CN115176596A

CN115176596A - Self-propelled picking robot with low damage to tender tips of famous and high-quality tea

Info

Publication number: CN115176596A
Application number: CN202210935259.XA
Authority: CN
Inventors: 吴正敏; 罗坤; 李为庆; 曹成茂; 孙长应; 孙燕; 秦宽
Original assignee: Anhui Agricultural University AHAU
Current assignee: Anhui Agricultural University AHAU
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-10-14

Abstract

The utility model belongs to the technical field of tealeaves harvest machinery, a self-propelled picking robot of famous tea tender tip low damage is disclosed, which comprises a frame, frame one side sets up running gear, be provided with the series mechanical arm along the plumb direction activity in the frame, the ware is picked in the terminal setting of series mechanical arm, it includes the casing to pick the ware, set up the steering wheel in the casing, set up the swivel mount in the pivot of steering wheel both ends, the swivel mount front end sets up centre gripping shearing unit, the casing rear end is provided with collects the box, it inhales the leaf ware through the negative pressure and is connected with the bin in the frame to collect the box, still be provided with discernment camera and control system in the frame. Come intelligent identification tealeaves young tip position through machine vision technique, recycle the control of series mechanical arm and pick the ware and move to the clamping position from the horizontal direction, utilize the swivel mount to hold from the horizontal plane towards the upwards rotatory action of plumb face, cut, carry tealeaves, avoided the damage that the ware motion of picking caused tealeaves young tip and peripheral tealeaves, improved the quality of the tealeaves after picking greatly.

Description

Self-propelled picking robot with low damage to tender tips of famous and high-quality tea

Technical Field

The invention relates to the technical field of tea harvesting machinery, in particular to a famous tea tender tip low-damage self-propelled picking robot.

Background

China is a world with large tea yield, and famous tea accounts for 76% of the tea yield. The famous tea mostly uses tea tender shoots growing in mountains as raw materials, and the natural environment of the mountains creates the unique color, aroma and taste of the famous tea, and is rich in various components beneficial to human health.

At present, the famous tea is picked mainly manually, tender tips of tea leaves are picked by fingers, the size of the picked tea leaves is required to be uniform in the picking process, but the manual picking mode is high in cost and low in efficiency, and the famous tea is difficult to pick and the price of the famous tea is high.

With the continuous development of science and technology, tea picking robots based on machine vision begin to appear in the market, the tea picking robots simulate the characteristics of manually picking tea and intelligently identify tea tender tips by using a machine vision technology, for example, chinese invention patent application with the publication number of CN 114731840A discloses a tea picking robot with two mechanical arms based on machine vision, which comprises a transverse guide rail module, a longitudinal guide rail module, a vertical guide rail module, a tail end execution component and a vision identification mechanism, wherein three groups of transverse, longitudinal and vertical guide rail modules realize the three-dimensional motion of the tail end execution component on the space, the tail end execution component is used for cutting the tea tender tips, the tea is automatically detected and positioned by the vision identification mechanism, and the tail end execution component is instructed to move to the tea position and cut and collect the tea; compare the tradition manual work and collect, this picking robot positioning accuracy is high, pick the uniformity good, pick efficiently. However, the tail end executing assembly comprises a collecting box, a mounting seat, a driving assembly, a first connecting rod, a guide plate, a knife rest box, a knife rest seat and a blade, and the tail end of the guide plate moves to one side close to the blade, so that tea tender shoots are cut off and stored in the knife rest seat through the cooperation of the guide plate and the blade.

Disclosure of Invention

In order to solve the problems, the invention provides a self-propelled picking robot with low damage to tender tips of famous tea.

The technical purpose of the invention is realized by the following technical scheme: the utility model provides a low self-propelled harvesting robot that damages of famous and high-quality tea tender tip, includes the frame, frame one side sets up running gear, is provided with the series connection arm along the plumb direction activity in the frame, series connection arm end is provided with picks the ware, it includes the casing to pick the ware, be provided with the steering wheel in the casing, fixedly on the horizontal axis at steering wheel both ends sets up the swivel mount, and the swivel mount front end sets up centre gripping shearing unit, and the casing rear end is provided with collects the box, and when the swivel mount upwards rotated to the vertical plane from the horizontal plane, the centre gripping shearing unit was cut off and is sent into the collection box with the tealeaves tender tip after the centre gripping tealeaves tender tip, it is connected with the bin in the frame through negative pressure leaf suction device to collect the box, still be provided with discernment camera and control system in the frame.

