CN216392163U - Tea leaf picking device - Google Patents
Tea leaf picking device Download PDFInfo
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- CN216392163U CN216392163U CN202123111815.1U CN202123111815U CN216392163U CN 216392163 U CN216392163 U CN 216392163U CN 202123111815 U CN202123111815 U CN 202123111815U CN 216392163 U CN216392163 U CN 216392163U
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Abstract
The utility model relates to a tea leaf picking device which comprises a rack, wherein a travelling mechanism is arranged at the bottom of the rack, a two-shaft linkage mechanism is arranged at the top of the rack and is connected with the head end of a mechanical arm, a picking paw is connected with the tail end of the mechanical arm, a tea leaf collecting mechanism is arranged above the two-shaft linkage mechanism and is detachably fixed at the top of the rack, and the tea leaf picking device can realize the complete picking of tea leaves.
Description
Technical Field
The utility model relates to the technical field of agricultural mechanical equipment, in particular to a tea leaf picking device.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the market scale of tea is continuously increased, but the yield of high-quality tea is not obviously improved. The yield of the manual tea picking is low, the labor intensity is high, and the efficiency is poor.
Present tealeaves picking robot has appeared, replaces artifical tea-leaf picking, has improved work efficiency, has reduced intensity of labour, and the inventor discovers, and present tealeaves picking robot adopts the mode of walking between the tea ridge, utilizes the arm to pick tealeaves, but the arm is installed in tea ridge one side, and the motion range is limited, can not carry out complete harvesting to tealeaves.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide the tea leaf picking device which is high in tea leaf picking efficiency, low in labor intensity and capable of realizing complete picking of tea leaves.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the embodiment of the utility model provides a tea leaf picking device which comprises a rack, wherein a travelling mechanism is arranged at the bottom of the rack, a two-shaft linkage mechanism is arranged at the top of the rack and is connected with the head end of a mechanical arm, a picking paw is connected with the tail end of the mechanical arm, a tea leaf collecting mechanism is arranged above the two-shaft linkage mechanism, and the tea leaf collecting mechanism is fixed at the top of the rack.
Optionally, the traveling mechanism includes a first traveling wheel mounted at the front end of the bottom of the frame and a second traveling wheel mounted at the rear end of the bottom of the frame, and the second traveling wheel is connected to a traveling driving element mounted on the frame.
Optionally, the walking driving element adopts a right-angle speed reducing motor, an output shaft of the right-angle speed reducing motor is connected with the second walking wheel, and an encoder is installed on the output shaft of the right-angle speed reducing motor.
Optionally, the first road wheel is a Fourdrinier wheel.
Optionally, the frame adopts planer-type structure, and two lateral parts of frame all are provided with infrared distance measuring element, can be to the tea tree transmission infrared ray in the frame.
Optionally, still install the binocular camera in the frame, binocular camera and control system are connected, and the image that the binocular camera can gather the tea tree transmits for control system, and control system can obtain the picking position of tea tree according to the image that receives.
Optionally, the tea collecting mechanism comprises a tea collecting box, the tea collecting box is detachably fixed to the top of the rack, and the tea collecting box is provided with a collecting port and a negative pressure fan.
Optionally, the collecting port is arranged on the box wall at the front end of the tea leaf collecting box, the negative pressure fan is arranged on the box wall at the rear end of the tea leaf collecting box, and a protective net is arranged at the inlet of the negative pressure fan.
Optionally, pick the hand claw and include the base, and pedestal mounting has first finger and second finger, and the end of first finger is equipped with ceramic blade, and is corresponding, and the end of second finger be equipped with can with ceramic blade complex sword groove, and the second finger includes that the first finger portion and the second that rotate the connection indicate the portion, and the sword groove sets up in the second finger portion, and the second finger portion is connected with actuating mechanism, and actuating mechanism can drive the second finger portion and rotate.
Optionally, the driving mechanism includes a driving element fixed inside the base, a driving wire is wound on an output shaft of the driving element, and an end of the driving wire is fixed to the second finger.
