Automatic tea bud picking device

Abstract

The application discloses a kind of tea tender bud automatic picking device, for the tender bud on tea tree is mechanized picking, improve the picking efficiency of tea tender bud.The tea tender bud picking machine includes for picking tea picking end, for installing and transporting picking end to specified location parallel manipulator and for storing picking tea collection mechanism.In the working process, by parallel manipulator picking end is transported to the target position of tea to be picked, and then picking end starts work and picks tea down.After tea and tea stem are completely separated, by the suction force of negative pressure fan, the picked tea is collected into the tea collection box of the application, and the mechanized picking and collection of tea are completed.Using the application can improve the picking efficiency under the premise of ensuring the quality of tea picking, which is beneficial to solve the problem of traditional manual tea picking difficulty, low efficiency, and provides a new idea and direction for the mechanized picking of tea.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to an automatic tea bud picking device. Background Art

[0002] With economic and social development, the market demand for high-end teas made from single-bud, single-leaf, and other young tea buds is growing. In today's developing society, the main methods for plucking ready-to-harvest tea leaves in my country are manual plucking by farmers or workers and machine plucking. Because young tea buds are of high quality, damage to them results in waste, so the integrity and uniformity of the leaves must be maintained during the plucking process. Manual plucking, which ensures quality and integrity, and thus facilitates the production of higher-quality tea, remains the primary method for plucking young tea buds. However, in recent years, with the development and progress of society, the majority of people have flocked to other service industries, and the number of people willing to engage in such strenuous activities as tea plucking has steadily decreased. Since most tea bud plucking tasks require three days to complete, labor shortages are a major constraint on the development of the tea industry. Statistics show that during peak picking season, the daily wage for a tea picker continues to rise, leading to high labor costs for tea plantations. Therefore, in order to reduce the labor cost of the tea industry and improve the efficiency of picking tea buds, the mechanized picking of tea buds has become an urgent problem to be solved today.

[0003] Currently available tea-picking machines generally use a one-size-fits-all approach, cutting off all tea leaves and branches above the cutter's cross-section. This results in uneven tea lengths, broken leaves, and a mixture of old and new leaves, failing to meet the requirements for plucking young tea buds. To address these issues, a plucking device that ensures high-quality and efficient harvesting of young tea buds is needed. Summary of the Invention

[0004] In response to the shortcomings of the background technology, the present invention proposes an automatic tea bud picking device, which can be used to mechanized pick the tea buds on tea branches, effectively avoiding the various problems caused by the "one-size-fits-all" picking method and improving the work efficiency and quality of tea picking.

[0005] In order to solve the technical problem, the present invention provides an automatic tea bud picking device, and the specific technical solution is as follows.

