CN115226488B - Integrative device is picked in tealeaves separation - Google Patents
Integrative device is picked in tealeaves separation Download PDFInfo
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- CN115226488B CN115226488B CN202211056470.0A CN202211056470A CN115226488B CN 115226488 B CN115226488 B CN 115226488B CN 202211056470 A CN202211056470 A CN 202211056470A CN 115226488 B CN115226488 B CN 115226488B
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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
An integrative device is picked in tealeaves separation is fixed on the running gear of picking the 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, erects frame lower extreme perpendicular to crossbearer setting, and the upper end is connected with the running gear of picking the robot, the tea fill sets up the one end at the crossbearer, separation module and pick the module and all set up the other end at the crossbearer, separation module can dial non-target tealeaves, it can be with pulling out the connection of breaking target tealeaves and its 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 be through the upset motor to pick the tea fill rotation, puts into the tea fill with the tealeaves that the separation was picked down, and the stroke is short, and the action is fast, has effectively improved the efficiency of picking.
Description
Technical Field
The utility model relates to the technical field of intelligent visual identification, in particular to a tea separating and picking integrated device.
Background
Tea is taken as one of important cultural marks of China, and the tea beverage prepared by the tea is taken as one of three beverages in the world and is deeply favored by people in various countries. Thus, there is a great demand for tea throughout the world, and China, the largest tea production country in the world, also has the largest tea production industry throughout the world.
Although China has huge tea yield, the produced tea is mainly supplied for domestic consumption, and because domestic tea consumers are influenced by long-standing tea cultures, the tea has a severe standard, so that the production of the Chinese tea is still mainly carried out by manual picking.
Some tea manufacturers at present adopt the operation that picking robot carried out the tea-leaf, hopefully can reduce the consumption of human cost, but the picking module of picking robot in the present market need remove longer distance between target tealeaves and tea bucket, consume a large amount of time just can put into the tea bucket with picking the tealeaves that picks, pick inefficiency moreover, pick comparatively coarsely, unable accurate location target tealeaves often mix tea stalk and old leaf in the tealeaves of gathering, seriously influence the tealeaves quality, this is also the reason that chinese tea enterprise still adopts the manual work to pick tealeaves, but the manual work needs to consume a large amount of human cost, and picking efficiency is low, be unfavorable for tealeaves manufacturing enterprise's expansion production scale.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model provides an integrated device for separating and picking tea leaves.
The technical scheme of the utility model is as follows:
an integrative device is picked in tealeaves separation is fixed on the running gear of picking the 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, erects frame lower extreme perpendicular to crossbearer setting, and the upper end is connected with the running gear of picking the robot, the tea fill sets up the one end at the crossbearer, separation module and pick the module and all set up the other end at the crossbearer, separation module can dial non-target tealeaves, it can be with pulling out the connection of breaking target tealeaves and its 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 be through the upset motor to pick the tea fill rotation, puts into the tea fill with the tealeaves that the separation was picked down, and the stroke is short, and the action is fast, has effectively improved the efficiency of picking.
Further, the visual recognition module comprises a plurality of recognition cameras which are all in communication connection with the control module and face the separation module and the picking module, and the recognition cameras can recognize pictures near the separation module and the picking module and transmit the recognized information back to the control module for processing.
Further, the separation module is powered by the separation motor, the separation motor is in communication connection with the control module, the separation module further comprises two groups of symmetrically arranged poking rod mechanisms, each group of poking rod mechanisms comprises a transmission gear and a poking rod, each group of transmission gears is meshed with one group of intermittent gear sets, the two groups of intermittent gear sets are asynchronously operated through one or more separation motors and can drive the poking rods of the two groups of poking rod mechanisms meshed with the two groups of intermittent gear sets to intermittently move, so that the two groups of poking rods do asynchronous stretching motions, and the target tea leaves and the non-target tea leaves are intermittently poked to be separated, so that the picking mechanism is prevented from picking the non-target tea leaves, and good space environment is provided for identifying, positioning and picking the target tea leaves.
Further, 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 claw part, the clamping claw part is a parallelogram four-bar transmission mechanism, and the picking motor can drive the transmission mechanism of the clamping claw part to enable the clamping claw part to extend forwards to pick target tea leaves.
