CN210753901U - Mechanical hand of picking of tealeaves impurity - Google Patents

Abstract

The utility model provides a manipulator of choosing of tealeaves impurity, this manipulator of choosing of tealeaves impurity includes: the mechanical arm and the taking-out device arranged at the movable end of the mechanical arm can drive the taking-out device to move, and the taking-out device can adsorb or fix impurities. Through the utility model discloses, realized getting rid of the impurity in the tealeaves with higher precision and higher efficiency, reduced the damage of edulcoration in-process to tealeaves.

Description

Mechanical hand of picking of tealeaves impurity

Technical Field

The utility model relates to a tealeaves processing technology field especially relates to a manipulator is chosen to tealeaves impurity.

Background

Impurity removal is an important step in tea production. During the picking process of tea, impurities such as gravel, couch grass, stick and the like are often mixed in the tea; the impurities are removed by impurity removal so as to ensure the quality of the tea. At present, manual picking is the common technological mode of tealeaves edulcoration, but, manual picking needs to consume a large amount of manpowers, and work efficiency is low to, because operating personnel's individual difference, be difficult to ensure the stability of getting rid of the effect of picking of impurity.

Because tealeaves and impurity mix together, lead to the automatic realization degree of difficulty of tealeaves edulcoration great. At present, in order to improve the efficiency and the degree of automation of tealeaves edulcoration, adopt selection by winnowing or look to select usually, but at selection by winnowing, look selection in-process, tealeaves receives the impact collision, and tealeaves is easily damaged, has influenced the tealeaves quality, and a large amount of qualified tealeaves can also be got rid of along with impurity is separated together moreover, causes a large amount of tealeaves extravagant.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator is chosen to tealeaves impurity to the realization is got rid of the impurity in the tealeaves with higher precision and higher efficiency, reduces the damage of edulcoration in-process to tealeaves.

The above object of the present invention can be achieved by the following technical solutions:

the utility model provides a manipulator of choosing of tealeaves impurity, include: the mechanical arm and the taking-out device arranged at the movable end of the mechanical arm can drive the taking-out device to move, and the taking-out device can adsorb or fix impurities.

In a preferred embodiment, the mechanical arm comprises a translation mechanism and a vertical telescopic arm arranged at the movable end of the translation mechanism, the taking-out device is arranged on the vertical telescopic arm, and the vertical telescopic arm can drive the taking-out device to move up and down relative to the translation mechanism; the translation mechanism can drive the vertical telescopic arm and the taking-out device to move in a horizontal plane.

In a preferred embodiment, the translation mechanism comprises a support seat, a first horizontal rotating arm and a second horizontal rotating arm; the first end of the first horizontal rotating arm is arranged on the supporting seat, and the first horizontal rotating arm can rotate on the supporting seat; the first end of the second horizontal rotating arm is arranged at the second end of the first horizontal rotating arm, and the second horizontal rotating arm can rotate on the first horizontal rotating arm; the upper end of the vertical telescopic arm is installed at the second end of the second horizontal rotating arm.

In a preferred embodiment, the vertical telescopic arm comprises a pneumatic cylinder or an electric cylinder.

In a preferred embodiment, the extraction device comprises a suction head and a suction source connected to the suction head, the suction head being mounted on a movable end of the robot arm.

In a preferred embodiment, the suction head has a cylindrical shape, an upper end of the cylindrical suction head is connected to the suction source, and a lower end of the cylindrical suction head is a suction port.

In a preferred embodiment, the internal diameter of the adsorption port ranges from 5mm to 20 mm.

In a preferred embodiment, the suction head is arranged in a vertical direction.

In a preferred embodiment, the taking-out device includes a support frame fixed at the movable end of the robot arm, the support frame is provided with a suction head port communicated with the suction source, and the suction head is detachably connected to the support frame and communicated with the suction head port.

In a preferred embodiment, the suction source comprises a vacuum pump and a dust bin connected to the vacuum pump, the dust bin being connected to the suction head by a hose, the vacuum pump providing suction to draw impurities through the suction head into the dust bin.

