CN111149514A - Rotary folding type tea single-bud picking manipulator - Google Patents
Rotary folding type tea single-bud picking manipulator Download PDFInfo
- Publication number
- CN111149514A CN111149514A CN202010060887.9A CN202010060887A CN111149514A CN 111149514 A CN111149514 A CN 111149514A CN 202010060887 A CN202010060887 A CN 202010060887A CN 111149514 A CN111149514 A CN 111149514A
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- clamping jaw
- rotary folding
- mounting plate
- sensor
- rotate
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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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Tea And Coffee (AREA)
Abstract
The invention belongs to the field of agricultural machinery. The purpose provides a mechanical hand is picked to rotation and folding formula tealeaves list bud, and this manipulator should have the characteristics that picking quality is good, work efficiency is high. The technical scheme is as follows: the utility model provides a manipulator is picked to rotation and folding formula tealeaves list bud which characterized in that: the manipulator comprises a clamping jaw mechanism, a rotary folding mechanism for driving the clamping jaw mechanism to rotate and a conveying mechanism for driving the rotary folding mechanism to rotate; the clamping jaw mechanism comprises a clamping jaw and a clamping jaw cylinder which are arranged on the first mounting plate and a transmission assembly for transmitting power of the clamping jaw cylinder to drive the clamping jaw to open and close; the rotary folding mechanism comprises a rotary folding motor which is arranged on the second mounting plate and drives the first mounting plate to rotate; the conveying mechanism comprises a harvesting box and a conveying motor which is arranged on the third mounting plate and drives the second mounting plate to rotate; the axis of the rotating shaft of the conveying motor is perpendicular to the axis of the rotating shaft of the rotary folding motor, and the axis of the rotating shaft of the rotary folding motor is coaxial with the axis of the clamping jaw cylinder piston rod in the stretching direction.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a rotary folding type tea picking mechanical arm.
Background
As a popular green beverage, the tea is popular with consumers because of meeting the requirements of human bodies on various vitamins and trace elements and having an anti-aging effect, and the market demand is extremely large.
At present, most of the tea pluckers in the market adopt manual tea plucking, particularly plucking of famous green tea, so that the efficiency is low, and the labor cost is high. Most of common tea pluckers in the market adopt a reciprocating cutting picking form, the picking speed is high, but the tea quality is low, and the tea pluckers are only suitable for picking bulk tea. In order to solve the problem of difficult mechanical picking of famous tea, a tea single-bud picking manipulator suitable for picking famous tea needs to be developed so as to meet the requirement of mechanical picking of tea and improve the economic benefit of famous tea.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide the rotary folding type tea single-bud picking mechanical arm which has the characteristics of good picking quality and high working efficiency.
The technical scheme of the invention is as follows:
the utility model provides a manipulator is picked to rotation and folding formula tealeaves list bud which characterized in that: the manipulator comprises a clamping jaw mechanism, a rotary folding mechanism for driving the clamping jaw mechanism to rotate and a conveying mechanism for driving the rotary folding mechanism to rotate; the clamping jaw mechanism comprises a clamping jaw and a clamping jaw cylinder which are arranged on the first mounting plate and a transmission assembly for transmitting power of the clamping jaw cylinder to drive the clamping jaw to open and close; the rotary folding mechanism comprises a rotary folding motor which is arranged on the second mounting plate and drives the first mounting plate to rotate; the conveying mechanism comprises a harvesting box and a conveying motor which is arranged on the third mounting plate and drives the second mounting plate to rotate; the axis of the rotating shaft of the conveying motor is perpendicular to the axis of the rotating shaft of the rotary folding motor, and the axis of the rotating shaft of the rotary folding motor is coaxial with the axis of the clamping jaw cylinder piston rod in the stretching direction.
The clamping jaw comprises a pair of jaw arms rotatably positioned on the first mounting plate, and the tail ends of the jaw arms are provided with first sensors.
The transmission assembly comprises a rack driven by a clamping jaw cylinder and two fan-shaped teeth which are respectively arranged on the two clamping jaw arms and are meshed with the rack.
And a second sensor is arranged on the third mounting plate, and a sensor blocking piece matched with the second sensor is arranged on the second mounting plate.
And a clamping gasket is arranged on the clamping surface at the tail end of the claw arm.
The first sensor is a pair of opposite type photoelectric sensors respectively fixed on the two claw arms; the first sensor is fixed with the claw arm through a sensor mounting plate.
The invention has the beneficial effects that:
compared with a common reciprocating cutting type tea picking machine in the market, the tea picking machine is simple in structure, safe and reliable, single tea buds are picked in a rotating and breaking mode in a nondestructive mode, the technological requirement of famous tea picking is met, the labor cost of famous tea picking is reduced, economic benefits are improved, and the mechanized and intelligent process of tea picking can be promoted.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is a schematic bottom view of the present invention.
