CN220807404U - Binocular identification six-axis mechanical arm for tea leaf picking - Google Patents
Binocular identification six-axis mechanical arm for tea leaf picking Download PDFInfo
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- CN220807404U CN220807404U CN202322671209.8U CN202322671209U CN220807404U CN 220807404 U CN220807404 U CN 220807404U CN 202322671209 U CN202322671209 U CN 202322671209U CN 220807404 U CN220807404 U CN 220807404U
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- tea
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- 241001122767 Theaceae Species 0.000 title claims abstract description 64
- 210000000078 claw Anatomy 0.000 claims abstract description 33
- 238000001179 sorption measurement Methods 0.000 claims abstract description 22
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract 1
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 2
- 240000003553 Leptospermum scoparium Species 0.000 description 2
- 235000015459 Lycium barbarum Nutrition 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The utility model discloses a binocular identification six-axis mechanical arm for picking tea leaves, which relates to the technical field of agricultural robots and comprises a six-axis mechanical arm, wherein the six-axis mechanical arm comprises a lower arm, an upper arm and a wrist, the bottom end of the six-axis mechanical arm is provided with an installation platform connected with a travelling vehicle, the top end of the six-axis mechanical arm is connected with a picking assembly, the wrist of the six-axis mechanical arm is provided with a binocular identification assembly, and the binocular identification assembly is aligned with the tail end of the picking assembly; the picking assembly comprises a mechanical claw, an adsorption pipe is arranged at the central shaft of the mechanical claw, the adsorption pipe is connected with a vacuum suction pump, and the vacuum suction pump is positioned on the mounting platform; the discharge end of the vacuum suction pump is connected with a tea storage box. According to the utility model, the binocular identification assembly arranged on the six-axis mechanical arm is aligned with the mechanical claw to identify the tea shoots and position the shoots, the whole process is fully automatic, manual participation is not needed, only the tea shoots can be picked, and the picked tea leaves are not needed to be screened.
Description
Technical Field
The utility model relates to the technical field of agricultural robots, in particular to a binocular identification six-axis mechanical arm for picking tea.
Background
Chinese tea culture is a profound source, and tea leaves serve as centers of tea culture and are one of bridges for Chinese and world culture communication, and planting and picking are non-negligible aspects naturally. The existing tea picking is mainly performed manually, the manual picking efficiency is low, the manual cost is high, the labor resource is in shortage, and the employment of manual labor is difficult and the price is high; the yield and production cost of tea are seriously affected. The tea leaves are picked mechanically, so that picking speed is improved, labor intensity is reduced, cost is saved, and production efficiency and tea quality are improved. The existing tea picking machine is like the tea picking machine disclosed in publication No. CN113647243A, uses a cutter head to cut tea to collect tea, and has the advantages that although the speed is high, the tender buds of the tea cannot be distinguished, the complete bud tips are difficult to retain, manual participation is still needed during use, and workers can be normally used after training.
Disclosure of utility model
Aiming at the defects in the prior art, the utility model provides a binocular identification six-axis mechanical arm for picking tea based on binocular vision detection of tea buds.
In order to achieve the aim of the utility model, the utility model adopts the following technical scheme:
the utility model provides a binocular discernment six-axis mechanical arm is picked to tealeaves, it includes six-axis mechanical arm, six-axis mechanical arm includes lower arm, upper arm and wrist, and six-axis mechanical arm's bottom is provided with the mounting platform who is connected with the car of marcing, and six-axis mechanical arm's top is connected with picks the subassembly, and six-axis mechanical arm's wrist is provided with binocular discernment subassembly, and binocular discernment subassembly aims at picking the end of subassembly; the picking assembly comprises a mechanical claw, an adsorption pipe is arranged at the central shaft of the mechanical claw, the adsorption pipe is connected with a vacuum suction pump, and the vacuum suction pump is positioned on the mounting platform; the discharging end of the vacuum suction pump is connected with a tea storage box and further comprises a controller, the controller is respectively connected with the six-axis mechanical arm, the picking assembly, the binocular identification assembly and the vacuum suction pump, and the controller is internally provided with a tea tender tip grade accurate identification module and a binocular vision positioning module.
Further, the binocular recognition assembly comprises two high-definition cameras which are respectively located on two sides of the mechanical claw, the high-definition cameras are connected with the wrist through the support, and the two high-definition cameras are electrically connected with the controller.