The utility model discloses a characteristics and advantage are:

use the utility model provides a during manipulator is chosen to tealeaves impurity, robotic arm drives the remove device motion to the impurity position, and remove device adsorbs or fixes impurity to separate impurity from tealeaves. Should choose the manipulator and can avoid producing the interference to the region beyond the impurity position, reduced the damage that tealeaves received to and reduce qualified tealeaves and be got rid of by the separation, improved the accuracy and the edulcoration efficiency of getting rid of impurity.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a first embodiment of a tea leaf impurity removal production line;

FIG. 2 is an isometric view of a second embodiment of a tea trash extraction line;

FIG. 3 is a front view of the tea trash removal line shown in FIG. 2;

FIG. 4 is a top view of the tea leaf de-burring line shown in FIG. 2;

fig. 5 is an isometric view of a picking manipulator provided by the present invention;

fig. 6 is a front view of the picking robot provided by the present invention;

fig. 7 is a schematic diagram of a suction source in a picking robot according to the present invention.

The reference numbers illustrate:

10. a conveyor belt device; 101. identifying a station; 102. a picking station; 11. a first speed ratio transmission device; 12. a second speed ratio transmission device; 131. a first pulley mechanism; 132. a second pulley mechanism;

20. a picking manipulator;

21. a take-out device; 211. a suction head; 2111. an adsorption port; 212. a suction source; 2121. a vacuum pump; 2122. a dust collection box; 213. a support frame; 214. a suction head port; 215. a hose;

22. a robot arm; 220. a translation mechanism; 221. a first horizontal rotating arm; 222. a second horizontal rotating arm; 223. a vertical telescopic arm; 224. a supporting seat;

23. a second protective cover;

30. a tea aligning device; 31. a temporary tea storage hopper; 321. a first vibrator; 322. a second vibrator; 323. a third vibrator; 33. a magnetic bar; 34. an electrostatic adsorption bar; 35. a first protective cover;

40. an impurity identification system; 41. a camera; 42. an identification device; 43. a shooting box;

50. re-checking the circulating conveyer belt; 51. a horizontal conveyor line; 52. inclining the conveying line; 53. a receiving hopper;

61. a tea leaf collecting hopper; 62. and (5) a turnover box.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a manipulator is picked to tealeaves impurity, including robotic arm with install in robotic arm's expansion end's remove device, robotic arm can drive remove device removes in it picks the region, remove device can adsorb or fix impurity.

When the picking manipulator is used, the mechanical arm drives the taking-out device to move to the impurity position, and the taking-out device adsorbs or fixes impurities, so that the impurities are separated from the tea leaves. Should choose the manipulator and can avoid producing the interference to the region beyond the impurity position, reduced the damage that tealeaves received to and reduce qualified tealeaves and be got rid of by the separation, improved the accuracy and the edulcoration efficiency of getting rid of impurity.

This pick manipulator can be applied to tealeaves edulcoration production line. In order to make the working process of the picking manipulator easier to understand, the working process of the picking manipulator applied to the tea leaf impurity removing production line is described by way of example.

Fig. 1-4 are schematic structural diagrams of a tea leaf impurity removal production line, which comprises: the conveying belt device 10 is used for conveying tea leaves, the tea leaf arraying device 30, the impurity recognition system 40 and the picking manipulator 20 provided by the utility model; the conveyor belt device 10 is provided with a belt, and the belt can drive the tea leaves on the belt to move together when in operation; the tea aligning device 30 is used for flatly laying tea at the feeding end of the conveyor belt device 10; the impurity identification system 40 is used for identifying impurities in the tea and marking the positions of the impurities on the conveyor belt device 10; the picking robot 20 is used to take out the foreign substances arriving on the conveyor belt device 10 within its picking area according to the position information marked by the foreign substance recognition system 40.