The beneficial effects of the utility model are as follows:
1. according to the tea leaf picking device, the mechanical arm is connected with the two-shaft linkage mechanism, the two-shaft linkage mechanism can be used for moving within a set range in a horizontal plane, the problem that a single mechanical arm is insufficient in picking range is solved, complete picking of tea leaves can be guaranteed, meanwhile, the two-shaft linkage mechanism is used, the degree of freedom and the structure of the mechanical arm can be simplified, and the manufacturing cost of the whole picking device is reduced.
2. According to the tea leaf picking device, the mechanical arm is turned upwards to the absorption port, the tea leaves are sucked into the tea leaf collecting box by the negative pressure fan, the recovery process is simple, the collecting efficiency is high, the suction force of the negative pressure fan is large, and the collecting requirement can be effectively met.
3. According to the tea leaf picking device, the ceramic blade is arranged at the tail end of the first finger, the cutter groove at the tail end of the second finger is used for picking, the second finger comprises the first finger part and the second finger part which are connected in a rotating mode, tender shoots are clamped and taken through traction and kneading of the driving wires, the picking mode efficiency is high, the picking process of hands is simulated, the ceramic blade prevents the tender shoot section from deteriorating due to reaction with metal, the integrity of the tea leaf tender shoot section is guaranteed, and the picking quality of the tender shoots is improved.
4. According to the tea leaf picking device, the infrared distance measuring element is arranged on the rack, so that the distance between the rack and tea trees in the rack can be detected, the rack is prevented from colliding with the tea trees in the walking process, and the correct walking route of the whole device is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a plan view of the whole structure of embodiment 1 of the present invention;
FIG. 3 is a top view of a two-axis linkage mechanism in accordance with embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of a two-axis linkage mechanism in embodiment 1 of the present invention;
fig. 5 is a schematic view of a picking paw in example 1 of the utility model;
wherein, 1, a frame, 2, a Fowler wheel, 3, a driving wheel, 4, a right-angle speed reducing motor, 5, an infrared distance meter, 6, a two-shaft linkage mechanism, 6-1, a supporting beam, 6-2, a mounting seat, 6-3, a first transmission belt, 6-4, a second transmission belt, 6-5, a first belt wheel, 6-6, a second belt wheel, 6-7, a third belt wheel, 6-8, a fourth belt wheel, 6-9, a fifth belt wheel, 6-10, a sixth belt wheel, 6-11, a first driving motor, 6-12, a seventh belt wheel, 6-13, an eighth belt wheel, 6-14, a ninth belt wheel, 6-15, a tenth belt wheel, 6-16, an eleventh belt wheel, 6-17, a twelfth belt wheel, 6-18, a second driving motor, 7, a mechanical arm, 8. the tea leaf picking device comprises a tea leaf collecting box, 9 a collecting port, 10 a negative pressure fan, 11 a picking paw, 11-1 a base, 11-2 a first finger, 11-3 a ceramic blade, 11-4 a first finger, 11-5 a second finger, 12 a binocular camera, 13 a power supply bracket and 14 power supply equipment.
Detailed Description
Example 1
The embodiment provides a tea leaf picking device, as shown in fig. 1-2, which comprises a frame 1, wherein the frame 1 is used as a bearing part of other equipment of the tea leaf picking device, and a traveling mechanism is arranged at the bottom end of the frame 1 and can drive the whole tea leaf picking device to advance.
The gantry type structure is adopted in the rack 1 and comprises two rectangular frames, a connecting beam is arranged at the rear portion of the top end of each rectangular frame, and the two rectangular frames are connected into a whole through the connecting beam to form the gantry type structure.
The walking mechanism comprises two first walking wheels and two second walking wheels, the first walking wheels are fixed at the front end of the bottom of the rectangular frame, and the second walking wheels are installed at the rear end of the bottom of the rectangular frame.
The first walking wheel is a driven wheel, preferably, the first walking wheel adopts a Fourdrinier wheel 2, can rotate for 360 degrees, ensures the flexibility of movement, and can adapt to different soil qualities and complex terrain conditions.
