CN107567821A - A kind of tea picker - Google Patents
A kind of tea picker Download PDFInfo
- Publication number
- CN107567821A CN107567821A CN201710622808.7A CN201710622808A CN107567821A CN 107567821 A CN107567821 A CN 107567821A CN 201710622808 A CN201710622808 A CN 201710622808A CN 107567821 A CN107567821 A CN 107567821A
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- Prior art keywords
- mechanical arm
- arm
- cradle head
- connected unit
- head mechanism
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Abstract
A kind of tea picker, including lead screw guide rails mechanism, cradle head mechanism, mechanical arm, picking machine, tool hand, the cradle head mechanism is fixed and is lifted on the screw mandrel guide rail mechanism, and the mechanical arm is installed on the cradle head mechanism, the picking mechanical arm is installed on the mechanical arm, it is characterised in that：The mechanical arm includes motor, actuating arm, slave arm, the first universal coupling, and the actuating arm is installed on the rotary shaft of the motor, and the slave arm is connected by first universal coupling with the actuating arm；The picking mechanical arm is provided with controller, camera, gripper, and the controller controls the action of the camera and the gripper, and the camera is located at the linking arm being connected with the controller housing, and the gripper is located at the lower section of the controller.The present invention can with it is more efficient, more at a high speed, tender shoots is won more perspective and protects the integrality of tender shoots, lift tea leaf quality.
Description
Technical field
The invention belongs to agricultural machinery technological field, more particularly to a kind of tea picker.
Background technology
Dark brownish green harvesting belongs to labour-intensive operation.At present, the contradiction of the dark brownish green harvesting in China and recruitment is own through turning into tealeaves
The bottleneck of industry development, it is imperative to accelerate development tea picking machineryization.By mechanization substitute it is artificial pick tea-leaves, not only can be with
Labor intensity is reduced, it is cost-effective, while improve production efficiency and tea leaf quality.
Current various agricultural harvesters flourish.Wherein, the portable or backpack-type tea-plucking machine promoted the use of is most
Produced for large tea harvesting fresh leaf.This kind of tea picking machine improves picking efficiency to a certain extent, but it is still
Manpower is needed to carry heavy machinery;And under imposing uniformity without examining individual cases so that bud-leaf is not of uniform size, and integrality is poor, and to tea tree
Mechanical injuries are larger.
Requirement of the famous green tea for fresh leaf is strict, and the harvesting of tealeaves has very strong seasonality and manpower shortage,
So that the development of famous green tea industry receives serious restriction.The Mechaniaed harvest for realizing famous green tea is that solve this problem
Key.Existing tea picking machine selective can not be plucked to tealeaves young sprout, and bud-leaf percentage of damage of its harvesting is high, Wu Faman
The standard of plucking of sufficient famous green tea.
The content of the invention
Can not be to dark brownish green progress selectivity harvesting for prior art the problem of, the invention provides a kind of tea picker,
To realize the purpose of the present invention, the present invention uses following technical scheme：1st, a kind of tea picker, including lead screw guide rails mechanism, cloud
Platform mechanism, mechanical arm, picking mechanical arm, the cradle head mechanism, which is fixed, is lifted on the screw mandrel guide rail mechanism, the mechanical arm peace
Loaded on the cradle head mechanism, the picking mechanical arm is installed on the mechanical arm, it is characterised in that：The mechanical arm includes driving
Motor, actuating arm, slave arm, the first universal coupling, the actuating arm are installed on the rotary shaft of the motor, it is described from
Swing arm is connected by first universal coupling with the actuating arm；The picking mechanical arm is provided with controller, camera, machine
Machinery claw, the controller control the action of the camera and the gripper, and the camera is located at and the controller
The linking arm of housing connection, the gripper are located at the lower section of the controller.
Preferably, provided with multiple mechanical arms.
Preferably, the mechanical arm is additionally provided with the supporting table of frame structure triangular in shape, and the motor is located at described
In the framework of supporting table.
