CN217336491U - Famous tea leaf picking and collecting device - Google Patents

Abstract

The utility model provides a famous tea leaf picking and collecting device, including elevating system, collection platform, arm, end effector, elevating system is equipped with the lead screw, connects the lead screw platform on the lead screw, and the lead screw platform is connected with collection platform by the bolt, installs arm and net tealeaves collector on the collection platform, and end effector is installed to the arm. During operation, the arm is adjusted to suitable height through elevating system earlier, then moves to the coordinate point of picking tealeaves, and end effector carries out the action of picking this moment, and the arm is rotatory to make tealeaves collect the hose end and aligns with net tealeaves collector after picking, and the work of fan is again accomplished whole tealeaves and is picked the action in blowing in tealeaves in net tealeaves collector through tealeaves collection hose. Therefore, the mechanism can finely pick famous and high-quality tea and meet the requirement of high efficiency and economy.

Description

Famous tea leaf picking and collecting device

Technical Field

The utility model belongs to agricultural machine field, specific theory relates to an install mechanical device who carries out famous and high-quality tealeaves on agricultural chassis and pick and collect.

Background

China is a large country for tea production, but in each link of tea production, except a processing link, the mechanization degree is higher, and the mechanization operation level of other links is lower, particularly in a tea picking link, many areas still mainly use manpower, and the picking and tea making link accounts for 80% of the total workload, which is a key step related to the tea yield and the tea quality, mechanical picking tea is low-grade tea or tea product raw material tea generally, the mechanical picking requirement for famous tea is urgent and slow to develop, and the traditional manual picking famous tea cannot adapt to the rapid mechanical automation and intellectualization development of a future tea garden, so that the accelerated development of mechanized automation equipment for famous tea picking and processing is imperative. The mechanical automation equipment replaces manual work to pick famous and high-quality tea leaves, so that the labor intensity can be reduced, the tea leaf production cost can be saved, and the tea leaf production efficiency and the tea leaf quality can be improved. The common famous tea in the past is generally picked by a bulk cutting machine, then the famous tea is selected manually or by machine vision, or the tea tree tender shoots are picked as far as possible by adjusting the height of a cutting knife by the machine vision, but the two schemes can cause the waste of cutting the tea, and even destroy the original famous tea tender shoots to cause economic loss. So the utility model designs an utilize bionical class to pick the tea-leaf scheme, come the anthropomorphic dummy people through arm and end effector and carry out accurate famous excellent tealeaves and pick to improve famous excellent tealeaves picking efficiency, reduce the destruction to famous excellent tealeaves among the picking process, improve economic benefits.

Disclosure of Invention

The utility model provides a imitative artifical type can carry out the mechanical device that famous quality tealeaves was picked and was collected, this device can install agricultural removal land dish or other forms's mounting platform additional and carry out the picking and the collection of famous quality tealeaves to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above purpose, the utility model adopts the following technical proposal:

a famous tea picking and collecting device comprises a collecting platform, a mechanical arm, an end effector, a tea collecting hose, a blowing hose and a lifting mechanism; the collecting platform comprises a T-shaped platform and a grid tea collector, the T-shaped platform is connected with the screw rod platform through a bolt, and the grid tea collector is fixed on the T-shaped platform through a screw; the end effector comprises an effector steering engine, a U-shaped connector, fixed picking pliers, movable picking pliers, a clamping stepping motor and a clamping lead screw, the effector steering engine is connected with the U-shaped connector, the clamping stepping motor is fixed on the fixed picking pliers, the U-shaped connector is connected with the fixed picking pliers through screws, and the fixed picking pliers and the movable picking pliers are connected through the clamping lead screw and are adjusted in distance through the clamping stepping motor.

