CN105075520A - Working method of tea picking mechanical arm - Google Patents
Working method of tea picking mechanical arm Download PDFInfo
- Publication number
- CN105075520A CN105075520A CN201510538650.6A CN201510538650A CN105075520A CN 105075520 A CN105075520 A CN 105075520A CN 201510538650 A CN201510538650 A CN 201510538650A CN 105075520 A CN105075520 A CN 105075520A
- Authority
- CN
- China
- Prior art keywords
- tea
- picking
- leaves
- tealeaves
- telescopic cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a working method of a tea picking mechanical arm which can rise, stretch, retract and rotate in small space. The working method comprises the steps that firstly, a tea picking starting triggering signal is received, and a rotary cylinder rotates to drive a vertical telescopic cylinder, a horizontal telescopic cylinder and a picking clamping jaw to rotate; secondly, the vertical telescopic cylinder stretches or retracts to enable the horizontal telescopic cylinder and the picking clamping jaw to rise or fall together; thirdly, the horizontal telescopic cylinder stretches or retracts to drive the picking clamping jaw to reach a tea picking position; fourthly, two cranks in the picking clamping jaw rotate synchronously in opposite directions to drive the clamping ends of two swing rods to be separated and then combined so as to clamp one or more tea leaves; fifthly, leaves are cut off from stems through leaf cutting mechanisms at the clamping ends of the swing rods; sixthly, a draught fan is started to suck the leaves cut off into a leaf delivery pipe from leaf guiding chutes on the inner sides of the swing rods and deliver the leaves to a tea leaf collection box finally.
Description
Technical field
The present invention relates to the technology of picking tea-leaves, particularly a kind of method of work of manipulator of picking tea-leaves.
Background technology
Tea picking is not only related to the quality of tea making raw material, and affects growing of tea tree.Reasonably pick tea-leaves, can promote that tealeaves increases production to a certain extent, and have the effect of anti-worm of curing the disease.Tea picking seasonal is strong, and especially spring tea, fresh leaf is plucked not in time, will affect into the quality of sampling tea.Traditional way is all picked by hand, and generally work eight hours for each person every day, at most also can only pluck the tealeaves of about 2Kg, and labour intensity is large, and inefficiency.
In order to reduce the labour intensity of picking tea-leaves, improving efficiency of picking tea-leaves, usually adopting tea picking machine to pick tea-leaves at present.Manipulator of picking tea-leaves is the vitals of tea picking machine, and manipulator of picking tea-leaves is arranged on the lift rotary platform of tea picking machine usually.Existing manipulator of picking tea-leaves is formed primarily of two harvesting jaws to be opened/closed, and the end of plucking jaw is provided with blade.When picking tea-leaves, two pluck the first interior pendulum of jaw catches tealeaves, and tealeaves cuts off by the blade then by plucking jaw end, completes the harvesting of tealeaves.
Often there is following problem in above-mentioned manipulator of picking tea-leaves: 1. normally by lifting and revolving dial, picking mechanical arm is placed in different harvesting positions, pluck tealeaves, because manipulator self of picking tea-leaves does not possess lifting in little spatial dimension, flexible and pivotal function, and be elevated with the actuating range of revolving dial larger at every turn, therefore, be easy to omit tealeaves, reduce the output of picking tea-leaves; 2. the blade plucking jaw end by means of only mechanical hand getting of picking tea-leaves cuts off tealeaves, cutting dynamics is limited, and tealeaves and tea handle often can be made not to cut off completely, but tealeaves and tea handle to be pullled and to break by plucking jaw and complete harvesting, be easy to make tealeaves incomplete pullling in process, affect post-production; 3. the tealeaves plucked is picked in tealeaves collecting box by manipulator direct, and Robot actions of picking tea-leaves is very inconvenient, and action is comparatively slow, and collection tealeaves efficiency is low.
Summary of the invention
The invention is intended to provide a kind of can lifting in little space, flexible and pivotal manipulator of picking tea-leaves method of work.
