A tea leaf picking bionic machine device integrating clippers, loading and unloading

Abstract

The application relates to a tea leaf picking bionic machine device integrating clamping, shearing, loading and unloading, which comprises a moving vehicle body, a tea leaf picking device and a tea leaf collecting device; the tea leaf picking device comprises a tea leaf clamping mechanism, a tea leaf shearing mechanism for shearing the petiole of the tea leaf clamped by the tea leaf clamping mechanism and a multi-degree-of-freedom mechanical arm; the tea leaf clamping mechanism and the tea leaf shearing mechanism are arranged at the tail end of the multi-degree-of-freedom mechanical arm; the tea leaf collecting device comprises a tea leaf collecting mechanism arranged on the moving vehicle body and a tea leaf conveying mechanism for conveying the tea leaf picked by the tea leaf picking device to the tea leaf collecting mechanism; and the tea leaf collecting mechanism comprises a tea leaf collecting frame arranged on the moving vehicle body. The tea leaf picking bionic machine device integrating clamping, shearing, loading and unloading can simultaneously consider the whole picking process of the tea bud clamping and cutting work and the fresh tea loading and unloading work, and the overall picking efficiency is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tea picking, in particular to a tea picking bionic machine device integrating clamping, shearing, transportation and unloading. BACKGROUND

[0002] With the development of automation technology and the increasing demand for tea picking quality, automatic tea picking robots have gradually emerged. These studies have improved the automation level compared to traditional mechanical tea picking machines, but most of them still focus on optimizing and researching single picking functions, and cannot simultaneously consider the whole picking process of tea bud clamping and cutting and fresh tea transportation and unloading during operation, resulting in low overall picking efficiency. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art and provide a tea picking bionic machine device integrating clamping, shearing, transportation and unloading, which can simultaneously consider the whole picking process of tea bud clamping and cutting and fresh tea transportation and unloading, resulting in higher overall picking efficiency.

[0004] The technical solution of the present application to solve the above technical problems is:

[0005] A tea picking bionic machine device integrating clamping, shearing, transportation and unloading, comprising a mobile vehicle body, a tea picking device arranged on the mobile vehicle body, and a tea collecting device for collecting picked tea, wherein the tea picking device comprises a tea clamping mechanism, a tea shearing mechanism for shearing the petiole of tea clamped by the tea clamping mechanism, and a multi-degree-of-freedom mechanical arm for driving the tea clamping mechanism and the tea shearing mechanism to move synchronously; wherein the tea clamping mechanism and the tea shearing mechanism are arranged at the end of the multi-degree-of-freedom mechanical arm; the tea collecting device comprises a tea collecting mechanism arranged on the mobile vehicle body and a tea conveying mechanism for conveying the picked tea from the tea picking device to the tea collecting mechanism, wherein the tea collecting mechanism comprises a tea collecting frame arranged on the mobile vehicle body.

[0006] Preferably, the tea conveying mechanism comprises a conveying pipeline and an air conveying mechanism for driving the picked tea to move from the inlet at the upper end of the conveying pipeline to the outlet at the lower end; wherein the upper end of the conveying pipeline is installed at the end of the multi-degree-of-freedom mechanical arm, and the lower end is located in the tea collecting frame; the air conveying mechanism is used to promote the airflow in the conveying pipeline to flow from above to below.

[0007] Preferably, the tea leaf conveying mechanism further comprises a conveying driving mechanism for driving the outlet of the lower end of the conveying pipeline to move along the X-axis and Y-axis in the horizontal plane, wherein the conveying driving mechanism comprises a moving frame, an X-axis driving mechanism for driving the moving frame to move along the X-axis direction, and a Y-axis driving mechanism for driving the X-axis driving mechanism to move along the Y-axis direction; wherein the lower end of the conveying pipeline is fixed on the moving frame.

[0008] Preferably, the tea leaf clamping mechanism comprises a rotating seat, a clamping assembly arranged on the rotating seat, and a rotating driving mechanism for driving the rotating seat to make 180-degree intermittent reciprocating rotation, wherein the clamping assembly is two groups, and the two groups of clamping assemblies are arranged at 180 degrees; when the rotating driving mechanism drives the rotating seat to rotate 180 degrees, one group of clamping assemblies drives the picked tea leaves to the inlet of the conveying pipeline, and the other group of clamping assemblies moves to the picking station.

