CN221082070U - ROS robot picks tea-leaves - Google Patents

Abstract

The utility model relates to the technical field of agricultural equipment, and provides a tea-picking ROS robot which comprises a portal frame, wherein connecting columns are fixedly arranged at the centers of the bottoms of the two sides of the portal frame, caterpillar tracks are movably connected at the centers of the inner bottoms of the two connecting columns, a first rotating shaft is movably embedded at the center of the top of the portal frame, a crank is fixedly arranged at the top of the first rotating shaft, a first screw rod is fixedly arranged at the bottom of the first rotating shaft, the outer surface of the bottom of the first screw rod is movably embedded at the center of the top left side of the connecting column on the right side, a first sliding block is movably embedded at the center of the inner right side of the portal frame, and a first sliding groove is movably embedded at the center of the outer surface of the first screw rod.

Description

ROS robot picks tea-leaves

Technical Field

The utility model relates to the technical field of agricultural equipment, in particular to a tea-picking ROS robot.

Background

The picking of the tea leaves has distinct seasonality, wherein the picking mainly takes spring and autumn, and especially when picking spring tea, the quality of the tea can be influenced if the fresh tea cannot be picked in time. At present, the picking of famous tea mainly takes manual tea picking as the main part, the labor intensity is high, the labor force is short, the optimal time for picking tea leaves is often missed due to the defect of picking capacity, and the problem that the tea leaves are difficult to pick is more prominent along with the continuous increase of labor cost of labor force.

Disclosure of utility model

The utility model aims to solve the problems in the prior art.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the utility model provides a tea-picking ROS robot, includes the portal frame, the equal fixed mounting in both sides bottom center department of portal frame has the spliced pole, two inside bottom side center department swing joint of spliced pole has the track, the top of portal frame has center department activity to inlay and is equipped with first axis of rotation, the top fixed mounting of first axis of rotation has the crank, the bottom fixed mounting of first axis of rotation has first screw rod, the bottom surface activity of first screw rod is inlayed and is established on the right side the top left side center department of spliced pole, the surface of first screw rod is close to center department activity and is inlayed and be equipped with first slider, the inside right side center department activity of portal frame is inlayed and is equipped with first spout, the right side surface sliding connection of first slider is in the internal surface of first spout, the left side fixed mounting of first slider has the backup pad.

Preferably, a second chute is formed in the center of the left side of the inside of the portal frame, the left outer surface of the supporting plate is slidably connected to the inner surface of the second chute, and supporting columns are fixedly mounted on two sides of the center of the top of the supporting plate.

Preferably, the second screw rods are movably embedded in the inner centers of the two support columns, a second rotating shaft is fixedly arranged on the left side of the second screw rods, and a motor is fixedly arranged on the left side of the top of the support plate and close to the rear side of the second screw rods.

Preferably, one end of a belt is movably sleeved on the left outer surface of the motor, the other end of the belt is movably sleeved on the left outer surface of the second rotating shaft, and a second sliding block is movably sleeved on the center of the outer surface of the second screw rod.

Preferably, a connecting plate is fixedly arranged at the bottom of the second sliding block, and a third sliding groove is formed in the top of the supporting plate and located at the inner sides of the two supporting columns.

Preferably, the outer side surface of the second sliding block is slidably connected to the inner surface of the third sliding groove, and a tea-picking clamping jaw is fixedly installed at the bottom of the connecting plate close to the rear side.

Preferably, the suction head is fixedly embedded in the center of the rear side of the connecting plate and positioned on the inner side of the tea picking clamping jaw, the storage box is fixedly installed in the center of the top of the portal frame, and the feeding pipeline is fixedly connected to the center of the rear side of the suction head.

Preferably, a pump is fixedly connected to the front side of the top of the feeding pipeline, the pump is fixedly installed on the rear side of the storage box, and the bottom of the pump is fixedly installed on the rear side of the top of the portal frame.

Compared with the prior art, the utility model has the advantages and positive effects that,

