag is unfolded and the tea leaves are loaded, the drawstring is in a stretched state and the steel belt is in a curled state; when the movable frame outputs the state of packing bags, the steel belt reaches the maximum curling state, and the drawstring is in the maximum stretching state.

As a further improvement of the invention, two fixed suckers are arranged at one end of the outer end plate facing the movable frame, and the two fixed suckers can be respectively connected with a negative pressure source, so that the fixed suckers can suck and tighten the bag; the outer end plate is also provided with a matched plastic sealing table near the fixed sucker positioned above;

The movable frame is also provided with a side shifting frame, a side shifting electric cylinder and a side shifting guide shaft, the side shifting frame is axially slidably sleeved on the side shifting guide shaft, and the side shifting electric cylinder shaft of the side shifting electric cylinder is assembled with the side shifting frame;

the side shifting frame is provided with a movable sucker and a plastic sealing plate at the corresponding positions of the fixed sucker and the matched plastic sealing table respectively, the movable sucker and the plastic sealing plate above are arranged on the plastic sealing seat, and the movable sucker can be connected with negative pressure so as to suck and tightly pack bags; the plastic sealing plate is internally provided with an electric heating wire, and when the plastic sealing plate is used, the bag is pressed on the matched plastic sealing table by the plastic sealing plate, so that the top opening of the bag is sealed in a plastic mode.

As a further improvement of the invention, the upper end and the lower end of the movable frame, which are close to the side shifting frame, are respectively provided with a conveying mechanism which is used for pressing with the inner side of the outer end plate to convey and load the bag;

the conveying mechanism comprises a plurality of conveying wheels, a plurality of compression wheels and a conveying wheel belt, wherein each conveying wheel and each compression wheel are respectively and circumferentially rotatably arranged on a conveying wheel shaft and a compression wheel shaft, the conveying wheel shafts and the compression wheel shafts are respectively arranged on a conveying frame, and the conveying frame is arranged on a movable frame; the pressing wheel is arranged on the inner side of the conveying wheel belt and presses the conveying wheel belt to the conveying wheel so as to enable the conveying wheel belt to be in pressing transmission with the conveying wheel;

Two coaxial compression wheel shafts are arranged on the two conveying mechanisms and are respectively assembled with two ends of a conveying power shaft, the conveying power shaft penetrates through a hollow output shaft of a loading motor and can not be assembled with the hollow output shaft in a relative circumferential rotation manner, and the loading motor is arranged on the movable frame.

As a further improvement of the invention, the top of the movable frame is also provided with an air blowing strip, one end of the air blowing strip, which faces to the space between the outer end plate and the side moving frame, is provided with a plurality of air blowing holes, and the air blowing holes can blow out air flow.

The invention further comprises a packing frame and a bag supplying module, wherein the bag supplying module and the packing module are arranged on the packing frame, and the packing frame is arranged on a longitudinal beam or an outer strut corresponding to the packing frame; the bag supplying module is used for conveying the packing bags to the packing module;

the bag supplying module comprises a bag supplying frame, a unwinding shaft and two conveying shafts are respectively and circumferentially rotatably arranged on the bag supplying frame, a coiled bag is sleeved on the unwinding shaft, the two conveying shafts are connected through a conveying belt and form a belt transmission mechanism, and the coiled bag is compressed on the inner wall of the bag supplying frame by the conveying belt after being unfolded into a bag; the unreeling shaft is connected with an output shaft of the unreeling motor, one of the conveying shafts is connected with an output shaft of the conveying motor, the unreeling motor drives the unreeling shaft to rotate and release the reeled bag, and the conveying motor drives the conveying belt to operate and convey the bag.

The invention also discloses a tea picking robot, which is applied to the tea packing machine.

As a further improvement of the invention, the invention also comprises at least four supporting mechanisms, wherein the tops of the supporting mechanisms are respectively arranged on two longitudinal beams, and the two longitudinal beams are fixedly connected through two cross beams; the two longitudinal beams are also respectively assembled with the movable beam in a sliding way;

the movable beam is further provided with two movable guide rails, the movable guide rails are clamped with two picking sliding seats arranged on the tea picking mechanical arm and can be slidably assembled, one of the picking sliding seats is fixedly assembled with the synchronous belt, the synchronous belt respectively bypasses at least four first synchronous belt shafts and four second synchronous belt shafts to form a belt transmission structure, the four first synchronous belt shafts are respectively arranged at two ends of the longitudinal beam, the four second synchronous belt shafts are respectively arranged at two ends of the movable beam, the two first synchronous belt shafts are respectively connected with motor shafts of the first belt motor and the second belt motor, and the first belt motor and the second belt motor can respectively drive the first synchronous belt shafts corresponding to the first synchronous belt shafts.

As a further improvement of the invention, a beam conductive shell and a beam guide rail are respectively arranged on the two longitudinal beams, two beam conductive strips are arranged on the beam conductive shell, a movable guide rail seat of the beam guide rail is clamped and can be assembled in a sliding way, the movable guide rail seat is arranged on the movable beam, a movable insulating shell is also arranged on the movable guide rail seat, the movable insulating shell is clamped and can be assembled in a sliding way with two movable power taking blocks, one ends of the two movable power taking blocks are respectively pressed and conductive with the two beam conductive strips, one ends of the two movable power taking blocks positioned in the movable insulating shell are arranged on the movable insulating seat, the movable insulating seat is sleeved on a movable power taking shaft in an axial sliding way, the movable power taking shaft is arranged on the movable insulating shell, the movable power taking shaft is also sleeved with a movable power taking spring, and the movable power taking spring applies an elastic force to the movable insulating seat to push the beam conductive strips;

The movable guide rail seat and the movable insulating shell are arranged at two ends of the movable beam, and the movable power taking blocks at two ends of the movable beam are respectively and electrically connected through wires, so that the cross beam conductive strips on the two longitudinal beams are respectively conductive.

As a further improvement of the invention, the movable beam is also provided with the movable conductive shell, the movable conductive shell is respectively provided with two movable conductive strips, the two movable conductive strips are respectively and electrically connected with two binding posts, and the two binding posts are electrically connected with two movable electricity taking blocks at one end through different leads, so that the two movable conductive strips are respectively connected with the positive electrode and the negative electrode of a direct current power supply to supply power to the tea picking manipulator.