[0009] Preferably, the rotating driving mechanism comprises a support, an intermittent rotating reciprocating mechanism arranged on the support, and a rotating power mechanism for driving the intermittent rotating reciprocating mechanism to move, wherein,

[0010] The support is mounted on the end of the multi-degree-of-freedom mechanical arm;

[0011] The intermittent rotating reciprocating mechanism comprises a rotating disc and driving members symmetrically arranged on both sides of the rotating disc for driving the rotating disc to rotate, wherein,

[0012] The rotating disc is fixed at the lower end of the rotating seat, and the outer side of the rotating disc is provided with arc-shaped grooves, the arc-shaped grooves are four groups, the four groups of arc-shaped grooves are arranged along the circumferential direction of the rotating disc, and the included angle between adjacent two groups of arc-shaped grooves is 90 degrees; straight grooves extending along the radial direction of the rotating disc are arranged between adjacent two groups of arc-shaped grooves; the straight grooves are also four groups; the four groups of straight grooves are arranged along the circumferential direction of the rotating disc, and the included angle between adjacent two groups of straight grooves is also 90 degrees;

[0013] The driving members are divided into first driving members and second driving members, and the driving members comprise coaxially arranged first driving parts and second driving parts; the first driving parts and the second driving parts are arranged at 90 degrees, and are rotationally connected to the support through a driving shaft; wherein the end of the first driving part is provided with a cylindrical block, and the outer diameter of the cylindrical block is smaller than the width of the straight groove; the end of the second driving part is provided with an arc surface, and the curvature of the arc surface is the same as the curvature of the arc-shaped groove; the first driving parts and the second driving parts in the first driving members and the second driving members are staggered by 90 degrees;

[0014] When the rotating power mechanism drives the first driving member and the second driving member to rotate in the same direction, and the cylindrical block at the end of the first driving part in the first driving member enters the straight slot of the rotating disc, in the process that the rotating power mechanism drives the first driving member and the second driving member to rotate by 90 degrees, the first driving member drives the rotating disc to rotate by 90 degrees; when the rotating disc rotates by 90 degrees, the cylindrical block at the end of the first driving part in the first driving member is separated from the straight slot of the rotating disc, while the cylindrical block at the end of the first driving part in the second driving member enters another straight slot of the rotating disc, then with the rotating power mechanism continuing to drive the first driving member and the second driving member to rotate by 90 degrees, the second driving member drives the rotating disc to continue to rotate by 90 degrees; when the rotating disc rotates by 180 degrees, the cylindrical block at the end of the first driving part in the second driving member is separated from the straight slot of the rotating disc, and the arc surface at the end of the second driving part in the second driving member is matched with the arc slot of the rotating disc; then the rotating power mechanism drives the first driving member and the second driving member to rotate by 90 degrees, at this time, because the curvature of the arc surface at the end of the second driving part in the second driving member is the same as the curvature of the arc slot on the rotating disc, the second driving part does not drive the rotating disc to rotate, and in this process, the rotating disc is in a stationary state.

[0015] Then, the rotating power mechanism drives the first driving member and the second driving member to reverse rotate by 270 degrees, wherein in the first 90-degree rotating range, the arc surface at the end of the second driving part in the second driving member is matched with the arc slot of the rotating disc, and for the same reason, the rotating disc is in a stationary state; in this process, the two groups of clamping assemblies respectively start to release the picked tea leaves and clamp the tea leaves to be picked; then in the next 180-degree rotating range, the second driving member drives the rotating disc to reverse rotate by 90 degrees, then the cylindrical block at the end of the first driving part in the second driving member is separated from the straight slot in the rotating disc, while the cylindrical block at the end of the first driving part in the first driving member enters another straight slot in the rotating disc, and the first driving member drives the rotating disc to continue to reverse rotate by 90 degrees; when the rotating disc reversely rotates by 180 degrees, the rotating power mechanism drives the first driving member and the second driving member to continue to reverse rotate by 90 degrees, and in this process, because the arc surface at the end of the second driving part in the first driving member is matched with the arc slot of the rotating disc, the rotating disc is in a stationary state; the above-mentioned actions are repeated, that is, the rotating seat can be driven to intermittently reciprocate by 180 degrees.

