CN107231891A - A kind of tea picking machine and its implementation - Google Patents
A kind of tea picking machine and its implementation Download PDFInfo
- Publication number
- CN107231891A CN107231891A CN201710330146.6A CN201710330146A CN107231891A CN 107231891 A CN107231891 A CN 107231891A CN 201710330146 A CN201710330146 A CN 201710330146A CN 107231891 A CN107231891 A CN 107231891A
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- servomotor
- tea
- mechanical arm
- shear
- control system
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses a kind of tea picking machine, including frame, and it is arranged on position identification device, robot device, shear, collection device and general control system in the frame, wherein, the position identification device is arranged on the frame top, the shear is arranged on the robot device bottom, and the collection device is arranged on the bottom of the frame, and the position identification device, robot device and shear are connected with the general control system respectively；Softening of the present invention imitates artificial harvesting, compared with existing tea picking machine, the present invention is less to the mechanical damage of tea tree, the tea quality of harvesting can reach the level manually picked tea-leaves, and the present invention is simple in construction, reasonable in design, the structure of designed parallel manipulator makes tea picking machine overall operation speed fast, tea picking efficiency high.
Description
Technical field
The present invention relates to agricultural machinery technological field, and in particular to a kind of tea picking machine and its implementation.
Background technology
At present, tea picking operation is generally divided into artificial pick tea-leaves and mechanical picking.The species of mechanical picking is a lot, but all adopts mostly
With the mode operation to tea bush trimmer, the infringement to young leaves and tender shoots is more protruded, and mechanical damage is easily caused in picking process
Wound, declines the whole leaf rate of tealeaves, overall quality is difficult to ensure that, thus the tea picking of high-quality uses manual type, but people mostly
Work tea picking efficiency is low, and labor cost is high, and labor cost is also rising steadily.
(authorized announcement date is Chinese invention patent：2016.07.06, Authorization Notice No. is：CN105723937A) disclose
A kind of Portable tea plucker, cutting mechanism includes that the upper shear-blade and lower shear blade of mutual shear motion can be made, and collects dress
Put including collecting chamber and can rotate sweep impeller；Operation process is：Driven and done relative motion using a motor
Shearing blade and sweep impeller and be operated, shaken during the device sheared, Qie Ye are using the blade done relative motion
Than larger, the inefficiency of shearing, and easily damaged blade, easily tealeaves is stirred during collection using impeller is swept
It is broken, the quality of the relatively more difficult tealeaves for ensuring to adopt.
The content of the invention
It is an object of the invention to the shortcoming and deficiency for overcoming prior art, there is provided a kind of tea picking quality height, operating efficiency
High tea picking machine.
Another object of the present invention is to provide a kind of implementation method of tea picking machine.
The purpose of the present invention is achieved through the following technical solutions：
A kind of tea picking machine, including frame, and be arranged in the frame position identification device, robot device, cut
Cutting apparatus, collection device and general control system, wherein, the position identification device is arranged on the frame top, the shearing
Device is arranged on the robot device bottom, and the collection device is arranged on the bottom of the frame, the position identification device,
Robot device and shear are connected with the general control system respectively；
The position identification device includes stereo camera and support, and the stereo camera is set on the bracket,
The support is fixed on the frame top and positioned at the front of frame；
The robot device includes sleeve, motor mounting plate, the first servomotor, the second servomotor, the 3rd servo
Motor, first mechanical arm, second mechanical arm and three-mechanical arm, wherein, the sleeve is fixed on the center of the frame top
Between, the motor mounting plate is connected with the sleeve, first servomotor, the second servomotor and the 3rd servomotor
It is all disposed within the motor mounting plate, the first mechanical arm is connected with first servomotor, second machinery
Arm is connected with second servomotor, and the three-mechanical arm is connected with the 3rd servomotor；
The shear includes connecting plate, gripper, thread drawing mechanism and the 4th servomotor, wherein, the connecting plate
It is connected below the robot device and with the first mechanical arm, second mechanical arm and three-mechanical arm, the machine
Machinery claw is arranged on below the connecting plate, and the gripper end is provided with and can watch the blade of the tender seedling pinch off of tealeaves, the described 4th
Take motor to be arranged on the motor mounting plate, the gripper is connected with the 4th servomotor by the thread drawing mechanism
Connect；
The collection device is tealeaves collecting box；
The general control system includes image processing module and action control module, the stereo camera and described image
Processing module is connected, first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor respectively with
The action control module is connected.
