CN110842894B - Lifting type bionic tea single-bud picking manipulator - Google Patents
Lifting type bionic tea single-bud picking manipulator Download PDFInfo
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- CN110842894B CN110842894B CN201911127819.3A CN201911127819A CN110842894B CN 110842894 B CN110842894 B CN 110842894B CN 201911127819 A CN201911127819 A CN 201911127819A CN 110842894 B CN110842894 B CN 110842894B
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- 241001122767 Theaceae Species 0.000 title claims abstract description 73
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 239000007779 soft material Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000003306 harvesting Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 244000309464 bull Species 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 1
- 240000003553 Leptospermum scoparium Species 0.000 description 1
- 235000015459 Lycium barbarum Nutrition 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of bionic machinery and agricultural machinery. The purpose provides a bionical tealeaves single bud picking manipulator of lift-draw formula, and this manipulator realizes tealeaves through the action that imitates people's hand picking tealeaves and picks, ensures the harmless harvesting of tealeaves, improves tealeaves quality and economic benefits when solving the labour shortage problem. The technical scheme is as follows: draw bionical tealeaves list bud picking manipulator of formula, its characterized in that: the pull-type bionic tea single-bud picking manipulator comprises a support frame, a tea collecting box fixed on the lower side of the support frame and a tea picking mechanism fixed in the support frame.
Description
Technical Field
The invention relates to the field of bionic machinery and agricultural machinery, and realizes nondestructive picking of tea leaves by simulating the action of picking the tea leaves by hands.
Background
With the shortage of agricultural labor in recent years, labor cost is rising continuously, and difficulty is brought to tea picking. Mechanical picking becomes the trend of picking tea leaves in the future, but at present, common tea leaf picking machines on the market mostly adopt electric saw teeth to obtain tea leaves in a shearing mode, and although the tea leaf picking efficiency is high, the damage rate of the picked tea leaves is high, the quality is poor, the damage to tea trees is large, and the tea leaves cannot be popularized on a large scale. Therefore, aiming at the defects of the existing tea picking machine, a pull-type tea single-bud picking manipulator is developed, the problem of shortage of tea picking labor force can be solved, and the tea picking quality is also ensured.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a lifting type bionic tea single-bud picking manipulator which realizes tea picking by simulating the action of picking tea by hands, ensures the nondestructive picking of tea and improves the quality and the economic benefit of tea while solving the problem of labor shortage.
The invention adopts the following technical scheme:
draw bionical tealeaves list bud picking manipulator of formula, its characterized in that: the lifting type bionic tea single-bud picking manipulator comprises a support frame, a tea collecting box fixed on the lower side of the support frame and a tea picking mechanism fixed in the support frame;
the tea picking mechanism comprises a motor fixed on the support frame, a main shaft rotationally positioned on the support frame, a front back plate guide rail and a back plate guide rail which are correspondingly fixed on the support frame at intervals in a front-back way and are respectively arranged around the main shaft, a driven large gear fixed on the main shaft and meshed with a driving small gear on an output shaft of the motor, a driving finger and a poking sheet mounting plate fixed with a poking column which are respectively fixed on the main shaft, a rotating shaft with two ends respectively positioned in the front back plate guide rail and the back plate guide rail in a sliding way through a bearing, a driven finger fixed on the rotating shaft through a driven finger fixing block and matched with the driving finger, a rotating sheet fixed on the driven finger fixing block and matched with the poking column, first magnetic steel fixed on the back support plate, second magnetic steel fixed on the driven finger fixing block and matched with the first magnetic steel, a pair of opposite-emission type photoelectric sensors respectively arranged on the driven finger, The photoelectric sensor is fixed on the supporting frame to act with the sensor baffle plate arranged on the driven bull gear, and the clamping blocks are respectively fixed at the tail ends of the driving finger and the driven finger and can be clamped and matched with each other.
The circumference support body of support frame is formed by left side board, preceding backup pad, right side board, back backup pad according to the preface end to end connection, and the top is through the roof that connecting block and front and back backup pad are fixed.
The front back plate guide rail and the back plate guide rail are arc-shaped guide rails with the same radius, and the circle centers of the arc-shaped guide rails are coincided with the axis of the main shaft.
The clamping blocks are made of soft materials with softness like human fingers, so that the effect of simulating the hands of a human picking tea leaves is achieved after the clamping blocks are clamped.
The active finger and the passive finger are provided with opposite-type photoelectric sensors at the same height at the middle lower part, and the opposite-type photoelectric sensors are arranged at opposite-type holes so as to transmit and receive signals through the opposite-type holes.
