A tea picking device using a four-legged robot dog and a mechanical arm

Abstract

The present invention relates to the technical field of automatic tea picking, and specifically to a tea picking device using a four-legged robot dog and a mechanical arm, comprising a mechanical dog body and a motion mechanism, wherein the motion mechanism is fixedly mounted on the mechanical dog body, and the motion mechanism comprises a rotating seat, a first rotating disk, a second rotating disk, a first support arm, a second support arm, a mounting frame, and a mounting sleeve, wherein a bottom plate is rotatably provided on the upper part of the rotating seat, and side plates are fixed on both sides of the upper part of the bottom plate, and the first rotating disk and the second rotating disk are rotatably provided on the inner sides of the two side plates, respectively, one end of the first support arm is fixed to one side of the first rotating disk, and a rotating sleeve is rotatably provided on the other end of the first support arm, and the second support arm penetrates the rotating sleeve and is slidably connected thereto, and the mounting frame is rotatably provided at one end of the second support arm, and the mounting sleeve is fixed to one side of the mounting frame. The present invention realizes fully automatic tea picking, greatly improves efficiency, and has uniform picking specifications and high quality of picked tea leaves.

Description

Technical Field

[0001] The invention relates to the technical field of automatic tea picking, and in particular to tea picking equipment using a four-legged robot dog and a mechanical arm. Background Art

[0002] Tea culture runs through the entire civilization era of our country. It has been a very popular drink in our country since ancient times. Tea needs to go through processes such as picking, frying, and baking before it can become tea that we can brew and drink.

[0003] At present, most of the tea picking in my country still relies on manual picking, which is costly and subject to weather conditions. In addition, the specifications of manual picking vary, affecting the quality of the tea. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a tea picking device using a four-legged robot dog and a mechanical arm to solve the current problems of low efficiency and inconsistent picking specifications of manual tea picking.

[0005] Based on the above purpose, the present invention provides a tea picking device using a four-legged robot dog and a mechanical arm.

[0006] A tea picking device using a four-legged robot dog and a robot arm comprises a robot dog body and a motion mechanism, wherein the motion mechanism is fixedly mounted on the robot dog body, the motion mechanism comprises a rotating seat, a first rotating disk, a second rotating disk, a first support arm, a second support arm, a mounting frame, and a mounting sleeve, wherein a bottom plate is rotatably provided on the upper part of the rotating seat, and side plates are fixed on both sides of the upper part of the bottom plate, and the first rotating disk and the second rotating disk are rotatably provided on the inner sides of the two side plates, respectively, one end of the first support arm is fixed to one side of the first rotating disk, and a rotating sleeve is rotatably provided on the other end of the first support arm, the second support arm penetrates the rotating sleeve and is slidably connected to the rotating sleeve, the mounting frame is rotatably provided at one end of the second support arm, the mounting sleeve is fixed to one side of the mounting frame, a connecting block is fixed to one side of the second rotating disk, and a second connecting rod is rotatably provided on the connecting block, the other end of the second connecting rod is rotatably provided at an end of the second support arm away from the mounting frame, and a stabilizing mechanism is provided between the side plate and the mounting frame.

[0007] Furthermore, a mounting plate is fixed on the upper part of the mechanical dog body, the rotating seat is fixed on the upper part of the mounting plate, and the motion mechanism is connected to the mechanical dog body via the rotating seat and the mounting plate.

[0008] Furthermore, the rotating seat is provided with a third gear ring along its outer wall, a first motor is fixedly provided on one side of the upper portion of the base plate, and a first gear is fixed to an output end of the first motor, and the first gear is meshed with the third gear ring.

[0009] Furthermore, second motors are fixed on the outer sides of the two side plates, second gears are fixed on the output ends of the two second motors, the outer walls of the first turntable and the second turntable are respectively provided with a first gear ring and a second gear ring, and the two second gears are respectively meshed with the first gear ring and the second gear ring.