[0006] An automatic tea bud picking device is characterized in that: the picking device comprises a picking end, a collecting mechanism and a parallel manipulator; the picking end comprises a push rod (3-1), a moving platform connecting plate (3-2), an accessory mounting plate (3-3), a barrel-shaped motion channel (3-4), a T-plate (3-5), a spring mounting plate (3-6), a driven connecting rod (3-7), a tool holder (3-8), a cutting tool (3-9), a rubber sheet (3-10), a limit spring (3-11) and a vent (3-12); wherein the push rod can drive the driven connecting rod to move by axial reciprocating motion, thereby driving the blade on the tool holder to open or close. Closed; the dynamic platform connecting plate is connected to the parallel mechanical manual platform; the servo and limiter are installed on the accessory mounting plate, and the barrel-shaped motion channel is welded under the servo mounting plate to accommodate the push rod to realize axial reciprocating motion in the channel; the spring mounting plate has two pieces, which are designed to open outward from both sides of the barrel-shaped motion channel, and form the same specific angle with the side of the barrel-shaped motion channel, and each spring mounting plate is provided with a hook on the side close to the barrel-shaped motion channel; the limit spring includes two springs, one end of each spring is connected to the hook on the spring mounting plate, and the other end is connected to the driven connecting rod; one end of the T-plate is connected to the bottom of the push rod, and the other end is connected to the driven connecting rod The two driven connecting rods are connected; there are two driven connecting rods, the upper ends of which are symmetrically mounted on the left and right sides of the T-plate through bearings, and can rotate outward and inward relative to the T-plate to convert the axial reciprocating motion of the push rod into the opening or closing of the cutting tool; there are two tool holders, which are respectively mounted on the lower ends of the two driven connecting rods. The tool holders are shaped like left and right semi-funnel shapes. When the cutting tool is closed, the two tool holders are relatively closed to form a full funnel-shaped tea storage platform; the cutting tool uses two blades, which are respectively attached to the lower ends of the two tool holders for cutting the tea stems of the tea leaves; there are two rubber sheets, which are mounted under the blades, and their protruding length slightly exceeds the blade edge The vent and the collection device are connected via a bellows; when the picking terminal is in a standby state, the driven connecting rod rests against the bottom of the barrel-shaped motion channel under the action of a limit spring, and the two blades at the bottom of the tool holder are relatively opened; when the servo drives the push rod and the T-plate to move upward, the driven connecting rod rotates inward under the influence of the force generated by the contact between the driving connecting rod and the barrel-shaped motion channel, thereby driving the two blades installed at the bottom of the tool holder to relatively close, completing the tea picking action; the collection mechanism comprises a negative pressure fan (1-1), a visual window (1-2), a tea collection box (1-3), and a bellows (1-4), and is used to collect picked tea leaves; the parallel manipulator comprises a belt (2-1), three sets of guide rail slider mechanisms (2-2), three sets of drive motors (2-3), a limiter (2-4), a driven rod (2-5), a moving platform (2-6), and a manipulator holder (2-7), and is used to transport the picking terminal to a designated position.

[0007] Preferably, the push rod at the picking end passes through the center of the circle of the driven platform connecting plate and the accessory mounting plate, and is located at the center of the barrel-shaped motion channel. A rack is installed on the side of the push rod to cooperate with the gear on the servo, converting the rotation of the servo into up and down movement of the push rod.

[0008] Preferably, threaded holes are provided at three different positions at the end of the picking end push rod, and by matching the T-plate with the threaded holes at different positions, the heights of the end tool can be adjusted to different levels while keeping the initial height of the push rod unchanged.

[0009] Preferably, the limit spring is replaceable and detachable; hooks at different positions are provided on the side of the spring connecting plate.

[0010] Preferably, a rubber gasket is installed at the collision point between the driven connecting rod and the barrel-shaped motion channel.

[0011] Preferably, the tea collection box is a square storage box, which is installed on the top platform of the parallel manipulator by bolts; the visual window is embedded in the corresponding opening on the side of the tea collection box, made of glass, and is used to observe the amount of tea in the collection box and collect the tea in time; the negative pressure fan is installed behind the tea collection box to generate suction; the corrugated pipe is used to connect the picking end and the tea collection box, specifically passing through the opening on the top platform of the parallel manipulator, and fixed to the vent of the picking end by a clamp, so as to suck the tea picked by the picking end into the tea collection box.

[0012] Preferably, the manipulator bracket consists of three vertical rods, a top platform and a bottom platform, which are connected by welding; the belt passes through the gear at the front end of the drive motor and the gear at the bottom of the manipulator bracket, and is connected to the slider with bolts; the three sets of guide rail slider mechanisms are fixed to the vertical rods of the manipulator bracket with bolts, for converting the rotation of the drive motor into linear motion of the slider on the guide rail on the guide rail; the three sets of drive motors are used to provide power and are installed to the top platform of the manipulator bracket with bolts; the limiter is tied to the vertical rod of the manipulator bracket with a cable tie and fixed with hot melt adhesive for adjusting the reset height of the manipulator manual platform; the moving platform is connected to the picking end by bolts; one end of the driven rod is connected to the three sets of guide rail slider mechanisms, and the other end is connected to the moving platform, and the connection method is a ball joint connection.

[0013] Preferably, the spring mounting plate forms an angle of 45° with the side surface of the barrel-shaped movement channel.

