CN217470771U

CN217470771U - Tea picking robot

Info

Publication number: CN217470771U
Application number: CN202220430645.9U
Authority: CN
Inventors: 徐正; 李军; 何赛灵; 秦利明
Original assignee: Taizhou University; Research Institute of Zhejiang University Taizhou
Current assignee: Taizhou University; Research Institute of Zhejiang University Taizhou
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-09-23
Anticipated expiration: 2032-03-01

Abstract

The utility model provides a tea-picking robot belongs to agricultural machine technical field. This tea-picking robot, which comprises a bod, the fuselage is platform column structure, fuselage both sides portion is equipped with the main part support frame that comprises many stands, main part support frame below is equipped with running gear, the fuselage bottom is equipped with at least one can level and vertical movement's integrated form picking mechanism, still be equipped with control module and first vision module on the fuselage, control module and running gear, mechanism and first vision module electric connection are picked to the integrated form, control module passes through the first vision module and controls running gear drive fuselage and remove, be equipped with second vision module on the integrated form picking mechanism, integrated form picking mechanism discerns tealeaves through second vision module, fix a position and pick. The tea picking robot has the advantages of good passing performance, accurate and reliable picking and simple structure, can effectively reduce the cost of manual tea picking, and can ensure the higher quality of single tea buds.

Description

Tea picking robot

Technical Field

The utility model belongs to the technical field of agricultural machine, in particular to tea-leaf picking robot.

Background

At present, the automation technology generally exists in agricultural production, the related technology is mature, and especially, people design corresponding picking devices to replace manpower aiming at the problems of time consumption and labor waste of agricultural product harvesting.

Patent documents CN104303705B and CN104525469B disclose two mechanized tea picking robots respectively, the working principle of mechanized picking is similar to the principle of leaf pruning, when in use, the newly grown tea leaves are cut off at one time, the mechanical tea picking robot has the advantages of high efficiency, but the defects are obvious, the integrity and consistency of the picked tea leaves are extremely poor, the broken leaves are more, the old and new leaves are not separated, even the tail ends of branches are cut off and mixed into the tea leaves, the quality of tea making raw materials is reduced, the damage to the growth of tea trees is large, and the growth and development of the tea trees are influenced. In addition, the automatic tea picking robots disclosed in patent documents CN1620848 and CN107231889A pick tea by laying rails, but the automatic tea picking robots are high in cost, low in practicability, high in requirements for places, and not suitable for popularization and use.

Disclosure of Invention

In view of this, the present invention provides a tea picking robot to solve the above mentioned deficiencies in the background art.

The purpose of the utility model can be realized by the following technical proposal: the utility model provides a tea-picking robot, includes the fuselage, the fuselage be platform column structure, fuselage both sides portion be equipped with the main part support frame that comprises many stands, main part support frame below be equipped with running gear, fuselage bottom be equipped with at least one can level and vertical movement the integrated form picking mechanism, the fuselage on still be equipped with control module and first visual module, control module with running gear, integrated form picking mechanism and first visual module electric connection, control module remove through first visual module control running gear drive fuselage, integrated form picking mechanism on be equipped with second visual module, integrated form picking mechanism discern, fix a position and pick tealeaves through second visual module.

In the tea picking robot, the integrated picking mechanism comprises a connecting frame, a horizontal moving component, a vertical moving component and a single bud picking machine, the horizontal moving component is fixedly connected to the bottom of the machine body through the connecting frame, the vertical moving component is connected to the horizontal moving component and can reciprocate left and right along with the action of the horizontal moving component, and the single bud picking machine is fixedly connected to the lower end of the vertical moving component.

In the tea-picking robot, the horizontal moving component comprises a first mounting plate, a slide rail, a slide block, a belt, a driving wheel, a driven wheel and a driving motor, the first mounting plate is transversely arranged and fixedly connected at the lower end of the connecting frame, the driving wheel and the driven wheel are respectively rotatably arranged at two ends of the front surface of the first mounting plate and are connected through the belt to form a synchronous belt wheel, the slide rail is transversely arranged at the front surface of the first mounting plate, the driving motor is arranged at the back surface of the first mounting plate, a transmission shaft of the driving motor penetrates through the first mounting plate to be matched with the driving wheel, and the slide block is slidably connected on the slide rail; vertical removal subassembly include second mounting panel and cylinder, the second mounting panel vertical link firmly on the slider, the back of second mounting panel and one of them belt of synchronous pulley link firmly, the cylinder install on the second mounting panel and its push rod sets up down, single bud picking machine link firmly the tip at the push rod, driving motor, cylinder and single bud picking machine all with control module electric connection.