[0010] Furthermore, the tea picking assembly includes a sleeve, a hollow plate and a first pair of scissors, and the first pair of scissors is fixedly arranged at the end of the hollow plate, an electric push rod is fixedly arranged inside the sleeve, a rocker rod is movably arranged at the end of the electric push rod, and a slider is movably arranged at the end of the rocker rod, the slider is slidably arranged inside a slide groove opened at the bottom of the hollow plate, and a pull rod is movably arranged at the end of the slider, and a second pair of scissors is movably arranged at the end of the pull rod, and the second scissors is movably hinged to the end of the first scissors, and the blades of the second scissors and the first scissors are staggered.

[0011] Furthermore, the stabilizing mechanism includes a third connecting rod rotatably provided on one of the side panels, a tripod is rotatably provided on one side of the rotating sleeve, the other end of the third connecting rod is rotatably provided on a corner of the tripod, a first connecting rod is rotatably provided on the other corner of the tripod, and the other end of the first connecting rod is rotatably provided on one side of the mounting frame.

[0012] Furthermore, limiters are installed on the inner sides of the two side plates, and the limiters are used to limit the first support arm and the connecting block.

[0013] Furthermore, a visual camera is installed on the mechanical dog body, and the visual camera can identify tea leaves. The visual camera, the first motor, and the two second motors are all electrically connected to a control module.

[0014] Beneficial effects of the present invention:

[0015] The present invention sets up a motion mechanism and installs it on the mechanical dog body, so that the mechanical dog body can adapt to the complex terrain of the tea mountain. As a mobile device, the motion mechanism is brought to the tea tree, and the first arm and the second arm are driven. In cooperation with the driving part, the motion mechanism can quickly pick the tea leaves and automatically collect them after picking, thereby realizing fully automatic tea picking, greatly improving efficiency, and the picking specifications are unified, and the quality of the picked tea leaves is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a three-dimensional schematic diagram of an embodiment of the present invention;

[0018] Figure 2 A schematic plan view of an embodiment of the present invention;

[0019] Figure 3 A three-dimensional schematic diagram of a motion mechanism according to an embodiment of the present invention;

[0020] Figure 4 It is a three-dimensional schematic diagram of another side of an embodiment of the present invention;

[0021] Figure 5 It is a partial three-dimensional schematic diagram of an embodiment of the present invention;

[0022] Figure 6 A three-dimensional view of a picking component according to an embodiment of the present invention;

[0023] Figure 7 This is an internal view of the picking component according to an embodiment of the present invention.

[0024] The markings in the figure are:

[0025] 1. Mechanical dog body; 2. Mounting plate; 3. Moving mechanism; 4. Rotating seat; 5. Bottom plate; 6. Side plate; 7. First motor; 8. Second motor; 9. First turntable; 10. Second turntable; 11. First arm; 12. Tripod; 13. Second arm; 14. First connecting rod; 15. Second connecting rod; 16. Third connecting rod; 17. Mounting frame; 18. Mounting sleeve; 19. Rotating sleeve; 20. First gear; 21. Second gear; 22. First gear ring; 23. Second gear ring; 24. Third gear ring; 25. Sleeve; 26. Hollow plate; 27. First scissors; 28. Second scissors; 29. ​​Electric push rod; 30. Rocker; 31. Slider; 32. Slide; 33. Pull rod. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0027] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] like Figure 1-5 As shown, a tea picking device using a four-legged robot dog and a robot arm includes a robot dog body 1 and a motion mechanism 3, the motion mechanism 3 is fixedly installed on the robot dog body 1, the motion mechanism 3 includes a rotating seat 4, a first rotating disk 9, a second rotating disk 10, a first support arm 11, a second support arm 13, a mounting frame 17, and a mounting sleeve 18. A bottom plate 5 is rotatably provided on the upper part of the rotating seat 4, and side plates 6 are fixed on both sides of the upper part of the bottom plate 5. The first rotating disk 9 and the second rotating disk 10 are rotatably provided on the inner sides of the two side plates 6. One end of the first support arm 11 is fixed to one side of the first rotating disk 9. The first support arm 11 is fixed to one side of the first rotating disk 9. A rotating sleeve 19 is rotatably provided at the other end of the arm 11, the second arm 13 passes through the rotating sleeve 19 and is slidably connected thereto, the mounting frame 17 is rotatably provided at one end of the second arm 13, the mounting sleeve 18 is fixed to one side of the mounting frame 17, a connecting block is fixed to one side of the second turntable 10, and a second connecting rod 15 is rotatably provided on the connecting block, the other end of the second connecting rod 15 is rotatably provided at the end of the second arm 13 away from the mounting frame 17, a stabilizing mechanism is provided between the side plate 6 and the mounting frame 17, and the mechanical dog body 1 is used as a moving device to move the motion mechanism 3 for picking, so as to quickly pick the tea leaves.