The beneficial effects of the invention are as follows:

1. the invention utilizes the existing image recognition technology, artificial intelligence technology, machine vision technology and the like to carry out image recognition on the target tea tree, thereby judging the position of the tender leaf of the tea and generating the pinching length. Then the tender leaves are conveyed into a temporary storage box for storage through negative pressure after the tender leaves are pinched off by a tea picking manipulator, and then the tea in the temporary storage box is discharged into a packing bag of a tea packing machine for packing and outputting. The whole process can realize full automation and intellectualization, thereby greatly replacing manpower, reducing labor cost and providing technical reserve for the subsequent intelligent agricultural technology.

2. The three-axis movement design of the tea picking manipulator disclosed by the invention can be suitable for almost all tea picking works, and picked tea is stored in the temporary storage box by adopting negative pressure input, so that the efficiency can be improved, the damage to tender leaves of the tea can be effectively prevented, and the quality of the tender leaves is ensured. The tea picking manipulator utilizes the linkage of the picking action and the valve plate switching action, so that the high energy caused by the great loss of negative pressure due to the long-term opening of the rotary through hole can be greatly reduced, and meanwhile, the blockage and pollution caused by the foreign matters entering the rotary through hole and the pipeline can be avoided.

3. The tea packing machine can automatically load the packing bags, expand the packing bags, seal the packing bags by plastic package and output the packing bags, the trolley matched with the packing bags can obtain the effect of the existing combine harvester at the moment, the unmanned operation is realized, the movable frame is driven by the expanding seat to realize three states of loading the packing bags, packing the tea and discharging the packing bags, the structure is simple, and the mechanical storage mechanism is more compact and durable and is suitable for severe outdoor environments.

Drawings

FIGS. 1-4 are schematic structural views of the present invention;

fig. 5 is a schematic structural view of a timing belt 700;

Fig. 6 is a schematic structural view of the supporting mechanism 100;

fig. 7 is a schematic view of the structures of the longitudinal beam 210 and the movable beam 230;

fig. 8 to 9 are schematic views of structures at the ends of the movable beam 230;

fig. 10 is a cross-sectional view (partial) of the movable beam 230 and the longitudinal beam 210 at the center plane of the movable power take-off shaft 532.

FIG. 11 is a cross-sectional view of the walking frame A110 at the center plane of the axis of the traversing electricity-taking shaft A312;

fig. 12-15 are schematic structural views of a tea leaf picking manipulator a;

FIG. 16 is a schematic view of the structure of the temporary storage box A120;

FIGS. 17 to 20 are schematic views of the structure of the negative pressure box A350 and the linkage valve A340, wherein FIG. 18 is a cross-sectional view of the center plane of the axis of the linkage shaft A341 and FIG. 19 is a cross-sectional view of the center plane of the axis of the feed pipe A201;

fig. 21 to 25 are schematic views showing a part of the structure of the tea leaf picking manipulator a, wherein fig. 25 is a cross-sectional view of the center plane of the axis of the rotary tube a 430;

FIG. 26 is a schematic view of the structure of the valve plate A180;

fig. 27 is a schematic view of the structure of the first clamping jaw a191 and the second clamping jaw a 192;

fig. 28-30 are schematic structural views of the tea packing machine B;

fig. 31 to 33 are schematic structural views of the packing module B300, in which fig. 32 is a sectional view of the side shift cylinder shaft B421 at the center plane thereof;

Figure 34 is a schematic view of a part of the structure of the tea packing machine B;

fig. 35 to 36 are partial schematic structural views of the packing module B300;

fig. 37 is a schematic view of the movable frame B310 in a discharging state;

fig. 38 is a schematic view of the movable frame B310 in the bagging state.

Description of the embodiments

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Referring to fig. 1-38, a tea picking robot comprises at least four supporting mechanisms 100, wherein the tops of the four supporting mechanisms 100 are respectively arranged on two longitudinal beams 210, and the two longitudinal beams 210 are fixedly connected through two cross beams 220; a top cover 300 is further installed above the two longitudinal beams 210 and the two transverse beams 220, at least one top cover camera 310 is installed on the top cover 300, the top cover camera 310 is used for acquiring images so as to facilitate image recognition, and the top cover camera 310 in this embodiment can be an industrial camera.

Referring to fig. 6, the supporting mechanism 100 includes a traveling wheel 110, and the traveling wheel 110 is integrated with a hub motor, and the hub motor drives the traveling wheel 110 to rotate to achieve traveling. The walking wheels 110 are arranged at the bottom of the inner support column 130, the inner support column 130 is arranged in the outer support column 120 and is engaged with the outer support column 120 in a sliding assembly, and the top of the outer support column 120 is arranged on the corresponding longitudinal beam 210; the inner support post 130 is assembled with one end of the supporting screw rod 140 through screw threads in a screwing way, the supporting screw rod 140 is also assembled with the supporting screw rod seat 121 in a circumferential rotation and axial movement non-way, and the supporting screw rod seat 121 is arranged in the outer support post 120; the support worm wheel 151 is mounted on the support screw 140, the support worm wheel 151 is meshed with the support worm 152 for transmission, the support worm 152 is arranged on the support motor shaft 631, the support motor shaft 631 is mounted in the support motor 630, and the support motor 630 is mounted on the outer support 120. In use, support motor 630 is activated to drive support screw 140 to rotate, and support screw 140 is threaded to adjust the depth of insertion of inner leg 130 into outer leg 120, thereby adjusting the height of the side rail, i.e., the ground clearance of top cover 300. The outer support 120 is also provided with a control box 400, a battery, a controller, a wireless module and the like are arranged in the control box 400, the battery is used for supplying power, and the wireless module is used for carrying out wireless communication with the wireless module on the tea picking manipulator A or carrying out wireless communication with external equipment and the Internet. The controller is used for receiving and transmitting analysis control instructions, performing parameter operation and program operation.

Referring to fig. 7-10, the two longitudinal beams 210 are further provided with a beam conductive shell 510 and a beam guide rail 211, the beam conductive shell 510 is provided with two beam conductive strips 511, the movable guide rail seat 231 of the beam guide rail 211 is clamped and slidably assembled, the movable guide rail seat 231 is arranged on the movable beam 230, the movable guide rail seat 231 is further provided with a movable insulating shell 534, the movable insulating shell 534 is clamped and slidably assembled with two movable power taking blocks 530, one ends of the two movable power taking blocks 530 are respectively pressed and conductive with the two beam conductive strips 511, one ends of the two movable power taking blocks 530 located in the movable insulating shell 534 are arranged on the movable insulating seat 531, the movable insulating seat 531 is axially slidably sleeved on the movable power taking shaft 532, the movable power taking shaft 532 is arranged on the movable insulating shell 534, the movable power taking shaft 532 is further sleeved with a movable power taking spring 533, and the movable power taking spring 533 applies elastic force to the movable insulating seat 531 to push the beam conductive strips 511, so that the movable power taking blocks 530 are pressed and the corresponding beam conductive strips 511 are ensured. The movable insulating shell 534 and the movable insulating seat 531 are made of insulating materials.