Preferably, the first mechanical arm, second mechanical arm and three-mechanical arm all include long metallic rod and short metallic rod,
Described short metallic rod one end is connected with servomotor, and the short metallic rod other end is flexibly connected with described long metallic rod one end, institute
The long metallic rod other end is stated with the connecting plate to be connected.
Preferably, the stereo camera includes two cameras.
Preferably, the frame is welded by the hollow metal pipe of square section.
Preferably, the tealeaves collecting box is rectangular parallelepiped structure.
A kind of implementation method by above-mentioned tea picking machine, comprises the steps：
(1) when working, tea picking machine is arranged on the tractor that can be walked in tea ridge, dragged by adjusting frame first
Position in machine drawing, and then adjust the shear of robot device end and the difference in height on tea ridge so that at robot device
When vertically downward state, shear is located on the center line on tea ridge；
(2) start tractor to travel in tea ridge at the appropriate speed, and keep center line of the shear in tea ridge
On；
(3) position identification device of tea picking machine is started, the stereo camera of position identification device finds the standard of the tender seedling of tea tree
True position simultaneously sends the positional information collected to general control system, and the image processing module of general control system handles what is transmitted
After positional information, the positional information after processing is sent to general control system, general control system formulates the moving line of mechanical arm；
(4) action control module of general control system is by controlling the first servomotor, the second servomotor and the 3rd to watch
Take motor and then drive mechanical arm to move to the position specified, reach after specified location, shear operation, general control system
Action control module controls the work of the 4th servomotor, the 4th servomotor driving thread drawing mechanism, and then control machine machinery claw pinch off
The tender seedling of tea tree, while gripper keeps clamped condition, drives manipulator motion and reaches above collection device, now gripper
Open, the tender seedling of tea tree drops in collection device；
(5) when the tender seedling of the tea tree in collection device reaches certain capacity, collection device is unloaded and to pour out tea tree tender
Seedling, the tender seedling of tea tree is transported in next production link, completes tea picking work.
The operation principle of the present invention：
During work, tea picking machine is arranged on the tractor that can be walked in tea ridge first, by adjusting frame dilatory
Position on machine, and then adjust the shear of robot device end and the difference in height on tea ridge so that robot device is in
During vertically downward state, shear is located on the center line on tea ridge；Start tractor to travel in tea ridge at the appropriate speed,
And keep shear to be on the center line on tea ridge；Start the position identification device of tea picking machine, the solid of position identification device
Video camera finds the accurate location of the tender seedling of tea tree and sends the positional information collected to general control system, general control system
After the positional information that image processing module processing is transmitted, the positional information after processing is sent to general control system, master control system
The moving line of mechanical arm is determined in controlling；The action control module of general control system is by controlling the first servomotor, second afterwards
Servomotor and the 3rd servomotor and then drive mechanical arm to move to the position specified, reach after specified location, shear
Operation, the action control module of general control system controls the work of the 4th servomotor, and the 4th servomotor driving thread drawing mechanism enters
And the tender seedling of control machine machinery claw pinch off tea tree, while gripper keeps clamped condition, drive manipulator motion and reach collection device
Top, now gripper open, the tender seedling of tea tree drops in collection device；Treat that the tender seedling of the tea tree in collection device reaches certain
During capacity, collection device is unloaded and the tender seedling of tea tree is poured out, the tender seedling of tea tree is transported in next production link, complete to pick tea-leaves
Work.