The tea separating and picking integrated device comprises the separating module, the mounting table is arranged above the picking module, and the separating module can conveniently pull out non-target tea leaves from the lower side.
Further, the poking rod mechanism further comprises a crank rocker part, the crank rocker part is arranged at the lower part of the mounting table, and the crank rocker part is coaxially connected with the transmission gear through the crank part, so that continuous rotation of the separation motor can be converted into intermittent rotation in opposite directions of the two crank parts.
Further, the crank part is parallel to the installation table, the tail end of the crank part is provided with a telescopic rod which is arranged in the same direction, the extending end of the telescopic rod is rotationally connected with the rear end of the poking rod through a rotating shaft, and the installation table is provided with a guide rail groove at the relative position of the upper end of the rotating shaft, so that the upper end of the rotating shaft can be inserted into the guide rail groove and can only move along the guide rail groove.
Furthermore, a positioning ring is rotationally connected to the lower part of the mounting table, the front end of the poking rod penetrates through the positioning ring, the shape of the guide rail groove comprises a capital English letter 'D', the guide rail groove consists of a straight line section and a curve section, and the curve section is close to the center direction of the mounting table, so that the movement track of the poking rod can be in central symmetry with the shape of the guide rail groove by taking the positioning ring as a midpoint.
The tea leaf separating and picking integrated device comprises a tea leaf separating and picking integrated device body, wherein the tea leaf separating and picking integrated device body is arranged on the tea leaf separating and picking integrated device body, the tea leaf separating and picking integrated device body is further provided with a mounting plate above the mounting table, the mounting plate is rotatably connected with an output shaft of a turnover motor towards one side of a tea leaf hopper, the turnover motor can drive a picking module to turn over through the turnover mounting plate, and the other side of the mounting plate is fixedly provided with a picking motor which provides a fixed position for the picking motor.
Further, 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 meshed and connected with an output shaft of the picking motor through a gear.
Further, the drive mechanism includes left clamping part and right clamping part that mirror symmetry set up, left side clamping part and right clamping part are constituteed 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 disconnected 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 driving lever adjacent end of left side clamping part and right clamping part is connected through gear engagement to also be connected through gear engagement with picking between the output shaft of motor, make picking motor can drive the driving lever of left side clamping part and right clamping part and 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 pull out target tea.
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 target tea leaves, and the pulling-off unit can pull the target tea leaves off the stem in a pulling mode.
The utility model provides a integrative device is picked in tealeaves separation, visual recognition module includes two identification cameras, is identification camera and lower identification camera respectively, go up the identification camera setting and put on the vertical frame top, down towards picking the clamping jaw head position of module, lower identification camera sets up in the mount table top to also towards clamping jaw head position, carries out accurate three-dimensional positioning to target tealeaves through last identification camera and lower identification camera.
The utility model has the beneficial effects that:
1. according to the tea leaf separating and picking integrated device, the picking module of the device can directly put picked target tea leaves into the tea bucket in a overturning manner through the overturning motor, so that the time required for transferring after the tea leaves are picked is reduced, the tea picking process is accelerated, the tea picking efficiency is effectively improved, and the expansion of the production scale of tea enterprises is facilitated;
2. the device is provided with the separating module which is specially used for separating target tea and non-target tea, can separate the non-target tea, avoids picking the non-target tea, and provides a good space environment for identifying, positioning and picking the target tea;
3. according to the tea separating and picking integrated device, the upper identification camera and the lower identification camera are arranged for carrying out three-dimensional accurate positioning identification on target tea, so that the target tea can be accurately picked, sundries in the tea are prevented from being mixed, and the tea quality is influenced;
4. according to the tea separating and picking integrated device, the separating module of the device can insert the separating rod between target tea and non-target tea and separate the non-target tea, so that the quality of the tea is prevented from being influenced due to the fact that the picking module picks up the non-target tea.
5. According to the tea separating and picking integrated device, the elastic clamping unit and the pulling-out unit of the picking module of the device can pre-clamp target tea, and then the target tea is separated from the tea tree in a pulling-out mode, so that the outflow and oxidization of juice in the target tea are reduced in comparison with a shearing mode, and the commodity value of the picked tea is improved.
Drawings
The aspects and advantages of the present utility model 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 utility model.