In the tea-picking robot, the horizontal moving component comprises a first mounting plate, a slide rail, a slide block, a screw rod and a driving motor, the first mounting plate is transversely arranged and fixedly connected at the lower end of the connecting frame, the slide rail is transversely arranged on the front surface of the first mounting plate, the driving motor is arranged on the back surface of the first mounting plate, the axis direction of a transmission shaft of the driving motor is parallel to that of the slide rail, the screw rod is arranged in parallel to the slide rail, one end of the screw rod is connected with the transmission shaft of the driving motor, and the slide block is connected on the slide rail in a sliding manner; vertical removal subassembly include second mounting panel and cylinder, the second mounting panel vertical link firmly on the slider, the back and the screw rod spiro union of second mounting panel, the cylinder install on the second mounting panel and its push rod sets up down, the single bud picking machine link firmly the tip at the push rod, driving motor, cylinder and single bud picking machine all with control module electric connection.

In the tea-picking robot, the second visual angle module is arranged at the front end of the single bud picking machine.

In the tea-picking robot, the first vision module and the second vision module are both a CCD vision system or a binocular camera.

In foretell tea-picking robot, the fuselage up end at least have a uplift, the uplift be close to the front end of fuselage, first vision module set up the front end face of uplift, control module set up in the uplift.

In the tea-picking robot, the traveling mechanism is a crawler wheel.

Compared with the prior art, the tea picking robot has the following advantages: the gantry type machine body is adopted and matched with the crawler wheels, so that the machine body has better traffic performance when traveling in the tea ridge; the two-axis moving mechanism is combined with a machine vision and control system, so that the tea single bud is picked accurately, various problems in cutting type picking are solved, and the quality of the tea single bud is ensured; the whole machine is simple in structure, flexible to control and high in intelligent degree, manual intervention is reduced, and a large amount of labor cost can be saved.

Drawings

Fig. 1 is a schematic structural view of a tea-picking robot according to the first embodiment.

Fig. 2 is a schematic structural diagram of the integrated picking mechanism of the first embodiment.

In the figure, 1, the fuselage; 2. a main body support frame; 3. a traveling mechanism; 4. an integrated picking mechanism; 5. a raised portion; 6. a first vision module; 7. a connecting frame; 8. a horizontal movement assembly; 9. a vertical movement assembly; 10. a single bud picking machine; 11. a second vision module; 12. a first mounting plate; 13. a slide rail; 14. a slider; 15. a belt; 16. a driving wheel; 17. a driven wheel; 18. a second mounting plate; 19. and a cylinder.

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention

The first embodiment is as follows:

as shown in fig. 1, the utility model provides a tea-picking robot includes fuselage 1, and its fuselage 1 is platform column structure, and 1 both sides portion of fuselage is equipped with the main part support frame 2 that comprises many stands, and main part support frame 2 highly will be higher than the height of tea tree in the tea ridge, and 2 below of main part support frame are equipped with crawler-type wheel as running gear 3, constitute the structure of similar portal frame like this, make it have better current performance when moving in the tea ridge.

Considering that there may be differences in the actual width of the tea ridge, the transverse width of the machine body 1 may be adapted to the actual width of the tea ridge, and is not particularly limited. The bottom of the machine body 1 is provided with three integrated picking mechanisms 4 capable of moving horizontally and vertically, the three integrated picking mechanisms 4 are arranged in a shape like a Chinese character 'pin', and can basically cover the transverse width of the machine body 1, so that the situation that tea leaves are missed to be picked is reduced.

The upper end surface of the machine body 1 is provided with four raised parts 5, the front end and the rear end of the machine body 1 are respectively provided with two, and the front end surfaces of the two raised parts 5 at the front end are provided with first vision modules 6. A control module may be disposed inside one of the protruding portions 5, and the control module, which serves as a control center of the tea-picking robot, is electrically connected to the first vision module 6, the traveling mechanism 3, and the integrated picking mechanism 4, respectively, so as to control the respective operations thereof.

First vision module 6 is as fuselage 1 antegoing "eyes", and its main function is the image of shooting environment such as tea ridge, then sends for control module, discernment tea ridge position to make things convenient for the controller to plan fuselage 1 path and pick the route, and control running gear 3 drive fuselage 1 and remove.