The bottom of the passive finger is provided with a material clamping groove.
The invention has the beneficial effects that: clamping blocks made of soft materials are fixed at the tail ends of the active fingers and the passive fingers, and the tea picking process can simulate the lifting action of a human hand to pick tea leaves, so that the lossless picking of single tea leaf buds is realized; simple structure, it is reliable and stable to can replace the manual work, improve tealeaves quality and economic benefits simultaneously.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the present invention with the front support plate, the right side plate and the top plate removed.
Fig. 3 is a schematic perspective view of the tea-picking mechanism of the present invention without the front back guide rail and the front baffle.
Fig. 4 is an exploded view of the tea-plucking mechanism of the present invention.
Fig. 5 is a schematic perspective view of the passive finger in the present invention.
Fig. 6 is a schematic perspective view of the active finger according to the present invention.
FIG. 7 is a schematic view of the tea plucking process of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples, but the present invention is not limited to the following examples.
The pull-up type bionic tea single-bud picking manipulator comprises a support frame, a tea collecting box 4 fixed on the lower side of the support frame and a tea picking mechanism fixed in the support frame; the circumference support body of support frame is formed by left side board 5, preceding backup pad 1, right side board 3, back backup pad 8 end to end connection in proper order, and the top is through connecting block 7 and the fixed roof 2 of backup pad around with.
In the tea plucking mechanism (see fig. 3 and 4): motors 6-7 (preferably stepper motors) are fixed on the rear support plate; two ends of the main shafts 6 to 29 are rotatably positioned on the supporting frame through bearings respectively (the rear ends of the main shafts are arranged on the rear supporting plate through rear end bearings 6 to 25, the front ends of the main shafts pass through the front baffle plate and then are arranged on the front supporting plate through front end bearings 6 to 19, and the front baffle plates 6 to 18 are also embedded below the front back plate guide rails 6 to 22 and are fixed on the inner sides of the front supporting plates together with the front back plate guide rails); the front back plate guide rail and the back plate guide rail 6-9 are correspondingly fixed on the support frame at a front-back interval (the back plate guide rail is fixed on the inner side of the back support plate and is mutually and correspondingly arranged with the front back plate guide rail) and are respectively arranged around the main shaft; the front back plate guide rail and the back plate guide rail are arc-shaped guide rails with the same radius, and the circle centers of the arc-shaped guide rails are superposed with the axis of the uniform main shaft (namely the two back plate guide rails are arranged around the main shaft). A driven bull gear 6-10 is fixed on the main shaft and meshed with a driving pinion 6-8 on the output shaft of the motor; the driving fingers 6-12 and the plectrum mounting plates 6-31 fixed with the plectrum 6-27 are respectively fixed on the main shaft through the driving finger fixing blocks 6-11; two ends of the rotating shaft 6-21 are respectively positioned in the front back plate guide rail and the back plate guide rail through bearings (front end bearings 6-13 and rear end bearings 6-24) and can slide along the guide rails; a passive finger 6-4 which can be in clamping fit with the driving finger is fixed on the rotating shaft through a passive finger fixing block 6-16; the tail ends of the active finger and the passive finger are respectively fixed with a clamping block 6-6 (the clamping blocks are made of soft materials with softness like human fingers, such as silica gel and soft rubber), and the two clamping blocks can be mutually clamped and matched, so that tea leaf picking is carried out. The rotating sheet 6-1 is also fixed on the driven finger fixing block and is matched with the poking column (the rotating sheet is installed close to the poking sheet installation plate, an arc-shaped groove is formed in the rotating sheet, and the poking column on the poking sheet installation plate is embedded in the arc-shaped groove). In addition, the first magnetic steel 6-20 is fixed on the rear supporting plate through a magnetic steel mounting block 6-14, and the second magnetic steel 6-3 is fixed on the driven finger fixing block through a magnetic steel mounting block 6-17 and can be correspondingly matched with the first magnetic steel; the middle lower part of the passive finger is provided with a correlation type photoelectric sensor correlation perforation 6-11-1, the middle lower part of the active finger is provided with a correlation type photoelectric sensor correlation perforation 6-17-1 at the same height, and two correlation type photoelectric sensors 6-5 which can mutually receive and send signals are respectively arranged at the correlation perforation parts; the position of the sensor in the hole can be adjusted (the position of the sensor in the hole can be adjusted according to different tea leaf picking length standards), and the opposite-type photoelectric sensor can transmit and receive signals through the opposite-type hole. A photoelectric sensor 6-30 (which can be a correlation type photoelectric sensor or a reflection type photoelectric sensor) is fixed on the support frame through a photoelectric sensor base plate 6-26, and a sensor baffle 6-28 which acts with the photoelectric sensor is fixed on one side end face of the driven gearwheel; the invention adopts the reflection-type photoelectric sensor, and when the reflection-type photoelectric sensor is blocked by the sensor baffle, the reflection-type photoelectric sensor sends out an active finger reset signal.