In the drawings:
fig. 1 is a schematic structural view of an integrated tea leaf separating and picking device in embodiment 1;
fig. 2 is a schematic structural diagram of the picking module in the default state in embodiment 1;
fig. 3 is a schematic structural view of the picking module in the toppled state in embodiment 1;
fig. 4 is a schematic structural diagram of the separation module in embodiment 1;
fig. 5 is a plan view of the separation module in embodiment 1;
fig. 6 is a schematic view of the picking module in embodiment 1;
fig. 7 is a schematic view showing the structure of the opened state of the jaw head in embodiment 1;
fig. 8 is a schematic structural view showing a gripping state of the jaw head in the present embodiment 1;
the components represented by the reference numerals in the figures are:
1. a support frame; 11. a vertical frame; 12. a cross frame; 13. a mounting plate; 15. a turnover motor; 2. a visual recognition module; 21. a top recognition camera; 22. a lower recognition camera; 3. a separation module; 31. separating the motor; 32. a mounting table; 33. a poking-off lever; 34. an intermittent gear set; 35. a crank rocker portion; 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 rod; 44. a driven rod; 45. a clamping claw rod; 46. a jaw head; 47. an elastic clamping block; 48. pulling off the cutting; 49. pulling out the breaking groove; 5. tea bucket.
Detailed Description
The utility model will now be further described with reference to specific embodiments and further examples, which are given for illustration only and are not intended to limit the scope of the utility model.
The specific embodiment is as follows:
example 1
Referring to fig. 1-8, an integrated device is picked in tealeaves separation, fix on the running gear of picking robot, be used for collecting and picking tealeaves, it includes support frame 1, visual identification module 2, separation module 3, picking module 4, tea fill 5 and control module, support frame 1 includes erects frame 11 and crossbearer 12, erects frame 11 lower extreme perpendicular to crossbearer 12 and sets up, the upper end is connected with the running gear of picking robot, tea fill 5 sets up the one end at crossbearer 12, separation module 3 and picking module 4 set up the other end at crossbearer 12, separation module 3 can be dialled non-target tealeaves, picking module 4 can be with plucking the target tealeaves that separation module 3 separated and its stem be connected, still be provided with upset motor 15 between picking module 4 and the crossbearer 12, upset motor 15 and control module communication are connected, picking module 4 can be through upset motor 15, towards tea fill 5 rotation, put into tea fill 5 with the separation, and short stroke, the tea fill 5 is picked up, and the effective time of picking is shortened in the movement, and tea fill 5 is effectively improved.
Preferably, the running gear of this embodiment is, but not limited to, a running gear disclosed in the utility model CN216930920U by the inventor, which has a specific description of the running gear, and because the structure of the running gear is not the focus of protection of the present utility model and is a known technology, it is not repeated here.
Preferably, the vertical frame 11 adopts 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 retract, so as to drive the separation module 3, the picking module 4 and the tea bucket 5 to descend or ascend.
Further, the visual recognition module 2 comprises a plurality of recognition cameras which are all in communication connection with the control module and face the separation module 3 and the picking module 4, and the recognition cameras can recognize pictures near the separation module 3 and the picking module 4 and transmit the recognized information back to the control module for processing, so that the target tea can be correctly recognized.
Further, the separation module 3 is powered by the separation motor 31, the separation motor 31 is in communication connection with the control module and controlled by the control module, the separation module 3 further comprises two groups of separation rod mechanisms which are symmetrically arranged, each group of separation rod mechanisms comprises a transmission gear and a separation rod 33, each group of transmission gears is meshed with one group of intermittent gear sets 34, the two groups of intermittent gear sets 34 can drive the separation rods 33 of the two groups of separation rod mechanisms meshed with the separation gears to do intermittent motion through one or more separation motors (31), so that the two groups of separation rods 33 do asynchronous forward motion, the separation rods 33 of one group of separation rod mechanisms are inserted between target tea leaves and non-target tea leaves firstly, the non-target tea leaves are separated from the target tea leaves, and then the separation rods 33 of the other group of separation rod mechanisms are driven to do the same motion, so that the picking mechanism can avoid 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 conveniently pull out non-target tea leaves from the lower side, and only the target tea leaves are left for the picking module 4 to pick, so that the picking module 4 is prevented from picking the non-target tea leaves to affect the quality of the tea leaves.