The movable guide rail seat 231 and the movable insulating shell 534 are respectively installed at two ends of the movable beam 230, and the movable power taking blocks 530 at two ends of the movable beam 230 are respectively and electrically connected by wires, so that the cross beam conductive strips 511 on the two longitudinal beams 210 are respectively conductive. In this embodiment, two beam conductive strips 511 of the same beam conductive shell 510 are respectively connected to the positive electrode and the negative electrode of the dc power supply.

Referring to fig. 4-11, two movable guide rails 232 are further mounted on the movable beam 230, the movable guide rails 232 are engaged with two picking sliding bases a111 disposed on the tea picking mechanical arm a and can be slidably assembled, one of the picking sliding bases a111 is fixedly assembled with the synchronous belt 700, the synchronous belt 700 bypasses at least four first synchronous belt shafts 710 and four second synchronous belt shafts 720 respectively and forms a belt transmission structure, the four first synchronous belt shafts 710 are mounted on two ends of a longitudinal beam respectively, the four second synchronous belt shafts 720 are mounted on two ends of the movable beam respectively, the two first synchronous belt shafts 710 are connected with motor shafts of the first belt motor 610 and the second belt motor 620 respectively, and the first belt motor 610 and the second belt motor 620 can drive the corresponding first synchronous belt shafts 710 respectively.

In use, the movable beam 230 can be driven by the first belt motor 610 and the second belt motor 620 to move along the longitudinal beam 210, and the tea picking manipulator A can move along the movable beam 230, so that the tea picking manipulator can perform two-dimensional movement on a horizontal plane. The method comprises the following steps: the first belt motor 610 and the second belt motor 620 drive the movable beam 230 to move along the longitudinal beam 210 when synchronously reversing (the same rotating speed and opposite rotating direction), and drive the tea picking manipulator A to move along the movable beam 230 when synchronously reversing in the same direction. The design directly discards the traditional mode of two-dimensional movement by adopting two screws, because the screw length is larger under the condition, the processing is not easy, and the use process also needs fine maintenance, so the cost is high. And after the synchronous belt 700 is adopted, the structure is simple, the transmission ratio of the synchronous belt is stable, the position of the tea picking manipulator A can be directly calculated through the rotation angles of the first belt motor 610 and the second belt motor 620, the positioning precision of the tea picking manipulator A can be greatly reduced, and the tea picking manipulator A is more flexible and relatively simple to maintain.

Referring to fig. 11, the movable beam 230 is further provided with a movable conductive shell 520, two movable conductive strips 521 are respectively mounted on the movable conductive shell 520, the two movable conductive strips 521 are respectively electrically connected with two binding posts 522, and the two binding posts 522 are electrically connected with two movable power taking blocks 530 at one end through different wires, so that the two movable conductive strips 521 are respectively connected with the positive electrode and the negative electrode of the dc power supply.

Referring to fig. 11-12, the tea picking manipulator a includes a walking frame a110, an upper frame a130, a temporary storage box a120, a lifting frame a140, a hinge frame a160, and a rotating frame a170, wherein a picking slide seat a111 and two traversing electricity taking components are mounted on the walking frame a110, and the traversing electricity taking components are used for contacting with corresponding movable conductive strips 521 to take electricity, so that the electric quantity supply of the tea picking manipulator a is ensured. The sideslip is got the electricity subassembly and is got including sideslip and is got electric piece A310, sideslip is got electric piece A310 one end and is contacted electrically conductive with the movable conducting strip 521 that corresponds, the other end and sideslip are got electric seat A311 and are assembled, sideslip is got electric seat A311 and is being sleeved on sideslip and getting electric axle A312 with sliding axially, sideslip is got electric axle A312 and is installed on walking frame A110, and sideslip is got electric axle A312 and is sleeved with sideslip and get electric spring A313, sideslip is got electric spring A313 and is exerted the elasticity that compresses tightly to movable conducting strip 521 to sideslip and get electric seat A311 to make sideslip get electric piece A310 keep compressing tightly electrically conductive with movable conducting strip 521.

Referring to fig. 11-27, the walking frame a110 and the temporary storage box a120 are respectively installed on the upper frame a130, an upper frame plate a131 and a lifting screw a420 are installed on the upper frame a130, one end of the lifting screw a420 is connected with an output shaft of a lifting motor a321, and the lifting motor a321 can drive the lifting screw a420 to rotate after being started. The lifting frame A140 is provided with a lifting sliding frame A141, the lifting sliding frame A141 is sleeved on the lifting screw A420 and assembled with the lifting screw A through screw threads in a screwing mode, the lifting sliding frame A141 is also clamped with the upper frame plate A131 and can be assembled in a sliding mode, and the lifting screw A420 can drive the lifting frame A140 to lift along the axial direction of the lifting frame A.

The upper frame A130 is also provided with a feeding pipe A201, one end of the feeding pipe A201 is communicated with one end of the telescopic pipe A210 in a sealing way, the other end of the feeding pipe A201 is connected into the temporary storage box A120, the temporary storage box A120 is hollow and is communicated with the negative pressure tank A322 through the negative pressure pipe A204, the negative pressure tank A322 is in a vacuum or negative pressure state, so that negative pressure is applied to the temporary storage box A120, the temporary storage box A120 sucks negative pressure through the transmission of the feeding pipe A201 to the telescopic pipe A210, and tea leaves are conveniently sucked into the temporary storage box A120 for storage.

Referring to fig. 14-20, the temporary storage box a120 is hollow and has an open bottom, the open bottom end of the temporary storage box a120 is closed by a sealing cover a150, and a first sealing cover bump a151 and a second sealing cover bump a152 are respectively arranged on the sealing cover a 150; the bottom of the temporary storage box A120 is respectively provided with a limiting plate A124 and a shaft seat block A123, the limiting plate A124 and the shaft seat block A123 are respectively assembled and fixed with a sealing cover shaft A153, a first sealing cover convex block A151 is sleeved on the sealing cover shaft A153 in an axially sliding manner, and the first sealing cover convex block A151 is positioned between the limiting plate A124 and the shaft seat block A123; the part of the sealing cover shaft A153 between the shaft seat block A123 and the first sealing cover convex block A151 is sleeved with the sealing cover spring A154, and the sealing cover spring A154 is used for applying elastic force for pressing the first sealing cover convex block A151 to the limiting plate A124, so that in an initial state, the limiting plate A124 is tightly attached to the first sealing cover convex block A151, and the bottom of the temporary storage box A120 is sealed by the sealing cover A150. In use, the first sealing cover projection a151 moves towards the outer end plate B320 of the tea packing machine B, so that the second sealing cover projection a152 contacts with the top of the outer end plate B320, and moves towards the tea packing machine B along with the second sealing cover projection a152 so that the second sealing cover projection a152 is blocked by the outer end plate B320 and gradually presses the sealing cover spring a154, so that the sealing cover a150 gradually slides out of the bottom opening of the temporary storage box a120, and tea leaves in the temporary storage box a120 are discharged into a packing bag in the packing module B300. And when the tea picking manipulator moves away from the packing module B300 (in the beam direction), the sealing cover spring A154 pushes the sealing cover A150 to reset and close the bottom opening of the temporary storage box A120 again.

