A temporary storage device for tobacco leaf picking robots and a working method thereof

Abstract

The present invention proposes a temporary storage device for a tobacco leaf picking robot and a working method thereof, which belongs to the technical field of agricultural machinery. It solves the problem that the existing picking equipment cannot automatically arrange the tobacco leaves after picking. It includes a placement table, an upper cigarette clamp sliding guide rail mechanism, a lower cigarette clamp sliding guide rail mechanism, a lower cigarette clamp conveying mechanism, a lower cigarette clamp lifting mechanism, a lower cigarette clamp fixing mechanism and an upper cigarette clamp conveying mechanism. The placement table is installed in the middle of the frame, the lower cigarette clamp conveying mechanism is installed below the placement table, the lower cigarette clamp lifting mechanism is installed in the middle of the side end of the frame, the lower cigarette clamp fixing mechanism is installed at both ends of the bottom side of the frame, the upper cigarette clamp conveying mechanism is installed above the placement table, the lower cigarette clamp conveying mechanism and the upper cigarette clamp conveying mechanism are both connected to the frame, the lower cigarette clamp is placed below the placement table through the lower cigarette clamp fixing clamp, and the lower cigarette clamp conveying mechanism includes a first push baffle and a first linear module. It is mainly used for tobacco leaf picking.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a temporary storage device of a tobacco leaf picking robot and a working method thereof. Background Art

[0002] Currently, tobacco leaves are primarily harvested manually in China. With labor shortages and the rapid development of automated machinery, replacing manual labor with robotic harvesting is becoming an inevitable trend. The development of tobacco leaf-picking robots for harvesting in tobacco industrial parks is of great significance. However, the complex environment of tobacco leaf picking severely restricts the development of automated harvesting. Target recognition, picking node location, and post-picking tobacco leaf transport and weaving are key technologies for tobacco leaf-picking robots, and their performance determines the efficiency and quality of tobacco leaf picking. Summary of the Invention

[0003] In view of this, the present invention aims to propose a temporary storage device for a tobacco leaf picking robot and a working method thereof, so as to solve the problem that existing picking equipment cannot automatically arrange the tobacco leaves after picking.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A temporary storage device for a tobacco leaf picking robot comprises a placing platform, an upper cigarette clamp sliding guide rail mechanism, a lower cigarette clamp sliding guide rail mechanism, a lower cigarette clamp conveying mechanism, a lower cigarette clamp lifting mechanism, a lower cigarette clamp fixing mechanism and an upper cigarette clamp conveying mechanism, wherein the placing platform is mounted in the middle of a frame, the lower cigarette clamp conveying mechanism is mounted below the placing platform, the lower cigarette clamp lifting mechanism is mounted in the middle of a side end of the frame, the lower cigarette clamp fixing mechanism is mounted at both ends of the bottom side of the frame, the upper cigarette clamp conveying mechanism is mounted above the placing platform, and both the lower cigarette clamp conveying mechanism and the upper cigarette clamp conveying mechanism are connected to the frame.

[0006] Furthermore, the lower cigarette holder is placed under the placement table through the lower cigarette holder fixing clamp.

[0007] Furthermore, the lower cigarette clip conveying mechanism includes a first push baffle and a first linear module, the first push baffle is mounted on the first linear module, and the first linear module is mounted on the frame.

[0008] Furthermore, the lower cigarette holder lifting mechanism includes a lifting baffle and a second linear module, the lifting baffle is installed on the second linear module, the second linear module is connected to a second servo motor, and the second linear module is installed on the frame.

[0009] Furthermore, the lower cigarette clamp fixing mechanism is symmetrically provided with two groups, and the lower cigarette clamp fixing mechanism includes a clamping baffle and a third linear module. The clamping baffle is installed on the third linear module, and the third linear module is installed on the frame.

[0010] Furthermore, the upper cigarette clip conveying mechanism includes an upper cigarette clip guide groove, a fourth linear module and a second push baffle, the second push baffle is installed on the fourth linear module, the upper cigarette clip guide groove is located below the second push baffle, and the upper cigarette clip guide groove is installed on the four edges of the frame.

[0011] Furthermore, the first linear module, the second linear module, the third linear module and the fourth linear module are all connected to servo motors, and each servo motor is controlled by a control system.

[0012] Furthermore, an upper cigarette clamp limiting block is provided at the end of the upper cigarette clamp guide groove.

[0013] Furthermore, a fixing plate is provided at a side end of the frame, and a locking tongue is provided at a side end of the placement table.