1. When the utility model is used, a worker can move the device to the side of the tea tree through the crawler belt arranged at the bottom of the connecting column, after the device moves to the side of the tea tree, the worker can rotate the crank, the crank drives the first rotating shaft which is arranged at the bottom of the crank and embedded at the right side of the top of the portal frame to synchronously rotate when rotating, the first rotating shaft drives the first screw rod which is arranged at the bottom of the crank and movably embedded at the top of the right connecting column to synchronously rotate when rotating, the first screw rod drives the first sliding block which is movably sleeved on the outer surface of the first screw rod to move when rotating, the first sliding block can carry out a limiting function on the first sliding block through the first sliding groove arranged at the right side inside the portal frame when moving, the first sliding block can realize lifting movement, the first sliding block can drive the supporting plate arranged on the left side of the first sliding block to synchronously lift and move through the second sliding groove arranged on the left side inside the portal frame, and the situation that the supporting plate is misplaced during movement can be prevented through the arrangement of the second sliding groove, so that the subsequent use of the device is influenced, after the supporting plate is adjusted to a proper position, the supporting plate can be driven to continuously move through the crawler belt driving device, the device can move to the top of the tea tree, the tea trees with different heights can be suitably used for tea collection through the arrangement of the linkage structure, the applicability of the device is greatly improved, after the top of the tea tree moved by the device is adjusted, a worker can turn on a motor, the motor can drive a second rotating shaft to rotate through a belt sleeved on an output shaft of the motor, the second rotating shaft can drive a second screw rod arranged on the right side of the second rotating shaft and movably embedded on the supporting column to synchronously rotate during rotation, the second screw rod drives the second slider of cover setting up above that to move when rotating, make the second slider move through the third spout of seting up in the backup pad when moving, then can carry out a spacing effect to the second slider, make the second slider can realize effect translational motion, make the second slider when effect translational motion, drive the connecting plate of installing in its bottom and move, make the connecting plate drive the tea-leaf picking clamping jaw of installing in its bottom when moving and carry out synchronous motion, and then make tea-leaf picking clamping jaw remove to tealeaves top, the rethread tea-leaf picking clamping jaw makes tealeaves break away from the tea tree, and through linkage structure, make the device gather the tealeaves of different positions on the tea tree, further improvement device's practicality.

2. When the tea picking clamp is used, after tea leaves fall off tea trees, the pump can be started, the tea leaves are sucked into the suction head through the suction head embedded on the connecting plate, so that the tea leaves enter the suction head, then enter the feeding pipeline through the feeding pipeline arranged on the suction head, and then are transported through the pump arranged on the feeding pipeline, so that the tea leaves are transported into the storage box arranged at the top of the portal frame, the tea leaves are collected and stored, and the tea leaves can be collected through the linkage structure, so that the labor efficiency of workers can be greatly reduced, and the labor efficiency of the workers is improved.

Drawings

FIG. 1 is a schematic diagram of a rear-view perspective of a tea-picking ROS robot provided by the utility model;

fig. 2 is a schematic diagram of a left-view perspective structure of the ROS robot for picking tea according to the present utility model;

FIG. 3 is a right side perspective view of a tea ROS robot according to the present utility model;

fig. 4 is a schematic diagram of a front perspective view of a tea-picking ROS robot according to the present utility model.

Legend description:

1. A portal frame; 101. a connecting column; 102. a track; 103. a first rotation shaft; 104. a crank; 105. a first screw; 106. a first slider; 107. a first chute; 108. a support plate; 109. a second chute; 110. a support column; 111. a second screw; 112. a second rotation shaft; 113. a motor; 114. a belt; 115. a second slider; 116. a third chute; 2. a connecting plate; 201. tea-picking clamping jaw; 202. a suction head; 203. a feed conduit; 204. a pump machine; 205. a storage box.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the present utility model provides a technical solution: the utility model provides a tea-picking ROS robot, including portal frame 1, the equal fixed mounting of both sides bottom center department of portal frame 1 has spliced pole 101, the inside bottom center department swing joint of two spliced poles 101 has track 102, the top of portal frame 1 has center department to inlay in the activity and is equipped with first axis of rotation 103, the top fixed mounting of first axis of rotation 103 has crank 104, the bottom fixed mounting of first axis of rotation 103 has first screw 105, the bottom surface activity of first screw 105 is inlayed and is established in the top left side center department of right side spliced pole 101, the surface of first screw 105 is close to center department activity and is inlayed and is equipped with first slider 106, the inside right side center department activity of portal frame 1 has inlayed first spout 107, the right side surface sliding connection of first slider 106 is at the internal surface of first spout 107, the left side fixed mounting of first slider 106 has backup pad 108.

Further, as shown in fig. 1-4, a second chute 109 is provided at the center of the left side of the inside of the portal frame 1, the left outer surface of the supporting plate 108 is slidably connected to the inner surface of the second chute 109, the two sides of the center of the top of the supporting plate 108 are fixedly provided with supporting columns 110, the second screws 111 are movably embedded in the centers of the two inner sides of the supporting columns 110, the left side of the second screws 111 is fixedly provided with a second rotating shaft 112, and the left side of the top of the supporting plate 108 is fixedly provided with a motor 113 near the rear side of the second screws 111, so that the device can be moved to the top of the tea tree, and after the height adjustment is completed, a worker can turn on the motor 113.