As shown in fig. 2, the integrated picking mechanism 4 comprises a connecting frame 7, a horizontal moving component 8, a vertical moving component 9 and a single bud picking machine 10, wherein the horizontal moving component 8 is fixedly connected to the bottom of the machine body 1 through the connecting frame 7, the vertical moving component 9 is connected to the horizontal moving component 8 and can reciprocate left and right along with the action of the horizontal moving component 8, and the single bud picking machine 10 is fixedly connected to the lower end of the vertical moving component. The front end of the single-bud picking machine 10 is fixedly connected with a second vision module 11 which is used as a source for acquiring the tea single-bud picture and is used for identifying, positioning and picking the tea.

Specifically, the horizontal moving assembly 8 comprises a first mounting plate 12, a slide rail 13, a slide block 14, a belt 15, a driving wheel 16, a driven wheel 17 and a driving motor, wherein the first mounting plate 12 is transversely arranged and fixedly connected at the lower end of the connecting frame 7, the driving wheel 16 and the driven wheel 17 are respectively rotatably arranged at two ends of the front surface of the first mounting plate 12 and are connected through the belt 15 to form a synchronous belt wheel, the slide rail 13 is transversely arranged at the front surface of the first mounting plate 12, the driving motor is arranged at the back surface of the first mounting plate 12, a transmission shaft of the driving motor penetrates through the first mounting plate 12 to be matched with the driving wheel 16, and the slide block 14 is slidably connected on the slide rail 13; the vertical moving assembly 9 comprises a second mounting plate 18 and a cylinder 19, the second mounting plate 18 is vertically fixedly connected to the sliding block 14, the back face of the second mounting plate 18 is fixedly connected with one of the belts 15 of the synchronous pulleys, the cylinder 19 is mounted on the second mounting plate 18, the push rod of the cylinder is arranged downwards, the single bud picking machine 10 is fixedly connected to the end portion of the push rod, and the driving motor, the cylinder 19 and the single bud picking machine 10 are all electrically connected with the control module.

In this embodiment, the first vision module 6 and the second vision module 11 are both CCD vision systems. The control module comprises a crawler control unit, a motor drive control unit, a cylinder 19 control unit, an image processing unit and a picking control unit. The image processing unit identifies the tea ridges through the images sent by the first vision module 6, generates picking path control signals and drives the crawler wheels to walk through the crawler control unit; identifying the tea leaves through the image sent by the second vision module 11 to generate tea leaf signals; on the basis of the signals, the control module can adjust the position of the single bud picking machine 10 through the control unit of the electrode and the control unit of the air cylinder 19, so that the single bud picking machine 10 can more accurately position single buds of tea leaves, and then the picking control unit generates picking instructions according to the tea leaf signals and controls the single bud picking machine 10 to pick the single buds of tea leaves.

Example two:

the present embodiment is substantially the same as the first embodiment, except that: the horizontal moving assembly 8 abandons a synchronous pulley structure and adopts a sliding rail 13 mechanism, the sliding rail 13 mechanism specifically comprises a first mounting plate 12, a sliding rail 13, a sliding block 14, a screw rod and a driving motor, the first mounting plate 12 is transversely arranged and fixedly connected at the lower end of the connecting frame 7, the sliding rail 13 is transversely arranged on the front surface of the first mounting plate 12, the driving motor is arranged on the back surface of the first mounting plate 12, the axis direction of a transmission shaft of the driving motor is parallel to the sliding rail 13, the screw rod is arranged in parallel to the sliding rail 13, one end of the screw rod is connected with the transmission shaft of the driving motor, and the sliding block 14 is slidably connected on the sliding rail 13; the vertical moving assembly 9 comprises a second mounting plate 18 and a cylinder 19, the second mounting plate 18 is vertically fixedly connected to the sliding block 14, the back face of the second mounting plate 18 is in threaded connection with a screw, the cylinder 19 is mounted on the second mounting plate 18, a push rod of the cylinder is arranged downwards, the single bud picking machine 10 is fixedly connected to the end portion of the push rod, and the driving motor, the cylinder 19 and the single bud picking machine 10 are all electrically connected with the control module.