Further, the bottom of the passive finger is provided with a material clamping groove 6-11-2 (see fig. 5).
And a rear baffle 6-2 which is matched with the rotating piece is also fixed on the driven finger fixing block. The rear baffle blocks the leak formed by the rear parts of the active fingers and the passive fingers in the tea leaf picking process, so that the tea leaves are prevented from leaking from the rear parts in the picking process, and the rear baffle and the front baffle form a relatively sealed cavity with the two fingers in the tea leaf picking and conveying processes, so that the tea leaves cannot leak in the picking and conveying processes.
The working principle of the invention is as follows: the machinery starts, and the initiative finger and the passive finger of this manipulator are in the open mode (as shown in A of fig. 7), and the magnet steel of fixing on from the finger adsorbs together with the magnet steel of fixing in the backup pad behind, and reflection-type photoelectric sensor who fixes on the backup pad behind receives blocking of sensor baffle, sends reset signal, and this moment this manipulator is in standby state, dials the initial position that the post is located the revolving fragment this moment. When the external equipment controls the manipulator to pick single tea buds, the tea is positioned between the active finger and the passive finger, the opposite type photoelectric sensors on the active finger and the passive finger do not generate photoelectric signals under the blocking action of the tea, and the manipulator is in a picking state (shown as B in fig. 7); the motor drives the driving finger to rotate clockwise under the control of a pulse signal, and the driven finger is kept still under the action of the magnetic steel at the beginning (after a sensor baffle plate rotating along with the large gear leaves the reflection-type photoelectric sensor, the signal of the reflection-type photoelectric sensor is disconnected); then, the clamping blocks at the middle lower parts of the active fingers and the passive fingers clamp the tea leaves and bend the tea leaves (as shown in C of fig. 7), and the tea leaves are as same as the tea leaves which are pinched by the fingers when the tea leaves are picked by hands and are bent by rotating the tea leaves at a certain angle (the clamping blocks made of soft materials are as soft as the fingers of people, so that the damage to the tea leaves in the clamping process is avoided); after the tea stems are clamped by the driving fingers and the driven fingers, the motor continues to drive the driving fingers to rotate clockwise, and the shifting column moves to the right limit position of the arc-shaped groove in the rotating sheet, so that the driven fingers are driven by the driving fingers and the shifting column to rotate concentrically along the front and back plate guide rails and the main shaft, and the tea stems are broken through the lifting action (like the action when tea leaves are picked by hands). The motor drives the driving finger to continuously rotate clockwise, and when the driving finger rotates a certain angle, the driven finger continuously rotates clockwise under the action of inertia; at the moment, the active finger and the passive finger are loosened, and the tea clamped on the clamping block of the active finger and the passive finger falls into the tea collecting box along a parabola (as shown in D of figure 7), so that the anthropomorphic picking of the single tea bud is completed. When the shifting column moves to the left limit position of the arc-shaped groove in the rotating sheet, the motor rotates reversely; the driving finger drives the driven finger to rotate anticlockwise, after the driven finger rotates by a certain angle, the magnetic steel on the driven finger and the magnetic steel on the rear supporting plate are adsorbed together, and the driven finger returns to the initial position and is fixed; the driving finger continues to rotate until the sensor baffle fixed on the driven bull gear blocks the reflection-type photoelectric sensor fixed on the rear supporting plate, and the reflection-type photoelectric sensor sends a reset signal; at the moment, the motor stops rotating, and the manipulator returns to a standby state shown as A of 7; the above steps are repeated to pick single tea buds.
The actions of the mechanisms are uniformly controlled by the controller according to signals sent by the sensors. The controller is configured for the whole machine of the tea leaf harvesting equipment, and the tea leaf harvesting equipment is not required to be independently arranged.