The present invention has following beneficial effect compared with prior art：
Softening of the present invention imitates artificial harvesting, compared with existing tea picking machine, the present invention to the mechanical damage of tea tree compared with
Few, the tea quality of harvesting can reach the level manually picked tea-leaves, and the present invention is simple in construction, reasonable in design, it is designed and
The structure of connection manipulator makes tea picking machine overall operation speed fast, tea picking efficiency high.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural representation of robot device of the present invention；
Fig. 3 is the structural representation of shear of the present invention.
Reference is in figure：1st, frame；2nd, stereo camera；3rd, the first servomotor；4th, general control system；5th, cover
Cylinder；6th, motor mounting plate；7th, second mechanical arm；8th, the 4th servomotor；9th, gripper；10th, thread drawing mechanism；11st, collection device；
12nd, the second servomotor；13rd, the 3rd servomotor；14th, three-mechanical arm；15th, first mechanical arm；16th, connecting plate.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
As shown in Figures 1 to 3, a kind of tea picking machine, including frame 1, the frame 1 are welded by the hollow metal pipe of square section
Connect and form, and position identification device, robot device, shear, the collection device 11 and total being arranged in the frame 1
Control system 4, wherein, the position identification device is arranged on the top of frame 1, and the shear is arranged on the machinery
Arm device bottom, the collection device 11 is arranged on the bottom of frame 1, the position identification device, robot device and cuts
Cutting apparatus is connected with the general control system 4 respectively；The tender seedling of tea tree on tea ridge is identified position identification device, obtains
The relative position information of the tender seedling of tea tree, robot device is moved to correct position, shear in the control of general control system 4
The tender seedling of tea tree is sheared and is put into collection device 11, harvesting and collecting function is realized；
The position identification device includes stereo camera 2 and support, and the stereo camera 2 is arranged on the support
On, the stereo camera 2 includes two cameras, the support be fixed on the top of frame 1 and positioned at frame 1 just before
Side, stereo camera 2 is taken pictures to the tea ridge in front of shear simultaneously, by specific Algorithm Analysis image, recognizes tea
Tender seedling is set, and calculates the relative position information of tender seedling；
The robot device includes sleeve 5, motor mounting plate 6, the first servomotor 3, the second servomotor the 12, the 3rd
Servomotor 13, first mechanical arm 15, second mechanical arm 7 and three-mechanical arm 14, wherein, the sleeve 5 is fixed on the machine
The middle at the top of frame 1, the motor mounting plate 6 is connected with the sleeve 5, first servomotor 3, the second servo electricity
The servomotor 13 of machine 12 and the 3rd is all disposed within the motor mounting plate 6, the first mechanical arm 15 and first servo
Motor 3 is connected, and the second mechanical arm 7 is connected with second servomotor 12, the three-mechanical arm 14 with it is described
3rd servomotor 13 is connected；The first mechanical arm 15, second mechanical arm 7 and three-mechanical arm 14 all include long metallic rod
With short metallic rod, described short metallic rod one end is connected with servomotor, the short metallic rod other end and described long metallic rod one end
It is flexibly connected, the long metallic rod other end is connected with the connecting plate 16；The end of each mechanical arm can be on whole tea ridge
Moved in width range and altitude range, and coordinate shear to complete crawl, pinch off, transport, the action placed；
The shear belongs to reciprocating cutterbar, including connecting plate 16, gripper 9, thread drawing mechanism 10 and the 4th are watched
Motor 8 is taken, wherein, the connecting plate 16 is located at below the robot device and mechanical with the first mechanical arm 15, second
Arm 7 is connected with three-mechanical arm 14, and the gripper 9 is arranged on the lower section of connecting plate 16, and the end of gripper 9 is provided with
The blade of the tender seedling pinch off of tealeaves, the 4th servomotor 8 can be arranged on the motor mounting plate 6, the He of gripper 9
4th servomotor 8 is connected by the thread drawing mechanism 10；Gripper 9 passes through thread drawing mechanism by the 4th servomotor 8
10 drivings, and reset under the action of the spring, gripper 9 can realize crawl, pinch off, the action of transhipment；
The collection device 11 is tealeaves collecting box, and the tealeaves collecting box is rectangular parallelepiped structure, installed in the bottom of frame 1
Side, tealeaves collecting box can be dismounted rapidly, complete the transhipment of tealeaves；
The general control system 4 includes image processing module and action control module, the stereo camera 2 and the figure
As processing module is connected, first servomotor 3, the second servomotor 12, the 3rd servomotor 13 and the 4th servo electricity
Machine 8 is connected with the action control module respectively；General control system 4 can complete graphical analysis and the operation of mechanical arm simultaneously
Control, coordinates the orderly work of tea picking machine various pieces.