When the tea impurity removal production line is used, the tea arraying device 30 lays the tea on the conveyor belt device 10, so that the tea and the impurities in the tea are spread on the conveyor belt device 10, and the tea and the impurities are conveniently identified in the following process; the conveyor belt device 10 conveys the tea leaves to the impurity recognition system 40 and the picking area of the picking robot 20; the foreign substance recognition system 40 marks the position of the foreign substance, and the picking robot 20 takes out the foreign substance according to the marked position. The picking manipulator 20 has a fast moving speed, and can take out impurities from the tea leaves with high efficiency; moreover, the picking manipulator 20 performs the picking action on the specific marked position, so that qualified tea leaves can be removed, damage to the tea leaves is effectively reduced, and the improvement of the quality of the tea leaves is facilitated.

The identification and marking of the impurities is performed by means of an impurity identification system 40, and the picking out of the impurities is performed by means of a picking robot 20, both in steps. In order to further improve the working efficiency, the conveyor belt device 10 is provided with an identification station 101 and a picking station 102, the impurity identification system 40 is arranged at the identification station 101, and the picking manipulator 20 is arranged at the picking station 102; the recognition station 101 is arranged on one side of the picking station 102 close to the feeding end of the conveyor belt device 10, and the tea leaves are driven by the conveyor belt device 10 to sequentially pass through the recognition station 101 and the picking station 102, and after recognition and marking of impurities are completed on the recognition station 101, the tea leaves move to the picking station 102 to pick and take out the impurities. Thus, the impurity recognition system 40 and the picking manipulator 20 can operate simultaneously, so that work pause is reduced, and the impurity removal work efficiency is improved.

The structure and the working flow of the tea leaf impurity removing production line are described above, and the impurity identifying system 40 is described in detail below.

The foreign matter identification system 40 comprises an identification means 42 and at least one camera 41, the camera 41 being used for taking a picture of tea leaves arriving on the conveyor belt device 10 in its shooting area, the identification means 42 being used for identifying and marking the position of foreign matter in the picture. The camera 41 is installed at the recognition station 101, the camera 41 can photograph a length of area on the conveyor belt apparatus 10, the area is a photographing area of the camera 41, that is, a recognition area of the foreign matter recognition system 40, and each coordinate point on a photograph photographed by the camera 41 corresponds to each coordinate point of the photographing area on the conveyor belt apparatus 10 in a one-to-one manner. The picture is transferred to the recognition means 42, the impurities in the picture are recognized by the recognition means 42, and coordinate points of the respective impurities are marked, which are recorded as impurity positions.

The tea leaves and impurities in the tea leaves in the shooting area which are shot are driven by the conveyor belt device 10 to move to the picking area, and the coordinate points of the picking area correspond to the coordinate points of the shooting area; the recognition device 42 transmits the coordinate point information of the marked impurity position to the control device of the picking manipulator 20, and the coordinate points of each impurity in the picking area can be obtained according to the movement time, the movement speed and the movement distance of the tea leaves and the impurities therein, which are driven by the conveyor belt device 10, between the shooting area and the picking area, and the picking manipulator 20 picks and takes out the impurities of each coordinate point.

The color of the impurities such as sand, sticks, etc. is different from the color of the tea leaves, and in some embodiments, the identification device 42 identifies the impurities by color.

The shape of the impurities, such as sand, stick, thatch, animal hair, etc., is different from the shape of the tea leaves, and in some embodiments, the recognition device 42 recognizes the impurities by the shape.

The particles of sand are generally small and vary widely from the size of the tea leaves and in some embodiments the identification means 42 identifies the impurities by size.

In one embodiment of the present invention, the recognition device 42 includes a display device, the picture taken by the camera 41 is transmitted to the display device, the screen of the display device displays the picture, and the coordinate points on the screen correspond to the coordinate points on the picture; the operator observes the photograph, recognizes the foreign matter in the photograph, and clicks the screen, and the recognition device 42 records the clicked position on the screen as the foreign matter position, thereby obtaining the coordinate point of each foreign matter position in the photograph. The operator observes through the screen, and the more be convenient for discernment through the mode of clicking, can mark out the position of impurity more high-efficiently simultaneously. For convenience of operation, the screen of the display device is a touch display screen.