Further, as shown in fig. 1-4, one end of a belt 114 is movably sleeved on the left outer surface of the motor 113, the other end of the belt 114 is movably sleeved on the left outer surface of the second rotating shaft 112, and a second sliding block 115 is movably sleeved at the center of the outer surface of the second screw 111, so that the motor 113 can drive the second rotating shaft 112 to rotate through the belt 114 sleeved on the output shaft thereof when rotating, the second rotating shaft 112 can drive the second screw 111 installed on the right side thereof and movably embedded on the support column 110 to synchronously rotate when rotating, the second screw 111 can drive the second sliding block 115 sleeved on the second rotating shaft to move when rotating, and the second sliding block 115 can perform a limiting function on the second sliding block 115 through a third sliding groove 116 formed on the support plate 108 when moving, so that the second sliding block 115 can realize translational movement.

Further, as shown in fig. 1-4, the bottom of the second slider 115 is fixedly provided with the connecting plate 2, and the top of the supporting plate 108 and the inner sides of the two supporting columns 110 are provided with the third sliding groove 116, so that the second slider 115 can drive the connecting plate 2 installed at the bottom to move when performing translational movement.

Further, as shown in fig. 1-4, the outer side surface of the second slider 115 is slidably connected to the inner surface of the third chute 116, and the tea-picking claw 201 is fixedly installed near the rear side at the bottom of the connecting plate 2, so that the connecting plate 2 can drive the tea-picking claw 201 installed at the bottom of the connecting plate to synchronously move during movement, and further the tea-picking claw 201 moves above tea leaves, and then the tea leaves are separated from the tea trees by the tea-picking claw 201.

Further, as shown in fig. 1-4, a suction head 202 is fixedly embedded in the center of the rear side of the connecting plate 2 and located in the inner side of the tea picking clamping jaw 201, a storage box 205 is fixedly installed in the center of the top of the portal frame 1, a feeding pipeline 203 is fixedly connected to the center of the rear side of the suction head 202, so that after tea leaves fall off from tea trees, a pump 204 can be started, and the tea leaves are sucked into the suction head 202 through the suction head 202 embedded in the connecting plate 2.

Further, as shown in fig. 1-4, the front side of the top of the feeding pipeline 203 is fixedly connected with the pump 204, the pump 204 is fixedly installed at the rear side of the storage box 205, the bottom of the pump 204 is fixedly installed at the rear side of the top of the portal frame 1, so that after tea enters the inside of the suction head 202, the tea enters the inside of the feeding pipeline 203 through the feeding pipeline 203 installed on the suction head 202, and then is transported through the pump 204 installed on the feeding pipeline 203, so that the tea is transported to the inside of the storage box 205 installed at the top of the portal frame 1, and then the tea is collected and stored, and the device can collect the tea through the linkage structure, so that the labor efficiency of workers can be greatly reduced, and the labor efficiency of the workers can be improved.

Working principle: when in use, a worker can move the device to the side of the tea tree through the crawler 102 arranged at the bottom of the connecting column 101, after the device is moved to the side of the tea tree, the worker can rotate the crank 104, the crank 104 drives the first rotating shaft 103 arranged at the bottom of the crank 104 and embedded at the right side of the top of the portal frame 1 to synchronously rotate when rotating, the first rotating shaft 103 drives the first screw 105 arranged at the bottom of the first rotating shaft and movably embedded at the top of the right connecting column 101 to synchronously rotate when rotating, the first screw 105 drives the first sliding block 106 movably sleeved on the outer surface of the first screw 105 to synchronously rotate, when the first sliding block 106 moves through the first sliding groove 107 arranged on the right side inside the portal frame 1, the first sliding block 106 can be limited, the first sliding block 106 can realize lifting movement, the first sliding block 106 can drive the supporting plate 108 arranged on the left side of the first sliding block 106 to synchronously lift through the second sliding groove 109 arranged on the left side inside the portal frame 1 when lifting, and due to the arrangement of the second sliding groove 109, the situation that the supporting plate 108 is misplaced when moving can be prevented, the subsequent use of the device is influenced, and after the supporting plate 108 is adjusted to a proper position, the device can be driven to continuously move through the crawler 102, so that the device can be moved to the top of tea trees, and the device can be suitable for tea trees with different heights to collect tea leaves through the arrangement of a linkage structure, so that the applicability of the device is greatly improved, after the adjustment of the height of the top of the tea trees moved by the device is finished, a worker can turn on the motor 113, the motor 113 drives the second rotating shaft 112 to rotate through the belt 114 sleeved on the output shaft of the motor 113 when rotating, the second rotating shaft 112 drives the second screw 111 which is arranged on the right side of the second rotating shaft and is movably embedded on the support column 110 to synchronously rotate when rotating, the second screw 111 drives the second sliding block 115 sleeved on the second screw 111 to move when rotating, the second sliding block 115 moves through the third sliding groove 116 arranged on the supporting plate 108 when moving, a limiting effect can be carried out on the second sliding block 115, the second sliding block 115 can realize an action translational movement, the second sliding block 115 drives the connecting plate 2 arranged at the bottom of the second sliding block to move when in the action translational movement, the connecting plate 2 drives the tea picking clamping jaw 201 arranged at the bottom of the connecting plate to synchronously move when in the movement, the tea picking clamping jaw 201 moves to the upper part of tea leaves, the tea leaves are separated from the tea leaves through the tea picking clamping jaw 201, and through the linkage structure, make the device gather the tealeaves of different positions on the tea tree, further improve the practicality of device. When in use, after the tea leaves are separated from tea trees by the tea picking clamping jaw 201, the pump 204 can be opened, the tea leaves are sucked into the suction head 202 through the suction head 202 embedded on the connecting plate 2, the tea leaves enter the suction head 202, then enter the feeding pipeline 203 through the feeding pipeline 203 arranged on the suction head 202, then are transported by the pump 204 arranged on the feeding pipeline 203, are transported into the storage box 205 arranged at the top of the portal frame 1, and are further collected and stored by the device through the linkage structure, the labor efficiency of the staff can be greatly reduced, and the labor efficiency of the staff is improved (the motor 113 is required to be described as Y80M1-4, the power is 0.55KW, the pump 204 is required to be described as HG-370-C, and the power is 370W).