The second walking wheel is drive wheel 3, the second walking wheel is connected with the drive element who installs in rectangular frame bottom rear end, and is preferred, the diameter that the second was walked the wheel is 18cm, drive element adopts right angle gear motor 4, and right angle gear motor 4's output shaft and second walking wheel are connected, can drive the rotation of second walking wheel, install the encoder on right angle gear motor 4's the output shaft for detect right angle gear motor's output shaft rotational speed, and then obtain the speed of marcing of whole tealeaves harvesting device, preferred, the encoder adopts 500 line photoelectric encoder.
The encoder is connected with the control system, can give control system with the rotational speed real-time transmission, and control system is connected with right angle gear motor, controls right angle gear motor's rotational speed, and then adjusts the speed of marcing.
Running gear can make whole tealeaves pick device can walk at the complicated topography in tea field to speed and distance that can accurate control walking, closed-loop control can accurate start and stop.
Infrared distance measuring element, it is preferred that two lateral parts of frame are all installed, infrared distance measuring instrument is adopted to infrared distance measuring element, three infrared distance measuring instrument 5 of every lateral part installation of frame, infrared distance measuring instrument 5 can be to the inside tea tree transmission infrared ray of frame, and then detect the distance of frame lateral part and tea tree, infrared distance measuring instrument is connected with control system, can give control system with the distance information transmission that obtains of detecting, infrared distance measuring instrument is through the distance that detects frame lateral part and tea tree, can adjust the advancing direction of device is picked to whole tealeaves, prevent frame and tea tree bump.
The top of the frame is provided with a two-shaft linkage mechanism 6, the two-shaft linkage mechanism 6 is fixedly connected with the head end of the mechanical arm 7, the mechanical arm 7 can be driven to move along a first direction and a second direction which are vertical to each other in the horizontal plane, and the first direction is the advancing direction of the whole picking device.
As shown in fig. 3-4, the two-axis linkage mechanism 6 includes a supporting beam 6-1, an axis of the supporting beam 6-1 is arranged along a second direction, a mounting seat 6-2 is slidably connected to the supporting beam 6-1, the mounting seat 6-2 is fixedly connected to a head end of the mechanical arm 7, and the mounting seat 6-2 can slide on the supporting beam along the second direction.
In this embodiment, one end of the supporting beam 6-1 is defined as a left end, and the other end is defined as a right end, and accordingly, the rectangular frame near the left end of the supporting beam 6-1 is a left-end rectangular frame, and the other end is a right-end rectangular frame.
The two-shaft linkage mechanism further comprises a first transmission belt 6-3 and a second transmission belt 6-4.
One end of the first transmission belt 6-3 is fixedly connected with the left side of the mounting seat, and the other end of the first transmission belt is fixedly connected with the right side of the mounting seat after sequentially passing around the first belt wheel 6-5 at the left end of the supporting beam, the second belt wheel 6-6 at the rear part of the left-end rectangular frame, the third belt wheel 6-7 at the rear part of the right-end rectangular frame, the fourth belt wheel 6-8 at the rear part of the right-end rectangular frame, the fifth belt wheel 6-9 at the front part of the right-end rectangular frame and the sixth belt wheel 6-10 at the right end of the supporting beam.
The fourth belt pulley 6-8 is a driving belt pulley and is connected with a first driving motor 6-11 arranged on the right rectangular frame.
The first belt wheel 6-5 is rotatably connected to the supporting beam 6-1 through a wheel shaft, the second belt wheel 6-6 is rotatably connected to the left-end rectangular frame through a wheel shaft, the third belt wheel 6-7 is rotatably connected to the right-end rectangular frame through a wheel shaft, the fifth belt wheel 6-9 is rotatably connected to the right-end rectangular frame through a wheel shaft, and the sixth belt wheel 6-10 is rotatably connected to the right end of the supporting beam through a wheel shaft.