Referring to fig. 16, in order to prevent tea leaves in the temporary storage box a120 from spilling out of the bag, the embodiment is further provided with a wedge block a122 at the bottom opening of the temporary storage box, and the wedge block a122 guides the tea leaves to drop into the bag through its inclined surface.

Referring to fig. 14 to 20, preferably, since the overall negative pressure pumping in the temporary storage box a120 has a high requirement for tightness at the sealing cover a150, and this way has high energy consumption and poor pumping effect, the following improvement is performed in this embodiment:

a temporary storage box frame A121 is arranged in the temporary storage box A120, an air valve A323, a linkage valve A340 and a negative pressure box A350 are respectively arranged on the temporary storage box frame A121, and the access end of the air valve A323 is communicated with a negative pressure pipe A204; the negative pressure box A350 is internally provided with a hollow negative pressure cavity 352, the negative pressure cavity 352 is communicated with one end of the feed pipe A201, the bottom opening of the negative pressure cavity 352 and the bottom opening end of the negative pressure cavity A352 are sealed by a negative pressure cover A351, a negative pressure cover shaft A410 is installed on the negative pressure cover A351, the negative pressure cover shaft A410 and the temporary storage box frame A121 can be assembled in a circumferential rotation manner, a linkage gear A511 is installed on the negative pressure cover shaft A410, the linkage gear A511 and the linkage rack A512 are in meshed transmission, the linkage rack A512 is installed on a linkage plate A342, and the linkage plate A342 is installed on a linkage shaft A341.

The linkage valve A340 comprises a valve casing A343, a hollow valve cavity A3431 is arranged in the valve casing A343, a conducting groove A3432 is arranged on the side wall of a part of the valve cavity A3431, and a limiting ring A3433 is arranged in the valve cavity A3431; the valve cavity A3431 is sealed with the valve core A344 and can be assembled in a sliding way, and the valve core A344 is positioned between the limiting ring A3433 and the conducting groove A3432; the valve core A344 is also assembled with the linkage shaft A341, the linkage shaft A341 can be driven to synchronously move when the valve core moves, one end of the valve core A344, which is far away from the limiting ring A3433, is pressed or assembled with the valve core spring A345, and the other end of the valve core spring A345 is pressed with the end face of the valve cavity A3431; the two ends of the valve cavity A3431, which are positioned at the limiting ring A3433, are respectively communicated with the outlet end of the air valve A323 and the negative pressure cavity A352, and a hole net A346 is also arranged at the communication part of the negative pressure cavity A352 and the valve cavity A3431 of the negative pressure box A350, and the hole net A346 is used for filtering fine impurities and keeping ventilation.

Fig. 20 shows a state that the negative pressure cover a351 opens the bottom of the negative pressure cavity a352, at this time, tea leaves in the negative pressure cavity drop into the temporary storage box a120, the valve core a344 is pressed against the limiting ring a3433, the valve core a344 cuts off the communication between the air valve a323 and the negative pressure cavity, and the air valve a323 is closed, which is a discharging state. When sucking material, the air valve A323 is opened, the negative pressure drives the valve core to move away from the limiting ring A3433 against the elastic force of the valve core spring A345 until the valve core A344 moves to the conducting groove A3432, and at the moment, the air valve is communicated with the negative pressure cavity A352 through the conducting groove A3432 and the valve cavity A3431. And in the process, the valve core drives the linkage shaft A341 to move towards the valve core spring, so that the linkage rack A512 is driven to synchronously move towards the valve core spring, and the negative pressure cover shaft A410 (the linkage gear A511) is driven to rotate, so that the negative pressure cover shaft A410 drives the negative pressure cover A351 to rotate towards the bottom of the negative pressure box A350 until the negative pressure cover A351 seals the bottom of the negative pressure cavity A352 (in the state of FIG. 19), at the moment, negative pressure enters the negative pressure cavity A352, and negative pressure suction force is generated on the telescopic pipe A210 to suck picked tea leaves into the negative pressure cavity. The telescopic tube A210 adopts a telescopic spring tube, and the design is mainly used for flexibly adapting to the lifting of the lifting frame A140.

Referring to fig. 21-27, the lifting frame a140 is provided with a rotating pipe a430 which can rotate circumferentially and can not move axially, the rotating pipe a430 is assembled with the hinged frame a160, the rotating pipe a430 is provided with a rotating worm wheel a521, the rotating worm wheel a521 is in meshed transmission with a rotating worm a522, the rotating worm a522 is arranged on a rotating motor shaft a361, the rotating motor shaft a361 is arranged in a rotating motor a360, and the rotating motor a360 is arranged on the lifting frame a 140. The rotating motor A360 can drive the rotating motor shaft A361 to rotate circumferentially after being started, so as to drive the rotating pipe A430 to rotate, and the rotating pipe A430 drives the hinge bracket A160 to rotate synchronously.

The two ends of the rotating pipe A430 are respectively communicated with a first connecting pipe A202 and a second connecting pipe A206, the first connecting pipe A202 is arranged on the lifting carriage A141 and is communicated with the telescopic pipe A210, and the first connecting pipe A202 and the rotating pipe A430 can be assembled in a circumferential rotation way, so that the first connecting pipe A202 is not influenced when the rotating pipe A430 rotates; the second connection pipe a206 is mounted on the lifting frame a140 and is connected to one end of the hose a220, and the hose a220 has flexibility and can be bent. The other end of the hose a220 communicates with a third connection pipe a205, and the third connection pipe a205 is mounted on the swivel bracket a 170.