Fig. 5 is a front view structural schematic diagram of the clamping jaw mechanism and the rotary folding mechanism in the invention.
Fig. 6 is a schematic top view of the structure of fig. 5.
Fig. 7 is a schematic bottom view of the structure of fig. 5.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
As shown in fig. 1, a rotary folding type manipulator for picking tea single buds comprises a clamping jaw mechanism, a rotary folding mechanism and a conveying mechanism.
The clamping jaw mechanism comprises a first mounting plate 4-1, a clamping jaw cylinder 4-2 and a transmission assembly.
The clamping jaws are a pair of claw arms 4-5 which are rotatably positioned on the first mounting plate, and articulated shafts 4-51 are arranged between the claw arms and the first mounting plate. And clamping gaskets 4-7 are arranged on the clamping surfaces of the tail ends of the claw arms, the clamping gaskets are made of flexible materials with softness similar to that of fingers, and first sensors 4-8 are further arranged at the tail ends of the claw arms. The first sensors are a pair of correlation type photoelectric sensors (comprising a transmitting end and a receiving end) which are matched with each other, and the two first sensors are respectively fixed at the tail ends of the claw arms through sensor mounting plates 4-9 (the sensor mounting plates and the clamping gaskets are arranged on two sides of the claw arms).
The clamping jaw air cylinder is fixed on the first mounting plate, and the transmission assembly is used for transmitting power of the clamping jaw air cylinder to drive the clamping jaw to open and close. In the transmission assembly, a rack 4-4 is coaxially fixed with a piston rod of a clamping jaw air cylinder through a connecting rod 4-3, the rack is double-sided teeth, two jaw arms are symmetrically arranged on the rack, fan-shaped teeth 4-6 are arranged on the jaw arms, and the fan-shaped teeth are coaxially arranged with a hinged shaft of the jaw arms and meshed with the rack.
The rotary folding mechanism is used for driving the clamping jaw mechanism to rotate. In the rotary folding mechanism, a rotary folding motor 3-1 is fixed on a second mounting plate 2-3, the second mounting plate is U-shaped, and a rotating shaft of the rotary folding motor penetrates through the second mounting plate and then is fixed with the first mounting plate through a shaft end connector 3-2 of the rotary folding motor.
The conveying mechanism is used for driving the rotary folding mechanism to rotate. In the conveying mechanism, a conveying motor 2-1 is fixed on one side of a third mounting plate 1, a harvesting box 5 and a second sensor 2-5 are fixed on the other side of the third mounting plate, a rotating shaft of the conveying motor penetrates through the third mounting plate and then is fixed with the second mounting plate through a rotary folding motor shaft end joint 2-2, and a sensor catch 2-4 matched with the second sensor is fixed on the rotary folding motor shaft end joint. The second sensor is a photosensor.
The axis of the rotating shaft of the conveying motor is perpendicular to the axis of the rotating shaft of the rotary folding motor, and the axis of the rotating shaft of the rotary folding motor is coaxial with the axis of the clamping jaw cylinder piston rod in the stretching direction.
The working principle of the invention is as follows:
1) initial state: as shown in fig. 2, the piston rod of the clamping jaw cylinder extends out, the clamping jaw is opened, and the sensor blocking piece shields the second sensor;
2) when tea leaves are positioned in the clamping jaws, the optical signals emitted by the emitting ends of the first sensors are blocked by the tea leaves, and the receiving ends cannot generate corresponding electric signals, so that the piston rods are retracted by the clamping jaw cylinders to drive the racks to move, the clamping jaws close to clamp the tea stems, and the tea stems cannot be damaged due to the fact that the clamping gaskets made of flexible materials are mounted at the tail ends of the jaw arms;
3) the rotary folding motor is started to drive the clamping jaw mechanism to rotate for a certain angle, so that the clamped tea stalks are folded, and the rotary motor rotates reversely to rotate the clamping jaw mechanism back to the original position;
4) the conveying motor is started to drive the clamping jaw mechanism and the rotary folding mechanism to rotate clockwise (in the direction indicated by an arrow in fig. 2), and meanwhile, the sensor blocking piece is far away from the second sensor (the second sensor generates a signal); when the clamping jaw mechanism drives the tea leaves to rotate over the highest point and reach the upper part of the harvesting box, the piston rod of the clamping jaw air cylinder extends out to open the clamping jaw, the tea leaves fall into the harvesting box, and the single-bud harvesting action of the tea leaves is finished;
5) the conveying motor drives the clamping jaw mechanism and the rotary folding mechanism to rotate anticlockwise in the opposite direction, when the sensor blocking piece blocks the second sensor, signals are interrupted, the conveying motor stops acting, the mechanical arm is reset to prepare for picking next time, and therefore continuous picking of tea leaves is achieved.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can appreciate that the technical solutions and their concepts disclosed in the present invention are equivalent or modified within the scope of the present invention.