[0014] Compared with the prior art, the present invention has significant positive technical effects, and its beneficial effects are reflected in at least the following aspects. First, the present invention designs a new picking end. During the process of picking tea leaves, the picking end will form a closed space for accommodating tea leaves, effectively avoiding damage to the tea leaves during the picking process, and solving the problem that the existing tea picking machine easily damages the tea leaves during the picking process. Second, the position of the picking end tool in the prior art is fixed, while the present invention can adjust the opening distance of the picking end tool by replacing limit springs of different strengths or adjusting the installation position of the limit spring, which is suitable for tea buds of different sizes and effectively improves the scope of application. Third, the position of the limiter used to fix the initial height of the parallel mechanical manual platform in the present invention is adjustable, and the height of the tool at the picking end can also be adjusted, which can adapt to tea ridge picking environments of different heights. Fourth, the picking end of the present invention has the advantages of simple structure, low cost, and strong anti-interference ability, which is conducive to promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the collection mechanism in the present invention.

[0017] Figure 3 It is a structural diagram of the parallel manipulator in the present invention.

[0018] Figure 4 It is a structural schematic diagram of the picking end in the present invention.

[0019] Figure 5 It is a schematic diagram of the picking state of the picking end in the present invention.

[0020] Figure 6 This is a schematic diagram of the standby state of the picking terminal in the present invention.

[0021] The meanings of the accompanying drawings are: negative pressure fan 1-1, visual window 1-2, tea collection box 1-3, bellows 1-4, belt 2-1, three sets of guide rail slider mechanisms 2-2, three sets of drive motors 2-3, limiters 2-4, driven rods 2-5, moving platform 2-6, manipulator bracket 2-7, push rod 3-1, moving platform connecting plate 3-2, accessory mounting plate 3-3, barrel-shaped motion channel 3-4, T-plate 3-5, spring mounting plate 3-6, driven connecting rod 3-7, tool bracket 3-8, cutting tool 3-9, rubber sheet 3-10, limit spring 3-11 and vent 3-12. DETAILED DESCRIPTION

[0022] In order to solve the technical problem, the present invention provides an automatic tea bud picking device. The technical solution of the present invention is further described below with reference to the accompanying drawings through specific embodiments.

[0023] like Figure 1 As shown, the present invention is an automatic tea bud picking device, comprising a picking end 3 for picking tea leaves, a parallel manipulator 2 for transporting the picking end to a designated position, and a collecting mechanism 1 for collecting the picked tea leaves.

[0024] like Figure 2 As shown, the collecting mechanism is connected to the picking end through a bellows. When the negative pressure fan is working, the picked tea leaves are sucked into the tea collection box through the bellows.

[0025] like Figure 3 As shown, after the parallel manipulator obtains the three-dimensional coordinates of the picking position, the control system of the parallel manipulator performs coordinate solution to obtain the number of revolutions that each set of drive motors needs to rotate, thereby causing the sliders on the three sets of guide rail slider mechanisms to move different distances. The two ends of the follower arm are connected to the slider and the moving platform on the guide rail slider mechanism through a ball joint connection. When the slider on the guide rail slider mechanism moves linearly, the follower arm will rotate a certain angle. Four threaded holes are provided on the moving platform, and the picking end is connected to the moving platform by bolts. During the movement of the motor of the parallel manipulator, the picking end connected to the moving platform can be moved to the specified position through the relative rotation between the three sets of follower arms.

[0026] like Figure 4 As shown, in the picking end, a barrel-shaped motion channel is designed for the push rod to move up and down, and contact the driven connecting rod at the bottom of the barrel-shaped motion channel. In order to ensure that the cutters installed at the bottom of the picking end are opened at a certain angle, a set of spring mounting plates are symmetrically installed on both sides of the barrel-shaped motion channel, forming a 45° angle with the side of the barrel-shaped motion channel. The spring mounting plates and the driven connecting rod are connected by a limit spring, and the elastic force of the limit spring allows the cutters at the bottom of the picking end to open at a certain angle. During the upward movement of the push rod, the bottom of the barrel-shaped motion channel and the driven connecting rod are subjected to mutual force, forcing the driven connecting rod to rotate inward, thereby closing the cutters and picking the tea leaves.

