CN111567216A - Three-dimensional coordinate automatic tea picking robot - Google Patents

Abstract

The invention provides a three-dimensional coordinate automatic tea picking robot, comprising a main platform, a walking mechanism, a three-dimensional moving mechanism, a picking mechanism and a collection tank; the walking mechanism includes walking wheels located at the lower ends of both sides of the main platform; the main platform A track is arranged on the upper end of the platform, and the three-dimensional moving mechanism includes a moving bracket that moves along the track. The moving bracket includes a column and a cross bar. The column is provided with a roller that moves along the track, and drives the bracket. A vertical adjustment motor that moves up and down, a picking hanger is arranged on the horizontal bar, the picking hanger can move along the horizontal bar, and a picking mechanism is arranged on the picking hanger; the collection tank is located in the main On the platform, the picking mechanism is connected with the collection tank. The tea picking robot can pick the buds and leaves of different tea trees under complex terrain.

Description

Three-dimensional coordinate automatic tea picking robot

technical field

The invention relates to the technical field of agricultural machinery, in particular to a three-dimensional coordinate automatic tea picking robot.

Background technique

Famous and high-quality green tea, especially the super-grade, first-grade high-grade and second-grade high-quality green tea, has higher requirements on the shape of buds and leaves. For this kind of buds and leaves, we can only rely on manual picking. Manual tea picking is very laborious and time-consuming. 40% of the cost of tea is used for labor, and 80% of labor costs are used for picking. The existing tea picking machines are all based on the cutting working principle, the picking process is interrupted and broken, and there are many inclusions, and the cut tea leaves are mostly used to make powder tea bags. The track-type walking tea picking machine usually needs to lay two tracks and install the traveling mechanism. The structure of the traveling mechanism is generally a sheave. Compared with the general tea picking machine, the track-travel-type tea picking machine existing in the prior art has improved efficiency, but it needs to lay two tracks and install the traveling mechanism, the initial investment and maintenance cost are high, and it is difficult to adapt to complex terrain and The situation of different tea trees.

SUMMARY OF THE INVENTION

The invention provides a three-dimensional coordinate automatic tea picking robot, which can realize the picking of buds and leaves of tea trees of different heights under complex terrain.

In order to achieve the purpose, the present invention adopts the following technical solutions:

A three-dimensional coordinate automatic tea picking robot is characterized in that: it includes a main platform, a walking mechanism, a three-dimensional moving mechanism, a picking mechanism and a collection tank; the walking mechanism includes walking wheels located at the lower ends of both sides of the main platform; A track is arranged on the upper end of the platform, and the three-dimensional moving mechanism includes a moving bracket that moves along the track. The moving bracket includes a column and a cross bar. The column is provided with a roller that moves along the track, and drives the bracket. A vertical adjustment motor that moves up and down, a picking hanger is arranged on the horizontal bar, the picking hanger can move along the horizontal bar, and a picking mechanism is arranged on the picking hanger; the collection tank is located in the main On the platform, the picking mechanism is connected with the collection tank.

As a preferred option, the walking mechanism includes a walking support and a buffer rod, the walking support includes a cylinder, the buffer rod is inserted into the cylinder, and a spring is arranged between the buffer rod and the walking support, so The traveling wheel is arranged at the lower end of the buffer rod.

Preferably, the bracket includes a rotating shaft that can rotate relative to the main platform, the rotating shaft is provided with a first tooth slot, the main platform is provided with a steering angle adjustment motor, and the output of the steering angle adjustment motor The shaft is provided with a gear engaged with the first tooth slot.

As a preferred option, the main platform includes a bottom beam, and the bottom beam is provided with a positioning column foot, and the positioning column foot is inserted into the bottom beam and can move up and down relative to the main platform. A second tooth slot is arranged on the column foot, a height adjustment motor is arranged on the main platform, and a gear meshing with the second tooth slot is arranged on the output shaft of the height adjustment motor.

Preferably, a tapered foot is provided at the lower end of the positioning column foot, and a pressure sensing gasket is arranged between the positioning column foot and the tapered foot.

As a preferred option, the main platform includes a top plate, and the top plate is provided with a camera.

As a preferred option, the main platform includes a top plate, and the top plate is provided with a horizontal position sensor, and the horizontal position sensor is arranged on both sides of the track.

As an example, the main platform includes a power source and a controller, and the power source and the controller are arranged on opposite sides of the collection tank.