[0016] Preferably, the rotating power mechanism comprises a rotating motor installed on a support, a driving gear is arranged on the main shaft of the rotating motor, and driven gears are arranged on the driving shafts on both sides, and the driving gear is engaged with the driven gears on both sides of the driving shafts.

[0017] Preferably, the clamping assembly comprises a first clamping rod, a second clamping rod, and a clamping driving assembly for driving the first clamping rod and the second clamping rod to move towards or away from each other; the clamping driving assembly comprises a first driving plate and a second driving plate, wherein,

[0018] The first driving plate comprises a first rotating part and a first connecting part arranged on the first rotating part; the first rotating part is rotatably connected to the rotating seat through a first rotating shaft, and a first gear part is arranged on the first rotating part; one end of the first connecting part is connected to the first rotating part, and the other end is hingedly connected to the first clamping rod.

[0019] The second driving plate comprises a second rotating part and a second connecting part arranged on the second rotating part; the second rotating part is rotatably connected to the rotating seat through a second rotating shaft, and a second gear part is arranged on the second rotating part and engages with the first gear part; one end of the second connecting part is connected to the first rotating part, and the other end is hingedly connected to the second clamping rod.

[0020] Preferably, the clamping driving assembly comprises a transmission shaft, a main gear arranged on the transmission shaft, and a slave gear arranged on the first rotating shaft or the second rotating shaft of the two sets of clamping driving assemblies; one end of the transmission shaft is connected to the main shaft of the rotary motor; the other end vertically passes through the support, the rotating disc, and the rotating seat and is connected to the main gear; the support, the rotating disc, and the rotating seat are provided with bearings at positions corresponding to the transmission shaft; the main gear engages with the slave gears located on both sides thereof and mounted on the first rotating shaft or the second rotating shaft; wherein a friction transmission member is arranged between the main gear and the transmission shaft, and when the resistance received by the main gear is greater than the friction between the main gear and the transmission shaft, the transmission shaft is in an idle state.

[0021] Preferably, a buffer block is arranged on the clamping part of the first clamping rod and the second clamping rod; a limiting block is arranged at a position corresponding to the clamping part of the first clamping rod and the second clamping rod, and the height of the limiting block is less than the height of the buffer block.

[0022] Preferably, the tea leaf shearing mechanism comprises a support, a fixed cutter arranged on the support, a movable cutter and a shearing driving mechanism for driving the movable cutter to rotate to realize the shearing action of the movable cutter and the fixed cutter, wherein the fixed cutter is fixed on the support, and the movable cutter is rotatably connected to the fixed cutter; the shearing driving mechanism is used for transmitting the power of the rotary motor to the movable cutter, and comprises a transmission gear set, one end of the transmission gear set is engaged with a set of driven gears, and the other end is connected with the movable cutter through a driving shaft, wherein a friction transmission member is arranged between the movable cutter and the driving shaft, when the movable cutter rotates to the limit position, the resistance received by the movable cutter is greater than the friction between the movable cutter and the driving shaft, and the driving shaft is in an idle state.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1、The tea leaf picking bionic machine device integrating clamping, shearing, loading, unloading and conveying in one realizes the picking of tea leaves by driving the tea leaf picking device to move through the multi-degree-of-freedom mechanical arm, clamping the tea leaves through the tea leaf clamping mechanism, and shearing the petiole of the tea leaves through the tea leaf shearing mechanism, so that the picked tea leaves are conveyed to the tea leaf conveying mechanism by the tea leaf clamping mechanism, and then conveyed to the tea leaf collecting mechanism by the tea leaf conveying mechanism, and the tea leaves are unloaded at the designated position when the tea leaf collecting mechanism is full, thereby realizing the conveying of the picked tea leaves to the designated position and the picking, collecting and conveying of the tea leaves.

[0025] 2、The tea leaf picking bionic machine device integrating clamping, shearing, loading, unloading and conveying in one can pick tea leaves by the clamping-first and shearing-second mode, thereby improving the picking efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 and Figure 2 FIG. 1 is a structural schematic view of the tea leaf picking bionic machine device integrating clamping, shearing, loading, unloading and conveying in one according to the present application from two different perspectives.

[0027] Figure 3 FIG. 4 is a structural schematic view of the tea leaf collecting device.

[0028] Figure 4 FIG. 5 is a structural schematic view of the tea leaf collecting device.