The method of work of the manipulator of picking tea-leaves in this programme, comprises the following steps;
The first step, receive tea picking and start triggering signal, rotary cylinder rotates, and drives vertical telescopic cylinder, horizontal extension cylinder and pluck jaw to rotate;
Second step, vertical telescopic cylinder extends or retracts, thus makes lifting or the decline together with harvesting jaw of horizontal extension cylinder;
3rd step, horizontal extension cylinder extends or retracts, thus drives harvesting jaw to tea picking position;
4th step, plucks two cranks synchronous axial system in the other direction in jaw, drives the bare terminal end of two forks first to open and close up, clamp one or more pieces tealeaves;
5th step, is cut down tealeaves from tealeaves handle by the foliage cutter structure of fork bare terminal end;
6th step, fan starting, sucks blade carrier pipe by the tealeaves under cutting from the stator groove inside fork, and is finally transported to tealeaves collecting box;
Repeat above-mentioned action, until the tea picking in the three dimensions that can be reached by picking mechanical arm is complete, rotary and lifting platform action afterwards, drives manipulator of picking tea-leaves to pick tea-leaves position to the next one.
Operation principle and the beneficial effect of this programme are as follows:
After harvesting, by stator groove, tea leaf conveying is delivered to blade carrier pipe place, under the effect of blower fan, tealeaves sucked blade carrier pipe and be finally transported to tealeaves collecting box, compared to existing directly by manipulator conveying tealeaves of picking tea-leaves, greatly improve the transfer efficiency of tealeaves, and manipulator of picking tea-leaves eliminates transportation work, tealeaves can be plucked always, improve picking efficiency.
By this method work pick tea-leaves manipulator can lifting in little space, flexible and revolution, each by behind lift rotary platform location, each also carrying by manipulator of picking tea-leaves drives cylinder trim locations in little space, thus complete the harvesting of each position tealeaves, the tealeaves of any short space can not be omitted, can output of picking tea-leaves be improved, possess practical generalization.
Further, in the 5th step, described foliage cutter structure is the scissors hand driven by two-way cylinder.Cut leaf by scissors hand, Qie Ye is more thorough, avoids tealeaves and tea handle not to cut off completely, by plucking jaw, tealeaves and tea handle is pullled the disconnected problem easily making tealeaves incompleteness.
Further, during two fork clamping tealeaves, the bare terminal end of two forks is parallel.During due to clamping tealeaves, the bare terminal end of two forks is parallel, therefore, large with the contact area of tealeaves, clamps more stable.
Further, when vertical telescopic cylinder extends or retracts, the piston rod of the guide post being positioned at vertical telescopic cylinder side direction and vertical telescopic cylinder synchronously elongates or shortens.When vertical telescopic cylinder runs, guide post can shrink with vertical telescopic cylinder, the piston rod of vertical telescopic cylinder is played to the effect of motion guide and reinforcing.
Accompanying drawing explanation
Fig. 1 is the structural representation of each driving cylinder of the embodiment of the present invention.
Fig. 2 is the structural representation that the embodiment of the present invention plucks jaw.
Fig. 3 is the structural representation of embodiment of the present invention foliage cutter structure.
Embodiment
Below by embodiment, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: rotary cylinder 1, gripper shoe 2, U-shaped Connection Block 3, vertically telescopic cylinder 4, guide post 5, horizontal extension cylinder 6, terminal pad 7, crank 8, fork 9, connecting rod 10, two-way cylinder 11, scissors hand 12.
Manipulator of picking tea-leaves as shown in Figure 1, the supporting seat of the lower weld level of the first vertical installing plate, the first vertical installing plate is provided with vertical rotary cylinder, and the rotating shaft of rotary cylinder stretches out rotary cylinder and is horizontally disposed with, and is arranged with sleeve outside rotating shaft.Supporting seat is fixed with gripper shoe, and gripper shoe has two and is arranged symmetrically with the vertical center line of rotating shaft, and to make sleeve uniform force, the end face of gripper shoe has the curved surface identical with excircle of sleeve curvature, and the end face of gripper shoe and the cylindrical of sleeve offset.Outside sleeve, arrange gripper shoe, because the end face of gripper shoe and the cylindrical of sleeve offset, gripper shoe is played a supporting role to sleeve, prevents rotating shaft when rotated, produces Radial Perturbation.