Preferably, the picking hanger includes a base, the picking mechanism includes a cutting motor, a first cutting arm, a second cutting arm, a first push rod and a second push rod, and the output end of the cutting motor is provided with push block and drive the push block to move relative to the first push rod and the second push rod, the push block is provided with a first conical surface, and the first push rod and the second push rod are provided with There is a second conical surface, and when the push block moves downward, the first conical surface contacts the second conical surface and pushes the first push rod and the second push rod to move towards each other, so A spring is arranged between the first push rod, the second push rod and the base, and the first push rod and the second push rod are respectively connected with the first cutting arm and the second cutting arm and can drive the second push rod. A cutting arm and a second cutting arm move, a cavity is provided between the first cutting arm and the second cutting arm, and a hose is communicated between the cavity and the collection tank.

To sum up, compared with the prior art, the advantages of the present invention are: it is suitable for leaf bud picking of tea leaves under complex terrain, the height of the robot can be adjusted according to the height of the tea tree, and the state stability of the picking hanger is ensured, so as to ensure the picking mechanism normal work.

Description of drawings

1 is a schematic structural diagram of a first viewing angle of the present invention;

2 is a schematic structural diagram of a second viewing angle of the present invention;

Fig. 3 is the structural front view of the present invention;

Fig. 4 is the structural representation of picking mechanism;

Fig. 5 is the structure schematic diagram of traveling mechanism;

Fig. 6 is a schematic diagram of the structure of a position adjusting column foot;

FIG. 7 is a schematic structural diagram of a three-dimensional moving mechanism.

The symbols in the figure are as follows:

1. Main platform, 11. track, 12. Bottom beam, 13. Top plate, 131． Camera, 132． Horizontal position sensor, 14. power supply, 15. controller, 2. Running mechanism, 21. walking wheel, 22. Walking stand, 221． Cylinder, 222. Rotary shaft, 2221． The first tooth slot, 23. Buffer rod, 24． Spring, 25. Angle adjustment motor, 3. Three-dimensional moving mechanism, 31. Bracket, 311． Column, 312． Crossbar, 32． Roller, 33． Longitudinal adjustment motor, 34. Drive motor, 35. runner, 4. Picking institutions, 41. Cutting motor, 411． Push block, 4111． The first conical surface, 42. The first cutting arm, 43. Second cutting arm, 44. The first putter, 441． The second conical surface, 45. The second putter, 46. hose, 5. Collection tank, 6. Picking hangers, 61． pedestal, 71． Adjusting the column foot, 711． Second tooth slot, 712． Tapered feet, 72． Height adjustment motor.

Detailed ways

The present invention will be further described below with reference to the embodiments in the accompanying drawings.

A three-dimensional coordinate automatic tea picking robot as shown in FIG. 1 to FIG. 6 includes a main platform 1 , a walking mechanism 2 , a three-dimensional moving mechanism 3 , a picking mechanism 4 and a collection tank 5 . The traveling mechanism 2 includes traveling wheels 21 located at the lower ends of both sides of the main platform 1 . The upper end of the main platform 1 is provided with a horizontal rail 11. The three-dimensional moving mechanism 3 includes a moving bracket 31 that moves along the rail 11. The moving bracket 31 includes a column 311 and a cross bar 312. The column 311 vertically passes through the top plate 13 of the main platform 1, and the horizontal The rod 312 is located at the lower end of the top plate 13 . The main platform 1 is provided with a roller that moves along the track 11, and a longitudinal adjustment motor 33 that drives the bracket 31 to move up and down. The upright column 311 is fixed on the roller. The rod 312 moves, and the picking hanger 6 is provided with the picking mechanism 4 . The collection tank 5 is located on the main platform 1 , and the picking mechanism 4 is connected with the collection tank 5 . The track 11 is perpendicular to the moving direction of the main platform 1 when picking tea, the upright column 311 extends vertically, and the cross bar 312 is perpendicular to the track 11 . The upright column 311 can move in the vertical and horizontal directions perpendicular to the moving direction of the main platform 1 , and the picking mechanism 4 can move along the horizontal bar 312 to realize movement in three-dimensional coordinates for picking.

The traveling mechanism 2 includes a traveling support 3122 and a buffer rod 23, the traveling support 3122 includes a cylinder 221, the buffer rod 23 is inserted into the cylinder 221, a spring 24 is arranged between the buffer rod 23 and the traveling support 3122, and the traveling wheel 21 is arranged on the buffer rod 23 lower end. There are four cylinders 221 and buffer rods 23 . The two buffer rods 23 on the side of the main platform 1 in the moving direction are hingedly provided with brackets 31 for traveling wheels 21 .