As shown in fig. 1 and 4, the foreign substance identification system 40 includes a plurality of cameras 41, the plurality of cameras 41 are distributed along the width direction of the conveyor belt apparatus 10 to better cover the shooting area, and the image data shot by the plurality of cameras 41 can be synthesized into one picture to improve the picture quality and facilitate identification. Preferably, the camera 41 is installed above the conveyor belt device 10 with the lens facing downward for shooting.

In order to further improve the quality of the picture, the foreign substance identification system 40 includes a photographing box 43 and a light source, the photographing box 43 is provided on the conveyor belt device 10, both ends of the bottom of the photographing box 43 are provided with notches through which the tea leaves pass, and the camera 41 and the light source are both provided in the photographing box 43. The box of shooting case 43 can the separation outside light get into the incasement, and the conveyer belt equipment 10 of light source in to shooting case 43 shines to reduce outside light's interference, make the light of shooting the region more stable, be favorable to the quality of the photo of guarantee. Further, the light source includes a plurality of luminous bodies that distribute in the inner wall of shooting the case, and a plurality of luminous bodies shine conveyer belt equipment 10 along a plurality of directions, can reduce the tealeaves of shooting the region and the shade on the impurity wherein.

The contaminant identification system 40 has been described in detail above, followed by the tea alignment device 30.

As shown in fig. 2 and 4, the tea aligning device 30 includes a tea temporary storage hopper 31, and the tea temporary storage hopper 31 is provided with a tea outlet.

In some embodiments, the tea leaf discharge opening is directed downward and is disposed along the width of the conveyor belt apparatus 10. In the process of uniform motion of the conveyor belt device 10, tea leaves in the tea leaf temporary storage hopper 31 fall onto the conveyor belt device 10 through the tea leaf discharge port, and the tea leaves can be flatly laid on the conveyor belt device 10.

In other embodiments, the tea aligning device 30 comprises a first vibrator 321, the first vibrator 321 being arranged at the feeding end of the conveyor belt apparatus 10 for applying tea leaves onto the conveyor belt apparatus 10. As shown in fig. 2, the tea temporary storage hopper 31 is installed above the first vibrator 321; first vibrator 321 includes first carrier surface, and tealeaves discharge port orientation first carrier surface of the tealeaves hopper 31 of keeping in, tealeaves fall down on first carrier surface, and first carrier surface drives tealeaves and advances to the material loading end of conveyer belt equipment 10, and simultaneously, first carrier surface makes vibrating motion, drives tealeaves and vibrates to make tealeaves spread gradually.

Specifically, the first vibrator 321 may employ a vibrating conveyor or a vibrating feeder. For example: the first vibrator 321 comprises a frame body, a conveying belt and a cam mechanism, the conveying belt is mounted on the frame body through a roller, the first carrying surface is the top surface of the conveying belt, and the roller can drive the conveying belt to move so that the tea leaves on the first carrying surface move forwards; the cam mechanism is connected with the conveying belt to drive the conveying belt to make vibration motion.

Preferably, the first carrying surface is vibrated in a horizontal direction perpendicular to an advancing direction thereof to spread the tea leaves.

Further, the tea alignment device 30 includes a second vibrator 322, and the structure of the second vibrator 322 may be the same as or different from that of the first vibrator 321. The second vibrator 322 is disposed between the feeding end of the conveyor belt apparatus 10 and the first vibrator 321. The second vibrator 322 is provided with a second carrying surface, the second carrying surface is lower than the first carrying surface, the tea leaves on the first carrying surface fall to the second carrying surface, the second carrying surface drives the tea leaves to continue to advance to the feeding end of the conveyor belt device 10, and meanwhile, the second carrying surface does vibration motion.

The first vibrator 321 and the second vibrator 322 can be set to different vibration parameters, such as different vibration frequencies and/or different vibration directions, so as to realize different vibration modes, and the first carrying surface and the second carrying surface act on the tea leaves in different vibration modes, so that the tea leaves can be dispersed more uniformly, and the laying effect is optimized.

