CN219046760U

CN219046760U - Mechanical arm for picking single buds of famous tea

Info

Publication number: CN219046760U
Application number: CN202223500845.6U
Authority: CN
Inventors: 姜兆亮; 侯瑞源; 陈国鹏; 李鑫德; 王静; 钟宏昊
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-05-23
Anticipated expiration: 2032-12-16

Abstract

The utility model discloses a mechanical arm for picking single buds of famous tea, which belongs to the technical field of agricultural high-end picking equipment and comprises a sliding arm which is vertically arranged, wherein the sliding arm is fixedly provided with a guide rail, and the guide rail is in sliding connection with a sliding bracket; the sliding support is connected with the rotating arm, the rotating arm can horizontally rotate, the rotating arm is connected with the swinging arm, the swinging arm can vertically swing, the bottom of the swinging arm is connected with the mechanical picking hand, and the mechanical picking hand is opened and closed to pick tea buds. The device adopts the mode of picking perpendicularly, and the arm is picked the manipulator from the top down and is moved to the tea bud root, and the integrality and the picking efficiency of tea bud all can satisfy the requirement that tea bud was picked.

Description

Mechanical arm for picking single buds of famous tea

Technical Field

The utility model belongs to the technical field of agricultural high-end picking equipment, and particularly relates to a mechanical arm for picking single buds of famous tea.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the improvement of the life quality of people and the rapid development of the tea industry, the demand for high-quality tea is rapidly increased. For picking of famous tea, the traditional tea picking needs manual picking, and a novice user has low efficiency due to insufficient experience, and the integrity of tender buds of the tea is damaged. Most of the existing mechanical tea leaf picking methods mainly use a harvester to cut the top of the whole tea tree, so that although time is saved, the young buds and the old leaves are harvested together, and the young buds and the old leaves are difficult to distinguish to meet the requirements of famous and excellent tea. Meanwhile, the tea trees are seriously damaged by adopting a machine harvesting mode, and the later-stage tea yield is affected.

The key of the tea picking robot for picking famous tea single buds is picking and grabbing after machine vision and tea bud detection. At present, a mechanical arm with multiple degrees of freedom is generally adopted for picking, and the method has the defects that the six-joint mechanical arm sold in the market is large in size, redundant in structure and difficult to be suitable for a dense picking environment. The six-degree-of-freedom mechanical arm is transversely picked and has more joints in the working process, and shielding and blocking conditions for damaging other top buds of tea trees or non-picked tea branches on a picking path often exist in the movement path of the mechanical arm.

The biggest problem of tea bud picking at present lies in tea bud uneven distribution, and current arm is big too big in most volume, is difficult to be applicable to intensive tea cluster environment, and the steering engine arm of small volume uses for a long time to have the virtual position problem also not suitable for accurate tealeaves picking work.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide the mechanical arm for picking the famous tea single buds, the device adopts a vertical picking mode, the mechanical arm moves the mechanical picking hand from top to bottom to the root of the tea buds for picking, and the integrity and the picking efficiency of the tea buds can meet the requirements of picking the tea buds.

In order to achieve the above object, the present utility model is realized by the following technical scheme:

in a first aspect, the utility model provides a mechanical arm for picking single buds of famous tea, which comprises a sliding arm vertically arranged, wherein a guide rail is fixedly arranged on the sliding arm, and the guide rail is in sliding connection with a sliding bracket; the sliding support is connected with the rotating arm, the rotating arm can horizontally rotate, the rotating arm is connected with the swinging arm, the swinging arm can vertically swing, the bottom of the swinging arm is connected with the mechanical picking hand, and the mechanical picking hand is opened and closed to pick tea buds.

As a further technical scheme, the sliding arm is fixedly provided with a ball sliding table, a first stepping motor is fixed on the sliding support and connected with a screw rod, and the screw rod is connected with the ball sliding table.

As a further technical scheme, the sliding support is fixedly provided with a second stepping motor, and the second stepping motor is connected with the rotating arm to drive the rotating arm to horizontally rotate.

As a further technical scheme, the rotating arm is connected with a third stepping motor, and the third stepping motor is fixedly connected with the swinging arm to drive the swinging arm to swing in the vertical direction.

As a further technical scheme, the bottom of the swinging arm is connected with the mechanical picking hand through a bearing.

As a further technical scheme, the bottom of the swing arm is connected with the thin rod, the inner ring of the bearing is fixed on the thin rod, and the outer ring of the bearing is fixed on the mechanical picking hand.