[0029] A mounting plate 2 is fixed on the upper part of the robot dog body 1 , a rotating seat 4 is fixed on the upper part of the mounting plate 2 , and a motion mechanism 3 is connected to the robot dog body 1 through the rotating seat 4 and the mounting plate 2 .

[0030] The rotating seat 4 is provided with a third gear ring 24 along its outer wall. The first motor 7 is fixedly provided on one side of the upper portion of the bottom plate 5 . A first gear 20 is fixedly provided at the output end of the first motor 7 . The first gear 20 meshes with the third gear ring 24 .

[0031] A second motor 8 is fixed to the outside of the two side plates 6, and a second gear 21 is fixed to the output end of the two second motors 8. The outer walls of the first turntable 9 and the second turntable 10 are respectively provided with a first gear ring 22 and a second gear ring 23, and the two second gears 21 are respectively meshed with the first gear ring 22 and the second gear ring 23.

[0032] The tea picking component includes a sleeve 25, a hollow plate 26 and a first pair of scissors 27, and the first pair of scissors 27 is fixedly arranged at the end of the hollow plate 26, an electric push rod 26 is fixedly arranged inside the sleeve 25, a swing rod 30 is movably arranged at the end of the electric push rod 26, and a slider 31 is movably arranged at the end of the swing rod 30, the slider 31 is slidably arranged in a slide groove 32 opened at the bottom of the hollow plate 26, and a pull rod 33 is movably arranged at the end of the slider 31, and a second pair of scissors 28 is movably arranged at the end of the pull rod 33, and the second pair of scissors 28 is movably hinged to the end of the first pair of scissors 27, and the blades of the second pair of scissors 28 and the first pair of scissors 27 are staggered.

[0033] The stabilizing mechanism includes a third connecting rod 16 rotatably disposed on one of the side panels 6, a tripod 12 is rotatably disposed on one side of the rotating sleeve 19, the other end of the third connecting rod 16 is rotatably disposed on a corner of the tripod 12, the other corner of the tripod 12 is rotatably disposed with a first connecting rod 14, and the other end of the first connecting rod 14 is rotatably disposed on one side of the mounting frame 17.

[0034] Limiters are installed on the inner sides of the two side plates 6, and the limiters are used to limit the first arm 11 and the connecting block.

[0035] A visual camera is installed on the mechanical dog body 1, and the visual camera can identify tea leaves. The visual camera, the first motor 7, and the two second motors 8 are all electrically connected to a control module. The visual camera can identify tea leaves and then control the picking.

[0036] Working principle: When in use, the motion mechanism 3 is fixedly installed on the mechanical dog body 1 through the mounting plate 2, so that the mechanical dog body 1 is used as a moving device to move the motion mechanism 3, and then the visual camera identifies the tea leaves, and then the first motor 7 and the two second motors 8 drive the first arm 11 and the second arm 13, so that the motion mechanism 3 moves quickly to the surface of the tea leaves. At this time, the picking component is used to pick the tea leaves, and the electric push rod 29 is started. At this time, the electric push rod 29 moves downward, and the slider 31 at this time will be driven to move to the left through the rocker 30, and the position of the pull rod 33 changes accordingly, pulling the second scissors 28 at this time to rotate toward the first scissors 27, and the tea leaves are picked by the mutual movement of the first scissors 27 and the second scissors 28, and are automatically collected after picking.