The mechanical arm comprises a mechanical arm chassis, a fan, a large arm U-shaped connector 1, a large arm steering engine, a mechanical small arm, a large arm U-shaped connector 2, a small arm steering engine, a small arm U-shaped connector 1, a mechanical large arm and a small arm U-shaped connector 2; the mechanical arm chassis is provided with a fan and a large arm U-shaped connector 1, the large arm steering engine penetrates through the large arm U-shaped connector 1 to be connected with a mechanical large arm, and the mechanical large arm is connected with a mechanical small arm through a large arm U-shaped connector 2, a small arm U-shaped connector 1 and a small arm steering engine.

As an optimal technical scheme of the utility model, be connected through installation base, disc sliding ring, bearing, rotatory steering wheel between arm and the T type platform, go up and down and then adjust the height of arm through elevating system control T type platform, the upper end and the bearing inner race of disc sliding ring are connected, and the lower extreme is fixed on the installation base, and the bearing inner race is fixed on the arm chassis, and the bearing inner race is fixed on the installation base, rotatory steering wheel passes T type platform and fixes on the installation base, and the axis of rotation of rotatory steering wheel passes the bearing hole and directly links to each other with the arm chassis, and the installation base is fixed on T type platform, is equipped with the disc sliding ring between bearing and installation base, effectively avoids the winding of rotatory type machinery wiring to make the limited scheduling problem of turned angle.

As a preferred technical scheme of the utility model, the fixed picking clamp main body is of a hemispherical cavity structure, the side wall of the hemispherical cavity is provided with a cylindrical through hole, the upper part of the hemispherical cavity is of a U-shaped lead screw connecting structure, and the lower part of the hemispherical cavity is welded with a fixed clamping block; the movable picking clamp is characterized in that the main body of the movable picking clamp is of a hemispherical cavity structure, a cylindrical through hole is formed in the side wall of the hemispherical cavity, a flat lead screw connecting structure is arranged above the hemispherical cavity, and a movable clamping block is welded below the hemispherical cavity.

As an optimal technical scheme of the utility model, the end effector during operation is picked pincers and fixed picking pincers by the activity and is carried out tealeaves and pick, picks back executor steering wheel upwards rotate and pick pincers top until tealeaves separates with the branch and be in fixed picking pincers and activity, opens the activity slightly this moment and picks pincers, and tealeaves can fall into in the cambered surface flange of activity picking pincers, the activity is picked the inside cambered surface flange that contains the tea of accepting of pincers, prevents that tealeaves from spilling.

As a preferred technical scheme of the utility model, the front end of the tea leaf collecting hose is connected with a cylindrical opening of the movable picking clamp, one end of the blowing hose is connected with the fan, and the other end is connected with a side wall opening of the fixed picking clamp; grid tealeaves collector closely cooperates the work with arm and end effector, and the arm changes suitable tea-leaf picking angular position when picking tea-leaves at every turn, and after the action of picking, the arm changes back immediately to the position that the terminal and the grid tealeaves collector of tealeaves collection hose align, then the fan work blows in grid tealeaves collector with tealeaves.

The lifting mechanism comprises a lifting stepping motor, a lifting screw, a coupler, a screw mounting seat, a screw shaft sleeve and a screw platform, wherein the lifting stepping motor is arranged below the screw mounting seat, the lifting stepping motor is connected with the lifting screw through the coupler, the screw shaft sleeve is arranged between the lifting screw and the screw mounting seat, and the screw platform is driven by a motor to move up and down.

The utility model has the advantages that:

the utility model discloses mainly constitute by elevating system, collection platform, arm, end effector, the structure is succinct, and it is convenient to maintain. The mechanical arm can be adjusted in the height direction through the lifting mechanism. The arm work is nimble, can pick near arm exhibition most tealeaves, and the arm effectively avoids rotatory class mechanical connection winding to make the limited scheduling problem of turned angle through the connection of below dish formula sliding ring. The utility model discloses a tealeaves collection scheme is reasonable high-efficient, picks at every turn that the back arm is rotatory to make tealeaves collect the hose end align with net tealeaves collector, and the fan is bloied and is made tealeaves collect mouthful and tealeaves collection hose directly get into net tealeaves collector through the activity hemisphere tealeaves of picking pincers, has effectively avoided the action of putting back after common arm collection device picks, has obviously reduced arm stroke and picking time.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the robot arm of the present invention;