[0014] Furthermore, a method for using the temporary storage device of a tobacco leaf picking robot includes the following steps:

[0015] Step 1: Install the lower cigarette clamp and the upper cigarette clamp on the lower cigarette clamp sliding guide mechanism and the upper cigarette clamp sliding guide mechanism respectively, and push the upper cigarette clamp and the lower cigarette clamp to the designated position;

[0016] Step 2: Start the first linear module to drive the first push baffle to move, push the lower cigarette holder onto the lifting baffle, and drive the second linear module to drive the lifting baffle to move until the lifting baffle passes the lock tongue, that is, the lower cigarette holder reaches the designated position.

[0017] Step 3: Then the third linear module drives the clamping baffle to move and clamp the lower cigarette clamp;

[0018] Step 4: After the lower cigarette clamp is clamped, the fourth linear module is driven to drive the second push baffle to push the upper cigarette clamp to the position of the upper cigarette clamp limit baffle, and then fall into the upper cigarette clamp guide groove, slide to the designated position, and cooperate with the lower cigarette clamp to achieve the purpose of fixing the packaged tobacco leaves.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention can realize the weaving and packaging of tobacco leaves immediately after picking. The packaged tobacco leaves can be directly stored or transported, eliminating the need for sorting and packaging after picking. This device adopts a packaging method with fixed tobacco leaf stalks when weaving tobacco leaves, which can reduce the damage of tobacco leaves, make the picked tobacco leaves better in appearance, and improve economic benefits. All equipment in this device adopts equipment that does not generate environmental pollution and meets environmental protection requirements, and the materials used meet national laws and regulations on hygiene and environmental protection requirements.

[0021] 2. When working, the present invention detects sensor signals through a computer and controls the servo motor to realize tobacco leaf weaving and packaging, which provides higher precision and efficiency. This device can weave and package tobacco leaves while temporarily storing them, which not only reduces tobacco leaf breakage, but also reduces the workload of subsequent tobacco leaf weaving, simplifies the steps, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic structural diagram of a temporary storage device for tobacco leaf picking robots according to the present invention;

[0024] Figure 2 It is a structural schematic diagram of the rack according to the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the lower cigarette clip conveying mechanism;

[0026] Figure 4 This is a schematic diagram of the structure of the lower cigarette holder lifting mechanism;

[0027] Figure 5 Schematic diagram of the structure of the lower cigarette clip fixing mechanism;

[0028] Figure 6 Schematic diagram of the connection structure between the lower cigarette clamp lifting mechanism and the lower cigarette clamp fixing mechanism;

[0029] Figure 7 This is a schematic diagram of the position of the upper cigarette clip limit block;

[0030] Figure 8 This is a structural diagram of the upper cigarette clip conveying mechanism.

[0031] 1-Placement table, 2-Frame, 3-Upper cigarette clamp sliding guide mechanism, 4-Upper cigarette clamp guide groove, 5-Lower cigarette clamp fixing clamp, 6-Lock tongue, 7-Fixed plate, 8-Lower cigarette clamp sliding guide mechanism, 9-First push baffle, 10-First linear module, 11-Lifting baffle, 12-Second linear module, 13-Clamping baffle, 14-Third linear module, 15-Upper cigarette clamp limit baffle, 16-Fourth linear module, 17-Second push baffle. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0033] Specific implementation method 1: See Figure 1-8 The present embodiment describes a temporary storage device for a tobacco leaf picking robot, which is characterized in that it includes a placing table 1, an upper cigarette clamp sliding guide rail mechanism 3, a lower cigarette clamp sliding guide rail mechanism 8, a lower cigarette clamp conveying mechanism, a lower cigarette clamp lifting mechanism, a lower cigarette clamp fixing mechanism and an upper cigarette clamp conveying mechanism. The placing table 1 is installed in the middle of the frame 2, the lower cigarette clamp conveying mechanism is installed below the placing table 1, the lower cigarette clamp lifting mechanism is installed in the middle of the side end of the frame 2, the lower cigarette clamp fixing mechanism is installed at the bottom two ends of the side of the frame 2, the upper cigarette clamp conveying mechanism is installed above the placing table 1, the lower cigarette clamp conveying mechanism and the upper cigarette clamp conveying mechanism are both connected to the frame 2, and the lower cigarette clamp is placed below the placing table 1 through the lower cigarette clamp fixing clamp 5. The lower cigarette clamp conveying mechanism includes a first pushing baffle 9 and a first linear module 10, the first pushing baffle 9 is installed on the first linear module 10, and the first linear module 10 is installed on the frame 2, and the lower cigarette clamp lifting mechanism includes a lifting baffle 11 and a second linear module Line module 12, the lifting baffle 11 is installed on the second linear module 12, the second linear module 12 is connected to the second servo motor, the second linear module 12 is installed on the frame 2, the lower cigarette clamp fixing mechanism is symmetrically provided with two groups, the lower cigarette clamp fixing mechanism includes a clamping baffle 13 and a third linear module 14, the clamping baffle 13 is installed on the third linear module 14, the third linear module 14 is installed on the frame 2, the upper cigarette clamp conveying mechanism includes an upper cigarette clamp guide groove 4, a fourth linear module 16 and a second pushing baffle 17, the second pushing baffle 17 is installed on the fourth linear module 16, the upper cigarette clamp guide groove 4 is located below the second pushing baffle 17, the upper cigarette clamp guide groove 4 is installed at the four corners of the frame 2, the first linear module 10, the second linear module 12, the third linear module 14 and the fourth linear module 16 are all connected to a servo motor, and the end of the upper cigarette clamp guide groove 4 is provided with an upper cigarette clamp limit baffle 15.

