CN115226488A - Integrative device is picked in tealeaves separation - Google Patents
Integrative device is picked in tealeaves separation Download PDFInfo
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- CN115226488A CN115226488A CN202211056470.0A CN202211056470A CN115226488A CN 115226488 A CN115226488 A CN 115226488A CN 202211056470 A CN202211056470 A CN 202211056470A CN 115226488 A CN115226488 A CN 115226488A
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- separation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The utility model provides a tealeaves separation picks integrative device, fixes on the running gear of tea-leaf picking robot for collect and pick tealeaves, it includes support frame, visual identification module, separation module, picks module, tea fill and control module, the support frame includes erects frame and crossbearer, erect the setting of frame lower extreme perpendicular to crossbearer, the upper end is connected with the running gear of tea-leaf picking robot, the tea fill sets up the one end at the crossbearer, separation module and picking module all set up the other end at the crossbearer, separation module can dial off non-target tealeaves, it can be with pulling off the being connected of target tealeaves rather than the stem to pick the module, still be provided with the upset motor between picking module and the crossbearer, the upset motor is connected with the control module communication, by control module control, it can rotate towards the tea fill through the upset motor to pick the module, puts into the tealeaves that the separation was picked into the tea fill, and the stroke is short, and the action is fast, has effectively improved tea-leaf picking efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent visual recognition, in particular to a tea leaf separating and picking integrated device.
Background
Tea leaves are one of the important cultural signs of China, and tea drinks made of the tea leaves are one of three major drinks in the world and are deeply loved by people in all countries. Therefore, there is a great demand for tea leaves all over the world, and china, as the largest tea-producing country in the world, also has the largest tea-producing industry all over the world.
Although China has huge tea yield, most of the produced tea is supplied for domestic consumption, and because domestic tea consumers are influenced by far-running tea culture, the tea has strict standards, so that the tea production in China still mainly adopts manual picking.
Some tea manufacturing enterprises at present adopt the tea picking robot to carry out the operation of picking tea, hope to reduce the consumption of human cost, but the picking module of the tea picking robot in the current market needs to move a longer distance between the target tea and the tea bucket, so that a large amount of time is consumed to place the picked tea into the tea bucket, the picking efficiency is low, the picking is relatively extensive, the target tea cannot be accurately positioned, the picked tea is often mixed with tea stalks and old leaves, the tea quality is seriously influenced, the reason why the Chinese tea enterprises still adopt the manual tea picking is also provided, but the manual tea picking needs to consume a large amount of human cost, the tea picking efficiency is low, and the tea manufacturing enterprises are not favorable for expanding the production scale.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a tea leaf separating and picking integrated device.
The technical scheme of the invention is as follows:
the utility model provides a tealeaves separation picks integrative device, fixes on the running gear of tea-picking robot for collect and pick tealeaves, it includes support frame, visual identification module, separation module, picks module, tea fill and control module, the support frame includes erects frame and crossbearer, erect the setting of frame lower extreme perpendicular to crossbearer, the upper end is connected with the running gear of tea-picking robot, the tea fill sets up the one end at the crossbearer, separation module and picking module all set up the other end at the crossbearer, separation module can be dialled off non-target tealeaves, it can be with pulling out the connection of disconnected target tealeaves rather than the stem to pick the module, still be provided with the upset motor between picking module and the crossbearer, the upset motor is connected with the control module communication, by control module control, it can rotate towards the tea fill through the upset motor to pick the module, puts into the tealeaves that separates to pick in the tea fill, and the stroke is short, and the action is fast, has effectively improved tea-picking efficiency.
Furthermore, the visual recognition module comprises a plurality of recognition cameras, the recognition cameras are in communication connection with the control module and face the separation module and the picking module, the recognition cameras can recognize pictures near the separation module and the picking module and transmit recognized information back to the control module for processing.