Preferably, the supporting table is provided with upper plate, and the upper plate is connected with the cradle head mechanism.
Preferably, the mechanical arm is additionally provided with moving platform, the moving platform by the second universal coupling with it is described driven
Arm connects, and the moving platform is provided with hole.
Preferably, the gripper includes position angle servomechanism, shutter, pawl storehouse, and the position angle servomechanism is set
In in the pawl storehouse, the shutter is located at the top in the pawl storehouse.
Preferably, the picking mechanical arm is additionally provided with connected unit, and the connected unit is installed on the moving platform, the connection
Platform is provided with the post coordinated with hole.
Preferably, the cradle head mechanism includes upper connected unit, lower connected unit, X-axis motor, y-axis motor, balancing weight, described
Cradle head mechanism is fixed by the upper connected unit and is lifted on the lead screw guide rails mechanism, the lower connected unit and the mechanical arm
The supporting table is fixedly connected, and the X-axis motor, the y-axis motor are installed between the upper connected unit, lower connected unit, institute
Balancing weight is stated to be located in the lower connected unit.
Preferably, the screw mandrel guide rail mechanism includes spindle motor, shaft coupling, leading screw, sliding shoe, guide rail, support base, institute
State leading screw to be connected with the spindle motor by the shaft coupling, the sliding shoe is installed on the leading screw, and the guide rail is located at
The both sides of the sliding shoe, the support base are located at the guide rail and one end relative with the spindle motor.
Preferably, the upper connected unit of the cradle head mechanism is lifted on the sliding shoe of the screw mandrel guide rail mechanism.
The beneficial effects of the invention are as follows：The tea picker other movable mechanisms that can arrange in pairs or groups form intelligent tea picking machine,
Judged by the high speed cooperation of mechanical arm and camera and the identification to dark brownish green tender shoots, it is more efficient, more at a high speed, it is more
Angle tender shoots is won and protects the integrality of tender shoots, lifts the quality of tealeaves.
Brief description of the drawings
Fig. 1 is the overall structure figure of the embodiment of the present invention.
Fig. 2 is the application schematic diagram of the embodiment of the present invention.
Fig. 3 is the explosive view of the embodiment of the present invention.
Fig. 4 is the amplification assumption diagram of the lead screw guide rails mechanism of the embodiment of the present invention.
Fig. 5 is the amplification assumption diagram of the cradle head mechanism of the embodiment of the present invention.
Fig. 6 is the amplification assumption diagram of the picking mechanical arm of the embodiment of the present invention.
Embodiment
In Fig. 1-Fig. 6, a kind of tea picker in this implementation includes：Lead screw guide rails mechanism 1, cradle head mechanism 2, mechanical arm 3,
Picking mechanical arm 4, the lead screw guide rails mechanism 1 can be installed in the structure of various convenient operations, for example, the disk in Fig. 2
In formula structure 100, the cradle head mechanism 2 is fixed and is lifted in the lead screw guide rails mechanism 1, for installing the mechanical arm 3, institute
State mechanical arm 3 to be fixedly installed on the cradle head mechanism 2, the picking mechanical arm 4 is fixedly installed on the mechanical arm 3.
The lead screw guide rails mechanism 1 can provide horizontal motion for whole device, so as to carry out coarse positioning, including leading screw
Motor 1-1, shaft coupling 1-2, leading screw 1-3, sliding shoe 1-4, guide rail 1-5, support base 1-6, the spindle motor 1-1 are located at described
One end of lead screw guide rails mechanism 1, shaft coupling 1-2 are connected on the spindle motor 1-1, for coupling the spindle motor 1-1
Driving shaft, the driven shaft of the leading screw 1-3, the spindle motor 1-1, the leading screw 1-3 is rotated jointly, the leading screw
Moment of torsion caused by motor 1-1 is delivered on the leading screw 1-3, so as to which the leading screw 1-3 carries out gyration, the sliding shoe 1-
4 are arranged on the leading screw 1-3, and the leading screw 1-3 is used for the linear motion for gyration being changed into the sliding shoe 1-4,
Because the sliding shoe 1-4 and the cradle head mechanism 2 are fixed together, so, the sliding shoe 1-4 can be with the head machine
Structure 2 slides together along the leading screw 1-3, and the guide rail 1-5 is respectively provided at the leading screw 1-3, the two of the sliding shoe 1-4
Side, the sliding part 1-4-1 of the sliding shoe 1-4 can be slided along the guide groove 1-5-1 of the guide rail 1-5, and the support base 1-6 is set
In the guide rail 1-5 and one end relative with the spindle motor 1-1, the support base 1-6 is used to support the leading screw 1-3.