The bracket 31 includes a rotating shaft 222 rotatable relative to the main platform 1. The rotating shaft 222 is provided with a first tooth slot 2221. Gears that mesh with tooth slots 2221. The rotation shaft 222 is driven to rotate by the angle adjustment motor 25 to realize the steering of the tea picking robot.

The main platform 1 includes a bottom beam 12. The bottom beam 12 is provided with a position adjustment column foot 71. The position adjustment column foot 71 is inserted into the bottom beam 12 and can move up and down relative to the main platform 1. The position adjustment column foot 71 is provided with a second tooth slot. 711, the main platform 1 is provided with a height adjustment motor 72, and the output shaft of the height adjustment motor 72 is provided with a gear that meshes with the second tooth slot 711. The two sides of the main platform 1 are respectively symmetrically provided with three positioning column feet 71. The protruding length of the positioning column feet 71 is adjusted by the height adjustment motor 72, and the height of the tea picking robot can be adjusted to meet the needs of different tea trees or terrains. Adjusting the protruding lengths of the different positioning column feet 71 can correct the tea picking robot to ensure that it is in a horizontal state. A tapered foot 712 is provided at the lower end of the adjusting column foot 71 , and a pressure sensing gasket is arranged between the adjusting column foot 71 and the conical foot 712 .

The main platform 1 includes a top plate 13 , and four cameras 131 are arranged on the top plate 13 , and the cameras 131 are arranged in a rectangular shape along the circumferential direction of the top plate 13 . The top plate 13 is provided with a horizontal position sensor 132 , and the horizontal position sensor 132 is arranged on both sides of the rail 11 . The horizontal position sensor 132 reads the state of the robot. When the deviation occurs, the controller 15 controls the height adjustment motor 72 to adjust the height of the positioning column feet 71 to adjust the posture of the main platform 1 and ensure the normal operation of the picking mechanism 4 .

The main platform 1 includes a power source 14 and a controller 15 , and the power source 14 and the controller 15 are arranged on opposite sides of the collection tank 5 . The picking hanger 6 includes a base 61 , the base 61 is sleeved on the cross bar 312 , the base 61 is provided with a gear 611 and a motor, the gear 611 meshes with the tooth slot 3121 at the lower end of the cross bar 312 , and the motor is located on the side of the gear 611 And driving the gear to move along the tooth slot 3121 , the movement of the picking hanger 6 along the cross bar 312 can be realized. As shown in FIG. 4 , the picking mechanism 4 includes a cutting motor 41 , a first cutting arm 42 , a second cutting arm 43 , a first push rod 44 and a second push rod 45 . The output end of the cutting motor 41 is provided with a push block 411 and drives The push block 411 moves relative to the push rod. The push block 411 is provided with a first tapered surface 4111, and the first push rod 44 and the second push rod 45 are provided with a second tapered surface 441. When the push block 411 moves downward, the A tapered surface 4111 is in contact with the second tapered surface 441 and squeezes both sides to push the first push rod 44 and the second push rod 45 to move toward each other in the horizontal direction. The push rod is connected to the cutting arm and can drive the cutting arm to move , the first push rod 44 and the second push rod 45 can be driven by the cutting motor 41 to drive the two cutting arms to open. The first push rod 44 and the second push rod 45 are covered with a spring 24, and one end of the spring 24 is in contact with the base 61. When the cutting motor 41 drives the push block 411 to shrink, the restoring force provided by the spring 24 drives the two cutting arms to move relative to each other. to cut off the tea buds. There is a cavity between the first cutting arm 42 and the second cutting arm 43, the cut leaf buds are located in the cavity, the cavity and the collection tank 5 are communicated through a hose 46, and a vacuum device is set on one side of the collection tank 5 , suck the leaf buds into the collection tank 5. The working process is as follows: when the cutting motor 41 drives the two cutting arms to open, the cross bar 312 is lowered, so that the two cutting arms are placed on the horizontal side of the leaf bud, the cutting motor 41 drives the push block 411 to contract, and the spring 24 drives the two cutting arms to move relative to each other. The leaf buds are clipped off, the vacuum device is turned on to suck the leaf buds into the collection tank 5, and the lower end of the cutting arm is provided with an opening, so as to supply air into the hose 46 to form flowing air when the vacuum device works. The vacuum device can be a miniature electric vacuum pump.

As shown in FIG. 7 , the rail 11 is a through groove on the top plate 13 , the roller 32 is embedded in the inner side of the rail 11 and can move along the rail 11 , and the longitudinal adjustment motor 33 is fixed on the roller 32 . The output end of the longitudinal adjustment motor 33 is provided with a gear that meshes with the tooth slot 3111 on the column 311 . The side of the drum 32 is provided with a driving motor 34 , the output end of the driving motor 34 is provided with a runner 35 , and the lower end of the top plate 13 is provided with a chute 131 .