Furthermore, the separating module is powered by a separating motor, the separating motor is in communication connection with the control module, the separating module further comprises two groups of symmetrically arranged shifting rod mechanisms, each group of shifting rod mechanisms respectively comprises a transmission gear and a shifting rod, each transmission gear is meshed with one group of intermittent gear sets, and the two groups of intermittent gear sets can drive the shifting rods of the two groups of shifting rod mechanisms meshed with the two groups of shifting rod mechanisms to do intermittent motion through asynchronous motion of one or more separating motors, so that the two groups of shifting rods do asynchronous forward extending motion, target tea leaves are intermittently shifted to be separated from non-target tea leaves, the picking mechanisms are prevented from picking the non-target tea leaves, and meanwhile, a good space environment is provided for identifying, positioning and picking the target tea leaves.
Furthermore, the picking module is powered by a picking motor, the picking motor is in communication connection with the control module, the picking module further comprises a clamping jaw part, the clamping jaw part is a parallelogram four-rod transmission mechanism, and the picking motor can drive the transmission mechanism of the clamping jaw part to enable the clamping jaw part to extend forwards to pick target tea.
According to the tea leaf separating and picking integrated device, the separating module further comprises an installation table, and the picking module is arranged above the installation table, so that the separating module can pull off non-target tea leaves from the lower part conveniently.
Furthermore, the poking and separating rod mechanism further comprises a crank rocker part, wherein the crank rocker part is arranged at the lower part of the mounting table and is coaxially connected with the transmission gear through a crank part, and the continuous rotation of the separating motor can be converted into the intermittent rotation of the two crank parts in opposite directions.
Further, the crank portion is parallel to the installation table and is arranged, the tail end of the crank portion is provided with a telescopic rod which is arranged in the same direction, the extending end of the telescopic rod is connected with the rear end of the poking rod in a rotating shaft rotating mode, a guide rail groove is formed in the installation table at the relative position of the upper end of the rotating shaft, the upper end of the rotating shaft can be inserted into the guide rail groove, and the guide rail groove can only be moved along the guide rail groove.
Furthermore, the below of mount table sets up to rotate and is connected with the holding ring, the front end of dialling from the pole passes from the holding ring, the shape of guide rail groove includes capital letter "D" shape, comprises straightway and curve section, and the curve section is close to mount table central direction, makes the motion trail of dialling from the pole can use the holding ring to be central symmetry with the shape in guide rail groove as the mid point.
As above integrative device is picked in tealeaves separation, the top of mount table still is provided with the mounting panel, the mounting panel is connected with the output shaft rotation of upset motor towards tea fill one side, the upset motor can drive the picking module through the upset mounting panel and overturn, the opposite side of mounting panel is fixed with the picking motor, provides fixed position for the picking motor.
Furthermore, the clamping jaw part of the picking module further comprises a fixing plate, the fixing plate is vertically connected to one side, far away from the tea bucket, of the mounting plate, and the transmission mechanism of the clamping jaw part is movably connected to the fixing plate and is in meshed connection with an output shaft of the picking motor through a gear.
Further, drive mechanism includes left clamp part and right clamp part that mirror symmetry set up, left side clamp part and right clamp part constitute by driving lever, driven lever and clamping jaw pole, the head of clamping jaw pole is provided with the clamping jaw head for pull out tealeaves, and the tail end rotates with the one end of driving lever to be connected, driven lever one end rotates to be connected between the head and the tail end of clamping jaw pole, and the other end rotates with the fixed plate to be connected, the adjacent end of driving lever of left side clamp part and right clamp part passes through gear engagement to also be connected through gear engagement between the output shaft with picking the motor, make the driving lever that the motor can drive left clamp part and right clamp part carry out synchronous rotation along opposite direction.
Furthermore, the length of the driving rod is the same as that of the driven rod, so that a parallelogram can be formed among the driving rod, the driven rod, the fixing plate and the clamping jaw rod, and the clamping jaw head can break the target tea leaves.