Furthermore, the clamping and shearing unit comprises a fixed shaft transversely arranged at the front end of the rotating frame, sliding blocks are arranged at two ends of the fixed shaft in a sliding mode respectively, a mounting plate is convexly extended forwards at the front end of each sliding block, and a blade and a clamping block are mounted on the mounting plate.

Furthermore, the clamping block is a flexible block, and the inner edge of the clamping block is flush with the cutting edge of the blade.

Further, the slider outside is provided with the gyro wheel, the circular arc track that corresponds on the casing and be provided with, circular arc track both ends are provided with the breach, are provided with compression spring between two sliders, and the grip block alternate segregation on two sliders when the gyro wheel is located breach department, grip block mutual laminating on two sliders when the gyro wheel is located circular arc track middle section.

Furthermore, the compression spring is sleeved on the shaft body of the fixed shaft between the two sliding blocks, and two ends of the compression spring are respectively abutted against the sliding blocks at two ends.

Furthermore, an infrared sensor is further arranged on the upper portion of the front end of the rotating frame.

Furthermore, the lower part of the rack is rotatably provided with a leaf shifting plate which is positioned at the rear side of the picking device.

Furthermore, the travelling mechanism comprises a chassis, and a travelling wheel set and a driving motor which are matched with the preset rails of the tea garden are arranged in the chassis.

Furthermore, a fixing frame is arranged on the chassis, the rack is rotatably arranged on a stand column on one side of the fixing frame, an electric push rod is further arranged between the fixing frame and the rack, the end part of a seat body of the electric push rod is hinged to the fixing frame, and the end part of the push rod is hinged to the rack.

In conclusion, the invention has the following beneficial effects:

1. according to the tea leaf picking device, the recognition camera, the control system, the serial mechanical arm and the picking device are arranged, the tea leaf tender tip position is intelligently recognized through a machine vision technology, the picking device is driven by the serial mechanical arm to be close to the tea leaf tender tip from the horizontal direction, the picking device moves to the clamping position of the tea leaf tender tip and the stem, and the tea leaf is clamped, sheared and conveyed through upward rotation of the rotating frame from the horizontal plane to the vertical plane, so that damage to the tea leaf tender tip and peripheral tea leaves caused by movement of the picking device is avoided, and the quality of the picked tea leaves is greatly improved;

2. in the application, through the matching of the roller and the arc track, the tender tips of the tea leaves are clamped, sheared and conveyed in the rotating process of the rotating frame, no additional power mechanism is needed for driving, the whole structure is simple, and the accuracy is high;

3. in this application, through setting up the grip block into flexible piece, finger sunken characteristic when simulating artifical picking tealeaves for the grip block has certain flexibility when centre gripping tealeaves young tip, guarantees that the tea stem stalk is not pressed from both sides flat by the grip block, thereby guarantees the tealeaves quality of picking.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic view of the overall construction of a picker according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a picker according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a clamping and shearing unit according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a circular arc track according to an embodiment of the present invention.

In the figure: 10. a frame; 11. a leaf pulling plate; 20. a traveling mechanism; 21. a chassis; 22. a walking wheel set; 23. a drive motor; 24. a fixed mount; 25. an electric push rod; 30. serially connecting mechanical arms; 40. a picker; 41. a housing; 42. a steering engine; 421. a rotating shaft; 43. a rotating frame; 44. a clamping and shearing unit; 441. a fixed shaft; 442. a slider; 443. mounting a plate; 444. a blade; 445. a clamping block; 446. a roller; 447. a compression spring; 45. a collection box; 46. a circular arc track; 461. a notch; 47. an infrared sensor; 50. a storage tank; 51. a negative pressure leaf sucker; 60. the camera is identified.

Detailed Description

The technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; it is obvious that the embodiments described are only a part of the embodiments of the present application, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts based on the embodiments in the present application belong to the protection scope of the present application.

As shown in fig. 1-5, the embodiment of the present application discloses a self-propelled plucking robot with low damage to young tips of famous tea leaves, which includes a frame 10, a walking mechanism 20 disposed below the frame 10, a serial mechanical arm 30, a storage box 50, an identification camera 60 and a control system disposed on the frame 10, a plucker 40 disposed at the end of the serial mechanical arm 30, the walking mechanism 20 being used for walking the entire robot between tea leaves, the identification camera 60 being used for detecting and positioning the young tips of tea leaves, and transmitting the position to the control system, the control system issuing an instruction to control the serial mechanical arm 30 to move the plucker 40 to a corresponding position, the plucker 40 plucking the young tips of tea leaves and transmitting the young tips to the storage box 50, thereby realizing automatic detection, positioning and automatic plucking and conveying of young tips of tea leaves.