The single bud picking machine 10 in the above embodiment is formed by adding the second vision module 11 to the existing single bud picking machine 10, so that the single bud picking machine 10 can establish a control system with the control module to realize automatic positioning and automatic picking, and thus, details of the single bud picking machine 10 are not repeated. Through the utility model discloses can realize high-efficient, the high-quality harvesting of tealeaves single bud, reduce artifical the use, reduce the picking cost of high-quality tealeaves single bud by a wide margin.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides a tea-picking robot, includes fuselage (1), its characterized in that, fuselage (1) be platform column structure, fuselage (1) both sides portion be equipped with main part support frame (2) that constitute by many stands, main part support frame (2) below be equipped with running gear (3), fuselage (1) bottom be equipped with at least one integrated form that can level and vertical movement and pick mechanism (4), fuselage (1) on still be equipped with control module and first vision module (6), integrated form pick and be equipped with second vision module (11) on mechanism (4), control module respectively with running gear (3), integrated form pick mechanism (4), first vision module (6) and second vision module (11) electric connection.

2. The tea-picking robot according to claim 1, characterized in that the integrated picking mechanism (4) comprises a connecting frame (7), a horizontal moving component (8), a vertical moving component (9) and a single bud picking machine (10), the horizontal moving component (8) is fixedly connected to the bottom of the machine body (1) through the connecting frame (7), the vertical moving component (9) is connected to the horizontal moving component (8) and can reciprocate left and right along with the action of the horizontal moving component (8), and the single bud picking machine (10) is fixedly connected to the lower end of the vertical moving component.

3. A tea-plucking robot as claimed in claim 2, wherein said horizontal movement assembly (8) comprises a first mounting plate (12), a slide rail (13), a slider (14), a belt (15), a driving wheel (16), a driven wheel (17) and a driving motor, the first mounting plate (12) is transversely arranged and fixedly connected at the lower end of the connecting frame (7), the driving wheel (16) and the driven wheel (17) are respectively rotatably arranged at two ends of the front surface of the first mounting plate (12) and are connected through a belt (15) to form a synchronous belt wheel, the slide rail (13) is transversely arranged on the front surface of the first mounting plate (12), the driving motor is arranged on the back of the first mounting plate (12), a transmission shaft of the driving motor penetrates through the first mounting plate (12) to be matched with the driving wheel (16), and the sliding block (14) is connected to the sliding rail (13) in a sliding manner; vertical removal subassembly (9) include second mounting panel (18) and cylinder (19), second mounting panel (18) vertical link firmly on slider (14), the back of second mounting panel (18) and one of them belt (15) of synchronous pulley link firmly, cylinder (19) install on second mounting panel (18) and its push rod sets up down, single bud picking machine (10) link firmly the tip at the push rod, driving motor, cylinder (19) and single bud picking machine (10) all with control module electric connection.

4. The tea-plucking robot according to claim 2, wherein the horizontal moving assembly (8) comprises a first mounting plate (12), a sliding rail (13), a sliding block (14), a screw rod and a driving motor, the first mounting plate (12) is transversely arranged and fixedly connected to the lower end of the connecting frame (7), the sliding rail (13) is transversely arranged on the front surface of the first mounting plate (12), the driving motor is arranged on the back surface of the first mounting plate (12) and the axial center direction of the transmission shaft of the driving motor is parallel to the sliding rail (13), the screw rod is arranged parallel to the sliding rail (13) and one end of the screw rod is connected with the transmission shaft of the driving motor, and the sliding block (14) is slidably connected to the sliding rail (13); vertical removal subassembly (9) include second mounting panel (18) and cylinder (19), second mounting panel (18) vertical link firmly on slider (14), the back and the screw rod spiro union of second mounting panel (18), cylinder (19) install on second mounting panel (18) and its push rod sets up down, single bud picking machine (10) link firmly the tip at the push rod, driving motor, cylinder (19) and single bud picking machine (10) all with control module electric connection.

5. A tea-picking robot according to claim 1 or 2 or 3 or 4, characterised in that the second vision module is arranged at the front end of the single-bud picker (10).

6. A tea-plucking robot as claimed in claim 5, wherein said first visual module (6) and said second visual module (11) are both CCD visual systems or binocular cameras.

7. A tea-plucking robot as claimed in claim 1, 2, 3 or 4, wherein the upper end surface of the main body (1) has at least one protrusion (5), said protrusion (5) is located near the front end of the main body (1), said first vision module (6) is located at the front end surface of said protrusion (5), and said control module is located inside the protrusion (5).

8. A tea-plucking robot as claimed in claim 1, 2, 3 or 4, wherein said traveling mechanism (3) is a crawler wheel.