Lifting picking type picking execution device and control method thereof

Abstract

The invention provides a lifting picking type picking execution device and a control method thereof. The execution device comprises a camera assembly, a supporting frame assembly, a driving mechanism, a middle transmission mechanism and a picking execution mechanism. The oscillating bar is fixedly connected with an output shaft of the steering engine; the working plane of the arc-shaped push block is perpendicular to the horizontal plane and is integrally arc-shaped; the first end of the arc-shaped push block is fixedly connected with the first end of the slider connecting rod; during working, the first bearing is in intermittent contact with the working plane of the arc-shaped push block, the sliding block is in sliding fit with the T-shaped guide rail, and the stop block is arranged at the front end of the T-shaped guide rail; the two sides of the extension spring are connected with the spring mounting shafts respectively, the walking gear is meshed with the rack, and the first end of the rack is fixedly connected with the first end of the main mounting plate. The picking paw is hollowly sleeved on the paw stepped shaft and is fixedly connected with the walking gear; the picking paws are made of flexible materials. The invention can automatically recognize objects such as tea tender shoots and simulate traditional manual tea picking, cannot cause shearing and extrusion damage to the tea shoots, is exquisite and small in structure and high in tea picking efficiency, and reduces the manual picking cost.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to a lifting-picking executive device and a control method thereof. Background technique [0002] Some plants, such as famous and high-quality tea, have extremely high requirements for fresh leaves, and the picked fresh leaves are required to be even, tender and even. Therefore, it is necessary to selectively pick fresh leaves during the picking process. At present, most of the tea picking is still manual. In the production of famous and high-quality tea, due to the strict requirements for fresh leaf raw materials, the labor input for tea picking in some tea areas accounts for more than 60% of the total production cost, which is the labor cost in the tea production process. highest link. [0003] The current mechanized tea picking generally refers to the picking of bulk tea. At this stage, tea picking machines are based on the principle of shearing. Tea picking machines quick...

AI Technical Summary

Problems solved by technology

[0005] However, in terms of picking fresh tea leaves, there are relatively few products with selective picking robots. Therefore, it is necessary to develop a robot with a delicate and compact structure, which can ensure accurate picking and high-speed picking, and can simulate manual tea picking for picking at the end of the robot. device is very necessary

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