The present utility model is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matter of the present utility model will still fall within the protection scope of the technical solution of the present utility model.

Claims (8)

1. The utility model provides a tea-leaf picking ROS robot, includes portal frame (1), its characterized in that: the utility model discloses a portal frame, including portal frame (1), connecting column (101) are all fixed mounting in both sides bottom center department of portal frame (1), two inside bottom center department swing joint of connecting column (101) has track (102), the top of portal frame (1) has center department activity to inlay and is equipped with first axis of rotation (103), the top fixed mounting of first axis of rotation (103) has crank (104), the bottom fixed mounting of first axis of rotation (103) has first screw rod (105), the bottom surface activity of first screw rod (105) is inlayed and is established on the right side the top left side center department of connecting column (101), the surface of first screw rod (105) is close to center department activity and is inlayed and is equipped with first slider (106), the right side surface sliding connection of first slider (106) is in the internal surface of first spout (107), the left side fixed mounting of first slider (106) has backup pad (108).

2. A tea-picking ROS robot as in claim 1, wherein: the center of the left side of the inside of the portal frame (1) is provided with a second chute (109), the outer surface of the left side of the supporting plate (108) is slidably connected with the inner surface of the second chute (109), and the two sides of the center of the top of the supporting plate (108) are fixedly provided with supporting columns (110).

3. A tea-picking ROS robot as in claim 2, wherein: the second screw rods (111) are movably embedded in the inner centers of the two supporting columns (110), a second rotating shaft (112) is fixedly arranged on the left side of each second screw rod (111), and a motor (113) is fixedly arranged on the left side of the top of each supporting plate (108) and close to the rear side of each second screw rod (111).

4. A tea-picking ROS robot as defined in claim 3, wherein: one end of a belt (114) is movably sleeved on the left outer surface of the motor (113), the other end of the belt (114) is movably sleeved on the left outer surface of the second rotating shaft (112), and a second sliding block (115) is movably sleeved at the center of the outer surface of the second screw (111).

5. A tea-picking ROS robot as defined in claim 4, wherein: the bottom of the second sliding block (115) is fixedly provided with a connecting plate (2), and a third sliding groove (116) is formed in the top of the supporting plate (108) and located on the inner sides of the two supporting columns (110).

6. A tea-picking ROS robot of claim 5, wherein: the outer side surface of the second sliding block (115) is connected to the inner surface of the third sliding groove (116) in a sliding mode, and a tea-picking clamping jaw (201) is fixedly installed at the bottom of the connecting plate (2) close to the rear side.

7. A tea-picking ROS robot as defined in claim 6, wherein: suction heads (202) are fixedly embedded in the rear side center of the connecting plate (2) and located on the inner sides of the tea picking clamping jaws (201), a storage box (205) is fixedly installed in the center of the top of the portal frame (1), and a feeding pipeline (203) is fixedly connected to the rear side center of the suction heads (202).

8. A tea-picking ROS robot as defined in claim 7, wherein: the top front side of feed pipeline (203) fixedly connected with pump machine (204), pump machine (204) fixed mounting is in the rear side of storage box (205), the bottom fixed mounting of pump machine (204) is in the top rear side of portal frame (1).