[0034] The lower cigarette clip and the upper cigarette clip are equipped on the lower cigarette clip sliding guide mechanism 8 and the upper cigarette clip sliding guide mechanism 3 respectively, and the upper cigarette clip and the lower cigarette clip are pushed to the specified position. Before starting to work, the sensor first detects whether the upper and lower cigarette clips have moved to the correct position, and then starts the first linear module 10 to drive the first pushing baffle 9 to move, and pushes the lower cigarette clip to fall on the lifting baffle 11, and drives the second linear module 12 to drive the lifting baffle 11 to move until the lifting baffle 11 passes the lock tongue 6, that is, the lower cigarette clip reaches the specified position, and then the third linear module 14 drives the clamping baffle 13 to move, clamps the lower cigarette clip, and the lower After the tobacco clamp is clamped, the fourth linear module 16 is driven to drive the second push baffle 17 to push the upper tobacco clamp to the position of the upper tobacco clamp limit baffle 15, and then fall into the upper tobacco clamp guide groove 4, slide to the designated position, and cooperate with the lower tobacco clamp to achieve the purpose of fixing the packaged tobacco leaves, thereby achieving the weaving and packaging of tobacco leaves immediately after picking. The packaged tobacco leaves can be directly stored or transported, eliminating the need for sorting and packaging after the tobacco leaves are picked. This device uses a packaging method that fixes the tobacco leaf stems when weaving tobacco leaves, which can reduce the damage of tobacco leaves, make the picked tobacco leaves better in appearance, and improve economic benefits. All equipment in this device uses equipment that does not generate environmental pollution and meets environmental protection requirements, and the materials used meet national regulations on hygiene and environmental protection requirements.

[0035] Furthermore, a certain number of lower cigarette clips are placed on the placement rack 1, and the first push baffle 9 supports the lower cigarette clips. The first linear module 10 is connected to the servo motor, and the first linear module 10 is controlled to drive the first push baffle 9 to push the lower cigarette clip to the lower cigarette clip lifting mechanism. When the sensor detects that the lower cigarette clip is transported to the specified position, the servo motor starts and drives the lifting baffle 11 on the second linear module 12 to start moving until it passes the lock tongue 6 of the working platform and reaches the specified position. A certain number of upper cigarette clips are placed on the placement rack 1, and the second push baffle 17 supports the upper cigarette clips. The second push baffle 17 is fixed on the fourth linear module 16. The fourth linear module 16 is connected to the servo motor, and the movement of the fourth linear module 16 is controlled to drive the second push baffle 17 to push the upper cigarette clip to a fixed position. Then the upper cigarette clip automatically slides along the upper cigarette clip guide groove 4, and the upper cigarette clip and the lower cigarette clip are clamped together to achieve the goal of fixing and packaging tobacco leaves.

[0036] During operation, the computer detects sensor signals and controls the servo motor to realize tobacco leaf weaving and packaging, which provides higher precision and efficiency. This device can weave and package tobacco leaves while temporarily storing them, which not only reduces tobacco leaf breakage, but also reduces the workload of subsequent tobacco leaf weaving, simplifies the steps, and improves production efficiency.

[0037] Specific implementation method 2: See Figure 1-8To illustrate this embodiment, a fixing plate 7 is provided at the side end of the frame 2, and a locking tongue 6 is provided at the side end of the working platform of the frame 2. The working platform is a large smooth platform welded to the frame 2 and is used to lay out the tobacco leaves picked by the robotic arm. The rear end thereof is provided with a lock 6 for positioning and supporting the lower cigarette holder.

[0038] Specific implementation method three: see Figure 1-8 This embodiment describes a method for using a temporary storage device for a tobacco leaf picking robot, which includes the following steps:

[0039] Step 1: Install the lower cigarette holder and the upper cigarette holder on the lower cigarette holder sliding guide rail mechanism 8 and the upper cigarette holder sliding guide rail mechanism 3 respectively, and push the upper cigarette holder and the lower cigarette holder to the designated position;

[0040] Step 2: Start the first linear module 10 to drive the first push baffle 9 to move, push the lower cigarette holder onto the lifting baffle 11, and drive the second linear module 12 to drive the lifting baffle 11 to move until the lifting baffle 11 passes the lock tongue 6, that is, the lower cigarette holder reaches the designated position;

[0041] Step 3: Then the third linear module 14 drives the clamping baffle 13 to move and clamp the lower cigarette clamp;

[0042] Step 4: After the lower cigarette clamp is clamped, the fourth linear module 16 is driven to drive the second push baffle 17 to push the upper cigarette clamp to the position of the upper cigarette clamp limit baffle 15, and then fall into the upper cigarette clamp guide groove 4, slide to the designated position, and cooperate with the lower cigarette clamp to achieve the purpose of fixing the packaged tobacco leaves.