The traveling mechanism 20 is disposed at a side of the frame 10 and below the frame 10, the traveling mechanism 20 includes a chassis 21, a traveling wheel set 22 and a driving motor 23 which are matched with a preset track of the tea garden are disposed in the chassis 21, specifically, the picking robot of the embodiment relies on a conveying track disposed between tea ridges of the tea garden, the driving motor 23 drives the traveling wheel set 22 to move on the preset track to realize the movement of the whole robot body, so that the robot body moves along the direction of the tea ridges to pick tender tips of tea leaves on the tea ridges. The traditional wheel type or crawler type walking mechanism can only walk on a gentle ground and is difficult to adapt to the mountain terrain. And the most growth of famous and high-quality tea is in the mountain environment, and running gear 20 of this embodiment can adapt to all terrain environment such as mountain through predetermineeing the track, and the motion process is more stable, can not jolt the shake along with the fluctuation on ground for the detection location of discernment camera 60 is more accurate, and harvesting ware 40 can be picked accurately, ensures that the position of picking is accurate, the tealeaves of picking is even, improves the tealeaves quality greatly.

Be provided with mount 24 on chassis 21, frame 10 rotates and sets up on a side stand of mount 24, make frame 10 rotate around mount 24, it is concrete, set up electric putter 25 between mount 24 and frame 10, the articulated setting of pedestal tip of electric putter 25 is on mount 24, the articulated setting of push rod tip is on frame 10, it rotates around a side stand of mount 24 to promote frame 10 through electric putter 25, when not picking, electric putter 25 pushes away frame 10 to the track top, make the focus of robot above the track, steady during the assurance motion. Furthermore, a limiting rod is arranged between the rack 10 and the upright column on the other side of the fixing frame 24, one end of the limiting rod is fixedly arranged on the side of the rack 10, the length direction of the rod is consistent with the length direction of the rack 10, and when the electric push rod 25 pulls the rack 10 to rotate until the rack 10 is perpendicular to the rail, the suspension end of the limiting rod just abuts against the upright column on the other side of the fixing frame 24, so that the rack 10 is prevented from damaging the electric push rod 25 due to inertia transition rotation.

The frame 10 is movably provided with a serial mechanical arm 30, and the serial mechanical arm 30 moves up and down in the plumb direction. Specifically, two vertical pipes are arranged on the frame 10, a screw rod and a driving mechanism for driving the screw rod to rotate are arranged in each vertical pipe, a sliding block in threaded connection with the screw rod is arranged at the movable end of the serial mechanical arm 30, a vertical limiting groove is formed in the pipe wall of each vertical pipe, the serial mechanical arm 30 extends out of the limiting groove, and the vertical movement of the serial mechanical arm 30 is controlled by controlling the rotation of the screw rod. Or a vertical slide rail can be arranged in the vertical pipe, a slide block matched with the slide rail is arranged at the movable end of the serial mechanical arm 30, and a driving mechanism is arranged to drive the slide block to move up and down on the slide rail.

The picking device 40 is arranged at the tail end of the serial mechanical arm 30 and comprises a shell 41, a steering engine 42 is arranged in the shell 41, the steering engine 42 is horizontally arranged, rotating frames 43 are fixedly arranged on horizontal rotating shafts 421 at two ends of the shell, a transverse fixing shaft 441 is arranged at the front end of each rotating frame 43, the number of the fixing shafts 441 is two, the number of the fixing shafts is one, the front end and the rear end of each fixing shaft is provided with a sliding block 442, two through holes are formed in the sliding blocks 442, linear bearings are installed in the through holes, and the linear bearings are sleeved on the two fixing shafts 441 and are more stable. The front end of the sliding block 442 protrudes forwards to form a mounting plate 443, the mounting plate 443 is provided with a blade 444 and a clamping block 445, the clamping block 445 is located above the blade 444, the clamping block 445 is a flexible block, and the inner edge of the clamping block 445 is flush with the cutting edge of the blade 444. That is, when the two clamping blocks 445 move towards the middle to clamp the tender tips of the tea leaves, the contact parts of the two clamping blocks 445 and the tender tips of the tea leaves are slightly sunken inwards, so that the tea leaves are prevented from being flattened by the clamping blocks 445 to damage the quality of the tea leaves, and the cutting edges of the two blades 444 are just attached to cut off the tea leaves. The blade 444 may be mounted on only one mounting plate 443, and a knife stopper may be mounted on the other mounting plate 443, that is, the cutting edge of the blade 444 may abut against the side edge of the knife stopper, or the tea leaves may be cut.