Preferably, an elastic clamping unit and a pulling-off unit are arranged on the inner side of the clamping jaw head, the elastic clamping unit can pre-clamp the target tea leaves, and the pulling-off unit can pull off the target tea leaves from the stem in a pulling manner.
As above integrative device is picked in tealeaves separation, visual identification module includes two discernment cameras, is last discernment camera and lower discernment camera respectively, go up the discernment camera and set up at perpendicular frame top, the clamping jaw head position of picking the module is towards down, lower discernment camera sets up in the mount table top to also towards clamping jaw head position, carry out accurate stereotaxis to target tealeaves through last discernment camera and lower discernment camera.
The invention has the beneficial effects that:
1. according to the tea leaf separating and picking integrated device, the picked target tea leaves can be directly placed into the tea hopper in a turnover mode through the turnover motor of the picking module of the device, so that the time required for transferring after the tea leaves are picked is shortened, the tea picking process is accelerated, the tea picking efficiency is effectively improved, and the tea enterprise is facilitated to enlarge the production scale;
2. the tea leaf separating and picking integrated device is provided with the separating module which is specially used for separating target tea leaves from non-target tea leaves, so that the non-target tea leaves can be separated, the non-target tea leaves are prevented from being picked, and meanwhile, a good space environment is provided for the identification, positioning and picking of the target tea leaves;
3. according to the tea leaf separating and picking integrated device, the upper recognition camera and the lower recognition camera are arranged to carry out three-dimensional accurate positioning recognition on target tea leaves, so that the target tea leaves can be picked accurately, and the influence on the quality of the tea leaves due to the fact that impurities are mixed in the tea leaves is avoided;
4. according to the tea leaf separating and picking integrated device, the separating module of the device can insert the poking-off rod between the target tea leaf and the non-target tea leaf to poke the non-target tea leaf, so that the problem that the quality of the tea leaf is affected due to the fact that the non-target tea leaf is picked by the picking module is avoided.
5. According to the tea leaf separating and picking integrated device, the elastic clamping unit and the pulling-off unit of the picking module of the device can pre-clamp the target tea leaves, and then the target tea leaves are separated from the tea trees in a pulling-off mode, so that the outflow and oxidation of juice in the target tea leaves are reduced compared with a cutting-off mode, and the commodity value of the picked tea leaves is improved.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
fig. 1 is a schematic structural view of a tea leaf separating and picking integrated device in this embodiment 1;
fig. 2 is a schematic structural view of the picking module in the default state in the embodiment 1;
fig. 3 is a schematic structural view of the picking module in the toppling state in the embodiment 1;
FIG. 4 is a schematic structural diagram of a separation module in this embodiment 1;
FIG. 5 is a top view of the separation module of this embodiment 1;
fig. 6 is a schematic structural view of the picking module in this embodiment 1;
fig. 7 is a schematic structural view of the jaw head in the open state in the embodiment 1;
fig. 8 is a schematic structural view of a clamping state of the jaw head in the embodiment 1;
the components represented by the reference numerals in the figures are:
1. a support frame; 11. erecting; 12. a cross frame; 13. mounting a plate; 15. turning over a motor; 2. a visual recognition module; 21. an upper recognition camera; 22. a lower recognition camera; 3. a separation module; 31. separating the motor; 32. an installation table; 33. a pull-off lever; 34. an intermittent gear set; 35. a crank rocker part; 36. a telescopic rod; 37. a positioning ring; 38. a guide rail groove; 39. a rotating shaft; 4. a picking module; 41. picking a motor; 42. a fixing plate; 43. a driving lever; 44. a driven lever; 45. a claw rod; 46. a jaw head; 47. an elastic clamping block; 48. breaking the cutting; 49. pulling the groove off; 5. a tea bucket.
Detailed Description
The invention is further described in the following with reference to specific embodiments and further examples, which are given solely for the purpose of illustration and are not intended to limit the scope of the invention.