Further, the separating rod mechanism further includes a crank rocker portion 35, the crank rocker portion 35 is mounted at the lower portion of the mounting table 32, and is coaxially connected with the transmission gear through the crank portion, so that the continuous rotation of the separating motor 31 can be converted into intermittent rotation in opposite directions of the two crank portions.
Further, the crank part is disposed parallel to the mounting table 32, the end of the crank part is provided with a telescopic rod 36 disposed in the same direction, the extending end of the telescopic rod 36 is rotatably connected with the rear end of the pulling-out rod 33 through a rotation shaft 39, and the mounting table 32 is provided with a guide rail groove 38 at a relative position of the upper end of the rotation shaft 39, so that the upper end of the rotation 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 under the mounting table 32, the front end of the pulling rod 33 passes through the positioning ring 37, the shape of the guide rail groove 38 is a capital english letter "D", and is composed of a straight line section and a curve section, the curve section is close to the center direction of the mounting table 32, the movement track of the pulling rod 33 can be symmetrical with the shape of the guide rail groove 38 with the positioning ring 37 as a midpoint, when the upper end of the rotating shaft 39 moves in the straight line section of the guide rail groove 38, the pulling rod 33 is obliquely inserted between the target tea and the non-target tea, then the rotating shaft 39 continues to move along the guide rail groove 38, the straight line section enters the curve section, the pulling rod 33 continuously pulls the non-target tea outwards, at this time, the gear at the upper end of the crank rocker 35 is meshed with the toothless part of the intermittent gear, so that the pulling rod 33 is in a fixed state, and when the gear at the upper end of the crank rocker 35 is meshed with the toothed part of the intermittent gear again, the next separating operation is started.
Referring to fig. 1-3 and 6, a mounting plate 13 is further disposed above the mounting plate 32, the mounting plate 13 is rotatably connected with an output shaft of the turnover motor 15 toward one side of the tea bucket 5, the turnover motor 15 can drive the picking module 4 to turn over through the turnover mounting plate 13, and a picking motor 41 is fixed on the other side of the mounting plate 13 to provide a fixed position for the picking motor 41.
Further, the picking module 4 is powered by the picking motor 41, the picking motor 41 is in communication connection with the control module and controlled by the control module, the picking module 4 further comprises a clamping claw portion, the clamping claw portion is a parallelogram four-bar transmission mechanism, and the picking motor 41 can drive the transmission mechanism of the clamping claw portion, so that the clamping claw portion can extend forwards to pull out the separating module 3 to separate the rest target tea leaves.
Further, the clamping jaw portion of the picking module 4 further comprises a fixing plate 42, the fixing plate 42 is vertically connected to one side, far away from the tea bucket 5, of the mounting plate 13, the transmission mechanism of the clamping jaw portion is movably connected to the fixing plate 42 and is in meshed connection with the output shaft of the picking motor 41 through a gear, the fixing plate 42 provides a position for the transmission mechanism to mount, and the picking motor 41 drives the transmission mechanism to move through gear meshing, so that the action of pulling out tea leaves is completed.
Further, the transmission mechanism comprises a left clamping part and a right clamping part which are arranged in a mirror symmetry mode, 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, the head part of the clamping jaw rod 45 is provided with a clamping jaw head 46 for pulling off tea leaves, the tail end of the clamping jaw rod is rotationally connected with one end of the driving rod 43, one end of the driven rod 44 is rotationally connected between the head part and the tail end of the clamping jaw rod 45, the other end of the driven rod 44 is rotationally connected with the fixed plate 42, the adjacent ends of the driving rod 43 of the left clamping part and the adjacent end of the driving rod 43 of the right clamping part are in meshed connection through gears, and the driving rod 43 of the left clamping part and the driving rod 43 of the right clamping part are also in meshed connection through gears, so that the picking motor 41 can drive the driving rod 43 of the left clamping part and the right clamping part to synchronously rotate in opposite directions, the distance between the clamping jaw rods 45 is increased or decreased, and accordingly the clamping jaw head 46 can perform loosening or clamping operations.
Further, the length of the clamping jaw rod 45 is matched with the length of the poking rod 33 of the separation module 3, so that the poking rod 33 of the separation module 3 can poke the non-target tea below the clamping jaw head 46, and the picking module 4 can accurately pick the residual target tea from the separation module 3.
Further, 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 pull out tea leaves.