One end of the second transmission belt 6-4 is fixed with the left side of the mounting seat, and the other end of the second transmission belt sequentially bypasses a seventh belt wheel 6-12 arranged at the left end of the supporting beam, an eighth belt wheel 6-13 arranged at the front end of the left-end rectangular frame, a ninth belt wheel 6-14 arranged at the rear end of the left-end rectangular frame, a tenth belt wheel 6-15 arranged at the rear end of the left-end rectangular frame, an eleventh belt wheel 6-16 arranged at the rear end of the right-end rectangular frame and a twelfth belt wheel 6-17 arranged at the right end of the supporting beam and then is fixedly connected with the right side of the mounting seat.
The ninth belt wheel 6-14 is a driving belt wheel and is connected with a second driving motor 6-18 arranged on the rectangular frame at the left end.
The seventh belt wheel 6-12 is rotatably connected with the supporting beam through a wheel shaft, the eighth belt wheel 6-13 is rotatably connected with the left end rectangular frame through a wheel shaft, the tenth belt wheel 6-15 is rotatably connected with the left end rectangular frame through a wheel shaft, the eleventh belt wheel 6-16 is rotatably connected with the right end rectangular frame through a wheel shaft, and the twelfth belt wheel 6-17 is rotatably connected with the supporting beam through a wheel shaft.
Through first driving motor and second driving motor, can drive the mount pad and move along first direction and second direction, and then drive the arm and move along first direction and second direction, solved the not enough problem of single arm picking scope, guaranteed that tealeaves can realize picking completely, two shaft linkage mechanism adopts this kind of structural style moreover, and load capacity is big, and power is strong, and control accuracy is high moreover.
In another embodiment, the two-axis linkage mechanism 6 may also include a first moving mechanism disposed along a first direction and a second moving mechanism disposed along a second direction, the first moving mechanism is connected to the second moving mechanism to drive the second moving mechanism to move along the first direction, and the second moving mechanism is connected to the mounting base to drive the mounting base to move along the second direction.
The first moving mechanism and the second moving mechanism adopt a belt transmission mechanism or a lead screw transmission mechanism and the like, and can be selected by a person skilled in the art according to actual needs.
The two-axis linkage mechanism is connected with the control system and can receive the instruction of the control system to work.
The mechanical arm 7 is an existing mechanical arm, the specific structure of the mechanical arm is not described in detail, and the mechanical arm is connected with the control system and can receive instructions of the control system to work.
The tea leaf collecting mechanism is arranged above the two-axis linkage mechanism 6 and comprises a tea leaf collecting box 8, the tea leaf collecting box 8 is detachably fixed to the top of the rack 1 through a support and a fixing bolt, a collecting port 9 is formed in the front side box wall of the tea leaf collecting box 8, a negative pressure fan 10 is arranged on the rear side box wall, the negative pressure fan 10 can enable negative pressure to be generated in the tea leaf collecting box, and therefore tea leaves can enter the tea leaf collecting box 8 from the collecting port.
Further, tealeaves collection box top is equipped with gets the tea mouth, gets tea mouth department and is provided with the closing cap, and the closing cap is used for opening and closing getting the tea mouth, gets the tea mouth through setting up, makes things convenient for the staff to take out the inside tealeaves of tealeaves collecting box.
Further, in order to prevent the tea leaves from entering the negative pressure fan 10, a protective net is arranged between an inlet of the negative pressure fan 10 and the tea leaf collecting box 8.
In this embodiment, after tea leaves were picked up to arm 7, upwards turned over, moved tea leaves to collection port 9 position, and under the effect of negative pressure fan 10, tea leaves got into inside tea collection box 8. By adopting the mode to collect the tea, the recovery process is simple, the collection efficiency is high, the suction of the negative pressure fan is large, and the collection requirement can be effectively met.
In another embodiment, the tea leaf collecting mechanism comprises a tea leaf collecting box, and the collecting port of the tea leaf collecting box is connected with a belt conveying mechanism arranged on the frame.
Picking paw 11 is installed at the end of mechanical arm 7, and the picking paw is used for picking tealeaves.