During work, tea picking machine is arranged on the tractor that can be walked in tea ridge first, by adjusting frame 1 dilatory
Position on machine, and then adjust the shear of robot device end and the difference in height on tea ridge so that robot device is in
During vertically downward state, shear is located on the center line on tea ridge；Start tractor to travel in tea ridge at the appropriate speed,
And keep shear to be on the center line on tea ridge；Start the position identification device of tea picking machine, the solid of position identification device
Video camera 2 finds the accurate location of the tender seedling of tea tree and sends the positional information collected to general control system 4, general control system
After the positional information that 4 image processing module processing is transmitted, the positional information after processing is sent to general control system 4, master control
System 4 processed formulates the moving line of mechanical arm；The action control module of general control system 4 is by controlling the first servomotor afterwards
3rd, the second servomotor 12 and the 3rd servomotor 13 and then drive mechanical arm to move to the position specified, reach specified location
Afterwards, shear is run, and the action control module of general control system 4 controls the 4th servomotor 8 to work, the 4th servomotor 8
Thread drawing mechanism 10, and then the tender seedling of pinch off tea tree of control machine machinery claw 9 are driven, while gripper 9 keeps clamped condition, mechanical arm is driven
Move and reach the top of collection device 11, now gripper 9 opens, and the tender seedling of tea tree drops in collection device 11；Due-in packaging
When putting the tender seedling of the tea tree in 11 and reaching certain capacity, collection device 11 is unloaded and the tender seedling of tea tree is poured out, the tender seedling of tea tree is turned
Transport in next production link, complete tea picking work.
Softening of the present invention imitates artificial harvesting, is plucked successively in units of a tender shoots, this Softening it is excellent
It is that damage to tealeaves is small to select, and tea picking quality is high, disclosure satisfy that production requirement of the senior tea to tea picking；Picked tea-leaves with existing
Machine is compared, and the present invention is less to the mechanical damage of tea tree, and the tea quality of harvesting can reach the level manually picked tea-leaves, and this hair
Bright simple and compact for structure, reasonable in design, the structure of designed parallel manipulator makes tea picking machine overall operation speed fast, effect of picking tea-leaves
Rate is high, and in operation, frame need to only move linearly along tea ridge, and parallel manipulator can pass through the rotation in joint, completion whole piece
The tea picking operation on tea ridge.