FIG. 3 is an enlarged view of the section A of FIG. 1 according to the present invention;

fig. 4 is a schematic structural view of the end effector of the present invention;

FIG. 5 is a schematic view of the movable picking pliers of the present invention;

the attached drawings note that:

1. a mechanical forearm; 2. a blowing hose; 3. a mechanical big arm; 4. a lifting stepping motor; 5. a coupling; 6. a lead screw mounting seat; 7. a lead screw shaft sleeve; 8. lifting a screw rod; 9. a lead screw platform; a T-shaped platform; 11. a grid tea leaf collector; 12. a tea leaf collection hose; 13. a small arm steering engine; 14. a small arm U-shaped connector 1; 15. a large arm U-shaped connector 2; 16. a large arm steering engine; 17. a large arm U-shaped connector 1; 18. a fan; a U-shaped connector; 20. an actuator steering engine; 21. a small arm U-shaped connector 2; 22. a mechanical arm chassis; 23. a bearing; 24. a disc-type slip ring; 25. installing a base; 26. rotating the steering engine; 27. clamping the screw rod; 28. clamping the stepping motor; 29. fixing the picking forceps; 30. fixing the clamping block; 31. a movable clamping block; 32. movable picking pliers; 33. a cambered surface flange.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the scope of the invention.

Referring to fig. 1-5, the utility model provides a device for picking and collecting famous tea leaves, which is mounted on a chassis or an agricultural machine, and comprises a collecting platform, a mechanical arm, an end effector, a tea leaf collecting hose (12), a blowing hose (2) and a lifting mechanism; the collecting platform comprises a T-shaped platform (10) and a grid tea collector (11), the T-shaped platform (10) is connected with the screw rod platform (9) through a bolt, and the grid tea collector (11) is fixed on the T-shaped platform (10) through a screw; the end effector comprises an effector steering engine (20), a U-shaped connector (19), fixed picking forceps (29), movable picking forceps (32), clamping stepping motors (28) and clamping lead screws (27), the effector steering engine (20) is connected with the U-shaped connector (19), the clamping stepping motors (28) are fixed on the fixed picking forceps (29), the U-shaped connector (19) is connected with the fixed picking forceps (29) through screws, and the fixed picking forceps (29) and the movable picking forceps (32) are connected through the clamping lead screws (27) and are adjusted in distance through the clamping stepping motors (28).

The mechanical arm comprises a mechanical arm chassis (22), a fan (18), a large arm U-shaped connector 1 (17), a large arm steering engine (16), a mechanical small arm (1), a large arm U-shaped connector 2 (15), a small arm steering engine (13), a small arm U-shaped connector 1 (14), a mechanical large arm (3) and a small arm U-shaped connector 2 (21); a fan (18) and a large arm U-shaped connector 1 (17) are mounted on a mechanical arm chassis (22), the large arm steering engine (16) penetrates through the large arm U-shaped connector 1 (17) to be connected with a mechanical large arm (3), and the mechanical large arm (3) is connected with the mechanical small arm (1) through a large arm U-shaped connector 2 (15), a small arm U-shaped connector 1 (14) and a small arm steering engine (13).

As a preferred technical scheme of the utility model, the mechanical arm is connected with the T-shaped platform (10) through a mounting base (25), a disc-type slip ring (24), a bearing (23) and a rotary steering engine (26), the lifting of the T-shaped platform (10) is controlled through a lifting mechanism so as to adjust the height of the mechanical arm, the upper end of the disc-type slip ring (24) is connected with the outer ring of the bearing (23), the lower end is fixed on the mounting base (25), the inner ring of the bearing (23) is fixed on a mechanical arm chassis (22), the outer ring of the bearing is fixed on the mounting base (25), the rotary steering engine (26) passes through the T-shaped platform (10) and is fixed on the mounting base (25), the rotating shaft of the rotary steering engine (26) passes through the inner hole of the bearing (23) and is directly connected with the mechanical arm chassis (22), the mounting base (25) is fixed on the T-shaped platform (10), the disc-type slip ring (24) is arranged between the bearing (23) and the mounting base (25), effectively avoid rotatory class machinery wiring winding to make turned angle limited scheduling problem.