Two hinge shafts A440 are respectively installed on the hinge frame A160 in a circumferential rotation mode, the two hinge shafts A440 are respectively assembled and fixed with the rotating frame A170, an encoder A303 is installed on one hinge shaft A440, the encoder A303 is used for detecting the rotation angle of the rotating frame A170, a hinge worm wheel A531 is installed on the other hinge shaft A440, the hinge worm wheel A531 is meshed with a hinge worm A532 for transmission, the hinge worm A532 is arranged on a hinge motor shaft A381, the hinge motor shaft A381 is installed in a hinge motor A380, and the hinge motor shaft A381 is installed on the hinge frame A160. In use, the hinge motor A380 is started, so that the hinge motor shaft A381 is driven to rotate, and the hinge motor shaft A381 drives the hinge shaft A440 (the rotating frame A170) to rotate.

Referring to fig. 26, the rotating frame a170 is provided with a rotating shaft plate a171 and a rotating through hole a174, the rotating through hole a174 penetrates through the rotating frame a170, the rotating shaft plate a171 is assembled with a valve plate shaft a450, a valve plate slide block a181 is axially slidably sleeved on the valve plate shaft a450, the valve plate slide block a181 is mounted on a valve plate a180, and the valve plate a180 is hermetically and slidably mounted in the rotating frame a 170; the valve plate A180 is also provided with a valve plate hole A182 which can be communicated with the rotary through hole A174; the valve plate slider A181 is also assembled and fixed with the valve plate rack A543, the valve plate shaft A450 is also sleeved with the valve plate spring A451, and the valve plate spring A451 applies thrust to the valve plate A180 to enable the valve plate hole A182 to keep misplacement with the rotation through hole A174, so that the valve plate hole A182 is not communicated with the rotation through hole A174 in an initial state.

The valve plate rack A543 is respectively meshed with the brushing gear A544 and the transit gear A542, the brushing gear A544 is arranged on the brushing shaft A470, the brushing shaft A470 is arranged on the rotating frame A170, the brushing shaft A470 is assembled with the brushing frame A330, the brushing frame A330 is provided with bristles, and the bristles are tightly pressed on the shell of the clamping camera A302, so that the shell of the clamping camera A302 can be brushed to clean impurities adsorbed on the shell of the clamping camera A302 during use, and the clamping camera A302 can obtain clear images. The image of the pinch camera a302 is used to obtain an image of the location where the tea leaves are picked, thereby facilitating positioning of the shoots by image recognition. While in use, the camera a302 is very close to or in contact with tea, so that water, dust and other impurities are easily absorbed. According to the embodiment, the brushing frame A330 is arranged to brush the clamping camera A302, so that the permeability of the shell of the clamping camera A302 can be ensured, the image acquisition is prevented from being influenced by impurities, and the image recognition and positioning are influenced. The lifting frame A140 is provided with a supplementary camera A301, and the supplementary camera A301 is used for acquiring a local image close to the tea tree so as to facilitate further image recognition and provide a basis for recognition and positioning of subsequent buds. In this embodiment, the top cover camera 310, the supplementary camera a301 and the clamping camera a302 are adopted to obtain images in a grading manner, so that the top cover camera 310 can be utilized to obtain the seal body image of the picking area so as to be convenient for identifying the area where the tender bud is located and the picking area where the tender bud is completed, the supplementary camera a301 is utilized to further obtain the current picking area so as to be convenient for obtaining the position and the direction of the tender bud, and the clamping camera a302 is utilized to obtain the close-range image of the tender bud, so that accurate tender bud data is obtained so as to be convenient for accurately picking the tender bud.

The transfer gear A542 is arranged on the transfer shaft A401, and the transfer shaft A401 is arranged on the rotating frame A170; the transfer gear A542 is further in meshed transmission with the driving rack A541, the driving rack A541 is mounted on the clamping seat A501, the clamping seat A501 is assembled with a clamping cylinder shaft A371 of the clamping cylinder A370, and the clamping cylinder A370 is mounted on the rotating frame A170. After the clamping electric cylinder A370 is started, the clamping electric cylinder shaft A371 can be driven to stretch and retract along the axial direction of the clamping electric cylinder shaft A371, so that the clamping seat A501 and the driving rack A541 are driven to synchronously move, the driving rack A541 drives the transfer gear A542 to rotate, the transfer gear A542 drives the valve plate rack A543 to move, the valve plate rack A543 drives the valve plate A180 and the brushing gear A544 to operate, and the state of the valve plate A180 is switched, and the brushing frame A330 is driven to brush the clamping camera A302.

Still install on the clamp seat A501 and get articulated seat A502, articulated seat A502 is articulated with the one end of two clamp connecting rod A193 respectively through two third round pins A463, the other end of two clamp connecting rod A193 is articulated with the mid portion of first clamping jaw A191, second clamping jaw A192 respectively through two second round pins A462, the one end of first clamping jaw A191, second clamping jaw A192 is articulated with articulated slab A173 through two first round pins A461 respectively, articulated slab A173 is installed on swivel mount A170. The clamping groove A1911 and the clamping protrusion A1921 are respectively arranged at one ends of the first clamping jaw A191 and the second clamping jaw A192, which are far away from the first pin shaft A461, and the clamping protrusion A1921 can be clamped into the clamping groove A1911. When the picking machine is used, the tender leaves are required to be pinched off and positioned in the clamping groove A1911 and the clamping protrusion A1921, then the clamping cylinder A370 drives the clamping seat A501 (the seat A502) to move upwards, so that the clamping connecting rod A193 drives the first clamping jaw A191 and the second clamping jaw A192 to move close to each other, and the tender leaves can be picked by matching the clamping groove A1911 and the clamping protrusion A1921 with the tender leaves. Meanwhile, the valve plate moves to the valve plate hole A182 to be communicated with the rotating through hole A174, so that negative pressure is introduced into the valve plate hole A182 to suck tender leaves into the hose and the telescopic tube, and finally the tender leaves enter the negative pressure cavity to finish the conveying of the tender leaves. And then the clamping cylinder A370 drives the clamping seat A501 to move downwards for resetting. On one hand, the design can prevent the valve plate hole A182 from being normally open, so that the negative pressure in the pipeline can not be maintained, and the energy consumption is high; on the other hand, the foreign matters can be prevented from entering the valve plate hole A182 in the non-picking process, and the temporary storage box and the pipeline are polluted. And when the gripping cylinder a370 is activated, the air valve a323 is also activated. Referring to fig. 22, specifically, when the clamping cylinder a370 drives the clamping seat a501 to move downward, the air valve is closed, and the valve core is reset under the action of the valve core spring, so as to cut off the suction negative pressure applied to the rotation through hole a 174; while the gripping cylinder a370 drives the gripping seat a501 upward, the air valve is opened, and suction negative pressure is applied to the rotation through hole a 174.