It is above-mentioned that but embodiments of the present invention are not limited by the above for the present invention preferably embodiment, its
He it is any without departing from Spirit Essence and the change made under principle of the present invention, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (6)
1. a kind of tea picking machine, it is characterised in that including frame, and position identification device, the machinery being arranged in the frame
Arm device, shear, collection device and general control system, wherein, the position identification device is arranged on the frame top,
The shear is arranged on the robot device bottom, and the collection device is arranged on the bottom of the frame, the position
Identifying device, robot device and shear are connected with the general control system respectively；
The position identification device includes stereo camera and support, and the stereo camera is set on the bracket, described
Support is fixed on the frame top and positioned at the front of frame；
The robot device include sleeve, motor mounting plate, the first servomotor, the second servomotor, the 3rd servomotor,
First mechanical arm, second mechanical arm and three-mechanical arm, wherein, the sleeve is fixed on the middle of the frame top, institute
State motor mounting plate with the sleeve to be connected, first servomotor, the second servomotor and the 3rd servomotor are all set
Put on the motor mounting plate, the first mechanical arm is connected with first servomotor, the second mechanical arm with
Second servomotor is connected, and the three-mechanical arm is connected with the 3rd servomotor；
The shear includes connecting plate, gripper, thread drawing mechanism and the 4th servomotor, wherein, the connecting plate is located at
It is connected below the robot device and with the first mechanical arm, second mechanical arm and three-mechanical arm, the gripper
It is arranged on below the connecting plate, the gripper end is provided with can be by the blade of the tender seedling pinch off of tealeaves, the 4th servo electricity
Machine is arranged on the motor mounting plate, and the gripper is connected with the 4th servomotor by the thread drawing mechanism；
The collection device is tealeaves collecting box；
The general control system includes image processing module and action control module, and the stereo camera is handled with described image
Module is connected, first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor respectively with it is described
Action control module is connected.
2. tea picking machine according to claim 1, it is characterised in that the first mechanical arm, second mechanical arm and the 3rd machine
Tool arm all includes long metallic rod and short metallic rod, and described short metallic rod one end is connected with servomotor, the short metallic rod other end
It is flexibly connected with described long metallic rod one end, the long metallic rod other end is connected with the connecting plate.
3. tea picking machine according to claim 1, it is characterised in that the stereo camera includes two cameras.
4. tea picking machine according to claim 1, it is characterised in that the frame is welded by the hollow metal pipe of square section
Connect and form.
5. tea picking machine according to claim 1, it is characterised in that the tealeaves collecting box is rectangular parallelepiped structure.
6. the implementation method of a kind of tea picking machine as described in claim any one of 1-5, it is characterised in that comprise the steps：
(1) when working, tea picking machine is arranged on the tractor that can be walked in tea ridge first, by adjusting frame in tractor
On position, and then adjust the shear of robot device end and the difference in height on tea ridge so that robot device is in perpendicular
During straight state downwards, shear is located on the center line on tea ridge；
(2) start tractor to travel in tea ridge at the appropriate speed, and keep shear to be on the center line on tea ridge；
(3) position identification device of tea picking machine is started, the stereo camera of position identification device finds the accurate position of the tender seedling of tea tree
Put and send the positional information collected to general control system, the image processing module of general control system handles the position transmitted
After information, the positional information after processing is sent to general control system, general control system formulates the moving line of mechanical arm；
(4) action control module of general control system is by controlling the first servomotor, the second servomotor and the 3rd servo electricity
Machine and then drive mechanical arm to move to the position specified, reach after specified location, shear operation, the action of general control system
Control module controls the work of the 4th servomotor, the 4th servomotor driving thread drawing mechanism, and then control machine machinery claw pinch off tea tree
Tender seedling, while gripper keeps clamped condition, drives manipulator motion and reaches above collection device, now gripper opens,
The tender seedling of tea tree drops in collection device；
(5) when the tender seedling of the tea tree in collection device reaches certain capacity, collection device is unloaded and the tender seedling of tea tree is poured out, will
The tender seedling of tea tree is transported in next production link, completes tea picking work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330146.6A CN107231891A (en) | 2017-05-11 | 2017-05-11 | A kind of tea picking machine and its implementation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330146.6A CN107231891A (en) | 2017-05-11 | 2017-05-11 | A kind of tea picking machine and its implementation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107231891A true CN107231891A (en) | 2017-10-10 |
Family
ID=59985514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710330146.6A Pending CN107231891A (en) | 2017-05-11 | 2017-05-11 | A kind of tea picking machine and its implementation |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108684323A (en) * | 2018-04-12 | 2018-10-23 | 新昌县三新空调风机有限公司 | A kind of automatic tea picker and its operation method equipped with overhead rail |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
| CN115024092A (en) * | 2022-03-26 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Gantry type famous tea picking machine |
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| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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Application publication date: 20171010 |
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