As a preferred technical scheme of the utility model, the main body of the fixed picking clamp (29) is a hemispherical cavity structure, the side wall of the hemispherical cavity is provided with a cylindrical through hole, the upper part is a U-shaped screw rod connecting structure, and the lower part is welded with a fixed clamping block (30); the movable picking clamp (32) is characterized in that the main body is of a hemispherical cavity structure, the side wall of the hemispherical cavity is provided with a cylindrical through hole, the upper part of the hemispherical cavity is of a flat screw rod connecting structure, and the lower part of the hemispherical cavity is welded with a movable clamping block (31).

As an optimal technical scheme of the utility model, end effector during operation is picked pincers (32) and fixed picking pincers (29) by the activity and is carried out tealeaves and pick, picks back executor steering wheel upwards rotates and picks pincers (29) and activity picking pincers (32) top until tealeaves separates with the branch and be in fixed picking pincers (29), opens slightly this moment the activity and picks in the cambered surface flange (33) that pincers (32) tealeaves can fall into activity picking pincers (32), the activity is picked inside cambered surface flange (33) of accepting tealeaves that contains of pincers (32), prevents that tealeaves from spilling.

As a preferred technical scheme of the utility model, the front end of the tea leaf collecting hose (12) is connected with a cylindrical opening on the side wall of the movable picking clamp (32), one end of the blowing hose (2) is connected with the fan (18), and the other end is connected with a cylindrical opening on the side wall of the fixed picking clamp (29); grid tealeaves collector (11) closely cooperates the work with arm and end effector, and the arm changes suitable tea-leaf picking angular position when picking tea-leaves at every turn, and after picking the action, the arm changes back immediately to the position that tealeaves collection hose (12) end and grid tealeaves collector (11) aligned, then fan (18) work blows in tealeaves grid tealeaves collector (11).

Elevating system includes lift step motor (4), elevating screw (8), shaft coupling (5), lead screw mount pad (6), lead screw axle sleeve (7), lead screw platform (9), and lift step motor (4) are equipped with to lead screw mount pad (6) below, and lift step motor (4) are connected with elevating screw (8) through shaft coupling (5), are equipped with lead screw axle sleeve (7) between elevating screw (8) and lead screw mount pad (6), thereby lead screw platform (9) are reciprocated by lift step motor (4) drive.

The utility model discloses a theory of operation is: during installation, the lifting mechanism is installed on the agricultural mobile platform, stable connection is kept among all mechanisms, and the tail end of the tea leaf collecting hose (12) is aligned with the grid tea leaf collector (11) before work. When the tea picking machine works, the lifting stepping motor (4) works to drive the lifting screw (8) to rotate so that the screw platform (9) is lifted and adjusted to the height suitable for picking tea, at the moment, according to tea position information, the mechanical arm is rotated to a suitable angle position through the large arm steering engine (16) and stops, the small arm steering engine (13) is matched with the actuator steering engine (20) to enable the end effector to move to the tea position, the clamping stepping motor (28) drives the tightening screw (27) to enable the movable picking pliers (32) to be matched with the fixed picking pliers (29) to pick tea, after the tea is picked, the actuator steering engine (20) drives the end effector to enable the tea to be positioned above the movable picking pliers (32), the clamping stepping motor (28) drives the clamping screw (27) to open the movable picking pliers (32) so that the tea falls to the cambered surface connecting disc (33) of the movable picking pliers (32) by means of gravity, at the moment, the mechanical arm rotates back to the position where the tail end of the tea leaf collecting hose (12) is aligned with the grid tea leaf collector (11), the fan (18) works to blow tea leaves into the grid tea leaf collector (11) through the tea leaf collecting hose (12), and the whole tea leaf picking operation is completed.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A famous tea leaf picking and collecting device is characterized by comprising a collecting platform, a mechanical arm, an end effector, a tea leaf collecting hose (12), a blowing hose (2) and a lifting mechanism; the collecting platform comprises a T-shaped platform (10) and a grid tea collector (11), the T-shaped platform (10) is connected with the screw rod platform (9) through a bolt, and the grid tea collector (11) is fixed on the T-shaped platform (10) through a screw; the end effector comprises an effector steering engine (20), a U-shaped connector (19), fixed picking forceps (29), movable picking forceps (32), clamping stepping motors (28) and clamping lead screws (27), the effector steering engine (20) is connected with the U-shaped connector (19), the clamping stepping motors (28) are fixed on the fixed picking forceps (29), the U-shaped connector (19) is connected with the fixed picking forceps (29) through screws, and the fixed picking forceps (29) and the movable picking forceps (32) are connected through the clamping lead screws (27) and are adjusted in distance through the clamping stepping motors (28).