As a preferred way, referring to fig. 7 and 8, an elastic clamping unit and a breaking unit are disposed on the inner side of the clamping jaw 46, the elastic clamping unit includes an elastic clamping block 47 symmetrically disposed on the inner side of the clamping jaw 46, the elastic clamping block 47 can pre-clamp the target tea when the clamping jaw 46 on both sides are close to each other, the breaking unit includes a breaking groove 49 and a breaking cutting 48 disposed on the inner side of the clamping jaw 46 on both sides, the breaking cutting 48 can be inserted into the breaking groove 49, under the pre-clamping action of the elastic clamping unit, the target tea is broken from the stem in a pulling manner, compared with the operation of cutting the target tea by the traditional tea picking robot, the breaking manner can reduce the outflow of juice in the tea, and the flavor and quality of the picked tea can be ensured.
Referring to fig. 1-3, the visual 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 at the top end of the vertical frame 11 and faces downwards to the position of the clamping jaw 46 of the picking module 4, the target tea picked by the clamping jaw 46 is recognized and positioned in the vertical direction, the lower recognition camera 22 is disposed above the mounting table 32 and faces towards the position of the clamping jaw 46, the target tea is recognized and positioned in the transverse direction, and the accurate three-dimensional positioning is performed on the target tea through the upper recognition camera 21 and the lower recognition camera 22, so that the tea stem or old leaf mixed in the tea is prevented from affecting the tea quality.
As an preference, this embodiment other cameras adopt the binocular camera of range finding, and the binocular camera recognition accuracy of range finding is higher to can accurate measurement target tealeaves and the distance between the camera, fix a position target tealeaves, effectively improve the separation of the integrative device of picking separates the accurate degree of picking.
The tea leaf separating and picking integrated device has the following working principle:
1) The upper recognition camera 21 recognizes tea leaves in a tea field, screens out target tea leaves to be picked, determines the distance between the target tea leaves and the upper recognition camera 21, transmits signals to the control module, and the control module sends signals to control the travelling mechanism to move the separating and picking integrated device to the position 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 recognition camera 21, and drives the separation module 3, the picking module 4 and the tea bucket 5 to descend to the same height as the target tea;
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 rotating;
4) The separating motor 31 firstly drives a group of separating rods 33 of the separating rod mechanism to be inserted between the target tea leaves and one side of the non-target tea leaves through the intermittent gear set 34, then drives the separating rods 33 of the other group of separating rod mechanism to be inserted between the target tea leaves and the other side of the non-target tea leaves, and separates the other side of the non-target tea leaves and only leaves 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 rods 45 extend forwards, and the clamping jaw heads 46 at the heads of the clamping jaw rods 45 pull out the connection between the target tea leaves and stems and clamp the target tea leaves;
6) The control module controls the overturning motor 15 to drive the picking module 4 to overturn towards the tea bucket 5, so that the clamping jaw heads 46 clamp the picked target tea leaves to come above the tea bucket 5;
7) The control module controls the picking motor 41 to reversely rotate, the clamping jaw rod 45 is retracted, the clamping jaw head 46 also loosens the clamping of the target tea leaves, and the target tea leaves fall into the tea hopper 5;
8) The control module controls the overturning motor 15 to reversely rotate to drive the picking module 4 to return to the original position, and the next target tea leaves are identified and picked.
Compared with the traditional picking robot's collection mode, the integrative device is picked in tealeaves separation has set up separating mechanism and has separated non-target tealeaves, makes picking module 4 only can gather target tealeaves, has improved the precision of picking tealeaves greatly, has guaranteed the quality of wiping tealeaves, moreover the picking mechanism of device only need overturn towards tea bucket 5 under the drive of upset motor 15, can put into tea bucket 5 with the tealeaves of picking, need not need make a round trip between tea bucket 5 and the target tealeaves again like traditional picking robot, has effectively shortened the tealeaves that will be picked and has put into tea bucket 5 required time, and tea harvesting efficiency has obtained effective improvement, is favorable to tea enterprise expansion production scale.