Rotating shaft is fixed with U-shaped Connection Block, two legs being specially U-shaped Connection Block are separately fixed at the two ends of rotating shaft, by rotating shaft driven rotary.The side (the present embodiment is upper surface) of U-shaped Connection Block is welded with the second vertical installing plate, second vertical installing plate is provided with vertical telescopic cylinder, in the present embodiment, two long sides of the second vertical installing plate are also respectively equipped with baffle plate, and vertical telescopic cylinder is between two baffle plates.Be provided with guide post in the below of the second vertical installing plate, the end of guide post and the vertical expansion link of vertical telescopic cylinder are fixed.
The end winding support of the vertical expansion link of vertical telescopic cylinder has the deck of level, deck is installed horizontal extension cylinder, the end winding support of the horizontal extension bar of horizontal extension cylinder has vertical terminal pad, and terminal pad is rectangular-shaped, and four sides of terminal pad level are equipped with harvesting jaw.In the present embodiment, terminal pad is rectangular-shaped, and four sides of terminal pad level are equipped with harvesting jaw.Pluck on station for one and multiple harvesting jaw is set, increase dish slag efficiency.
As shown in Figure 2, the harvesting jaw of the present embodiment comprises symmetrically arranged two clip claw assemblies, and each clip claw assembly includes crank, connecting rod and fork.One end of crank is hinged on terminal pad, and crank this end hinged with terminal pad is provided with external tooth and the crank of two clip claw assemblies is engaged, and one of them crank is driving link, and by motor or rotary cylinder driven rotary, another crank is driven member.Connecting rod one end is hinged on terminal pad, and the middle part of the other end and fork is hinged.The other end of crank and one end of fork hinged, the other end of fork is the bare terminal end of tealeaves.Fork is V-shaped, and when making two fork clamping tealeaves, the bare terminal end of two forks is parallel.Above-mentioned harvesting clamping jaw structure is simple, and owing to engaging all the time two crank one end, when therefore plucking, the action of two forks is more stable.
In the present embodiment, the inner side of fork has stator groove (not shown) along the axis of fork, and stator groove internal fixtion has blade carrier pipe, and blade carrier pipe communicates with tealeaves collecting box, cuts blade carrier pipe and is connected with air exhauster.
As shown in Figure 3, bare terminal end has been bolted foliage cutter structure, foliage cutter structure is comprised two-way cylinder and is driven the scissors hand opening or close by two-way cylinder.The end of scissors hand and the piston rod of two-way cylinder are flexible coupling, and when avoiding work, scissors hand blocks, and makes the piston rod of two-way cylinder stuck, damages two-way cylinder.
To pick tea-leaves in this enforcement the method for work of manipulator, comprise the following steps;
The first step, receive tea picking and start triggering signal, rotary cylinder rotates, and drives vertical telescopic cylinder, horizontal extension cylinder and pluck jaw to rotate;
Second step, vertical telescopic cylinder extends or retracts, thus making lifting or the decline together with harvesting jaw of horizontal extension cylinder, when vertical telescopic cylinder extends or retracts, the piston rod of the guide post being positioned at vertical telescopic cylinder side direction and vertical telescopic cylinder synchronously elongates or shortens;
3rd step, horizontal extension cylinder extends or retracts, thus drives harvesting jaw to tea picking position;
4th step, pluck two cranks synchronous axial system in the other direction in jaw, drive the bare terminal end of two forks first to open and close up, clamp one or more pieces tealeaves, during two fork clamping tealeaves, the bare terminal end of two forks is parallel;
5th step, is cut down tealeaves from tealeaves handle by the foliage cutter structure of fork bare terminal end, and foliage cutter structure is the scissors hand driven by two-way cylinder;
6th step, fan starting, sucks blade carrier pipe by the tealeaves under cutting from the stator groove inside fork, and is finally transported to tealeaves collecting box;
Repeat above-mentioned action, until the tea picking in the three dimensions that can be reached by picking mechanical arm is complete, rotary and lifting platform action afterwards, drives manipulator of picking tea-leaves to pick tea-leaves position to the next one.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the embodiment in specification etc. record the content that may be used for explaining claim.