Further, the tea alignment device 30 includes a third vibrator 323, and the third vibrator 323 may have the same structure as the first vibrator 321 or may have a different structure. The third vibrator 323 is disposed between the feeding end of the conveyor belt apparatus 10 and the second vibrator 322. The third vibrator 323 is provided with a third carrying surface, the third carrying surface is lower than the second carrying surface, tea leaves on the second carrying surface fall onto the third carrying surface, and the third carrying surface drives the tea leaves to continue to advance to the feeding end of the conveyor belt device 10, and meanwhile, the third carrying surface does vibrating motion. The first vibrator 321, the second vibrator 322 and the third vibrator 323 can be set to different vibration parameters, such as different vibration frequencies, different amplitudes and/or different vibration directions, so as to realize different vibration modes, and the first carrying surface, the second carrying surface and the third carrying surface act on the tea leaves in different vibration modes, thereby further optimizing the laying effect. As shown in fig. 1, the second vibrator and the third vibrator are provided with a first protective cover 35 in order to reduce the mixing of foreign substances.

The first vibrator 321, the second vibrator 322 and the third vibrator 323 are continuously vibrated, tea leaves in the temporary tea leaf storage hopper 31 fall on the first vibrator 321, and the first vibrator 321 drives the tea leaves to move forwards and enables the tea leaves to fall on the second vibrator 322; the second vibrator 322 drives the tea leaves to move forward and make the tea leaves fall onto the third vibrator 323; the third vibrator 323 moves the tea leaves forward and drops the tea leaves onto the conveyor belt apparatus 10. The shapes and sizes of different kinds of tea leaves are different, and the vibration frequencies of the first vibrator 321, the second vibrator 322, and the third vibrator 323 may be respectively adjusted to be suitable for different kinds of tea leaves. The vibration frequency P1 of the first vibrator 321, the vibration frequency P2 of the second vibrator 322, and the vibration frequency P3 of the third vibrator 323 may be sequentially increased or sequentially decreased. For example, for tea leaves with a poor shape regularity, it may be set as P1> P2> P3, and the first vibrator 321 first disperses the tea leaves at a high vibration frequency; then, the tea leaves are further dispersed by the second and third vibrators 322 and 323, and at the same time, the tea leaves are more uniformly dispersed.

Preferably, the first carrying surface, the second carrying surface and the third carrying surface are all inclined downwards along the advancing direction so as to drive the tea leaves to move forwards.

In an embodiment of the present invention, as shown in fig. 2 and 4, the tea arraying device 30 includes at least one magnetic bar 33 for adsorbing impurities in tea leaves, the magnetic bar 33 is disposed on a channel through which tea leaves flow in the tea arraying device 30, and the magnetic bar 33 can adsorb magnetic impurities such as metals in tea leaves, so as to cooperate with the picking manipulator 20 to remove impurities more efficiently.

The utility model discloses an in one embodiment, tealeaves permutation device 30 includes at least one electrostatic adsorption stick 34 that is arranged in adsorbing the impurity in the tealeaves, and electrostatic adsorption stick 34 locates on the passageway that tealeaves flows through in tealeaves permutation device 30, and electrostatic adsorption stick 34 can adsorb impurity such as animal hair in the tealeaves to with choose manipulator 20 and cooperate, get rid of impurity more efficiently.

For example, the tea aligning device 30 includes two magnetic rods 33 and an electrostatic adsorption rod 34, the two magnetic rods 33 are respectively disposed at the discharge port of the first carrying surface and the discharge port of the second carrying surface, and the electrostatic adsorption rod 34 is disposed at the discharge port of the third carrying surface. Magnetic rod 33 and electrostatic absorption stick 34 can reduce the kind of the impurity in the tealeaves of laying on conveyor belt equipment 10 to be convenient for impurity identification system 40 discerns impurity, improves recognition efficiency.

Having described the tea aligning apparatus 30, the specific construction of the conveyor apparatus 10 is described next.