The cradle head mechanism 2 is used to carry the tea picker in the present embodiment, to realize the fixation of the tea picker, appearance
State adjusts and the carrier is stably held in the posture of determination, is additionally operable to protect during the execution of mechanical arm 3 action
Balance is held, makes the positioning of harvesting position more accurate, including upper connected unit 2-1, lower connected unit 2-2, X-axis motor 2-3, Y-axis electricity
Machine 2-4, balancing weight 2-5, the cradle head mechanism 2 are fixed by the upper connected unit 2-1 and are lifted on the lead screw guide rails mechanism 1
On the sliding shoe 1-4, balanced gyroscope, the lower connected unit 2-2 and the machine can be provided with inside the upper connected unit 2-1
Tool arm 3 is fixedly connected, and the balancing weight 2-5 is located on the lower connected unit 2-2, for increase the cradle head mechanism 2 itself
Weight keeps balancing, and the X-axis motor 2-3, the y-axis motor 2-4 are used to adjust, fix, keep the tea picker
Posture.
The mechanical arm 3 can realize multi-angle, multi-faceted fast positioning, execution, so as to ensure the efficient of picking rate
Property, including it is supporting table 3-1, motor 3-2, actuating arm 3-3, slave arm 3-4, the first universal coupling 3-5, second universal
Joint 3-6, moving platform 3-7, the supporting table 3-1 are in the triangular form frame structure of upper and lower two-layer, and the supporting table 3-1's is upper
Top plate 3-1-1 is fixedly connected with the lower connected unit 2-2 of the cradle head mechanism 2, the motor 3-2 totally 3, is separately positioned on
On three angles in the framework of the supporting table 3-1, for driving the mechanical arm 3, the actuating arm 3-3 totally 3, respectively with
3 motor 3-2 are connected, and are driven by the motor 3-2, the slave arm 3-4 totally 3, pass through 3 institutes respectively
State the first universal coupling 3-5 to be connected with the actuating arm 3-3, the moving platform 3-7 is provided with and worn for the second universal coupling 3-6
The hole crossed, the moving platform 3-7 pass through the actuating arm 3- by the second universal coupling 3-6 and the slave arm 3-4
3rd, the slave arm 3-4 drives the moving platform 3-7 to be moved towards the position for needing to stop, and the moving platform 3-7 is also set
There is the hole 3-7-1 for the picking mechanical arm 4 installation.
The manipulator 4 includes mounting post 4-1, connected unit 4-2, controller 4-3, linking arm 4-4, camera 4-5, machinery
Pawl 4-6, the mounting post 4-1 are extend into mounting hole 3-7-1, and the connected unit 4-2 is fixedly installed in the moving platform 3-7
On, the controller 4-3 is fixedly installed on the connected unit 4-2, for monitoring, controlling the camera 4-5, the machinery
Pawl 4-6 state, action, the camera 4-5 share 2, pass through 2 linking arm 4-4 and the controller 4-3 respectively
Connection, the gripper 4-6 are located at the lower section of the controller 4-3, including steering wheel 4-6-1, shutter 4-6-2 and two pawl storehouses
4-6-3, the steering wheel 4-6-1 is the position angle servo-drivers of the gripper 4-6, pawl described in the shutter 4-6-2
Storehouse 4-6-3 top, for preventing dust weeds from entering in the manipulator 4, while anti-wind action is played, the pawl storehouse 4-
6-3 is used for the pawl for accommodating, holding withdrawal, and pawl is used to perform dark brownish green harvesting action.