Further, the wrist sleeve is provided with an annular guide rail, the annular guide rail is perpendicular to the wrist, two power sliding blocks are symmetrically arranged on the annular guide rail, the power sliding blocks are electrically connected with the controller, one end of the bracket is connected with the high-definition camera, and the other end of the bracket is connected with the power sliding blocks; and the bracket and the annular guide rail are positioned on the same plane.
Through the arrangement of the annular guide rail, the positions of the two high-definition cameras can be rotationally adjusted in the same plane, so that the high-definition cameras can be kept aligned with the claw ends of the mechanical claws and cannot be limited by the environment.
Further, two limiting blocks are symmetrically arranged on the annular guide rail, the two limiting blocks are respectively located at the top end and the bottom end of the annular guide rail, a pressure sensor is arranged on the side wall, close to the power sliding block, of the limiting block, and the pressure sensor is electrically connected with the controller.
The setting of stopper has divided into two motion areas with annular guide rail, and two high definition cameras move in the motion area respectively to effectively avoid power slider to remove to the opposite side along the guide rail, lead to high definition camera's conduction cable winding arm.
Further, an electric rotating shaft is arranged between the high-definition camera and the bracket, and the electric rotating shaft is electrically connected with the controller; the axle center of the electric rotating shaft and the bracket are positioned on the same plane, and the axle center of the electric rotating shaft is vertical to the bracket.
Further, the power slider includes the slider, and one side of slider is provided with driving motor, is provided with the driving tooth on driving motor's the drive shaft, and one side of annular guide rail is provided with the annular rack with driving tooth meshing.
Further, one end of the adsorption tube, which is close to the mechanical claw, is provided with an electric valve, and the electric valve is electrically connected with the controller.
Through the setting of motorised valve, reduce the adsorption tube and keep away from the opening area of vacuum suction pump behind tealeaves entering adsorption tube to help reducing the pressure in the adsorption tube, make tealeaves get into the tealeaves containing box through the pipeline smoothly, can not block up the adsorption tube.
The beneficial effects of the utility model are as follows:
According to the utility model, the binocular identification assembly arranged on the six-axis mechanical arm is aligned with the mechanical claw to identify the tea shoots, the positions of the tea shoots are obtained, the controller controls the mechanical claw to move to the positions of the tea shoots and pick the tea shoots, after the mechanical claw picks the tea shoots, the tea shoots are collected into the tea storage box through the vacuum adsorption pump and the adsorption pipe arranged at the center of the mechanical claw, the whole process is fully automatic, manual participation is not needed, only the tea shoots are picked, and the picked tea leaves are not needed to be screened.
Through the setting of annular guide rail for two high definition cameras can change the position in the binocular discernment subassembly, thereby avoid the gripper to blockking environmental information, and, in the coplanar, high definition camera is rotatory along wrist axle center, can strengthen the positioning accuracy of binocular vision location, can make the gripper more accurate take tealeaves tender bud.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is an enlarged schematic view of FIG. 1 at A;
FIG. 3 is a schematic perspective view of a binocular vision recognition assembly;
FIG. 4 is an exploded view of the binocular vision recognition assembly;
Wherein, 1, six mechanical arms; 101. a lower arm; 102. an upper arm; 103. a wrist; 2. a mounting platform; 3. a mechanical claw; 4. an adsorption tube; 5. a vacuum suction pump; 6. a tea storage box; 7. a high definition camera; 8. an annular guide rail; 9. a power slide block; 901. a slide block; 902. a driving motor; 903. a drive tooth; 10. a limiting block; 11. an annular toothed rail; 12. an electric valve; 13. an electric rotating shaft.
Detailed Description
The following description of the embodiments of the present utility model is provided to facilitate understanding of the present utility model by those skilled in the art, but it should be understood that the present utility model is not limited to the scope of the embodiments, and all the utility models which make use of the inventive concept are protected by the spirit and scope of the present utility model as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1-4, a binocular identification six-axis mechanical arm for picking tea leaves comprises a six-axis mechanical arm 1, wherein the six-axis mechanical arm 1 comprises a lower arm 101, an upper arm 102 and a wrist 103, the bottom end of the six-axis mechanical arm 1 is provided with a mounting platform 2 connected with a travelling car, in specific implementation, the six-axis mechanical arm 1 is mounted on the travelling car of a tea field through the mounting platform 2, the top end of the six-axis mechanical arm 1 is connected with a picking assembly, the wrist 103 of the six-axis mechanical arm 1 is provided with a binocular identification assembly, and the binocular identification assembly is aligned with the tail end of the picking assembly; the picking assembly comprises a mechanical claw 3, an adsorption pipe 4 is arranged at the central shaft of the mechanical claw 3, the adsorption pipe 4 is connected with a vacuum suction pump 5, and the vacuum suction pump 5 is positioned on the mounting platform 2; the discharge end of the vacuum suction pump 5 is connected with a tea storage box 6, and the vacuum suction pump further comprises a controller, wherein the controller adopts a singlechip with a model HT46R066B during specific implementation, the controller is respectively electrically connected with the six-axis mechanical arm 1, the picking assembly, the binocular identification assembly and the vacuum suction pump 5, and a tea tender tip grade accurate identification module and a binocular vision positioning module are arranged in the controller. In specific implementation, the tea tender tip grade accurate identification module operates the identification method disclosed by the publication number CN115810106A, and the binocular vision positioning module operates the positioning method disclosed by the publication number CN 110992424B.