The above description is only an explanation of the present invention, so that those of ordinary skill in the art can completely implement the present solution, but are not intended to limit the present invention. Those skilled in the art may, after reading this description, make no inventive step in this embodiment as required. Contributed modifications, these are not creative modifications, but are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims (9)

1. The utility model provides an automatic tea-picking robot of three-dimensional coordinate which characterized in that: comprises a main platform (1), a walking mechanism (2), a three-dimensional moving mechanism (3), a picking mechanism (4) and a collecting tank (5); the walking mechanism (2) comprises walking wheels (21) positioned at the lower ends of the two sides of the main platform (1); the picking machine is characterized in that a rail (11) is arranged at the upper end of the main platform (1), the three-dimensional moving mechanism (3) comprises a moving support (31) moving along the rail (11), the moving support (31) comprises a vertical column (311) and a cross rod (312), a roller (32) moving along the rail (11) is arranged on the vertical column (311), and a longitudinal adjusting motor (33) driving the support (31) to move up and down relative to the roller (32) is arranged, a picking hanging bracket (6) is arranged on the cross rod (312), the picking hanging bracket (6) can move along the cross rod (312), and a picking mechanism (4) is arranged on the picking hanging bracket (6); the collecting tank (5) is positioned on the main platform (1), and the picking mechanism (4) is connected with the collecting tank (5).

2. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: running gear (2) are including walking support (22) and buffer beam (23), walking support (22) are including cylinder (221), buffer beam (23) insert in cylinder (221), buffer beam (23) with be equipped with spring (24) between walking support (22), walking wheel (21) set up buffer beam (23) lower extreme.

3. The three-dimensional coordinate automatic tea-picking robot according to claim 2, characterized in that: the walking support (22) comprises a rotating shaft (222) capable of rotating relative to the main platform (1), a first tooth groove (2221) is formed in the rotating shaft (222), a steering angle adjusting motor (25) is arranged on the main platform (1), and a gear meshed with the first tooth groove (2221) is arranged on an output shaft of the steering angle adjusting motor (25).

4. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: main platform (1) includes floorbar (12), be equipped with positioning column base (71) on floorbar (12), positioning column base (71) are inserted floorbar (12) and can be relative main platform (1) reciprocates, be equipped with second tooth's socket (711) on positioning column base (71), be equipped with height adjustment motor (72) on main platform (1), be equipped with on the output shaft of height adjustment motor (72) with the gear of second tooth's socket (711) meshing.

5. The three-dimensional coordinate automatic tea-picking robot according to claim 4, wherein: the lower end of the positioning column base (71) is provided with a conical foot (712), and a pressure sensing gasket is arranged between the positioning column base (71) and the conical foot (712).

6. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: the main platform (1) comprises a top plate (13), and a camera (131) is arranged on the top plate (13).

7. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: the main platform (1) comprises a top plate (13), wherein a horizontal position sensor (132) is arranged on the top plate (13), and the horizontal position sensor (132) is arranged on two sides of the track (11).

8. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: the main platform (1) comprises a power source (14) and a controller (15), the power source (14) and the controller (15) being arranged on opposite sides of the collection tank (5).

9. The three-dimensional coordinate automatic tea-picking robot according to claim 1, characterized in that: the picking hanging bracket (6) comprises a base (61), the picking mechanism (4) comprises a cutting motor (41), a first cutting arm (42), a second cutting arm (43), a first push rod (44) and a second push rod (45), a push block (411) is arranged at the output end of the cutting motor (41) and drives the push block (411) to move relative to one side of the first push rod (44) and the second push rod (45), a first conical surface (4111) is arranged on the push block (411), a second conical surface (441) is arranged on the first push rod (44) and the second push rod (45), when the push block (411) moves downwards, the first conical surface (4111) is in contact with the second conical surface (441) and pushes the first push rod (44) and the second push rod (45) to move towards each other, and a spring (24) is arranged between the first push rod (44) and the second push rod (45) and the base (61), the first push rod (44) and the second push rod (45) are respectively connected with the first cutting arm (42) and the second cutting arm (43) and can drive the first cutting arm (42) and the second cutting arm (43) to move, a containing cavity is arranged between the first cutting arm (42) and the second cutting arm (43), and the containing cavity is communicated with the collecting tank (5) through a hose (46).

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