Tea picker in the present embodiment, dark brownish green storage device can also be installed, such as：Cloth bag, to hold the harvesting
That gets off is dark brownish green.
A kind of tea picker in the present embodiment, concrete operations flow are as follows：
Step 1: the operating platform that will be connected to the tea picker, which is moved to tea field, needs the correct position of tea picking,
Coarse positioning is carried out using the horizontal movement of the lead screw guide rails mechanism 1；
Step 2：The camera 4-5 of the both sides of manipulator 4 carries out position identification and scanning, and the tealeaves in region is entered
Row anticipation screening, judge to perform the exact position of harvesting, and notify to the controller 4-3；
Step 3：The controller 4-3 sends position command, execution position instruction to the mechanical arm 2, and the mechanical arm 2 is transported
Response position is moved, precise positioning one by one is carried out to all areas in movable scope；
Step 4：The mechanical arm 2 drives the gripper 4-6 to perform harvesting order one by one, reserved by under tea picking, being put into
In region；
Step 5：After current region completes harvesting, subsequent region harvesting is carried out, repeat step one arrives step 4.
In addition to the implementation, the present invention can also have other embodiment, all to use equivalent substitution or equivalent transformation shape
Into technical scheme, all fall within the protection domain of application claims.
The preferred embodiments of the present invention are described in detail above, for one of ordinary skill in the art, according to
According to thought provided by the invention, will change in embodiment, and these changes also should be regarded as the guarantor of the present invention
Protect scope.
Claims (10)
1. a kind of tea picker, including lead screw guide rails mechanism (1), cradle head mechanism (2), mechanical arm (3), picking mechanical arm (4), institute
State cradle head mechanism (2) fixation and be lifted on the screw mandrel guide rail mechanism (1), the mechanical arm (3) is installed on the cradle head mechanism
(2), the picking mechanical arm (4) is installed on the mechanical arm (3), it is characterised in that：The mechanical arm (3) includes motor
(3-2), actuating arm (3-3), slave arm (3-4), the first universal coupling (3-5), the actuating arm (3-3) are installed on the drive
The rotary shaft of dynamic motor (3-2), the slave arm (3-4) pass through first universal coupling (3-5) and the actuating arm (3-
3) connect；The picking mechanical arm (4) is provided with controller (4-3), camera (4-5), gripper (4-6), the controller (4-
3) action of the camera (4-5) and the gripper (4-6) is controlled, the camera (4-5) is located at and the control
The linking arm (4-4) of device (4-3) housing connection, the gripper (4-6) are located at the lower section of the controller (4-3).
A kind of 2. tea picker as claimed in claim 1, it is characterised in that：Provided with multiple mechanical arms (3).
A kind of 3. tea picker as claimed in claim 1 or 2, it is characterised in that：The mechanical arm (3) is additionally provided with triangular in shape
The supporting table (3-1) of frame structure, the motor (3-2) is in the framework of the supporting table (3-1).
A kind of 4. tea picker as claimed in claim 3, it is characterised in that：The supporting table (3-1) is provided with upper plate (3-1-
1), the upper plate (3-1-1) is connected with the cradle head mechanism (2).
A kind of 5. tea picker as claimed in claim 1 or 2, it is characterised in that：The mechanical arm (3) is additionally provided with moving platform
(3-7), the moving platform (3-7) are connected by the second universal coupling (3-6) with the slave arm (3-4), the moving platform
(3-7) is provided with hole (3-7-1).