As shown in fig. 2 and 3, the conveyor belt device 10 includes a first speed ratio conveyor device 11 and a second speed ratio conveyor device 12, the first speed ratio conveyor device is provided with a first conveyor belt, and the first conveyor belt can drive tea leaves thereon to move forwards when running; the second speed ratio conveying device is provided with a second conveying belt, and the second conveying belt can drive tea leaves on the second conveying belt to move forwards when running. The tea aligning device 30 lays the tea leaves on a first end of a first speed ratio conveyor 11, a second end of the first speed ratio conveyor 11 is connected to a first end of a second speed ratio conveyor 12, and both a shooting area of a camera 41 and a picking area of a picking robot 20 are provided on the second speed ratio conveyor 12. The third carrying surface is located higher than the first end of the first-speed-ratio conveying device 11, and the second end of the first-speed-ratio conveying device 11 is located higher than the first end of the second-speed-ratio conveying device 12. The transport speed V1 of the first-speed-ratio transport apparatus 11 and the transport speed V2 of the second-speed-ratio transport apparatus 12 can be adjusted, respectively, to be V1> V2, or V1< V2. By adjusting the conveying speed ratio of the tea leaves and the conveying speed ratio of the tea leaves, the laying effect of the tea leaves reaching the shooting area can be adjusted, and the impurity removal work efficiency is optimized. For example, when V1< V2, the density of the tea leaves distributed on the second ratio conveyor 12 can be reduced, so that the tea leaves and impurities therein are spread more dispersedly for identification and sorting; when the tea leaves are too scattered, the distribution density of the tea leaves on the second speed ratio conveying device 12 can be increased by adjusting the distribution density to V1> V2, so that the impurity removal efficiency is improved.

Specifically, as shown in fig. 2 and 3, the conveyor belt device 10 includes a motor, a first pulley mechanism 131 connecting the motor and the second-speed-ratio conveyor 12, and a second pulley mechanism 132 connecting the first-speed-ratio conveyor 11 and the second-speed-ratio conveyor 12, and the motor drives the first-speed-ratio conveyor 11 and the second-speed-ratio conveyor 12 to start and stop synchronously, so that tea leaves are reduced from being stacked at the first end of the second-speed-ratio conveyor 12. By adjusting the sizes of the pulleys in the second pulley mechanism 132, adjustment of the conveying speed ratio between the first-speed-ratio conveyor 11 and the second-speed-ratio conveyor 12 can be achieved.

Furthermore, two sides of the first speed ratio conveying device 11 and two sides of the second speed ratio conveying device 12 are respectively provided with flanges to prevent the tea leaves from falling from the two sides and reduce the loss of the tea leaves.

In an embodiment of the present invention, as shown in fig. 2, the tea leaf impurity removing production line includes a tea leaf collecting bucket 61 disposed at the second end of the second speed ratio transmission device 12, and tea leaves are conveyed to the tea leaf collecting bucket 61 after being identified and picked on the second speed ratio transmission device 12. Specifically, a circulation box 62 is provided below the tea leaf collection hopper 61. Preferably, a weighing device is arranged below the tea leaf collecting hopper 61, and the turnover box 62 is placed on the weighing device so as to measure the tea leaves subjected to impurity removal.

The situation that the tea leaves in different batches and production places contain impurities is different, so after the primary impurity removal is finished through the tea impurity removal production line, under some circumstances, impurities still exist in the tea leaves, and the impurity removal treatment needs to be carried out again. For this purpose, as shown in fig. 1 and 3, the tea leaf impurity removing line includes a re-inspection circulating conveyor 50, and when tea leaves need to be subjected to secondary impurity removal, an operator can convey the tea leaves on the second end of the second speed ratio conveyor 12 or the tea leaves in the turnover box 62 onto the re-inspection circulating conveyor 50, and convey the tea leaves back to the tea leaf temporary storage hopper 31 through the re-inspection circulating conveyor 50.

Further, the re-checking endless conveyor belt 50 includes a horizontal conveyor line 51 and an inclined conveyor line 52, the horizontal conveyor line 51 and the inclined conveyor line 52 are both disposed at one side of the conveyor belt device 10, a feeding end of the horizontal conveyor line 51 is disposed at a second end of the second-speed ratio conveyor device 12, a discharging end of the horizontal conveyor line 51 is connected to a feeding end of the inclined conveyor line 52, a discharging end of the inclined conveyor line 52 is connected to the tea temporary storage hopper 31, and the inclined conveyor line 52 upwardly conveys the tea to the tea temporary storage hopper 31. Specifically, the discharge end of the horizontal conveying line 51 is connected with the feeding end of the inclined conveying line 52 through a receiving hopper 53. Preferably, the horizontal conveyor line 51 and the inclined conveyor line 52 are provided with a hood to prevent the tea leaves from being mixed with impurities during the return flow into the tea hopper.