The specific implementation mode is as follows:
example 1
Referring to fig. 1-8, a tea leaf separating and picking integrated device is fixed on a traveling mechanism of a tea picking robot and used for collecting and picking tea leaves, and comprises a support frame 1, a vision recognition module 2, a separation module 3, a picking module 4, a tea hopper 5 and a control module, wherein the support frame 1 comprises a vertical frame 11 and a transverse frame 12, the lower end of the vertical frame 11 is perpendicular to the transverse frame 12, the upper end of the vertical frame is connected with the traveling mechanism of the tea picking robot, the tea hopper 5 is arranged at one end of the transverse frame 12, the separation module 3 and the picking module 4 are arranged at the other end of the transverse frame 12, the separation module 3 can pull off non-target tea leaves, the picking module 4 can connect the target tea leaves separated by the separation module 3 with the stems thereof, a turnover motor 15 is further arranged between the picking module 4 and the transverse frame 12, the turnover motor 15 is in communication connection with the control module and is controlled by the control module, the picking module 4 can rotate towards the tea hopper 5 to put the separated tea leaves into the tea hopper 5 through the turnover motor 15, the tea hopper is short in stroke, the tea hopper moves, and the tea hopper 5 can greatly shorten the tea picking efficiency.
Preferably, the running mechanism described in this embodiment is not limited to the running mechanism disclosed in the present application CN216930920U, which is specifically described in the present application, and since the structure of the running mechanism is not the focus of protection of this application and is a known technology, it will not be described herein again.
Preferably, the vertical frame 11 is an electric telescopic rod and is in communication connection with the control module, and the control module can send a signal to control the vertical frame 11 to extend or contract, so that the separation module 3, the picking module 4 and the tea hopper 5 are driven to descend or ascend.
Furthermore, the vision recognition module 2 comprises a plurality of recognition cameras, the recognition cameras are in communication connection with the control module and face the separation module 3 and the picking module 4, the recognition cameras can recognize pictures near the separation module 3 and the picking module 4 and transmit recognized information back to the control module for processing, and therefore target tea leaves are recognized correctly.
Furthermore, the separation module 3 is powered by a separation motor 31, the separation motor 31 is in communication connection with a control module and is controlled by the control module, the separation module 3 further comprises two groups of symmetrically arranged poking-off rod mechanisms, the two groups of poking-off rod mechanisms respectively comprise a transmission gear and a poking-off rod 33, each group of transmission gear is meshed with one group of intermittent gear sets 34, the two groups of intermittent gear sets 34 asynchronously act through one or more separation motors (31) to drive the poking-off rods 33 of the two groups of poking-off rod mechanisms meshed with the two groups of poking-off rod mechanisms to intermittently move, so that the two groups of poking-off rods 33 asynchronously extend forwards, the poking-off rods 33 of one group of poking-off rod mechanisms are firstly inserted between target tea leaves and non-target tea leaves to poke the non-target tea leaves to be separated, and then the poking-off rods 33 of the other group of poking-off rod mechanisms are driven to do the same action, and accordingly the picking mechanism is prevented from picking the non-target tea leaves.
Referring to fig. 4, the separation module 3 further includes a mounting table 32, and the picking module 4 is disposed above the mounting table 32, so that the separation module 3 can easily pull off the non-target tea leaves from the lower side, only the target tea leaves are left for picking by the picking module 4, and the picking module 4 is prevented from picking the non-target tea leaves to affect the quality of the tea leaves.
Further, the dial-off lever mechanism further comprises a crank rocker 35, wherein the crank rocker 35 is mounted at the lower part of the mounting table 32 and is coaxially connected with the transmission gear through a crank part, and the continuous rotation of the separation motor 31 can be converted into the intermittent rotation of the two crank parts in opposite directions.
Further, the crank portion is parallel to the mounting table 32, the end of the crank portion is provided with an expansion link 36 which is arranged in the same direction, the extending end of the expansion link 36 is rotatably connected with the rear end of the poking-off rod 33 through a rotating shaft 39, and the mounting table 32 is provided with a guide rail groove 38 at the opposite position of the upper end of the rotating shaft 39, so that the upper end of the rotating shaft 39 can be inserted into the guide rail groove 38 and can only rotate along the guide rail groove 38.