[0027] like Figure 5 and Figure 6As shown, during the picking process, the servo mounted on the accessory mounting plate rotates a certain angle, causing the push rod at the picking end to move upward via a rack-and-pinion mechanism. As the push rod moves upward, the driven connecting rod at the picking end rotates inward, closing the cutting blades mounted on the tool holder to cut the tea stems. This causes the limit spring to stretch. To prevent the tea leaves from falling due to gravity after picking, the tool holder at the picking end closes during the closing process, forming a temporary storage platform for the picked tea leaves. When the push rod triggers the limiter on the accessory mounting plate, the negative pressure fan on the collection mechanism activates, allowing the tea leaves in the temporary storage platform formed by the tool holder to move to a position where they can be drawn through the bellows connected to the picking end. The tea leaves are then drawn into the bellows through the ventilation opening and into the tea collection bin, completing the collection process. Simultaneously, the servo reverses, causing the push rod to move downward. The driven connecting rod, under the force of the limit spring, rotates outward, opening the blades and resuming standby mode, ready for the next picking process.

[0028] Compared with the prior art, the present invention has significant positive technical effects. First, the present invention designs a new picking end, which forms a closed space for accommodating tea leaves during the picking process, effectively avoiding damage to the tea leaves during the picking process, and solving the problem that the existing tea picking machine easily damages the tea leaves during the picking process. Second, the position of the picking end tool in the prior art is fixed, while the present invention can adjust the opening distance of the picking end tool by replacing limit springs of different strengths or adjusting the installation position of the limit spring, which is suitable for tea buds of different sizes, effectively improving the scope of application of the present invention. Third, the position of the limiter used to fix the initial height of the parallel mechanical manual platform in the present invention is adjustable, and the height of the tool at the picking end can also be adjusted, which can adapt to tea ridge picking environments of different heights. Fourth, the picking end of the present invention has the advantages of simple structure, low cost, and strong anti-interference ability, which is conducive to promotion and use.

[0029] The specific implementation examples described in this application are merely illustrative of the main concepts of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic tea bud picking device, characterized by: The picking device includes a picking terminal, a collecting mechanism and a parallel manipulator; The picking end comprises a push rod (3-1), a moving platform connecting plate (3-2), an accessory mounting plate (3-3), a barrel-shaped motion channel (3-4), a T-plate (3-5), a spring mounting plate (3-6), a driven connecting rod (3-7), a tool holder (3-8), a cutting tool (3-9), a rubber sheet (3-10), a limit spring (3-11) and a vent (3-12); wherein the push rod can drive the driven connecting rod to move by axial reciprocating motion, thereby driving the blade on the tool holder to open or close; the moving platform connecting plate and the parallel mechanical Manual platform connection; the servo and limiter are installed on the accessory mounting plate, and the barrel-shaped motion channel is welded under the servo mounting plate to accommodate the push rod to realize axial reciprocating motion in the channel; the spring mounting plate has two pieces, which are designed to open outward from both sides of the barrel-shaped motion channel, and form the same specific angle with the side of the barrel-shaped motion channel, and each spring mounting plate is provided with a hook on the side close to the barrel-shaped motion channel; the limit spring includes two springs, one end of each spring is connected to the hook on the spring mounting plate, and the other end is connected to the driven connecting rod; one end of the T-plate is connected to the push rod The bottom, the other end is connected to the driven connecting rod; there are two driven connecting rods, the upper ends of which are symmetrically mounted on the left and right sides of the T-plate through bearings, and can rotate outward and inward relative to the T-plate to convert the axial reciprocating motion of the push rod into the opening or closing of the cutting tool; there are two tool holders, which are respectively mounted on the lower ends of the two driven connecting rods. The tool holders are shaped like left and right semi-funnel shapes. When the cutting tool is closed, the two tool holders are relatively closed to form a full funnel-shaped tea storage platform; the cutting tool uses two blades, which are respectively attached to the lower ends of the two tool holders to cut the tea stems The rubber sheet has two pieces, which are installed under the blade and extend beyond the blade's edge; the vent and the collecting mechanism are connected by a bellows; when in the standby state at the end of picking, the driven connecting rod is pressed against the bottom of the barrel-shaped motion channel under the action of the elastic force of the limit spring, and the two blades at the bottom of the tool holder are relatively opened; when the servo drives the push rod and the T-plate to move upward, the driven connecting rod rotates inward under the influence of the force generated by the contact between the driving connecting rod and the barrel-shaped motion channel, thereby driving the two blades installed at the bottom of the tool holder to close relatively, completing the tea picking action; The collecting mechanism comprises a negative pressure fan (1-1), a visual window (1-2), a tea collection box (1-3), and a bellows (1-4), and is used for collecting picked tea leaves; The parallel manipulator comprises a belt (2-1), three sets of guide rail slider mechanisms (2-2), three sets of drive motors (2-3), a limiter (2-4), a driven rod (2-5), a moving platform (2-6) and a manipulator bracket (2-7), and is used to transport the picking end to a designated position; By replacing the limit springs of different strengths or adjusting the installation position of the limit springs, the opening distance of the picking end tool can be adjusted; The position of the limiter used to fix the initial height of the parallel mechanical manual platform is adjustable.