Preferably, the rotating frame a170 is further provided with a suction cover a172, the suction cover a172 is installed between the first clamping jaw a191 and the second clamping jaw a192, and the inner side of the suction cover a172 is hollow and is opposite to the rotating through hole a174. When the valve plate hole communicates with the rotation through hole a174, the inner side of the suction cap a172 communicates with the rotation through hole a174 through the valve plate hole a 182. This design allows for greater suction to be created at suction hood A172 when the young leaf is pinched off, thereby ensuring that the young leaf enters rotational through hole A174.

Referring to fig. 28-38, the tea packing machine B includes a packing frame B110, a bag supplying module B200, and a packing module B300, wherein the bag supplying module B200 and the packing module B300 are mounted on the packing frame B110, and the packing frame B110 is mounted on the corresponding longitudinal beam 210 or outer strut 120; the bag supplying module B200 is used for conveying the bag packing B202 to the packing module B300, and the packing module B300 is used for conveying, unfolding, plastic packaging and discharging the bag packing.

The bag supplying module B200 comprises a bag supplying frame B210, a unwinding shaft B621 and two conveying shafts B622 are respectively arranged on the bag supplying frame B210 in a circumferential rotation mode, a coiled bag making bag B201 is sleeved on the unwinding shaft B621, the two conveying shafts B622 are connected through a conveying belt B203 and form a belt transmission mechanism, the coiled bag making bag B201 is compressed on the inner wall of the bag supplying frame B210 through the conveying belt B203 after being unfolded into a bag making bag B202, and therefore the bag making can be compressed through the conveying belt B203. The packaging bags of the embodiment are cut according to a certain length, so that the two packaging bags can be disconnected when a certain pulling force is applied, and the packaging bags are like coiled garbage bags. The unreeling shaft B621 is connected to the output shaft of the unreeling motor B681, and one of the conveying shafts B622 is connected to the output shaft of the conveying motor B682. In use, the unreeling motor B681 drives the unreeling shaft B621 to rotate to release the rolled bag, and the conveying motor B682 drives the conveying belt B203 to operate and convey the bag.

The packing module B300 comprises a movable frame B310, an outer end plate B320 and side plates B330, wherein the two side plates B330 are respectively fixed on two sides of the outer end plate B320, a first side plate groove B331 and a second side plate groove B332 are respectively arranged on the side plates B330, two ends of the first side plate groove B331 are closed ends, one end of the second side plate groove B332 is a closed end, and the other end of the second side plate groove B332 penetrates through the side plates B330; the movable frame B310 is movably arranged between the two side plates B330, two sides of the movable frame B310 are respectively assembled with a first rotating shaft B341 and a second rotating shaft B342, the first rotating shaft B341 and the second rotating shaft B342 respectively pass through a first side plate groove B331 and a second side plate groove B332 and are assembled with two ends of a unfolding connecting plate B340, one side of the unfolding connecting plate B340 is hinged with one end of a unfolding support rod B370 through a third rotating shaft B343, the other end of the unfolding support rod B370 is provided with a unfolding short shaft B371, the unfolding short shaft B371 is clamped into a unfolding chute B131 and is slidably assembled with the unfolding chute B131, the unfolding chute B131 is arranged on a unfolding seat B130, the unfolding seat B130 is clamped with a unfolding guide rail B120 and is slidably assembled with the unfolding guide rail B120, and the unfolding guide rail B120 is arranged on the packaging frame B110; the unfolding seat B130 is provided with an unfolding rack B521, the unfolding rack B521 is in meshing transmission with an unfolding gear B522, the unfolding gear B522 is arranged on an unfolding rotary shaft B610, the unfolding rotary shaft B610 is arranged on a packing frame B110, the unfolding rotary shaft B610 is provided with an unfolding worm wheel B511, the unfolding worm wheel B511 is in meshing transmission with an unfolding worm B512, the unfolding worm B512 is arranged on an unfolding motor shaft B411, the unfolding motor shaft B411 is arranged in an unfolding motor B410, and the unfolding motor B410 is arranged on the packing frame B110.

Referring to fig. 31, a first reset shaft B351 is mounted on the middle portion of the unwinding connecting plate B340 at the other side, the first reset shaft B351 is assembled with one end of a pull tape B350, the pull tape B350 is assembled with or wound around a third reset shaft 353 after bypassing the second reset shaft B352, and the pull tape B350 has elasticity; the second reset shaft B352 and the third reset shaft 353 are arranged on the bag supply side plate B220, the bag supply side plate B220 is arranged on the bag supply frame B210, the third reset shaft 353 is also assembled with a coil spring, a curled steel belt is arranged in the coil spring, the third reset shaft 353 is assembled with the inner end of the steel belt, and the outer end of the steel belt is directly or indirectly fixed with the bag supply side plate B220. In the initial state (fig. 38 state), the steel belt is in an uncrimped state, and the pull belt is in a lowest stretched state, and the movable frame is loaded with a bag. While the state of fig. 32 is a state in which the bag is unfolded and loaded with tea leaves, the drawstring is in a stretched state and the steel strip is in a slightly curled state. Fig. 37 shows a state in which the movable frame outputs the pack, and the steel belt is in a fully curled or maximally curled state, and the pull belt is in a maximally stretched state.

Referring to fig. 32, two fixed suction cups B452 are mounted on the end of the outer end plate B320 facing the movable frame B310, and the two fixed suction cups B452 can be connected to a negative pressure source respectively, so that the fixed suction cups B452 can suck the bag. The outer end plate B320 is also provided with a matching plastic sealing platform B462 close to the fixed sucker B452 positioned above; the movable frame B310 is further provided with a side-shifting frame B360, a side-shifting electric cylinder B420 and a side-shifting guide shaft B631, the side-shifting frame B360 is axially slidably sleeved on the side-shifting guide shaft B631, the side-shifting electric cylinder shaft B421 of the side-shifting electric cylinder B420 is assembled with the side-shifting frame B360, and the side-shifting electric cylinder B420 can drive the side-shifting frame B360 to axially move along the side-shifting guide shaft B631 after being started.

The movable frame B310 is close to the upper end and the lower end of the side-moving frame B360 and is also provided with a conveying mechanism B440 respectively, the side-moving frame B360 is provided with a movable sucker B451 and a plastic sealing plate B461 respectively corresponding to the fixed sucker B452 and the matched plastic sealing platform B462, the movable sucker B451 and the plastic sealing plate B461 positioned above are both arranged on the plastic sealing seat B401, and the movable sucker B451 is connected with negative pressure so as to suck and tightly pack bags. The plastic sealing plate B461 is internally provided with an electric heating wire, when in use, the electric heating wire heats the plastic sealing plate B461, and the plastic sealing plate B461 tightly presses the bag on the matched plastic sealing table B462, so that the top opening of the bag is sealed in a plastic way. In the embodiment, a plurality of through small holes are formed in the opposite ends of the movable sucker B451 and the fixed sucker B452, and the bag is tightly sucked through the negative pressure at the small holes when in use.