Referring to fig. 5, a positioning ring 37 is rotatably connected below the mounting table 32, the front end of the poking-off rod 33 passes through the positioning ring 37, the guide rail groove 38 is in the shape of capital english letter "D", and is composed of a straight line segment and a curved line segment, and the curved line segment is close to the center direction of the mounting table 32, so that the motion trajectory of the poking-off rod 33 is in central symmetry with the shape of the guide rail groove 38 by taking the positioning ring 37 as a midpoint, when the upper end of the rotating shaft 39 moves in the straight line segment of the guide rail groove 38, the poking-off rod 33 is obliquely inserted between the target tea leaves and the non-target tea leaves, then the rotating shaft 39 continues to move along the guide rail groove 38, and enters the curved line segment from the straight line segment, the poking-off rod 33 continues to poke the non-target tea leaves outwards, at this time, the gear at the upper end of the crank rocker 35 is engaged with the non-toothed part of the intermittent gear, so that the poking-off rod 33 is in a stationary state at this time, and when the gear at the upper end of the crank rocker 35 is engaged with the toothed part of the intermittent gear again, the next separation operation is started.
Referring to fig. 1-3 and 6, a mounting plate 13 is further disposed above the mounting table 32, the mounting plate 13 is rotatably connected to an output shaft of the turnover motor 15 at a side facing the tea bucket 5, the turnover motor 15 can drive the picking module 4 to turn over by turning over the mounting plate 13, and a picking motor 41 is fixed to the other side of the mounting plate 13 to provide a fixing position for the picking motor 41.
Furthermore, picking module 4 is powered by picking motor 41, picking motor 41 is in communication connection with the control module and is controlled by the control module, picking module 4 further comprises a clamping jaw part, the clamping jaw part is a parallelogram four-rod transmission mechanism, picking motor 41 can drive the transmission mechanism of the clamping jaw part, and the clamping jaw part can extend forwards to the breaking and separating module 3 to separate the remaining target tea leaves.
Furthermore, the clamping jaw part of the picking module 4 further comprises a fixing plate 42, the fixing plate 42 is vertically connected to one side, away from the tea bucket 5, of the mounting plate 13, the transmission mechanism of the clamping jaw part is movably connected to the fixing plate 42 and is meshed with an output shaft of the picking motor 41 through a gear, the fixing plate 42 is used for providing a position for the transmission mechanism to be installed, and the picking motor 41 drives the transmission mechanism to move through gear meshing, so that the action of pulling off tea leaves is completed.
Further, the transmission mechanism comprises a left clamping part and a right clamping part which are arranged in mirror symmetry, the left clamping part and the right clamping part are composed of a driving rod 43, a driven rod 44 and a clamping jaw rod 45, a clamping jaw head 46 is arranged at the head of the clamping jaw rod 45 and used for pulling off tea leaves, the tail end of the clamping jaw rod 45 is rotatably connected with one end of the driving rod 43, one end of the driven rod 44 is rotatably connected between the head and the tail end of the clamping jaw rod 45, the other end of the driven rod 44 is rotatably connected with the fixing plate 42, the adjacent ends of the driving rods 43 of the left clamping part and the right clamping part are connected through gear meshing, and are also connected with the output shaft of the picking motor 41 through gear meshing, so that the picking motor 41 can drive the driving rods 43 of the left clamping part and the right clamping part to synchronously rotate along opposite directions, the distance between the clamping jaw rods 45 is increased or decreased, and the clamping jaw head 46 can perform loosening or clamping operation.
Furthermore, the length of the claw rod 45 is matched with the length of the poking-off rod 33 of the separation module 3, so that the poking-off rod 33 of the separation module 3 can poke off non-target tea leaves below the claw head 46, and the picking module 4 can accurately pick off the remaining target tea leaves from the separation module 3.