The binocular recognition assembly comprises two high-definition cameras 7 which are respectively positioned on two sides of the mechanical claw 3, the high-definition cameras 7 are connected with the wrist 103 through a support, and the two high-definition cameras 7 are electrically connected with the controller.
The wrist 103 is sleeved with an annular guide rail 8, the annular guide rail 8 is perpendicular to the wrist 103, two power sliding blocks 9 are symmetrically arranged on the annular guide rail 8, the power sliding blocks 9 are electrically connected with the controller, one end of a bracket is connected with the high-definition camera 7, and the other end of the bracket is connected with the power sliding blocks 9; and the bracket and the annular guide rail 8 are positioned on the same plane.
Two limiting blocks 10 are symmetrically arranged on the annular guide rail 8, the two limiting blocks 10 are respectively positioned at the top end and the bottom end of the annular guide rail 8, a pressure sensor is arranged on the side wall, close to the power sliding block 9, of the limiting block 10, and the pressure sensor is electrically connected with the controller.
An electric rotating shaft 13 is arranged between the high-definition camera 7 and the bracket, and the electric rotating shaft 13 is electrically connected with the controller; the axle center of the electric rotating shaft 13 and the bracket are positioned on the same plane, and the axle center of the electric rotating shaft 13 is vertical to the bracket.
The power slider 9 comprises a slider 901, a driving motor 902 is arranged on one side of the slider 901, driving teeth 903 are arranged on the driving shaft of the driving motor 902, and an annular toothed rail 11 meshed with the driving teeth 903 is arranged on one side of the annular guide rail 8.
An electric valve 12 is arranged at one end of the adsorption tube 4 close to the mechanical claw 3, and the electric valve 12 is electrically connected with a controller.
The utility model has the following application flow and working principle:
The tea field advancing vehicle advances along the tea field, intermittently stops, and when the advancing vehicle stops, the six-axis mechanical arm 1 works to enable the wrist 103 and the mechanical claw 3 to be close to the top end of the tea tree, the two high-definition cameras 7 shoot the top end of the tea tree respectively, and shot images are transmitted to the tea tender tip grade precise identification module and the binocular vision positioning module in real time.
When the real-time image is transmitted, the power sliding block 9 works to drive the high-definition camera 7 to move in the movement area on the annular guide rail 8, and the driving motor 902 works to drive the driving teeth 903 to rotate, and the driving teeth 903 move on the annular toothed rail 11 to drive the sliding block 901 to move on the annular guide rail 8. The high-definition camera 7 can help binocular vision positioning by moving on the annular guide rail 8 to enable the image collected by the same tea sprout to have coordinate transformation, so that the positioning extraction of the mechanical claw 3 is more accurate. In actual use, the two high-definition cameras 7 can symmetrically move by the limiting block 10 or axially symmetrically move by the annular guide rail 8.
After the tender tip grade accurate identification module and the binocular vision positioning module position tender leaves of the tea, the controller controls the six-axis mechanical arm 1 to work, so that the mechanical claw 3 is close to the tender buds of the tea, and the electric rotating shaft 13 works in the moving process of the mechanical claw 3, so that the tender buds of the tea cannot deviate from the shooting range of the high-definition camera 7. The six-axis mechanical arm 1 drives the mechanical claw 3 to move in the prior art, so that details will not be repeated.