2. The automatic tea bud picking device according to claim 1, characterized in that: The push rod at the picking end passes through the center of the circle of the driven platform connecting plate and the accessory mounting plate, and is located at the center of the barrel-shaped motion channel. A rack is installed on the side of the push rod to cooperate with the gear on the servo to convert the rotation of the servo into the up and down movement of the push rod.

3. The automatic tea bud picking device according to claim 2, characterized in that: Threaded holes are set at three different positions on the end of the picking end push rod. By matching the T-plate with the threaded holes at different positions, the height of the end tool can be adjusted to different levels while keeping the initial height of the push rod unchanged.

4. The automatic tea bud picking device according to claim 3, characterized in that: The limit spring is replaceable and detachable; hooks at different positions are provided on the side of the spring connecting plate.

5. The automatic tea bud picking device according to claim 4, characterized in that: A rubber gasket is installed at the collision point between the driven connecting rod and the barrel-shaped motion channel.

6. The automatic tea bud picking device according to claim 5, characterized in that: The tea collection box is a square storage box, which is installed on the top platform of the parallel manipulator by bolts; the viewing window is embedded in the corresponding opening on the side of the tea collection box, made of glass, and is used to observe the amount of tea in the collection box and collect the tea in time; the negative pressure fan is installed behind the tea collection box to generate suction; the corrugated pipe is used to connect the picking end and the tea collection box, specifically passing through the opening on the top platform of the parallel manipulator and fixed to the ventilation port of the picking end by a clamp, and is used to suck the tea picked by the picking end into the tea collection box.

7. The automatic tea bud picking device according to claim 6, characterized in that: The manipulator bracket consists of three vertical rods, a top platform and a bottom platform, which are connected by welding; the belt passes through the gear at the front end of the drive motor and the gear at the bottom of the manipulator bracket, and is connected to the slider with bolts; the three sets of guide rail slider mechanisms are fixed to the vertical rods of the manipulator bracket with bolts, which are used to convert the rotation of the drive motor into linear motion of the slider on the guide rail on the guide rail; the three sets of drive motors are used to provide power and are installed on the top platform of the manipulator bracket with bolts; the limiter is tied to the vertical rod of the manipulator bracket with a cable tie and fixed with hot melt adhesive, which is used to adjust the reset height of the manipulator manual platform; the moving platform is connected to the picking end by bolts; one end of the driven rod is connected to the three sets of guide rail slider mechanisms, and the other end is connected to the moving platform, and the connection method is a ball joint connection.

8. The automatic tea bud picking device according to claim 7, characterized in that: The spring mounting plate forms an angle of 45° with the side surface of the barrel-shaped motion channel.

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