Claims (4)
1. to pick tea-leaves the method for work of manipulator, it is characterized in that, comprise the following steps;
The first step, receive tea picking and start triggering signal, rotary cylinder rotates, and drives vertical telescopic cylinder, horizontal extension cylinder and pluck jaw to rotate;
Second step, vertical telescopic cylinder extends or retracts, thus makes lifting or the decline together with harvesting jaw of horizontal extension cylinder;
3rd step, horizontal extension cylinder extends or retracts, thus drives harvesting jaw to tea picking position;
4th step, plucks two cranks synchronous axial system in the other direction in jaw, drives the bare terminal end of two forks first to open and close up, clamp one or more pieces tealeaves;
5th step, is cut down tealeaves from tealeaves handle by the foliage cutter structure of fork bare terminal end;
6th step, fan starting, sucks blade carrier pipe by the tealeaves under cutting from the stator groove inside fork, and is finally transported to tealeaves collecting box;
Repeat above-mentioned action, until the tea picking in the three dimensions that can be reached by picking mechanical arm is complete, rotary and lifting platform action afterwards, drives manipulator of picking tea-leaves to pick tea-leaves position to the next one.
2. the method for work of manipulator of picking tea-leaves according to claim 1, is characterized in that: in the 5th step, and described foliage cutter structure is the scissors hand driven by two-way cylinder.
3. the method for work of manipulator of picking tea-leaves according to claim 1, is characterized in that: during two fork clamping tealeaves, the bare terminal end of two forks is parallel.
4. the method for work of manipulator of picking tea-leaves according to claim 1, is characterized in that: when vertically telescopic cylinder extends or retracts, and the piston rod of the guide post being positioned at vertical telescopic cylinder side direction and vertical telescopic cylinder synchronously elongates or shortens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538650.6A CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538650.6A CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105075520A true CN105075520A (en) | 2015-11-25 |
| CN105075520B CN105075520B (en) | 2018-03-13 |
Family
ID=54557600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510538650.6A Active CN105075520B (en) | 2015-08-28 | 2015-08-28 | The method of work of tea picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105075520B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN111149514A (en) * | 2020-01-19 | 2020-05-15 | 浙江理工大学 | Rotary folding type tea single-bud picking manipulator |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1949782B1 (en) * | 2007-01-24 | 2009-05-13 | Jörg Meyer | Cutting device |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
-
2015
- 2015-08-28 CN CN201510538650.6A patent/CN105075520B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1949782B1 (en) * | 2007-01-24 | 2009-05-13 | Jörg Meyer | Cutting device |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN104609176A (en) * | 2014-12-09 | 2015-05-13 | 岳睿 | Industrial automated machinery conveying device |
| CN204518510U (en) * | 2015-03-27 | 2015-08-05 | 重庆理工大学 | A kind of self-propelled tea picking machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN111149514A (en) * | 2020-01-19 | 2020-05-15 | 浙江理工大学 | Rotary folding type tea single-bud picking manipulator |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105075520B (en) | 2018-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105210556A (en) | To pick tea-leaves manipulator | |
| CN107771527B (en) | Efficient nondestructive fruit picking device | |
| CN202172606U (en) | Picking paw | |
| CN105075520A (en) | Working method of tea picking mechanical arm | |
| CN105075519A (en) | Working method of tea leaf picking mechanical hand | |
| CN202535753U (en) | Novel fruit picker | |
| CN208175392U (en) | A kind of tea picking robot | |
| CN103878267A (en) | Pipe bending machine | |
| CN108338007A (en) | A kind of vibrating type fruit picker and picking method | |
| CN109479522A (en) | A kind of fruit picking robot and its picking method | |
| CN203679084U (en) | Pipe bending machine | |
| CN206472512U (en) | A kind of agriculture fruit harvesting harvesting apparatus | |
| CN105520181B (en) | Tobacco weaving rod | |
| CN109479521A (en) | A kind of fruit picking robot end effector | |
| CN202241287U (en) | Upright column-type boost mechanical arm | |
| CN216314075U (en) | Picking device | |
| CN105123121A (en) | Tea plucking machine | |
| CN114313922A (en) | Automatic barrel-removing machine | |
| CN111605758B (en) | Automatic cover placing machine and method for plastic barrel | |
| CN210537500U (en) | Fruit picking device | |
| CN110583232A (en) | Banana carpopodium clamping and cutting composite actuating mechanism | |
| CN109258101B (en) | Multipurpose vibration excitation type fruit picking device | |
| CN111328540A (en) | Tip removing device used in reed harvesting process | |
| CN208079860U (en) | A kind of vibrating type fruit picker | |
| CN109122059A (en) | A kind of cordyceps sinensis harvesting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |