CN105210556B - Tea picking manipulator - Google Patents
Tea picking manipulator Download PDFInfo
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- CN105210556B CN105210556B CN201510538624.3A CN201510538624A CN105210556B CN 105210556 B CN105210556 B CN 105210556B CN 201510538624 A CN201510538624 A CN 201510538624A CN 105210556 B CN105210556 B CN 105210556B
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Abstract
Can the lifting in small space this patent discloses one kind, flexible and revolution tea picking manipulator, including the first horizontal mounting plate, first horizontal mounting plate is provided with vertical rotary cylinder, the rotary shaft of rotary cylinder is stretched out rotary cylinder and is horizontally disposed with, U-shaped connecting seat is fixed with rotary shaft, the side of U-shaped connecting seat is fixed with the second horizontal mounting plate, second horizontal mounting plate is provided with vertical telescopic cylinder, the end of the vertical expansion link of vertical telescopic cylinder is fixed with horizontal deck, horizontal extension cylinder is installed on deck, the end of the horizontal extension bar of horizontal extension cylinder is fixed with vertical terminal pad, harvesting clamping jaw is installed in terminal pad.
Description
Technical field
The present invention relates to tea picking technology, more particularly to a kind of tea picking manipulator.
Background technology
Tea picking is not only related to the quality of tea making raw material, and influences growing for tea tree.It is rational to pick tea-leaves,
Tealeaves can be promoted to increase production to a certain extent, and prevent and treat disease pest.Tea picking seasonal is strong, especially spring tea, fresh leaf
Pluck not in time, the quality of sample tea will be influenceed.Traditional way is all picked by hand, and typically work eight hours left sides for each person every day
The right side, at most can only also pluck 2Kg or so tealeaves, labor intensity is big, and inefficiency.
In order to reduce the labor intensity of tea picking, tea picking efficiency is improved, is generally picked tea-leaves at present using tea picking machine.Tea picking machine
Tool hand is the important component of tea picking machine, and tea picking manipulator is generally arranged on the lift rotary platform of tea picking machine.It is existing to pick tea-leaves
Manipulator is main to be made up of two harvesting clamping jaws to be opened/closed, and the end of harvesting clamping jaw is provided with blade.During tea picking, two harvesting clamping jaws
Pendulum interior first catches tealeaves, then cuts off tealeaves by plucking the blade of jaw end, completes the harvesting of tealeaves.It is above-mentioned to adopt
Often there is problems with tea manipulator：1. picking mechanical arm is placed in different harvestings typically by lifting and revolving dial
Position, to pluck tealeaves, because tea picking manipulator itself does not possess lifting, flexible and revolution work(in small spatial dimension
Can, and lift every time it is larger with the actuating range of revolving dial, therefore, it is very easy to omit tealeaves, the yield of reduction tea picking；2.
The blade for only plucking jaw end by mechanical hand getting of picking tea-leaves cuts off tealeaves, and cutting dynamics is limited, often makes tealeaves and tea handle not
Cut off, but broken and what completion was plucked by plucking clamping jaw and pullling tealeaves and tea handle completely, be easy to make during pullling
Tealeaves is incomplete, influences post-production；3. the tealeaves of harvesting is to be sent directly into by manipulator in tealeaves collecting box, machinery of picking tea-leaves
Hand operation is inconvenient, and action is slower, collects tealeaves efficiency low.
The content of the invention
The invention is intended to provide it is a kind of can in small space lifting, flexible and revolution tea picking manipulator.
Tea picking manipulator in this programme, including the first horizontal mounting plate, the first horizontal mounting plate are provided with vertical rotation
Rotaring cylinder, the rotary shaft of rotary cylinder is stretched out rotary cylinder and is horizontally disposed with, and U shape connecting seats, U shapes are fixed with rotary shaft
The side of connecting seat is fixed with the second horizontal mounting plate, and the second horizontal mounting plate is provided with vertical telescopic cylinder, and stretch gas vertically
The end of the vertical expansion link of cylinder is fixed with installation horizontal extension cylinder, the water of horizontal extension cylinder on horizontal deck, deck
The end of flat expansion link, which is fixed with vertical terminal pad, terminal pad, is provided with harvesting clamping jaw, and described harvesting clamping jaw includes pair
Claim two clip claw assemblies set, each clip claw assembly includes crank, connecting rod and swing rod, and one end of crank is hinged on terminal pad
On, crank is provided with external tooth so that the crank of two clip claw assemblies is engaged, based on one of crank with the end that terminal pad is hinged
Moving part, another crank is driven member, and the other end of crank and one end of swing rod are hinged, and the other end of swing rod is the clamping of tealeaves
End, bare terminal end is provided with foliage cutter structure, and connecting rod one end is hinged in terminal pad, is hinged in the middle part of the other end and swing rod, described
Foliage cutter structure includes two-way cylinder and drives the scissors hand for opening or closing by two-way cylinder.
The operation principle of this programme and have the beneficial effect that：
During work, the tealeaves of a small range diverse location is if desired plucked, then drives U-shaped to connect by rotary cylinder first
Seat after being rotated in place, is elongated or shortened in upright plane rotation by vertical telescopic cylinder, in place after, then pass through horizontal extension gas
Cylinder is elongated or shortened, adjusting position, after position adjustments are good, and tealeaves is plucked by plucking clamping jaw.
The tea picking manipulator of the present invention program can the lifting, flexible and turn round in small space, pass through lift rotary platform every time
After positioning, each drive cylinder that can be also carried by tea picking manipulator trim locations in small space, so as to complete each position
The harvesting of tealeaves is put, the tealeaves of any short space will not be omitted, tea picking yield can be improved, possesses practical generalization, it is above-mentioned to adopt
Pluck clamping jaw structure simple, and because two crank one end are engaged all the time, therefore during harvesting, the action of two swing rods is more stable, leads to
Cross scissors hand and cut leaf, Qie Ye is more thorough, it is to avoid tealeaves is not cut off completely with tea handle, pullled tealeaves with tea handle by plucking clamping jaw
It is disconnected easily to make the problem of tealeaves is incomplete.
Further, terminal pad is to be equipped with harvesting clamping jaw on rectangular-shape, four sides of terminal pad level.One harvesting
Multiple harvesting clamping jaws are set on station, increase dish slag efficiency.
Further, swing rod is V-shaped so that during two swing rods clamping tealeaves, the bare terminal end of two swing rods is parallel.Due to clamping tealeaves
When, the bare terminal end of two swing rods is parallel, therefore, and the contact area with tealeaves is big, clamps more stable.
Further, axial direction of the inner side of swing rod along swing rod is provided with stator groove, stator groove and is fixed with blade delivery pipe, blade
Delivery pipe is communicated with tealeaves collecting box, is cut blade delivery pipe and is connected with air exhauster.After harvesting clamping jaw harvesting is finished, pass through stator groove
Tealeaves is transported at blade delivery pipe, in the presence of air exhauster, tealeaves is sucked into blade delivery pipe and tea is finally transported to
Leaf collecting box, improves tea picking efficiency.
Further, rotation outer shaft sleeve is provided with sleeve, and support base is additionally provided with the side of first horizontal mounting plate, supports
Supporting plate is fixed with seat, the end face of the supporting plate has and the excircle of sleeve curvature identical curved surface, the supporting plate
End face offseted with the cylindrical of the sleeve.Supporting plate is set outside sleeve, due to the cylindrical phase of the end face and sleeve of supporting plate
Support, supporting plate is played a supporting role to sleeve, prevent rotary shaft when rotated, produce Radial Perturbation.
Further, in the guide rod that has been mounted laterally of the second horizontal mounting plate, the end of guide rod and vertical telescopic cylinder
Vertical expansion link fix.By setting up guide rod below the second horizontal mounting plate, when vertical telescopic cylinder is run, lead
It can be shunk to bar with vertical telescopic cylinder, play a part of motion guide and reinforcing to vertical telescopic cylinder.
Brief description of the drawings
Fig. 1 is the structural representation of each drive cylinder of the embodiment of the present invention.
Fig. 2 is the structural representation that the embodiment of the present invention plucks clamping jaw.
Fig. 3 is the structural representation of foliage cutter structure of the embodiment of the present invention.
Embodiment
Below by embodiment, the present invention is further detailed explanation：
Reference in Figure of description includes：Rotary cylinder 1, supporting plate 2, U-shaped connecting seat 3, vertical telescopic cylinder
4th, guide rod 5, horizontal extension cylinder 6, terminal pad 7, crank 8, swing rod 9, connecting rod 10, two-way cylinder 11, scissors hand 12.
Tea picking manipulator as shown in Figure 1, the support base of the lower weld level of the first horizontal mounting plate, first is vertical
Installing plate is provided with vertical rotary cylinder, and the rotary shaft of rotary cylinder is stretched out rotary cylinder and is horizontally disposed with, and rotates outer shaft sleeve
Provided with sleeve.Supporting plate is fixed with support base, supporting plate there are two and is arranged symmetrically with the vertical center line of rotary shaft, so that
Sleeve uniform force, the end face of supporting plate have with excircle of sleeve curvature identical curved surface, the end face of supporting plate and sleeve it is outer
Circle offsets.
U-shaped connecting seat is fixed with rotary shaft, specially the two of U-shaped connecting seat leg is separately fixed at the two of rotary shaft
End, can be driven by rotary shaft and rotated.The side of U-shaped connecting seat（The present embodiment is upper surface）It is welded with second vertically-mounted
Plate, the second horizontal mounting plate is provided with vertical telescopic cylinder, the present embodiment, and two long sides of the second horizontal mounting plate also divide
Not She You baffle plate, vertical telescopic cylinder be located at two baffle plates between.In the guide rod that has been mounted laterally of the second horizontal mounting plate, it is oriented to
The end of bar and the vertical expansion link of vertical telescopic cylinder are fixed.
The end of the vertical expansion link of vertical telescopic cylinder is fixed with installation horizontal extension gas on horizontal deck, deck
Cylinder, the end of the horizontal extension bar of horizontal extension cylinder is fixed with vertical terminal pad, and terminal pad is rectangular-shape, terminal pad
Harvesting clamping jaw is equipped with four sides of level.
As shown in Figure 2, the harvesting clamping jaw of the present embodiment includes symmetrically arranged two clip claw assemblies, each clip claw assembly
Include crank, connecting rod and swing rod.One end of crank is hinged in terminal pad, and crank is provided with external tooth with the end that terminal pad is hinged
So that the crank engagement of two clip claw assemblies, one of crank is driving link, can be driven and rotated by motor or rotary cylinder,
Another crank is driven member.Connecting rod one end is hinged in terminal pad, is hinged in the middle part of the other end and swing rod.The other end of crank
It is hinged with one end of swing rod, the other end of swing rod is the bare terminal end of tealeaves.Swing rod is V-shaped so that during two swing rods clamping tealeaves, and two
The bare terminal end of swing rod is parallel.
In the present embodiment, the axial direction of the inner side of swing rod along swing rod is provided with stator groove（Not shown in figure）, it is fixed in stator groove
There is blade delivery pipe, blade delivery pipe is communicated with tealeaves collecting box, cut blade delivery pipe and be connected with air exhauster.
As shown in Figure 3, foliage cutter structure has been bolted on bare terminal end, foliage cutter structure includes two-way cylinder and passed through
Two-way cylinder drives the scissors hand for opening or closing.The end of scissors hand and the piston rod of two-way cylinder are flexible coupling, it is to avoid work
When, scissors hand is blocked, and makes the piston rod of two-way cylinder stuck, damages two-way cylinder.
Above-described is only that the known general knowledge such as concrete structure and characteristic is not made herein in embodiments of the invention, scheme
Excessive description., without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these should also be considered as protection scope of the present invention, these are implemented all without the influence present invention
Effect and practical applicability.The scope of protection required by this application should be based on the content of the claims, in specification
Embodiment etc. records the content that can be used for explaining claim.
Claims (6)
1. tea picking manipulator, it is characterised in that including the first horizontal mounting plate, the first horizontal mounting plate is provided with vertical rotation
Cylinder, the rotary shaft of rotary cylinder is stretched out rotary cylinder and is horizontally disposed with, and U shape connecting seats are fixed with rotary shaft, and U shapes connect
The side of joint chair is fixed with the second horizontal mounting plate, and the second horizontal mounting plate is provided with vertical telescopic cylinder, vertical telescopic cylinder
The end of vertical expansion link be fixed with horizontal deck, deck installation horizontal extension cylinder, the level of horizontal extension cylinder
The end of expansion link, which is fixed with vertical terminal pad, terminal pad, is provided with harvesting clamping jaw, and described harvesting clamping jaw includes symmetrical
Two clip claw assemblies set, each clip claw assembly includes crank, connecting rod and swing rod, and one end of crank is hinged on terminal pad
On, crank is provided with external tooth so that the crank of two clip claw assemblies is engaged, based on one of crank with the end that terminal pad is hinged
Moving part, another crank is driven member, and the other end of crank and one end of swing rod are hinged, and the other end of swing rod is the clamping of tealeaves
End, bare terminal end is provided with foliage cutter structure, and connecting rod one end is hinged in terminal pad, is hinged in the middle part of the other end and swing rod, described
Foliage cutter structure includes two-way cylinder and drives the scissors hand for opening or closing by two-way cylinder.
2. the tea picking manipulator according to claim 1, it is characterised in that：Described terminal pad is rectangular-shape, connection
Harvesting clamping jaw is equipped with four sides of disk level.
3. the tea picking manipulator according to claim 1, it is characterised in that：Described swing rod is in V shapes so that two pendulum
When bar cramp holds tealeaves, the bare terminal end of two swing rods is parallel.
4. the tea picking manipulator according to claim 1, it is characterised in that：The inner side of swing rod is provided with along the axial direction of swing rod
Blade delivery pipe is fixed with stator groove, stator groove, blade delivery pipe is communicated with tealeaves collecting box, cuts blade delivery pipe and exhausting
Machine is connected.
5. the tea picking manipulator according to claim 1, it is characterised in that：The rotation outer shaft sleeve is provided with sleeve, in institute
The side for stating the first horizontal mounting plate is additionally provided with support base, support base and is fixed with supporting plate, and the end face of the supporting plate has
With the excircle of sleeve curvature identical curved surface, the end face of the supporting plate offsets with the cylindrical of the sleeve.
6. the tea picking manipulator according to claim 1, it is characterised in that：In being mounted laterally for the second horizontal mounting plate
There is guide rod, the end of guide rod and the vertical expansion link of vertical telescopic cylinder are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538624.3A CN105210556B (en) | 2015-08-28 | 2015-08-28 | Tea picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510538624.3A CN105210556B (en) | 2015-08-28 | 2015-08-28 | Tea picking manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN105210556A CN105210556A (en) | 2016-01-06 |
| CN105210556B true CN105210556B (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510538624.3A Active CN105210556B (en) | 2015-08-28 | 2015-08-28 | Tea picking manipulator |
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| CN (1) | CN105210556B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567813B (en) * | 2016-07-05 | 2023-07-21 | 新疆农业大学 | Safflower harvesting device |
| CN106584446B (en) * | 2017-03-14 | 2023-04-25 | 四川农业大学 | Tea-leaf picking manipulator |
| CN107371612B (en) * | 2017-07-11 | 2019-11-08 | 西南大学 | A kind of strawberry picking electric tool |
| CN111226599B (en) * | 2020-03-06 | 2021-06-29 | 贵州理工学院 | Tea-picking device |
| CN113001573A (en) * | 2021-03-16 | 2021-06-22 | 北京京东乾石科技有限公司 | Manipulator and throat swab acquisition workstation |
| CN113006538A (en) * | 2021-03-16 | 2021-06-22 | 北京京东乾石科技有限公司 | Pharynx swab acquisition workstation |
| CN114568125B (en) * | 2022-03-07 | 2023-03-14 | 北京市农林科学院智能装备技术研究中心 | Traction type automatic tea plucking machine |
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| 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 |
| CN203608578U (en) * | 2013-10-14 | 2014-05-28 | 青岛农业大学 | Intelligent recognition picking robot |
| 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 |
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2015
- 2015-08-28 CN CN201510538624.3A patent/CN105210556B/en active Active
Patent Citations (7)
| 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 |
| CN203608578U (en) * | 2013-10-14 | 2014-05-28 | 青岛农业大学 | Intelligent recognition picking robot |
| 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 |
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| CN105210556A (en) | 2016-01-06 |
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