The utility model discloses an embodiment, picking station 102 sets up second safety cover 23, picks manipulator 20 and installs in this second safety cover 23, and the both ends bottom of second safety cover 23 is equipped with the cover bottom opening that supplies conveyor belt equipment 10 and tealeaves to pass through.

In order to improve the workability of the picking robot 20, the utility model discloses a person further improved the picking robot 20.

As shown in fig. 1, 4-6, the robot 22 can drive the taking-out device 21 to move on the conveyor belt device 10, and the taking-out device 21 is driven by the robot 22 to correspond to an area that can be covered by the conveyor belt device 10, i.e. a picking area of the picking robot 20.

In an embodiment of the present invention, the mechanical arm 22 includes a translation mechanism 220 and a vertical telescopic arm 223 mounted at the movable end of the translation mechanism 220, the taking-out device 21 is mounted at the vertical telescopic arm 223, and the vertical telescopic arm 223 can drive the taking-out device 21 to move up and down relative to the translation mechanism 220; the translation mechanism 220 is able to bring the vertical telescopic arm 223 and the extraction device 21 to move in a horizontal plane. In operation, the translation mechanism 220 drives the vertical telescopic arm 223 and the taking-out device 21 to move to the position above the coordinate marked as the impurity; then the vertical telescopic arm 223 drives the taking-out device 21 to move downwards to approach the impurities; after the taking-out device 21 completes the adsorption or fixing action of one coordinate point, the vertical telescopic arm 223 drives the taking-out device 21 to move upwards to keep a set distance with the conveyor belt device 10, and then the translation mechanism 220 drives the vertical telescopic arm 223 and the taking-out device 21 to move towards the next coordinate point.

Further, the translation mechanism 220 includes a support seat 224, a first horizontal rotating arm 221, and a second horizontal rotating arm 222; the first end of the first horizontal rotating arm 221 is mounted on the supporting seat 224, and the first horizontal rotating arm 221 can rotate on the supporting seat 224; a first end of the second horizontal rotating arm 222 is mounted at a second end of the first horizontal rotating arm 221, and the second horizontal rotating arm 222 can rotate on the first horizontal rotating arm 221; the upper end of the vertical telescopic arm 223 is mounted to the second end of the second horizontal swivel arm 222. By controlling the rotation angle of the first horizontal rotation arm 221 and the rotation angle of the second horizontal rotation arm 222, the taking-out device 21 can quickly reach the coordinate point of the position of the impurity, which is beneficial to improving the in-place speed, thereby improving the impurity removal efficiency.

Preferably, the rotation axis of the first horizontal rotation arm 221 and the rotation axis of the second horizontal rotation arm 222 are both in the vertical direction and are parallel. The vertical telescopic arm 223 includes a cylinder or an electric cylinder. Cylinder drive is selected for use when vertical flexible arm 223, can make remove device realize quick point to the displacement of point in vertical direction, further improves the efficiency of edulcoration.

The extraction device 21 is used to separate the impurities from the tea leaves and carry them away. The removing device 21 may be operated in various manners, for example, the removing device 21 may include an electrostatic ball or a magnet, and when the removing device is close to the foreign substance, the foreign substance may be fixed to the removing device 21 by an adsorption force and be separated from the tea leaves. In an embodiment of the present invention, the taking out device 21 comprises a suction head 211 and a suction source 212 connected to the suction head 211, wherein a suction port of the suction head 211 is disposed downward, and when the suction head 211 is close to the foreign substance, the suction source 212 operates to suck the foreign substance away by the suction head.