The conveying mechanism B440 is used for pressing with the inner side of the outer end plate B320 to convey and load the bag, see fig. 32 and 36, the conveying mechanism B440 comprises a plurality of conveying wheels B441, a plurality of pressing wheels B442 and a conveying wheel belt B443, each conveying wheel B441 and each pressing wheel B442 are respectively and rotatably arranged on a conveying wheel shaft B444 and a pressing wheel shaft B445, the conveying wheel shafts B444 and the pressing wheel shafts B445 are respectively arranged on a conveying frame B446, and the conveying frame B446 is arranged on the movable frame B310; the pinch roller B442 is mounted inside the conveyor belt B443 and presses the conveyor belt B443 toward the conveyor wheel so that a pinch transmission is made between the conveyor belt and the conveyor wheel. Two coaxial compression wheel shafts B445 are respectively assembled with two ends of a transmission power shaft B632 on the two conveying mechanisms B440, the transmission power shaft B632 passes through a hollow output shaft of a loading motor B470 and is assembled with the hollow output shaft in a non-rotatable manner, and the loading motor B470 is arranged on the movable frame B310. And the loading motor B470 can drive the conveying power shaft B632 to rotate after being started, so as to drive the conveying wheel belts B443 of the two conveying mechanisms B440 to run, namely, drive the conveying wheels B441 of the two conveying mechanisms B440 to rotate so as to convey and load the bag.

Referring to fig. 32, the side-shifting frame B360 is further provided with a plastic-sealed electric cylinder B490, a plastic-sealed electric cylinder shaft B491 of the plastic-sealed electric cylinder B490 is assembled with the plastic-sealed seat B401, and the plastic-sealed seat B401 and the side-shifting frame B360 can move relatively. When plastic packaging is needed, the plastic packaging electric cylinder B490 is started, the plastic packaging electric cylinder shaft B491 is started to drive the plastic packaging seat B401 to move towards the matched plastic packaging table B462 until the matched plastic packaging table B462 and the plastic sealing plate B461 are tightly pressed, plastic packaging of the bag is completed, and then the plastic packaging electric cylinder B490 is reset. The plastic sealed electric cylinder B490 and the movable frame B310 can be assembled in a relatively movable way, so that the plastic sealed electric cylinder B490 can synchronously move along with the movement of the side-moving frame.

The bottom of the movable frame B310 is provided with the supporting plate B311, and when the movable frame B is used, the supporting plate B311 is used for lifting the bag, so that falling force of the bag when being used is prevented from being applied to the bag so as to separate from the fixed sucker B452 and the movable sucker B451.

Referring to fig. 32, preferably, a blowing bar B430 is further installed at the top of the movable frame B310, and a plurality of blowing holes are provided at one end of the blowing bar B430 facing between the outer end plate and the side shift frame. When in use, the air flow is blown out from the air hole, thereby assisting in opening the bag.

Fig. 32 shows an initial state and a normal use state. After the bag is packed with tea leaves in place, a plastic package electric cylinder B490 is started, an air blowing strip B430 keeps blowing air to the bag, a plastic package seat B401 moves towards an outer end plate B320 until the bag is pressed between a plastic package table B462 and a plastic sealing plate B461, the air blowing strip B430 stops blowing air, and then the plastic sealing plate B461 is heated to carry out plastic package on the bag. A large amount of air is arranged in the plastic packaged packing bag, so that protection can be formed on tea, and the tea is prevented from being bumped and the quality is prevented from being influenced. After the plastic package is completed, the negative pressure of the fixed sucker B452 and the movable sucker B451 is cut off, and the plastic package electric cylinder B490 drives the plastic package seat B401 to reset. The unfolding motor B410 rotates forward to drive the unfolding seat B130 to move away from the outer end plate B320 along the unfolding guide rail B120, so that the unfolding connecting plate B340 carries the first rotating shaft B341 and the second rotating shaft B342 to move away from the outer end plate B320 along the first side plate groove B331 and the second side plate groove B332 respectively, that is, the movable frame B310 gradually moves away from the outer end plate B320. Until the first rotating shaft B341 is tightly pressed with the closed end of the first side plate groove B331, the second rotating shaft B342 reaches the open end of the second side plate groove B332, along with the continued movement of the unfolding seat B130, the unfolding connecting plate B340 and the movable frame B310 are driven to rotate upwards by taking the first rotating shaft B341 as the center, so that the position of the supporting plate B311 is opened, at the moment, the supporting plate B311 is gradually inclined, so that a bag is gradually slipped out of the space among the supporting plate B311, the outer end plate B320 and the movable frame B310 until the bag is discharged, and the packaged tea leaves are picked. And when the movable frame B310 rotates, a downward pushing force can be applied to the top of the bag so as to accelerate the output of the bag, and the state of fig. 37 is reached at the moment.

Referring to fig. 38 and 33, after the pack is output, a new pack needs to be loaded, at this time, the unfolding motor B410 drives the movable frame B310 in a reverse direction, and the unfolding connecting plate B340 is restored to the state of fig. 33; the unfolding motor B410 continues to rotate reversely, and drives the unfolding seat B130 to move towards the outer end plate along the unfolding guide rail B120 until the state of FIG. 38 is reached, and at the moment, the conveying wheels B441 are pressed against the inner side of the outer end plate; starting an unreeling motor B681 and a conveying motor B682, so that the bag making in the bag supplying module B200 is conveyed to a position of a conveying wheel B441 close to one side of the bag supplying module B200; the loading motor B470 is started, the conveying wheel B441 is started to rotate so as to compress and convey the bag, the unwinding motor B681 and the conveying motor B682 stop running until the bag is loaded in place, and the conveying wheel continues to convey the bag, so that the time pulling force is applied to the connection position of the break points between the two bags until the connection position of the two bags is broken, and the independent bag continues to move along the outer end plate B320 until the bag is loaded in place. Then, the side-shifting electric cylinder B420 is started, the side-shifting electric cylinder B420 drives the side-shifting frame B360 to move towards the outer end plate B320 until the fixed sucker B452 and the movable sucker B451 respectively compress with two sides of the bag, and negative pressure is respectively connected to the fixed sucker B452 and the movable sucker B451, so that the two sides of the bag are tightly sucked by the fixed sucker B452 and the movable sucker B451. And the air flow is connected to the air blowing strip B430, and the side moving electric cylinder B420 carries the side moving frame to reversely move and reset, so that the bag is unfolded, and the air blowing strip B430 is used for blowing air into the bag, so that the bag is unfolded quickly. The unfolding motor B410 is reversed, so that the unfolding seat B130 moves away from the outer end plate until reaching the state of fig. 33 and 32, the air flow of the air blowing strip B430 is disconnected, and at least the negative pressure supply of the upper fixed sucker B452 and the movable sucker B451 is kept, so that the opening and the fixing of the bag are kept. The temporary storage box inputs picked tea leaves into the packing bag until the loading quantity reaches the preset requirement, then the packing bag is sealed by plastic, the steps are repeated, the packing bag is discharged, and then a new packing bag is loaded again, so that the process is repeated. The pull belt is mainly arranged in the embodiment to ensure that the conveying wheels corresponding to the two unfolding connecting plates B340 can be tightly pressed with the outer end plate when the movable frame moves towards the outer end plate B320 for compaction, thereby ensuring effective conveying of the bag. On the other hand, the side where the draw strap is provided cannot interfere with the normal bag supply of the bag supply module, and therefore the deployment seat B130 and the like cannot be provided.