Specifically, the roller 446 is arranged on the outer side of the sliding block 442, the housing 41 is correspondingly provided with the arc track 46, the arc track 46 is a quarter arc, a plane formed by the arc track 46 is parallel to the plumb surface, a shaft core of the horizontal rotating shaft 421 at two ends of the steering engine 42 is used as a circle center, and a distance from the rotating shaft 421 to the center of the roller 446 is used as a radius, so that when the steering engine 42 drives the rotating frame 43 to rotate, the roller 446 just moves along the arc track 46. A compression spring 447 is arranged between the two sliding blocks 444, the compression spring 447 is sleeved on the shaft body of the fixed shaft 441 between the two sliding blocks 444, two ends of the compression spring 447 abut against the sliding blocks 444 at the two ends respectively, and the two sliding blocks 444 are reset through the compression spring 447. Notches 461 are arranged at two ends of the circular arc track 46, in an initial state, the rotating frame 43 is positioned in a horizontal plane, the roller 446 is positioned at the notch 461 of the circular arc track 46, at the moment, the two sliding blocks 444 are far away, the clamping blocks 445 and the blades 444 at two sides are in a separated state, at the moment, the picking device 40 can firstly descend to the picking position height of tea leaves to be picked under the action of the serial mechanical arm 30, then move towards the tea leaves to be picked from the horizontal direction, the tea leaves are positioned at the gaps between the clamping blocks 445 and the blades 444 at two sides, the upper part of the front end of the rotating frame 43 is also provided with an infrared sensor 47, the infrared sensor 47 transmits signals to a control system after detecting the tea leaves, the steering engine 42 is started, and the rotating frame 43 rotates upwards from the horizontal plane, the roller 446 rolls along the arc track 46, leaves the notch 461 and moves in the middle section, the notch 461 and the middle section of the arc track 46 are in arc transition, the roller 446 is pushed inwards when moving in the middle section, the two sliding blocks 442 move inwards, when the roller 446 moves to the middle section of the arc track 46, the clamping blocks 445 on the two sides are attached to clamp the tea tender tips, the two blades 444 cut off the lower stems of the tea tender tips, the tea tender tips move along the rotating frame 43 under the clamping effect of the clamping blocks 445, when the rotating frame 43 moves to the vertical plane, the roller 446 moves from the middle section of the arc track 46 to the notch 461, the two sliding blocks 442 move reversely, the clamping blocks 445 on the two sides are separated, and the tea tender tips are loosened.

A collecting box 45 is arranged at the rear end of the shell 41, when the rotating frame 43 moves to the vertical surface, the two clamping blocks 445 separate and loose tender tea tips, and the tender tea tips are thrown into the collecting box 45 under the action of inertia. The rack 10 is provided with a tea storage box 50, the collection box 45 is connected with the storage box 50 through a negative pressure leaf suction device 51, and when the tea in the collection box 45 reaches a certain amount, the negative pressure leaf suction device 51 works to suck the tea in the collection box 45 into the storage box 50 for storage.

Further, a leaf shifting plate 11 is rotatably arranged on the lower portion of the machine frame 10, the leaf shifting plate 11 is located on the rear side of the picking device 40, the leaf shifting plate 11 is driven by a motor, when the machine frame 10 moves forwards, the leaf shifting plate 11 can synchronously rotate to shift tea tree branches to the rear, and the tea tree branches are prevented from interfering the working of the picking device 40.

The use principle of the self-propelled picking robot with low damage to tender tips of famous tea in the embodiment is as follows: the driving motor 23 drives the walking wheel set 22 to walk on the conveying track between tea ridges, when the tea ridge to be picked is reached, the electric push rod 25 pulls the rack 10 to rotate so that the rack 10 is perpendicular to the track, namely the rack 10 is horizontally arranged above the tea ridge, the recognition camera 60 starts to detect, positions the tender tips of the tea leaves after detecting the tender tips of the tea leaves and transmits position information to the control system, the control system drives the series mechanical arm 30 to move to a corresponding height, then drives each joint of the series mechanical arm 30 to rotate so that the picking device 40 moves to the position of the tender tips of the tea leaves, the infrared sensor 47 transmits information to the control system after detecting the tender tips of the tea leaves, the control system controls the steering engine 42 to drive the rotating frame 43 to rotate, the roller 446 is matched with the circular arc track 46 so that the two clamping blocks 445 are attached to clamp the tender tips of the tea leaves, the two blades 444 cut off the lower stem rods of the tender leaves, and when the rotating frame 43 moves to a vertical plane, the two clamping blocks 445 separate and loosen the tender tips of the tea leaves, and the tender tips of the tea leaves are thrown into the collecting box 45 under the inertia effect; the steering engine 42 rotates reversely to enable the rotating frame 43 to return, and when the tea leaves in the collecting box 45 reach a certain amount, the negative pressure leaf suction device 51 works to suck the tea leaves in the collecting box 45 into the storage box 50 for storage.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.

Claims

1. A self-propelled picking robot with low damage to tender tips of famous and high-quality tea is characterized in that: the automatic picking machine comprises a rack (10), wherein a walking mechanism (20) is arranged on one side of the rack (10), a series mechanical arm (30) is movably arranged on the rack (10) along the direction of a plumb hammer, a picking device (40) is arranged at the tail end of the series mechanical arm (30), the picking device (40) comprises a shell (41), a steering engine (42) is arranged in the shell (41), a rotating frame (43) is fixedly arranged on a horizontal rotating shaft (421) at two ends of the steering engine (42), a clamping and shearing unit (44) is arranged at the front end of the rotating frame (43), a collecting box (45) is arranged at the rear end of the shell (41), the rotating frame (43) rotates upwards from the horizontal plane to the vertical plane, the clamping and shearing unit (44) shears and clamps tea tender tips and then sends the tea tender tips into the collecting box (45), the collecting box (45) is connected with a storage box (50) on the rack (10) through a negative pressure tea leaf suction device (51), and an identification camera (60) and a control system are further arranged on the rack (10).

2. The self-propelled famous tea young shoot low-damage picking robot as claimed in claim 1, which is characterized in that: the clamping and shearing unit (44) comprises a fixed shaft (441) transversely arranged at the front end of the rotating frame (43), two ends of the fixed shaft (441) are respectively provided with a sliding block (442) in a sliding manner, the front end of the sliding block (442) forwardly protrudes with a mounting plate (443), and the mounting plate (443) is provided with a blade (444) and a clamping block (445).

3. The self-propelled famous tea tender tip low-damage picking robot as claimed in claim 2, which is characterized in that: the clamping block (445) is a flexible block, and the inner edge of the clamping block (445) is flush with the cutting edge of the blade (444).

4. The self-propelled famous tea young shoot low-damage picking robot as claimed in claim 3, which is characterized in that: the outer side of each sliding block (442) is provided with a roller (446), the shell (41) is correspondingly provided with an arc rail (46), two ends of each arc rail (46) are provided with notches (461), a compression spring (447) is arranged between the two sliding blocks (444), clamping blocks (445) on the two sliding blocks (442) are separated from each other when the rollers (446) are located at the notches (461), and the clamping blocks (445) on the two sliding blocks (442) are attached to each other when the rollers (446) are located in the middle section of the arc rail (46).

5. The self-propelled famous tea young shoot low-damage picking robot as claimed in claim 4, wherein the robot is characterized in that: the compression spring (447) is sleeved on the shaft body of the fixed shaft (441) between the two sliding blocks (444), and two ends of the compression spring (447) are respectively abutted against the sliding blocks (444) at the two ends.

6. The self-propelled famous tea tender tip low-damage picking robot as claimed in claim 1, which is characterized in that: and an infrared sensor (47) is also arranged at the upper part of the front end of the rotating frame (43).

7. The self-propelled famous tea young shoot low-damage picking robot as claimed in claim 1, which is characterized in that: the lower part of the rack (10) is rotatably provided with a leaf shifting plate (11), and the leaf shifting plate (11) is positioned at the rear side of the picking device (40).

8. The self-propelled famous tea tender tip low-damage picking robot as claimed in claim 1, which is characterized in that: the walking mechanism (20) comprises a chassis (21), and a walking wheel set (22) and a driving motor (23) which are matched with the preset rails of the tea garden are arranged in the chassis (21).

9. The self-propelled famous tea young shoot low-damage picking robot as claimed in claim 8, wherein the robot comprises: the chassis (21) is provided with a fixing frame (24), the rack (10) is rotatably arranged on a stand column on one side of the fixing frame (24), an electric push rod (25) is further arranged between the fixing frame (24) and the rack (10), the end part of a seat body of the electric push rod (25) is hinged to the fixing frame (24), and the end part of the push rod is hinged to the rack (10).