Claims (6)
1. Mechanical hand is picked to folding formula tealeaves list bud, its characterized in that: the manipulator comprises a clamping jaw mechanism, a rotary folding mechanism for driving the clamping jaw mechanism to rotate and a conveying mechanism for driving the rotary folding mechanism to rotate; the clamping jaw mechanism comprises a clamping jaw and a clamping jaw cylinder (4-2) which are arranged on a first mounting plate (4-1) and a transmission assembly for transmitting power of the clamping jaw cylinder to drive the clamping jaw to open and close; the rotary folding mechanism comprises a rotary folding motor (3-1) which is arranged on the second mounting plate (2-3) and drives the first mounting plate to rotate; the conveying mechanism comprises a harvesting box (5) and a conveying motor (2-1) which is arranged on the third mounting plate (1) and drives the second mounting plate to rotate; the axis of the rotating shaft of the conveying motor is perpendicular to the axis of the rotating shaft of the rotary folding motor, and the axis of the rotating shaft of the rotary folding motor is coaxial with the axis of the clamping jaw cylinder piston rod in the stretching direction.
2. The rotary folding tea single-bud picking manipulator as claimed in claim 1, wherein: the jaw comprises a pair of jaw arms (4-5) rotatably positioned on the first mounting plate, the ends of the jaw arms being provided with a first sensor (4-8).
3. The rotary folding tea single-bud picking manipulator as claimed in claim 2, wherein: the transmission assembly comprises a rack (4-4) driven by a clamping jaw cylinder and two fan-shaped teeth (4-6) which are respectively arranged on the two jaw arms and are meshed with the rack.
4. The rotary folding tea single-bud picking manipulator as claimed in claim 3, wherein: and a second sensor (2-5) is arranged on the third mounting plate, and a sensor blocking piece (2-4) matched with the second sensor is arranged on the second mounting plate.
5. The rotary folding tea single-bud picking manipulator as claimed in claim 4, wherein: and clamping gaskets (4-7) are arranged on the clamping surfaces of the tail ends of the claw arms.
6. The rotary folding tea single-bud picking manipulator as claimed in claim 5, wherein: the first sensor is a pair of opposite type photoelectric sensors respectively fixed on the two claw arms; the first sensor is fixed with the claw arm through a sensor mounting plate (4-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060887.9A CN111149514B (en) | 2020-01-19 | 2020-01-19 | Rotary folding type tea single-bud picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060887.9A CN111149514B (en) | 2020-01-19 | 2020-01-19 | Rotary folding type tea single-bud picking manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN111149514A true CN111149514A (en) | 2020-05-15 |
| CN111149514B CN111149514B (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010060887.9A Active CN111149514B (en) | 2020-01-19 | 2020-01-19 | Rotary folding type tea single-bud picking manipulator |
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| CN (1) | CN111149514B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112189448A (en) * | 2020-09-14 | 2021-01-08 | 靳祖俊 | Long-distance fruit picking device |
| CN112425368A (en) * | 2021-01-20 | 2021-03-02 | 深圳市福森智能家居有限公司 | Portable single tea-leaf picker |
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN104663138A (en) * | 2015-02-26 | 2015-06-03 | 西北农林科技大学 | Apply picking manipulator |
| CN105075520A (en) * | 2015-08-28 | 2015-11-25 | 重庆市乾丰茶业有限责任公司 | Working method of tea picking mechanical arm |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
-
2020
- 2020-01-19 CN CN202010060887.9A patent/CN111149514B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| US20170105346A1 (en) * | 2014-09-12 | 2017-04-20 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN104663138A (en) * | 2015-02-26 | 2015-06-03 | 西北农林科技大学 | Apply picking manipulator |
| CN105075520A (en) * | 2015-08-28 | 2015-11-25 | 重庆市乾丰茶业有限责任公司 | Working method of tea picking mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112189448A (en) * | 2020-09-14 | 2021-01-08 | 靳祖俊 | Long-distance fruit picking device |
| CN112425368A (en) * | 2021-01-20 | 2021-03-02 | 深圳市福森智能家居有限公司 | Portable single tea-leaf picker |
| CN112425368B (en) * | 2021-01-20 | 2021-08-06 | 湖州天祺自动化科技有限公司 | Portable single tea-leaf picker |
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
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| Publication number | Publication date |
|---|---|
| CN111149514B (en) | 2021-07-06 |
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