Furthermore, the length of the driving rod 43 is the same as that of the driven rod 44, so that a parallelogram can be formed among the driving rod 43, the driven rod 44, the fixing plate 42 and the clamping jaw rods 45, and therefore the clamping jaw rods 45 of the left clamping part and the right clamping part can move in parallel, and the clamping jaw heads 46 of the left clamping part and the right clamping part can break tea leaves.
Preferably, referring to fig. 7 and 8, an elastic clamping unit and a pulling unit are arranged inside the jaw head 46, the elastic clamping unit comprises elastic clamping blocks 47 symmetrically arranged inside the jaw head 46, the elastic clamping blocks 47 can pre-clamp the target tea leaves when the jaw heads 46 on both sides approach each other, the pulling unit comprises a pulling groove 49 and a pulling insert 48 respectively arranged inside the jaw heads 46 on both sides, the pulling insert 48 can be inserted into the pulling groove 49, and the target tea leaves are pulled from the stem by the pre-clamping action of the elastic clamping unit, so that the pulling mode can reduce the outflow of juice in the tea leaves and ensure the flavor and quality of the picked tea leaves compared with the operation of cutting the target tea leaves by a traditional tea-picking robot.
Referring to fig. 1-3, the vision recognition module 2 includes two recognition cameras, namely an upper recognition camera 21 and a lower recognition camera 22, the upper recognition camera 21 is disposed on the top of the vertical frame 11 and faces downward to the position of the gripper head 46 of the picking module 4, so as to recognize and position the target tea picked by the gripper head 46 from the vertical direction, the lower recognition camera 22 is disposed above the mounting table 32 and also faces to the position of the gripper head 46, so as to recognize and position the target tea from the transverse direction, and the target tea is precisely positioned three-dimensionally by the upper recognition camera 21 and the lower recognition camera 22, so as to avoid the influence of tea stalks or old leaves in the tea to the quality of the tea.
As preferred, this embodiment other camera adopts range finding binocular camera, and range finding binocular camera discernment precision is higher to can the accurate distance between measurement target tealeaves and the camera, fix a position target tealeaves, effectively improve the accurate degree that integrative device separation was picked in separation is picked.
The tea leaf separating and picking integrated device has the working principle as follows:
1) The upper recognition camera 21 recognizes tea leaves in a tea field, target tea leaves to be picked are screened out, the distance between the target tea leaves and the upper recognition camera 21 is determined, signals are transmitted to the control module, and the control module sends out signals to control the walking mechanism to move the separating and picking integrated device above the target tea leaves;
2) The control module controls the vertical frame 11 to extend downwards through the distance data acquired by the upper identification camera 21, and drives the separation module 3, the picking module 4 and the tea hopper 5 to descend to the same height as the target tea leaves;
3) The lower recognition camera 22 recognizes and positions the target tea leaves from the horizontal direction and sends a signal to the control module, and the control module controls the separation motor 31 to start and rotate;
4) The separation motor 31 drives the poking-off rods 33 of one set of poking-off rod mechanisms to be inserted between the target tea leaves and the non-target tea leaves on one side through the intermittent gear set 34, pokes the non-target tea leaves on the side, drives the poking-off rods 33 of the other set of poking-off rod mechanisms to be inserted between the target tea leaves and the non-target tea leaves on the other side, and pokes the non-target tea leaves on the other side to only leave the target tea leaves;
5) The control module controls the picking motor 41 to drive the transmission mechanism of the picking module 4, so that the clamping jaw rod 45 extends forwards, the clamping jaw head 46 at the head part of the clamping jaw rod 45 breaks the connection between the target tea and the stem, and the target tea is clamped;
6) The control module controls the turnover motor 15 to drive the picking module 4 to turn over towards the tea bucket 5, so that the claw head 46 clamps the picked target tea to come above the tea bucket 5;
7) The control module controls the picking motor 41 to rotate reversely, the clamping jaw rod 45 retracts, the clamping jaw head 46 also loosens the clamping of the target tea, and the target tea falls into the tea bucket 5;
8) The control module controls the overturning motor 15 to rotate reversely, so as to drive the picking module 4 to return to the original position, and the next target tea leaves are identified and picked.