As shown in FIG. 5, in this embodiment, the picking paw comprises a base 11-1, the base is provided with a first finger 11-2 and a second finger, the head end of the first finger 11-2 is fixedly connected with the base 11-1, the tail end of the first finger 11-2 is provided with a ceramic blade 11-3, correspondingly, the tail end of the second finger is provided with a knife slot capable of matching with the ceramic blade 11-3, the head end of the second finger is fixedly connected with the base, the second finger comprises a first finger part 11-4 and a second finger part 11-5 which are rotatably connected, one end of the first finger part 11-4 is fixed with the base 11-1, the other end is rotatably connected with the second finger part 11-5, the knife slot is arranged on the second finger part 11-5, one end of the second finger part 11-5 is rotatably connected with the first finger part 11-4, the other end is provided with the knife slot, the ceramic blade 11-3 can be inserted into the cutter groove to realize the picking of tea leaves, and the second finger part 11-5 is connected with a driving mechanism which can drive the second finger part to rotate.
The driving mechanism comprises a driving element fixed inside the base, the driving element adopts a picking driving motor, a driving wire is wound on an output shaft of the picking driving motor, and the end part of the driving wire is fixed with the second finger part. Preferably, the drive wire is a nylon wire.
In this embodiment, through plucking driving motor and nylon yarn, can drive the second finger and rotate, draw first finger and second finger to mediate, first finger and second finger grip the tealeaves tender shoot, and the ceramic blade cuts, and the arm turns over upwards turns over to send the tender shoot to the collection mouth, and first finger and second finger open, and inside tealeaves got into the tealeaves collecting box through the cell-phone mouth under negative-pressure positive blower's effect.
The picking driving motor is connected with the control system and can receive the instruction of the control system to work.
The central part of the tie-beam at frame top is provided with two mesh cameras 12, and two mesh cameras 12 are connected with control system, can gather the image of tea tree and transmit for control system.
The control system can identify two pictures collected by the binocular camera, and the two pictures actually extend downwards from the picking point according to the color and morphological characteristics and the picking requirement, so that the optimal picking position of one bud and one leaf or the picking positions of two leaves of one bud are actually realized. And performing characteristic matching on the two pictures, determining the spatial position of the picking point according to the horizontal distance of the camera and the position deviation of the same object in the two pictures, and delivering the spatial position to a mechanical arm for execution.
By introducing an image recognition and positioning technology, the tender shoots and picking points of the tea leaves are accurately positioned, so that the famous tea leaves with high accuracy, high integrity and high yield are picked.
And the walking direction of the walking mechanism is adjusted through the infrared distance measuring instrument, so that the center of the binocular camera can be the center of the tea ridge.
And the right rectangular frame is also provided with a power supply device 14 through a power supply bracket 13, and the power supply device is used for supplying power to equipment such as a two-axis linkage mechanism, a travelling mechanism, an infrared distance meter, a mechanical arm, a binocular camera and a negative pressure fan.
Preferably, the power supply equipment adopts a 24V lithium battery system, the motor of the travelling mechanism and the motor of the two-shaft linkage mechanism are supplied with power by 24V, the control system adopts 12V power supply, the infrared distance meter, the encoder and the like adopt 5V power supply, and the power supply equipment can enable the whole tea leaf picking device to finish reciprocating picking of 30 km.
The control system is divided into four parts, namely a main controller, image acquisition, picking control and walking control. The parts are connected by using a serial port, a USB port or an IO port of the controller. The controller part is responsible for collecting images and controlling the picking mechanism, the image collecting part is responsible for image picking and binocular positioning, the picking control part is responsible for the space manipulator to move to the picking point coordinate obtained through calculation, and the walking control part is responsible for the movement and posture adjustment of the walking mechanism.
The control system carries out image acquisition, positioning of tea tender shoots and space coordinate conversion, and upper computer software compiled by QT is connected with the USB-to-serial port module and is communicated with the stm32 controller of the lower computer. The motion amount of the mechanical arm, the walking mechanism and the two-axis linkage mechanism is sent to the lower computer to be executed through a customized communication protocol, and the lower computer returns state information such as whether picking, motion mileage, machine posture and the like are finished or not, so that complete feedback control is realized.