A kind of 6. tea picker as claimed in claim 1, it is characterised in that：The gripper (4-6) is watched including position angle
Device (4-6-1), shutter (4-6-2), pawl storehouse (4-6-3) are taken, the position angle servomechanism (4-6-1) is located at the pawl storehouse
In (4-6-3), the shutter (4-6-2) is located at the top of the pawl storehouse (4-6-3).
A kind of 7. tea picker as claimed in claim 1, it is characterised in that：The picking mechanical arm (4) is additionally provided with connected unit
(4-2), the connected unit (4-2) are installed on the moving platform (3-7), and the connected unit (4-2) is provided with to be coordinated with hole (3-7-1)
Post (4-1).
A kind of 8. tea picker as claimed in claim 1, it is characterised in that：The cradle head mechanism (2) includes upper connected unit (2-
1), lower connected unit (2-2), X-axis motor (2-3), y-axis motor (2-4), balancing weight (2-5), the cradle head mechanism (2) pass through institute
State connected unit (2-1) fixation and be lifted on the lead screw guide rails mechanism (1), the lower connected unit (2-2) and the mechanical arm (3)
The supporting table (3-1) be fixedly connected, the X-axis motor (2-3), the y-axis motor (2-4) are installed on the upper connected unit
Between (2-1), lower connected unit (2-2), the balancing weight (2-5) is located on the lower connected unit (2-2).
A kind of 9. tea picker as claimed in claim 1, it is characterised in that：The screw mandrel guide rail mechanism (1) includes leading screw electricity
Machine (1-1), shaft coupling (1-2), leading screw (1-3), sliding shoe (1-4), guide rail (1-5), support base (1-6), the leading screw (1-3)
It is connected by the shaft coupling (1-2) with the spindle motor (1-1), the sliding shoe (1-4) is installed on the leading screw (1-
3), the guide rail (1-5) is located at the both sides of the sliding shoe (1-4), the support base (1-6) located at the guide rail (1-5) and
Relative one end with the spindle motor (1-1).
A kind of 10. tea picker as claimed in claim 8 or 9, it is characterised in that：The upper company of the cradle head mechanism (2)
Connect the sliding shoe (1-4) that platform (2-1) is lifted on the screw mandrel guide rail mechanism (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622808.7A CN107567821A (en) | 2017-07-27 | 2017-07-27 | A kind of tea picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622808.7A CN107567821A (en) | 2017-07-27 | 2017-07-27 | A kind of tea picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107567821A true CN107567821A (en) | 2018-01-12 |
Family
ID=61034538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710622808.7A Pending CN107567821A (en) | 2017-07-27 | 2017-07-27 | A kind of tea picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107567821A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476741A (en) * | 2018-05-16 | 2018-09-04 | 厦门大学嘉庚学院 | A kind of indirect labor picks the small mechanical devices and its application method of various fruits |
| CN108633469A (en) * | 2018-05-03 | 2018-10-12 | 沈阳工业大学 | It is a kind of wearable --- scissor-type fruit picking complexes and picking method |
| 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 |
| CN109005904A (en) * | 2018-09-07 | 2018-12-18 | 浙江赞城科技有限公司 | A kind of tealeaves recovering device of intelligent accurate |
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN112868382A (en) * | 2021-04-02 | 2021-06-01 | 一度智能科技(深圳)有限公司 | Agricultural robot's fruit picking arm |
| 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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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108633469A (en) * | 2018-05-03 | 2018-10-12 | 沈阳工业大学 | It is a kind of wearable --- scissor-type fruit picking complexes and picking method |
| CN108476741A (en) * | 2018-05-16 | 2018-09-04 | 厦门大学嘉庚学院 | A kind of indirect labor picks the small mechanical devices and its application method of various fruits |
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| CN109005904A (en) * | 2018-09-07 | 2018-12-18 | 浙江赞城科技有限公司 | A kind of tealeaves recovering device of intelligent accurate |
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN112868382A (en) * | 2021-04-02 | 2021-06-01 | 一度智能科技(深圳)有限公司 | Agricultural robot's fruit picking arm |
| 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: 20180112 |