The tea leaf picking machine can complete the lossless picking of single tea leaf buds, is stable and efficient in picking process, improves the quality and economic benefit of tea leaves while solving the problem of labor shortage, and has important significance for the modern development of tea leaf picking in future.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
It is obvious that the invention is not limited to the above examples, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (4)
1. Draw bionical tealeaves list bud picking manipulator of formula, its characterized in that: the lifting type bionic tea single-bud picking mechanical arm comprises a support frame (4), a tea collecting box fixed on the lower side of the support frame and a tea picking mechanism fixed in the support frame; the circumferential frame body of the support frame is formed by sequentially connecting a left side plate (5), a front support plate (1), a right side plate (3) and a rear support plate (8) end to end, and the top end of the support frame is a top plate (2) fixed with the front support plate and the rear support plate through a connecting block (7);
the tea picking mechanism comprises a motor (6-7) fixed on a support frame, a main shaft (6-29) rotatably positioned on the support frame, a front back plate guide rail (6-22) and a back plate guide rail (6-9) which are correspondingly fixed on the support frame at intervals in the front and back directions and are respectively arranged around the main shaft, a driven large gear (6-10) fixed on the main shaft and meshed with a driving small gear (6-8) on an output shaft of the motor, a driving finger (6-12) and a plectrum mounting plate (6-31) respectively fixed on the main shaft, a plectrum (6-27) fixed on the plectrum mounting plate, a rotating shaft (6-2) with two ends respectively positioned in the front back plate guide rail and the back plate guide rail in a sliding mode through bearings, a driven finger (6-4) fixed on the rotating shaft through a driven finger fixing block (6-16) and, The device comprises a rotating piece (6-1) fixed on a driven finger fixing block, an arc-shaped groove which is formed in the rotating piece and can be matched with a shifting column, first magnetic steel (6-20) fixed on a rear supporting plate, second magnetic steel (6-3) fixed on the driven finger fixing block and can be correspondingly matched with the first magnetic steel, a pair of opposite photoelectric sensors (6-5) which are respectively arranged on a driven finger and a driving finger and can mutually receive and send signals, photoelectric sensors (6-30) which are fixed on a supporting frame and can act with sensor baffles (6-28) arranged on a driven large gear, and clamping blocks (6-6) which are respectively fixed at the tail ends of the driving finger and the driven finger and can be mutually clamped and matched;
the front back plate guide rail and the back plate guide rail are arc-shaped guide rails with the same radius, and the circle centers of the arc-shaped guide rails are coincided with the axis of the main shaft.
2. The pull-type bionic tea single-bud picking manipulator as claimed in claim 1, characterized in that: the clamping blocks are made of soft materials, so that the effect of simulating hands to pick tea leaves is achieved after the clamping blocks are clamped.
3. The pull-up type bionic tea single-bud picking manipulator as claimed in claim 2, characterized in that: the active finger and the passive finger are provided with opposite-type photoelectric sensors at the same height at the middle lower part, and the opposite-type photoelectric sensors are arranged at opposite-type holes so as to transmit and receive signals through the opposite-type holes.
4. The pull-up type bionic tea single-bud picking manipulator as claimed in claim 3, characterized in that: the bottom of the passive finger is provided with a material clamping groove (6-11-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911127819.3A CN110842894B (en) | 2019-11-18 | 2019-11-18 | Lifting type bionic tea single-bud picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911127819.3A CN110842894B (en) | 2019-11-18 | 2019-11-18 | Lifting type bionic tea single-bud picking manipulator |
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| Publication Number | Publication Date |
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| CN110842894A CN110842894A (en) | 2020-02-28 |
| CN110842894B true CN110842894B (en) | 2020-12-08 |
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| CN201911127819.3A Active CN110842894B (en) | 2019-11-18 | 2019-11-18 | Lifting type bionic tea single-bud picking manipulator |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113383641B (en) * | 2021-06-02 | 2022-04-29 | 山东大学 | Tendon-driven bionic tea picking manipulator and method |
| CN114731840B (en) * | 2022-04-07 | 2022-12-27 | 仲恺农业工程学院 | Double-mechanical-arm tea picking robot based on machine vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202172606U (en) * | 2011-07-21 | 2012-03-28 | 中国农业大学 | Picking paw |
| JP6137641B2 (en) * | 2015-11-19 | 2017-05-31 | 株式会社椿本チエイン | Work picking device |
| CN107580869A (en) * | 2016-07-07 | 2018-01-16 | 申友航 | Tea single bud tea-leaf picker |
| CN206743906U (en) * | 2016-11-08 | 2017-12-15 | 西北农林科技大学 | A kind of kiwifruit fruit picking end effector |
| CN108990530B (en) * | 2018-06-06 | 2021-03-09 | 黄超 | Agricultural garlic sprout pulling device |
| CN109924004B (en) * | 2019-03-19 | 2023-11-10 | 青岛科技大学 | Pneumatic picking mechanism for chickpea type famous tea |
| CN109952859B (en) * | 2019-04-17 | 2020-10-27 | 北京石油化工学院 | Rotary twisting type pineapple picking device |
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