[0037] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0038] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tea picking device using a four-legged robot dog and a robot arm, comprising a robot dog body (1) and a motion mechanism (3), characterized in that: The motion mechanism (3) is fixedly mounted on the mechanical dog body (1), and comprises a rotating seat (4), a first rotating disk (9), a second rotating disk (10), a first support arm (11), a second support arm (13), a mounting frame (17), and a mounting sleeve (18). A bottom plate (5) is rotatably mounted on the upper part of the rotating seat (4), and side plates (6) are fixed on both sides of the upper part of the bottom plate (5). The first rotating disk (9) and the second rotating disk (10) are rotatably mounted on the inner sides of the two side plates (6). One end of the first support arm (11) is fixed to one side of the first rotating disk (9), and the other end of the first support arm (11) is rotatably mounted with a rotating sleeve (17). 19), the second support arm (13) passes through the rotating sleeve (19) and is slidably connected thereto, the mounting frame (17) is rotatably arranged at one end of the second support arm (13), the mounting sleeve (18) is fixed to one side of the mounting frame (17), and a tea picking assembly is sleeved at the end of the mounting sleeve (18), and the tea picking assembly is used to pick tea leaves, a connecting block is fixed to one side of the second rotating disk (10), and a second connecting rod (15) is rotatably arranged on the connecting block, and the other end of the second connecting rod (15) is rotatably arranged at one end of the second support arm (13) away from the mounting frame (17), and a stabilizing mechanism is provided between the side plate (6) and the mounting frame (17); A second motor (8) is fixed to the outside of the two side plates (6), a second gear (21) is fixed to the output ends of the two second motors (8), a first gear ring (22) and a second gear ring (23) are respectively provided on the outer walls of the first rotating disk (9) and the second rotating disk (10), and the two second gears (21) are respectively meshed with the first gear ring (22) and the second gear ring (23); The tea picking assembly comprises a sleeve (25), a hollow plate (26) and a first pair of scissors (27), wherein the first pair of scissors (27) is fixedly arranged at the end of the hollow plate (26), an electric push rod (26) is fixedly arranged inside the sleeve (25), a swing rod (30) is movably arranged at the end of the electric push rod (26), and a slider (31) is movably arranged at the end of the swing rod (30), the slider (31) is slidably arranged inside a slide groove (32) provided at the bottom of the hollow plate (26), a pull rod (33) is movably arranged at the end of the slider (31), and a second pair of scissors (28) is movably arranged at the end of the pull rod (33), and the second pair of scissors (28) is movably hinged to the end of the first pair of scissors (27), and the blades of the second pair of scissors (28) and the first pair of scissors (27) are interlaced with each other; The stabilizing mechanism comprises a third connecting rod (16) rotatably arranged on one of the side plates (6); a tripod (12) is rotatably arranged on one side of the rotating sleeve (19); the other end of the third connecting rod (16) is rotatably arranged on a corner of the tripod (12); the other corner of the tripod (12) is rotatably arranged on a first connecting rod (14); the other end of the first connecting rod (14) is rotatably arranged on one side of a mounting frame (17).

2. The tea picking device using a quadruped robot dog and a mechanical arm according to claim 1, characterized in that: A mounting plate (2) is fixed on the upper part of the mechanical dog body (1), the rotating seat (4) is fixed on the upper part of the mounting plate (2), and the motion mechanism (3) is connected to the mechanical dog body (1) via the rotating seat (4) and the mounting plate (2).

3. The tea picking device using a quadruped robot dog and a mechanical arm according to claim 2, characterized in that: The rotating seat (4) is provided with a third gear ring (24) along its outer wall, a first motor (7) is fixedly provided on one side of the upper portion of the bottom plate (5), and a first gear (20) is fixedly provided at the output end of the first motor (7), the first gear (20) being meshed with the third gear ring (24).

4. The tea picking device using a quadruped robot dog and a mechanical arm according to claim 1, characterized in that: Limiters are installed on the inner sides of the two side plates (6), and the limiters are used to limit the first support arm (11) and the connecting block.

5. A tea picking device using a quadruped robot dog and a mechanical arm according to any one of claims 1 to 3, characterized in that: A visual camera is installed on the mechanical dog body (1), and the visual camera can identify tea leaves. The visual camera, the first motor (7), and the two second motors (8) are all electrically connected to a control module.

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