The working method of the tea leaf picking device in the embodiment comprises the following steps:
the tea leaf picking device is started, system initialization is firstly carried out, the position of a mounting seat is reset to zero and is calibrated, a mechanical arm is horizontally placed in the middle, a picking paw is opened, a negative pressure fan is prepared, a mileometer is reset, and the control system is prepared to carry out image acquisition and identification operation.
When the picking robot runs to the tea ridge starting point, the control system controls the binocular camera to shoot through the USB interface, and calls images to recognize tea tender shoots. The binocular camera firstly shoots the tea leaves respectively, the control system identifies the two pictures, the position of the tender bud is determined according to the color and the morphological characteristics, and the specific position of the picking point on the bud and stem is determined. And performing characteristic matching on the two pictures, and measuring the spatial position of a camera coordinate system of the picking point by using a binocular vision algorithm.
The coordinate system of the binocular camera and the coordinate system of the picking machine form an included angle of 30-45 degrees, the coordinate system of the three-dimensional coordinate collected by the binocular camera takes the center of the system as the original point, and the coordinate system is converted into the three-dimensional coordinate system of the picking robot, namely the picking mechanical arm, by applying a coordinate transformation algorithm.
And obtaining three-dimensional coordinates of all picking points in a picking space, planning a path for the coordinates, and searching a shortest path connecting picking sequences by adopting an ant colony algorithm from a position closest to the current position of the mechanical arm to generate an optimized picking path.
And combining the generated picking path, performing inverse kinematics solution on the picking path to obtain a motion control signal of each joint of the mechanical arm, and generating a mechanical arm motion planning scheme by adopting an interpolation algorithm.
Packaging all motion information into a plurality of groups, adding heads and tails for checking and picking point total number information, combining, sending to a control system by using upper computer control software, and controlling the mechanical arm to execute by the control system. The mounting seat and the mechanical arm main body cooperatively control the tail end picking paw to move to each picking point, and the picking is performed in sequence.
After the picking paw is closed and picked, the mechanical arm is turned upwards to deliver tea leaves to the tea leaf collecting opening, the negative pressure fan operates to suck the tea leaves into the collecting box, and one-time picking action is completed.
After a picking action is completed, the picking paw continues to be moved to the next picking point and picking is completed until all picking points within the identified area have been picked.
After picking of tea tender shoots in the current recognition area is finished, the machine advances a unit picking distance along the tea ridges, a collision detection program is operated in the advancing process, if collision is detected, the advancing track is adjusted, and the next recognition and picking operation is started after the advance is finished.
For a tea field in which the tea picking robot operates, a database of relative positions of tea ridge lengths, intervals and starting and stopping points is established, the number of the tea field is marked, and the database is established by using an unmanned aerial vehicle aerial photography and picture synthesis technology or a manual measuring and marking mode.
For plant vacancy caused by dead plants, spaced planting and the like in a ridge, only using image recognition can cause the missing collection of the ridge and the disorder of the planning of a subsequent picking path. In order to solve the problem, the picking device starts to operate from a starting point corresponding to a tea field database, the operating mileage and the operating state are recorded, when the accumulated mileage of the row is equal to the length of the row, whether tea trees still exist in the current visual field is judged, if not, the end of the row can be confirmed, and the tea picking robot carries out path planning on the arrival of the next ridge starting point and parallelly arrives at the point; if yes, the tea ridge is continuously advanced, and the abnormal condition is recorded for correcting the tea ridge length data or correcting the odometer error.
If the machine picks according to the last unfinished task, the machine is only required to be placed at the initial point after picking is started from a certain position in the tea field, the last breakpoint position is set in the visual control interface of the tea picking device, and the tea picking device plans the shortest path to move to the point to continue to operate.