Compare traditional picking robot's collection mode, integrative device is picked in tealeaves separation has set up separating mechanism and has separated non-target tealeaves, makes picking module 4 can only gather target tealeaves, has improved the precision of picking tealeaves greatly, has guaranteed the quality of the tealeaves of wiping, moreover the picking mechanism of device only need overturn towards tea fill 5 under the drive of upset motor 15, can put into tea fill 5 with the tealeaves of picking, need not make a round trip to shuttle back and forth between tea fill 5 and the target tealeaves again like traditional picking robot, has effectively shortened the tealeaves that will be picked and has put into tea fill 5 required time, and tea-picking efficiency has obtained effective improvement, is favorable to tea enterprise to enlarge production scale.
Claims (10)
1. A tea leaf separating and picking integrated device is fixed on a travelling mechanism of a tea picking robot and used for collecting and picking tea leaves and is characterized by comprising a support frame (1), a visual recognition module (2), a separation module (3), a picking module (4), a tea hopper (5) and a control module, wherein the support frame (1) comprises a vertical frame (11) and a transverse frame (12), the lower end of the vertical frame (11) is perpendicular to the transverse frame (12), the upper end of the vertical frame is connected with the travelling mechanism of the tea picking robot, the tea hopper (5) is arranged at one end of the transverse frame (12), the separation module (3) and the picking module (4) are both arranged at the other end of the transverse frame (12), the separation module (3) can pull off non-target tea leaves, the picking module (4) can connect the pulled-off target tea leaves with the tea leaves, a turnover motor (15) is further arranged between the picking module (4) and the transverse frame (12), the turnover motor (15) is in communication connection with the control module, and the picking module (4) can rotate towards the tea hopper (5);
the visual recognition module (2) comprises a plurality of recognition cameras, and the recognition cameras are in communication connection with the control module and face the separation module (3) and the picking module (4);
the separation module (3) is powered by a separation motor (31), the separation motor (31) is in communication connection with the control module, the separation module (3) further comprises two groups of symmetrically arranged poking-off rod mechanisms, the two groups of poking-off rod mechanisms respectively comprise a transmission gear and a poking-off rod (33), each group of transmission gear is meshed with one group of intermittent gear sets (34), and the two groups of intermittent gear sets (34) asynchronously act through one or more separation motors (31) and can drive the poking-off rods (33) of the two groups of poking-off rod mechanisms meshed with the two groups of intermittent gear sets to intermittently move, so that the two groups of poking-off rods (33) asynchronously extend forwards;
picking module (4) is by picking motor (41) power supply, picking motor (41) and control module communication connection, picking module (4) still includes clamping jaw portion, clamping jaw portion is parallelogram four-bar drive mechanism, picking motor (41) can drive the drive mechanism of clamping jaw portion, make clamping jaw portion can stretch out forward and pick target tealeaves.
2. Tea leaf separating and picking integrated device according to claim 1, characterized in that the separation module (3) further comprises a mounting table (32), and the picking module (4) is arranged above the mounting table (32).
3. The tea leaf separating and picking integrated device as claimed in claim 2, wherein the poking and separating rod mechanism further comprises a crank rocker part (35), the crank rocker part (35) is mounted at the lower part of the mounting table (32) and is coaxially connected with the transmission gear through a crank part.
4. The tea leaf separating and picking integrated device as claimed in claim 3, wherein the crank part is arranged in parallel with the mounting table (32), the tail end of the crank part is provided with a telescopic rod (36) which is arranged in the same direction, the extending end of the telescopic rod (36) is rotatably connected with the rear end of the poking-off rod (33) through a rotating shaft (39), and the mounting table (32) is provided with guide rail grooves (38) at opposite positions of the upper end of the rotating shaft (39), so that the rotating shaft (39) can only move along the guide rail grooves (38).