As a further technical scheme, the upper end of the mechanical picking arm is in interference fit with the bearing.

As a further technical scheme, the mechanical picking hand is further connected with a push rod motor, and the push rod motor drives the mechanical picking hand to open and close.

As a further technical scheme, the mechanical picking hand comprises two clamping jaws which are arranged oppositely, the top of each clamping jaw is hinged with a first connecting rod, and the first connecting rod is hinged with a push rod motor.

As a further technical scheme, the top of each clamping jaw is hinged with the second connecting rod, and the two clamping jaws are connected to two ends of the second connecting rod.

The beneficial effects of the utility model are as follows:

according to the mechanical arm, the guide rail and the sliding support arranged on the sliding arm can drive the sliding arm to move up and down, the rotating arm horizontally rotates to adjust the picking direction of the mechanical picking hand, the picking position of the mechanical picking hand can be adjusted after the swinging arm swings, in the process of selectively picking tea buds, the picking efficiency is met, the integrity of the shoots can be ensured, and the requirements of picking famous and excellent tea single buds are met.

The mechanical arm disclosed by the utility model is small in size and simple in structure, and meanwhile, the sliding arm is provided with the guide rail and the sliding support which can move up and down, so that a top-down picking mode is adopted, the mechanical arm moves the mechanical picking arm from top to bottom to the root of a tea bud for effectively picking, the problem of 'one-knife cutting' of the traditional mechanical type is effectively solved, the operation efficiency of the famous tea single bud mechanical picking arm is effectively improved, the precision is met, and the damage of picking operation to the famous tea single bud can be effectively reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

FIG. 1 is a schematic diagram of the whole structure of a mechanical arm for picking single buds of famous tea;

FIG. 2 is a schematic view of a sliding arm structure according to the present utility model;

FIG. 3 is a schematic view of the structure of the rotating arm and the swing arm of the present utility model;

FIG. 4 is a schematic view of the mechanical picking hand structure of the present utility model;

in the figure: the mutual spacing or size is exaggerated for showing the positions of all parts, and the schematic drawings are used only for illustration;

the device comprises a sliding arm 1, a ball sliding table 2, a guide rail 3, a coupler 4, a sliding bracket 5, a first stepping motor 6, a second stepping motor 7, a flange 8, a rotating arm 9, a third stepping motor 10, a swinging arm 11, a push rod motor 12, a mechanical picking hand 13, a clamping jaw 131, a first connecting rod 132, a second connecting rod 133, a supporting plate 134, a fixing rod 135, a fixing seat 136, a bearing 14 and a screw 15.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the utility model. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs.

In an exemplary embodiment of the present utility model, as shown in fig. 1, a mechanical arm for picking famous tea single buds is provided, which comprises a sliding arm 1, a ball sliding table 2, a guide rail 3, a coupling 4, a sliding bracket 5, a first stepping motor 6, a second stepping motor 7, a flange 8, a rotating arm 9, a third stepping motor 10, a swinging arm 11, a push rod motor 12, a mechanical picking hand 13 and a bearing 14. The mechanical arm is provided with a power system and a control system, and is arranged on a movable tea-picking robot body.

As shown in fig. 2, the sliding arm 1 is vertically arranged, two ends of the ball sliding table 2 are fixed on the sliding arm 1, the first stepping motor 6 is fixed on the sliding bracket 5, the sliding bracket 5 is in sliding connection with the guide rail 3, the guide rail 3 is fixed on the sliding arm 1, the first stepping motor 6 is connected with the lead screw 15 through the coupler 4, the lead screw 15 is connected with the ball sliding table 2, the first stepping motor 6 acts to drive the sliding bracket 5 to move up and down along the sliding arm 1, and accordingly the whole mechanical arm is lifted up and down.

As shown in fig. 3, the second stepper motor 7 is a motor for driving the rotating arm 9, the second stepper motor 7 is fixed on the sliding bracket 5, and the second stepper motor 7 is connected with the rotating arm 9 through a flange 8 to drive the rotating arm 9 to horizontally rotate in a transverse direction. The rotation direction of the rotation arm 9 is perpendicular to the sliding direction of the slide arm.

The lower end of the rotating arm 9 is connected with a third stepping motor 10 at the upper end of the swinging arm 11, and the third stepping motor 10 is fixedly connected with the swinging arm 11 to drive the swinging arm 11 to swing around the vertical direction of the transverse shaft. The swing arm movement direction is parallel to the slide arm sliding direction.