Claims (10)
1. The utility model provides an integrative device is picked in tealeaves separation, fixes on the running gear of tea-leaf picking robot for collect and pick tealeaves, a serial communication port, including support frame (1), visual identification module (2), separation module (3), pick module (4), tea fill (5) and control module, support frame (1) include erect frame (11) and crossbearer (12), erect frame (11) lower extreme perpendicular to crossbearer (12) set up, the upper end is connected with the running gear of tea-leaf picking robot, tea fill (5) set up the one end at crossbearer (12), separation module (3) and pick module (4) all set up the other end at crossbearer (12), separation module (3) can dial non-target tealeaves out, pick module (4) can be with the connection of pulling out target tealeaves and its stem, pick module (4) and crossbearer (12) between still be provided with upset motor (15), upset motor (15) are picked with control module communication, module (4) can be through upset motor (15) orientation tea fill (5);
the visual recognition module (2) comprises a plurality of recognition cameras which are all 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 separation rod mechanisms which are symmetrically arranged, each group of separation rod mechanisms comprises a transmission gear and a separation rod (33), each group of transmission gears is in meshed connection with one group of intermittent gear sets (34), the two groups of intermittent gear sets (34) act asynchronously through one or more separation motors (31), and the separation rods (33) of the two groups of separation rod mechanisms meshed with the separation motors can be driven to do intermittent motion, so that the two groups of separation rods (33) do asynchronous forward extending actions;
the picking module (4) is powered by the picking motor (41), the picking motor (41) is in communication connection with the control module, the picking module (4) further comprises a clamping claw part, the clamping claw part is a parallelogram four-bar transmission mechanism, and the picking motor (41) can drive the transmission mechanism of the clamping claw part to enable the clamping claw part to extend forwards to pick target tea leaves.
2. An integrated tea leaf separating and picking device according to claim 1, wherein the separating module (3) further comprises a mounting table (32), and the picking module (4) is arranged above the mounting table (32).
3. An integrated tea leaf separating and picking device according to claim 2, wherein the separating rod mechanism further comprises a crank-rocker part (35), the crank-rocker part (35) is arranged at the lower part of the mounting table (32), and is coaxially connected with the transmission gear through the crank part.
4. A tea leaf separating and picking integrated device according to claim 3, wherein the crank part is arranged parallel to 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 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 rotating shaft (39) can only move along the guide rail groove (38).
5. The tea leaf separating and picking integrated device according to claim 4, wherein a positioning ring (37) is rotatably connected below the mounting table (32), the front end of the pulling-out rod (33) passes through the positioning ring (37), the shape of the guide rail groove (38) comprises a capital English letter "D" shape, the guide rail groove consists of a straight line section and a curve section, and the curve section is close to the center direction of the mounting table (32).
6. The tea leaf separating and picking integrated device according to claim 2, wherein 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 overturning motor (15), and a picking motor (41) is fixed on the other side of the mounting plate (13).
7. The tea leaf separating and picking integrated device according to claim 6, wherein 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, far away from the tea bucket (5), of the mounting plate (13), and the transmission mechanism of the clamping jaw part is movably connected to the fixing plate (42) and is meshed and connected with an output shaft of the picking motor (41) through a gear.
8. The tea leaf separating and picking integrated device according to claim 7, wherein the transmission mechanism comprises a left clamping part and a right clamping part which are arranged in a mirror symmetry mode, 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 out tea leaves, the tail end of the clamping jaw rod is rotationally connected with one end of the driving rod (43), one end of the driven rod (44) is rotationally connected between the head and the tail end of the clamping jaw rod (45), the other end of the driven rod is rotationally connected with a fixing plate (42), the adjacent ends of the driving rods (43) of the left clamping part and the right clamping part are in gear engagement connection, and the driving rods (43) of the left clamping part and the right clamping part are also in gear engagement connection with an output shaft of the picking motor (41), and 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.
9. A tea leaf separating and picking integrated device according to claim 8, characterized in that the length of the driving rod (43) is the same as the length of the driven rod (44), and that a parallelogram is formed between 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 visual recognition module (2) comprises two recognition cameras, an upper recognition camera (21) and a lower recognition camera (22), respectively, the upper recognition camera (21) is arranged at the top end of the vertical frame (11), facing downwards towards the picking module (4) position, and the lower recognition camera (22) is arranged above the mounting table (32) and also facing towards the picking module (4) position.
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| AU3585299A (en) * | 1998-06-23 | 2000-01-06 | Francis Ezio Bianchin | Cutting apparatus |
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| 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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