5. The tea leaf separating and picking integrated device as claimed in claim 4, wherein a positioning ring (37) is rotatably connected below the mounting platform (32), the front end of the poking rod (33) penetrates through the positioning ring (37), the shape of the guide rail groove (38) comprises a capital English letter 'D' shape, and the guide rail groove comprises a straight line section and a curved line section, and the curved line section is close to the center direction of the mounting platform (32).
6. The tea leaf separating and picking integrated device as claimed in claim 2, characterized in that a mounting plate (13) is further arranged above the mounting table (32), one side of the mounting plate (13) facing the tea bucket (5) is rotatably connected with an output shaft of the turnover motor (15), and the other side of the mounting plate (13) is fixed with a picking motor (41).
7. The tea leaf separating and picking integrated device as claimed in claim 6, characterized in that the clamping jaw part of the picking module (4) further comprises a fixing plate (42), the fixing plate (42) is vertically connected to one side of the mounting plate (13) far away from the tea bucket (5), and a transmission mechanism of the clamping jaw part is movably connected to the fixing plate (42) and is in meshed connection with an output shaft of the picking motor (41) through a gear.
8. The tea leaf separating and picking integrated device as claimed in claim 7, wherein the transmission mechanism comprises a left clamping portion and a right clamping portion which are arranged in a mirror symmetry manner, the left clamping portion and the right clamping portion are composed of a driving rod (43), a driven rod (44) and a clamping jaw rod (45), a clamping jaw head (46) is arranged at the head of the clamping jaw rod (45) and used for pulling off tea leaves, the tail end of the clamping jaw head is rotatably connected with one end of the driving rod (43), one end of the driven rod (44) is rotatably connected between the head and the tail end of the clamping jaw rod (45), the other end of the driven rod is rotatably connected with the fixing plate (42), the adjacent ends of the driving rods (43) of the left clamping portion and the right clamping portion are connected through gear engagement, and are also connected with the output shaft of the picking motor (41) through gear engagement, so that the picking motor (41) can drive the driving rods (43) of the left clamping portion and the right clamping portion to synchronously rotate in opposite directions.
9. The tea leaf separating and picking integrated device as claimed in claim 8, wherein the length of the driving rod (43) is the same as that of the driven rod (44), and a parallelogram is formed among the driving rod (43), the driven rod (44), the fixing plate (42) and the clamping jaw rod (45).
10. A tea leaf separating and picking integrated device according to claim 2, characterized in that the vision recognition module (2) comprises two recognition cameras, namely an upper recognition camera (21) and a lower recognition camera (22), the upper recognition camera (21) is arranged at the top end of the vertical frame (11) and faces downwards to the position of the picking module (4), and the lower recognition camera (22) is arranged above the mounting table (32) and also faces to the position of the picking module (4).
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| CN202211056470.0A CN115226488B (en) | 2022-08-31 | 2022-08-31 | Integrative device is picked in tealeaves separation |
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| CN202211056470.0A CN115226488B (en) | 2022-08-31 | 2022-08-31 | Integrative device is picked in tealeaves separation |
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| CN115226488B CN115226488B (en) | 2023-09-12 |
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| CN213991734U (en) * | 2020-05-12 | 2021-08-20 | 青岛科技大学 | Parallel type automatic famous tea picking robot |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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| AU3585299A (en) * | 1998-06-23 | 2000-01-06 | Francis Ezio Bianchin | Cutting apparatus |
| DE20305666U1 (en) * | 2003-04-07 | 2004-08-19 | Claas Saulgau Gmbh | Maize picker for use with a combine harvester has endless belt picking tools driven from harvester engine by transverse drive with branches for individual tools |
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| WO2019173256A1 (en) * | 2018-03-06 | 2019-09-12 | Cnh Industrial America Llc | Sensor for detecting crop fill level within on-board storage of an agricultural harvester and related systems and methods |
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| CN115226488B (en) | 2023-09-12 |
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