The present invention is not described in detail in the present application, and is well known to those skilled in the art.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims

1. The utility model provides a tealeaves baling press, its characterized in that includes packing module, packing frame, and packing module installs on packing frame, packing module includes movable frame, outer end plate, curb plate, the curb plate has two and fixes respectively in the both sides of outer end plate, be provided with first curb plate groove, second curb plate groove on the curb plate respectively, the both ends in first curb plate groove are the blind end, second curb plate groove one end is the blind end, the other end runs through the curb plate; the movable frame is movably arranged between the two side plates, two sides of the movable frame are respectively assembled with the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft respectively pass through the first side plate groove and the second side plate groove and are then assembled with two ends of the unfolding connecting plate; the bottom of the movable frame is provided with a supporting plate which is used for lifting the bag;

The unfolding connecting plate on one side is hinged with one end of the unfolding supporting rod through a third rotating shaft, the other end of the unfolding supporting rod is provided with a unfolding short shaft, the unfolding short shaft is clamped in an unfolding chute and can be assembled in a sliding manner, the unfolding chute is arranged on an unfolding seat, the unfolding seat is clamped with an unfolding guide rail and can be assembled in a sliding manner, and the unfolding guide rail is arranged on a packing frame; the unfolding seat is provided with an unfolding rack which is meshed with an unfolding gear, the unfolding gear is arranged on an unfolding rotating shaft, and the unfolding rotating shaft is arranged on a packing frame;

the middle part of the unfolding connecting plate at the other side is provided with a first reset shaft, the first reset shaft is assembled with one end of a pull belt, the pull belt is assembled or wound with a third reset shaft after bypassing the second reset shaft, and the pull belt has elasticity; the second reset shaft and the third reset shaft are arranged on a bag supply side plate, the bag supply side plate is arranged on a bag supply frame, the third reset shaft is also assembled with a coil spring, a curled steel belt is arranged in the coil spring, the third reset shaft is assembled with the inner end of the steel belt, and the outer end of the steel belt is directly or indirectly fixed with the bag supply side plate;

two fixed suckers are arranged at one end of the outer end plate, which faces the movable frame, and can be connected with negative pressure sources respectively, so that the fixed suckers can tightly suck bags; the outer end plate is also provided with a matched plastic sealing table near the fixed sucker positioned above;

the side shifting frame is provided with a movable sucker and a plastic sealing plate at the corresponding positions of the fixed sucker and the matched plastic sealing table respectively, the movable sucker and the plastic sealing plate above are arranged on the plastic sealing seat, and the movable sucker can be connected with negative pressure so as to suck and tightly pack bags; the plastic sealing plate is internally provided with an electric heating wire, and the plastic sealing plate presses the bag on the matched plastic sealing table during plastic sealing so as to plastic seal the top opening of the bag;

the upper end and the lower end of the movable frame, which are close to the side shifting frame, are respectively provided with a conveying mechanism which is used for pressing with the inner side of the outer end plate to convey and load the bag;

Two coaxial compression wheel shafts are arranged on the two conveying mechanisms and are respectively assembled with two ends of a conveying power shaft, the conveying power shaft passes through a hollow output shaft of a loading motor and can not be assembled with the hollow output shaft in a relative circumferential rotation manner, and the loading motor is arranged on the movable frame;

the top of the movable frame is also provided with an air blowing strip, a plurality of air blowing holes are formed in one end, facing the outer end plate, of the air blowing strip and between the lateral moving frame, and the air blowing holes can blow air flow, so that the bag opening is assisted.

2. The tea packing machine of claim 1, further comprising a bag supply module mounted on the packing rack and configured to deliver the packing bags to the packing module;

3. A tea picking robot, wherein the tea baler of claim 1 or 2 is applied.

4. A tea picking robot as claimed in claim 3 and further comprising at least four support mechanisms, the tops of the support mechanisms being mounted on two stringers respectively, the stringers being fixedly connected by two cross members; the two longitudinal beams are also respectively assembled with the movable beam in a sliding way;

5. The tea picking robot as claimed in claim 4, wherein a beam conductive shell and a beam guide rail are further mounted on the two longitudinal beams respectively, two beam conductive strips are mounted on the beam conductive shell, a movable guide rail seat of the beam guide rail is clamped and slidably assembled, the movable guide rail seat is mounted on the movable beam, a movable insulating shell is further mounted on the movable guide rail seat, the movable insulating shell is clamped and slidably assembled with two movable power taking blocks, one ends of the two movable power taking blocks are respectively pressed and conductive with the two beam conductive strips, one ends of the two movable power taking blocks located in the movable insulating shell are mounted on the movable insulating seat, the movable insulating seat is axially slidably sleeved on a movable power taking shaft, the movable power taking shaft is mounted on the movable insulating shell, and a movable power taking spring is further sleeved on the movable power taking shaft and exerts elastic force on the movable insulating seat to push the beam conductive strips;

6. The tea picking robot as claimed in claim 4, wherein the movable beam is further provided with a movable conductive shell, two movable conductive strips are respectively mounted on the movable conductive shell and are respectively electrically connected with two binding posts, and the two binding posts are electrically connected with two movable power taking blocks at one end through different wires, so that the two movable conductive strips are respectively connected with an anode and a cathode of a direct current power supply to supply power to the tea picking manipulator.