2. The famous tea leaf picking and collecting device according to claim 1, wherein the mechanical arm is connected with the T-shaped platform (10) through a mounting base (25), a disc-type slip ring (24), a bearing (23) and a rotary steering engine (26), the T-shaped platform (10) is controlled to lift through a lifting mechanism so as to adjust the height of the mechanical arm, the upper end of the disc-type slip ring (24) is connected with the outer ring of the bearing (23), the lower end of the disc-type slip ring is fixed on the mounting base (25), the inner ring of the bearing (23) is fixed on a mechanical arm chassis (22), the outer ring of the bearing is fixed on the mounting base (25), the rotary steering engine (26) penetrates through the T-shaped platform (10) and is fixed on the mounting base (25), the rotating shaft of the rotary steering engine (26) penetrates through the inner hole of the bearing (23) and is directly connected with the mechanical arm chassis (22), and the mounting base (25) is fixed on the T-shaped platform (10), a disc-type slip ring (24) is arranged between the bearing (23) and the mounting base (25).

3. The famous tea leaf picking and collecting device as claimed in claim 1, wherein the fixed picking clamp (29) body is of a hemispherical cavity structure, the side wall of the hemispherical cavity is provided with a cylindrical through hole, a U-shaped screw rod connecting structure is arranged above the hemispherical cavity, a fixed clamping block (30) is welded below the hemispherical cavity, the movable picking clamp (32) body is of a hemispherical cavity structure, the side wall of the hemispherical cavity is provided with a cylindrical through hole, a flat screw rod connecting structure is arranged above the hemispherical cavity, and a movable clamping block (31) is welded below the hemispherical cavity.

4. The famous tea leaf picking and collecting device according to claim 1, wherein the end effector is used for picking tea leaves by a movable picking clamp (32) and a fixed picking clamp (29) when working, after picking, the actuator steering engine rotates upwards until the tea leaves are separated from branches and are positioned above the fixed picking clamp (29) and the movable picking clamp (32), at the moment, the tea leaves can fall into the cambered surface receiving disc (33) of the movable picking clamp (32) by slightly opening the movable picking clamp (32), and the movable picking clamp (32) internally comprises the cambered surface receiving disc (33) for receiving the tea leaves, so that the tea leaves are prevented from leaking.

5. A famous tea leaf picking and collecting device as claimed in claim 1, wherein the tea leaf collecting hose (12) is connected at its front end to a cylindrical opening in the side wall of a movable picking clamp (32), the blowing hose (2) is connected at one end to a fan (18) and at the other end to a cylindrical opening in the side wall of a fixed picking clamp (29), the grid tea leaf collector (11) is closely matched with a mechanical arm and an end effector, the mechanical arm is turned to a proper tea leaf picking angle position at each tea leaf picking, after the picking, the mechanical arm is immediately turned back to a position where the end of the tea leaf collecting hose (12) is aligned with the grid tea leaf collector (11), and then the fan (18) is operated to blow the tea leaves into the grid tea leaf collector (11).

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