As shown in fig. 7, the suction source 212 includes a vacuum pump 2121 and a dust box 2122 connected to the vacuum pump 2121, the dust box 2122 is connected to the suction head 211 via a hose 215, the vacuum pump 2121 provides suction force to allow impurities to enter the dust box 2122 via the suction head 211, and negative pressure is generated in the dust box 2122 by the vacuum pump 2121, so that the lower end of the suction head 211 generates suction force to suck the impurities into the dust box 2122.

In one embodiment of the present invention, the suction head 211 has a cylindrical shape, the upper end of the cylindrical suction head 211 is connected to the suction source 212, and the lower end of the cylindrical suction head 211 is the suction port 2111. When the suction port 2111 comes close to the conveyor belt device 10, the suction port 2111 can cover and suck a circular area on the conveyor belt device 10. Preferably, the suction head 211 is arranged in a vertical direction to better adsorb impurities distributed along a horizontal plane.

Further, the inner diameter of the adsorption port ranges from 5mm to 20 mm. Preferably, the inner diameter of the adsorption port is φ 10 mm. The adsorption port is set to be in a proper size so as to be convenient to adapt to the type and size of impurities to be adsorbed, and the picking efficiency is improved.

As shown in fig. 5 and 6, the suction source 212 is mounted to the support base 224. The taking-out device 21 comprises a support frame 213, the upper end of the support frame 213 is fixed on a vertical telescopic arm 223, a suction head port 214 communicated with a suction source 212 is arranged on the support frame 213, and a suction head 211 is detachably connected to the support frame 213 and communicated with the suction head port 214 so as to conveniently replace the suction head 211, so that an adsorption port 2111 with a proper inner diameter is selected, the adsorption of different kinds of impurities is facilitated, and the adsorption accuracy and efficiency are improved. Preferably, the suction head 211 is screw-coupled to the suction head port 214 to ensure reliability of connection and to facilitate disassembly and assembly.

The above description is only for the embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document without departing from the spirit and scope of the present invention.

Claims (10)

1. The utility model provides a manipulator is picked to tealeaves impurity which characterized in that includes: the mechanical arm and the taking-out device arranged at the movable end of the mechanical arm can drive the taking-out device to move, and the taking-out device can adsorb or fix impurities.

2. The picking robot of claim 1, wherein the robot arm includes a translation mechanism and a vertically telescoping arm mounted to a movable end of the translation mechanism, the take-out device being mounted to the vertically telescoping arm, the vertically telescoping arm being capable of moving the take-out device up and down relative to the translation mechanism; the translation mechanism can drive the vertical telescopic arm and the taking-out device to move in a horizontal plane.

3. The picking robot of claim 2, wherein the translation mechanism includes a support base, a first horizontal pivot arm and a second horizontal pivot arm;

the first end of the first horizontal rotating arm is arranged on the supporting seat, and the first horizontal rotating arm can rotate on the supporting seat;

the first end of the second horizontal rotating arm is arranged at the second end of the first horizontal rotating arm, and the second horizontal rotating arm can rotate on the first horizontal rotating arm;

the upper end of the vertical telescopic arm is installed at the second end of the second horizontal rotating arm.

4. The picking robot of claim 2, wherein the vertical telescoping arm comprises a pneumatic or electric cylinder.

5. The picking robot of claim 1, wherein the pick device includes a suction head and a suction source connected to the suction head, the suction head being mounted to a movable end of the robot arm.

6. The picking manipulator according to claim 5, wherein the suction head is cylindrical, an upper end of the cylindrical suction head is connected to the suction source, and a lower end of the cylindrical suction head is a suction port.

7. The picking robot as claimed in claim 6, wherein the suction port has an inner diameter in a range of 5mm to 20 mm.

8. The picking robot of claim 6, wherein the suction heads are arranged in a vertical direction.

9. The picking manipulator of claim 5, wherein the pick-off device includes a support frame secured to a movable end of the manipulator arm, the support frame having a tip port in communication with the suction source, the tip being removably connected to the support frame and in communication with the tip port.

10. The picking robot of claim 5, wherein the suction source includes a vacuum pump and a dust bin connected to the vacuum pump, the dust bin being connected to the suction head by a hose, the vacuum pump providing suction to draw foreign matter through the suction head into the dust bin.

Images