The lower end of the swing arm 11 is fixed with a thin rod connected with a bearing 14 by a flange, the inner ring of the bearing 14 is fixed on the thin rod of the swing arm 11, and the outer ring of the bearing 14 is fixed on the mechanical picking hand 13. Through the arrangement of the bearing 14, no matter what angle the swing arm 11 is positioned, the mechanical picking hand 13 is always kept in a vertical state, so that the mechanical picking hand always keeps picking tea buds from top to bottom, and damage to peripheral tea buds is reduced to the greatest extent.

As shown in fig. 4, the upper end of the mechanical picking hand 13 is in interference fit with the outer ring of the bearing 14, so that the mechanical picking hand 13 is always kept in a vertical state. The push rod motor 12 is connected with the mechanical picking hand 13 and is used for controlling the clamping jaw to perform grabbing and opening actions so as to pick tea buds.

The mechanical picking hand 13 comprises two opposite clamping jaws 131, the bottoms of the two clamping jaws are open and close, the top of each clamping jaw is hinged with a first connecting rod 132, and the first connecting rod 132 is hinged with the push rod motor 12; the top of each clamping jaw is hinged with a second connecting rod 133, the two clamping jaws are connected to the two ends of the second connecting rod 133, and the push rod motor 12 acts to drive the clamping jaws of the mechanical picking hand to open or close.

The push rod motor 12 may be fixed to the support plate 134, and the second link 133 may be connected to the bottom of the support plate through a fixing rod 135. The top of the support plate 134 is provided with a fixed seat 136, and the top of the fixed seat 136 is connected with the bearing 14.

The working principle of the mechanical arm is as follows:

when picking, the second stepping motor 7 drives the rotating arm 9 to horizontally rotate, the third stepping motor 10 drives the swinging arm 11 to swing, when the rotating arm 9 and the swinging arm 11 make corresponding postures, the first stepping motor 6 drives the sliding support 5 to descend to a proper picking position, the push rod motor 12 drives the clamping jaw of the mechanical picking hand to open and close, picking is carried out from top to bottom, and the tea cluster picking machine is more suitable for a dense tea cluster environment.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The mechanical arm for picking the famous tea single buds is characterized by comprising a sliding arm which is vertically arranged, wherein a guide rail is fixedly arranged on the sliding arm, and the guide rail is in sliding connection with a sliding bracket; the sliding support is connected with the rotating arm, the rotating arm can horizontally rotate, the rotating arm is connected with the swinging arm, the swinging arm can vertically swing, the bottom of the swinging arm is connected with the mechanical picking hand, and the mechanical picking hand is opened and closed to pick tea buds.

2. The mechanical arm for picking single buds of famous tea according to claim 1, wherein the sliding arm is fixedly provided with a ball sliding table, a first stepping motor is fixed on the sliding support and connected with a screw rod, and the screw rod is connected with the ball sliding table.

3. The mechanical arm for picking single buds of famous tea according to claim 1, wherein the sliding support is fixedly provided with a second stepping motor, and the second stepping motor is connected with the rotating arm to drive the rotating arm to horizontally rotate.

4. The mechanical arm for picking single buds of famous tea according to claim 1, wherein the rotating arm is connected with a third stepping motor, and the third stepping motor is fixedly connected with the swinging arm to drive the swinging arm to swing vertically.

5. The mechanical arm for picking single buds of famous tea according to claim 1, wherein the bottom of the swinging arm is connected with a mechanical picking hand through a bearing.

6. The mechanical arm for picking single buds of famous tea according to claim 5, wherein the bottom of the swinging arm is connected with a thin rod, an inner ring of a bearing is fixed on the thin rod, and an outer ring of the bearing is fixed on a mechanical picking hand.

7. The mechanical arm for single bud picking of famous tea of claim 5, wherein the upper end of the mechanical picking arm is in interference fit with a bearing.

8. The mechanical arm for picking single buds of famous tea according to claim 1, wherein the mechanical picking hand is further connected with a push rod motor, and the push rod motor drives the mechanical picking hand to open and close.

9. The mechanical arm for single bud picking of famous tea according to claim 8, wherein the mechanical picking hand comprises two oppositely arranged clamping jaws, the top of each clamping jaw is hinged with a first connecting rod, and the first connecting rod is hinged with a push rod motor.

10. The mechanical arm for picking single buds of famous tea according to claim 9, wherein the top of each clamping jaw is hinged with the second connecting rod, and the two clamping jaws are connected to two ends of the second connecting rod.