After the mechanical claw 3 reaches the designated picking position, the mechanical claw 3 picks up the tea buds, after picking, the mechanical claw 3 clamps the tea buds to the pipe orifice of the adsorption pipe 4, at the moment, the electric valve 12 is in a fully opened state, the vacuum suction pump 5 works, the mechanical claw 3 loosens, the tea buds enter the adsorption pipe 4 under the suction of the vacuum suction pump 5, then the mechanical claw 3 performs next picking, the electric valve 12 works in a half-opened state, one end opening of the adsorption pipe 4 far away from the vacuum suction pump 5 is reduced, so that the suction force is enhanced, the suction pipe 4 is prevented from being blocked by the tea buds, after the next mechanical claw 3 picks up the tea buds, the electric valve 12 is opened, the adsorption collection work of one twisting of the tea buds is repeated, and the tea buds move into the tea storage box 6 under the action of the vacuum suction pump 5.
Claims (7)
1. The utility model provides a six arms of binocular discernment are picked to tealeaves, includes six arms (1), six arms (1) include lower arm (101), upper arm (102) and wrist (103), its characterized in that, the bottom of six arms (1) is provided with mounting platform (2) of being connected with the car of marcing, the top of six arms (1) is connected with picks the subassembly, wrist (103) of six arms (1) are provided with binocular discernment subassembly, binocular discernment subassembly aims at picking the end of subassembly; the picking assembly comprises a mechanical claw (3), an adsorption pipe (4) is arranged at the central shaft of the mechanical claw (3), the adsorption pipe (4) is connected with a vacuum suction pump (5), and the vacuum suction pump (5) is positioned on the mounting platform (2); the tea leaf picking device is characterized in that a tea leaf storage box (6) is connected to the discharge end of the vacuum suction pump (5), and the tea leaf picking device further comprises a controller, wherein the controller is respectively electrically connected with the six-axis mechanical arm (1), the picking assembly, the binocular identification assembly and the vacuum suction pump (5), and a tea leaf tender tip grade accurate identification module and a binocular vision positioning module are arranged in the controller.
2. The binocular identification six-axis mechanical arm for tea leaf picking according to claim 1, wherein the binocular identification component comprises two high-definition cameras (7) which are respectively positioned on two sides of a mechanical claw (3), the high-definition cameras (7) are connected with a wrist (103) through a support, and the two high-definition cameras (7) are electrically connected with a controller.
3. The binocular identification six-axis mechanical arm for picking tea leaves according to claim 2, wherein the wrist (103) is sleeved with an annular guide rail (8), the annular guide rail (8) is perpendicular to the wrist (103), two power sliding blocks (9) are symmetrically arranged on the annular guide rail (8), the power sliding blocks (9) are electrically connected with a controller, one end of a support is connected with a high-definition camera (7), and the other end of the support is connected with the power sliding blocks (9); and the bracket and the annular guide rail (8) are positioned on the same plane.
4. A binocular identification six-axis mechanical arm for picking tea leaves according to claim 3 is characterized in that two limiting blocks (10) are symmetrically arranged on the annular guide rail (8), the two limiting blocks (10) are respectively positioned at the top end and the bottom end of the annular guide rail (8), a pressure sensor is arranged on the side wall, close to the power sliding block (9), of the limiting block (10), and the pressure sensor is electrically connected with a controller.
5. A binocular identification six-axis mechanical arm for picking tea leaves according to claim 3, wherein an electric rotating shaft (13) is arranged between the high-definition camera (7) and the bracket, and the electric rotating shaft (13) is electrically connected with a controller; the axis of the electric rotating shaft (13) and the support are positioned on the same plane, and the axis of the electric rotating shaft (13) is perpendicular to the support.
6. A tea leaf picking binocular identification six-axis mechanical arm according to claim 3, characterized in that the power slider (9) comprises a slider (901), a driving motor (902) is arranged on one side of the slider (901), driving teeth (903) are arranged on a driving shaft of the driving motor (902), and an annular toothed rail (11) meshed with the driving teeth (903) is arranged on one side of the annular guide rail (8).
7. The binocular identification six-axis mechanical arm for picking tea leaves according to claim 1, wherein an electric valve (12) is arranged at one end of the adsorption tube (4) close to the mechanical claw (3), and the electric valve (12) is electrically connected with a controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322671209.8U CN220807404U (en) | 2023-09-28 | 2023-09-28 | Binocular identification six-axis mechanical arm for tea leaf picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322671209.8U CN220807404U (en) | 2023-09-28 | 2023-09-28 | Binocular identification six-axis mechanical arm for tea leaf picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220807404U true CN220807404U (en) | 2024-04-19 |
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ID=90705430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322671209.8U Active CN220807404U (en) | 2023-09-28 | 2023-09-28 | Binocular identification six-axis mechanical arm for tea leaf picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220807404U (en) |
-
2023
- 2023-09-28 CN CN202322671209.8U patent/CN220807404U/en active Active
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