[0043] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A tobacco leaf picking robot temporary storage device, characterized by: The utility model comprises a placing platform (1), an upper cigarette clip sliding guide rail mechanism (3), a lower cigarette clip sliding guide rail mechanism (8), a lower cigarette clip conveying mechanism, a lower cigarette clip lifting mechanism, a lower cigarette clip fixing mechanism and an upper cigarette clip conveying mechanism, wherein the placing platform (1) is installed in the middle of the frame (2), the lower cigarette clip conveying mechanism is installed below the placing platform (1), the lower cigarette clip lifting mechanism is installed in the middle of the side end of the frame (2), the lower cigarette clip fixing mechanism is installed at both ends of the bottom of the side of the frame (2), the upper cigarette clip conveying mechanism is installed above the placing platform (1), the lower cigarette clip conveying mechanism and the upper cigarette clip conveying mechanism are both connected to the frame (2), the upper cigarette clip conveying mechanism comprises an upper cigarette clip guide groove (4), a fourth linear module (16) and a second push baffle (17), the second push baffle (17) is installed on the fourth linear module (16), the upper cigarette clip guide groove (4) is located below the second push baffle (17), and the upper cigarette clip guide groove (4) is installed at the quadrangular column position on the side of the frame (2).

2. The temporary storage device for tobacco leaf picking robots according to claim 1, characterized in that: The lower cigarette clip is placed on the placement platform (1) via the lower cigarette clip fixing clip (5).

3. The temporary storage device for tobacco leaf picking robots according to claim 2, characterized in that: The lower cigarette clip conveying mechanism comprises a first push baffle (9) and a first linear module (10), wherein the first push baffle (9) is mounted on the first linear module (10), and the first linear module (10) is mounted on the frame (2).

4. The temporary storage device for tobacco leaf picking robots according to claim 3, characterized in that: The lower cigarette holder lifting mechanism comprises a lifting baffle (11) and a second linear module (12), wherein the lifting baffle (11) is mounted on the second linear module (12), the second linear module (12) is connected to a second servo motor, and the second linear module (12) is mounted on the frame (2).

5. The temporary storage device for tobacco leaf picking robots according to claim 4, characterized in that: The lower cigarette clamp fixing mechanism is symmetrically provided with two groups, and the lower cigarette clamp fixing mechanism comprises a clamping baffle (13) and a third linear module (14), the clamping baffle (13) is mounted on the third linear module (14), and the third linear module (14) is mounted on the frame (2).

6. The temporary storage device for tobacco leaf picking robots according to claim 5, characterized in that: The first linear module (10), the second linear module (12), the third linear module (14) and the fourth linear module (16) are all connected to a servo motor.

7. The temporary storage device for tobacco leaf picking robots according to claim 1, characterized in that: An upper cigarette clamp limiting block (15) is provided at the end of the upper cigarette clamp guide groove (4).

8. The temporary storage device for tobacco leaf picking robots according to claim 1, characterized in that: A fixing plate (7) is provided at the side end of the frame (2), and a locking tongue (6) is provided at the side end of the working platform of the frame (2).

9. A method for using the temporary storage device of a tobacco leaf picking robot according to claim 6, characterized in that: It includes the following steps: Step 1: Install the lower cigarette clip and the upper cigarette clip on the lower cigarette clip sliding guide mechanism (8) and the upper cigarette clip sliding guide mechanism (3) respectively, and push the upper cigarette clip and the lower cigarette clip to the designated position; Step 2: Start the first linear module (10) to drive the first push baffle (9) to move, push the lower cigarette holder onto the lifting baffle (11), and drive the second linear module (12) to drive the lifting baffle (11) to move until the lifting baffle (11) passes over the lock tongue (6), that is, the lower cigarette holder reaches the designated position; Step 3: Then the third linear module (14) drives the clamping baffle (13) to move and clamp the lower cigarette clamp; Step 4: After the lower cigarette clamp is clamped, the fourth linear module (16) is driven to drive the second push baffle (17) to push the upper cigarette clamp to the position of the upper cigarette clamp limit baffle (15), and then fall into the upper cigarette clamp guide groove (4), slide to the designated position, and cooperate with the lower cigarette clamp to achieve the purpose of fixing the packaged tobacco leaves.

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