The method for analyzing the picking position and the path planning, controlling the mechanical arm and the like by using the image acquired by the binocular camera in the embodiment may be an existing method, and detailed description is omitted here.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a tea leaf picking device, its characterized in that includes the frame, and running gear is installed to the frame bottom, and two-axis link gear is installed at the frame top, two-axis link gear is connected with the head end of arm, and the end-to-end connection of arm has the picking paw, and two-axis link gear's top is equipped with tealeaves and collects the mechanism, and tealeaves is collected the top that the mechanism was fixed in the frame.
2. The tea leaf picking apparatus according to claim 1, wherein the travelling mechanism comprises a first travelling wheel mounted at a front end of the bottom of the frame and a second travelling wheel mounted at a rear end of the bottom of the frame, the second travelling wheel being connected to a travelling drive member mounted on the frame.
3. The tea leaf picking device as claimed in claim 2, wherein the travel driving element is a right-angle gear motor, an output shaft of the right-angle gear motor is connected with the second travel wheel, and an encoder is mounted on the output shaft of the right-angle gear motor.
4. A tea leaf picking apparatus as claimed in claim 2, in which the first travelling wheel is a forfei wheel.
5. The tea leaf picking device according to claim 1, wherein the frame is of a gantry type structure, and infrared distance measuring elements are arranged on two side parts of the frame and can emit infrared rays to tea trees in the frame.
6. The tea leaf picking device according to claim 1, wherein the frame is further provided with a binocular camera, the binocular camera is connected with the control system, the binocular camera can collect images of the tea trees and transmit the images to the control system, and the control system can obtain the picking positions of the tea trees according to the received images.
7. The tea leaf picking apparatus as claimed in claim 1, wherein the tea leaf collecting mechanism comprises a tea leaf collecting box detachably fixed to a top of the frame, the tea leaf collecting box having a collecting port and being provided with a negative pressure fan.
8. The tea leaf picking device according to claim 7, wherein the collection port is provided in a wall of the tea leaf collection box at a front end thereof, the negative pressure fan is mounted in the wall of the tea leaf collection box at a rear end thereof, and a protective net is provided at an inlet of the negative pressure fan.
9. The tea leaf picking device according to claim 1, wherein the picking claw comprises a base, the base is provided with a first finger and a second finger, the first finger is provided with a ceramic blade at the end, correspondingly, the second finger is provided with a knife slot capable of being matched with the ceramic blade at the end, the second finger comprises a first finger part and a second finger part which are rotatably connected, the knife slot is arranged at the second finger part, and the second finger part is connected with a driving mechanism which can drive the second finger part to rotate.
10. The tea leaf picking device according to claim 9, wherein the drive mechanism comprises a drive element fixed inside the base, the output shaft of the drive element having a drive wire wound thereon, the end of the drive wire being fixed to the second finger.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123111815.1U CN216392163U (en) | 2021-12-10 | 2021-12-10 | Tea leaf picking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123111815.1U CN216392163U (en) | 2021-12-10 | 2021-12-10 | Tea leaf picking device |
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| CN216392163U true CN216392163U (en) | 2022-04-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338875A (en) * | 2022-10-19 | 2022-11-15 | 宜宾职业技术学院 | Intelligent tea leaf picking system and method based on image recognition |
| CN116508493A (en) * | 2023-04-27 | 2023-08-01 | 仲恺农业工程学院 | Gantry crawler type tea picking robot and picking method thereof |
| CN118120473A (en) * | 2024-05-06 | 2024-06-04 | 安徽农业大学 | Picking device for tea leaves and picking method thereof |
-
2021
- 2021-12-10 CN CN202123111815.1U patent/CN216392163U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338875A (en) * | 2022-10-19 | 2022-11-15 | 宜宾职业技术学院 | Intelligent tea leaf picking system and method based on image recognition |
| CN116508493A (en) * | 2023-04-27 | 2023-08-01 | 仲恺农业工程学院 | Gantry crawler type tea picking robot and picking method thereof |
| CN116508493B (en) * | 2023-04-27 | 2024-04-05 | 仲恺农业工程学院 | Gantry crawler type tea picking robot and picking method thereof |
| CN118120473A (en) * | 2024-05-06 | 2024-06-04 | 安徽农业大学 | Picking device for tea leaves and picking method thereof |
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