[0029] Figures 5-7 FIG. 6 is a structural schematic view of the tea leaf collecting device from three different perspectives.

[0030] Figure 8 FIG. 7 is a structural schematic view of the tea leaf clamping mechanism.

[0031] Figure 9Structure diagram of the rotary drive mechanism.

[0032] Figure 10 Working diagram of the rotary drive mechanism.

[0033] Figures 11-13 Structure diagram of the tea leaf collecting mechanism from three different perspectives.

[0034] Figure 14 Diagram of the tea leaf collecting frame at the lowest point.

[0035] Figure 15 Diagram of the knife tooth profile curve of the fixed knife and the moving knife. DETAILED DESCRIPTION

[0036] The application will be further described below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the application are not limited thereto.

[0037] Reference Figures 1-15The tea leaf picking bionic machine device with integrated tea leaf clamping, shearing, conveying and unloading functions comprises a mobile vehicle body 1, a tea leaf picking device 6 arranged on the mobile vehicle body 1 and a tea leaf collecting device for collecting the picked tea leaves, wherein the tea leaf picking device 6 comprises a tea leaf clamping mechanism 8, a tea leaf shearing mechanism for shearing the petiole of the tea leaves clamped by the tea leaf clamping mechanism 8 and a multi-degree-of-freedom mechanical arm 5 for driving the tea leaf clamping mechanism 8 and the tea leaf shearing mechanism to move synchronously; the tea leaf clamping mechanism 8 and the tea leaf shearing mechanism are arranged at the tail end of the multi-degree-of-freedom mechanical arm 5; the tea leaf collecting device comprises a tea leaf collecting mechanism 3 arranged on the mobile vehicle body 1 and a tea leaf conveying mechanism 4 for conveying the picked tea leaves to the tea leaf collecting mechanism 3, wherein the tea leaf collecting mechanism 3 comprises a tea leaf collecting frame 301 arranged on the mobile vehicle body 1 and a lifting driving mechanism for driving the tea leaf collecting frame 301 to perform lifting movement; the lifting driving mechanism can adopt an electric push rod or a pneumatic cylinder; in the embodiment, the lifting driving mechanism comprises a linkage mechanism and a lifting power mechanism for driving the linkage mechanism to act, wherein the linkage mechanism comprises two groups of linkage mechanisms arranged on the left and right sides of the tea leaf collecting frame 301; each group of linkage mechanisms comprises a first linkage 302 and a second linkage 303 arranged in cross; the upper portions of the first linkage 302 and the second linkage 303 are hinged on a sliding seat 304, the sliding seat 304 is slidingly connected to the bottom of the tea leaf collecting frame 301, the bottom of the tea leaf collecting frame 301 is provided with a sliding groove 305 matched with the sliding seat 304, the extending direction of the sliding groove 305 is the opening direction of the tea leaf collecting frame 301; the middle portions of the first linkage 302 and the second linkage 303 are hinged; the lower portion of the first linkage 302 is hinged on the mobile vehicle body 1, the lower portion of the second linkage 303 is installed on the mobile vehicle body 1 through a sliding connection structure 308, the sliding connection structure 308 can drive the bottom of the second linkage 303 to move along the opening direction of the tea leaf collecting frame 301; the lifting power mechanism comprises a driving rod 306 and a swing cylinder 307 for driving the driving rod 306 to swing, wherein the driving rod 306 is slidingly connected to the side surface of the tea leaf collecting frame 301 (i.e. the driving rod 306 is provided with a guide groove extending along the length direction thereof and a guide block arranged on the tea leaf collecting frame 301); the cylinder body of the swing cylinder 307 is hinged on a mobile seat, the piston rod is hinged on the driving rod 306; the mobile seat is slidingly connected to the mobile vehicle body 1 and moves along the same direction as the extending direction of the sliding groove 305.The swing cylinder 307 drives the driving rod 306 to swing, thereby driving the tea collecting frame 301 to make an arc motion in a vertical plane, which is composed of two sub-motions, one is a lifting motion for driving the tea collecting frame 301 to lift, and the other is a front-back motion (i.e. along the opening direction of the tea collecting frame 301), through the cooperation of the two sub-motions, the collected tea is collected and unloaded.

[0038] Referring to Figures 1-15 , the tea conveying mechanism 4 comprises a conveying pipe 401 and a wind conveying mechanism for driving the picked tea to move from the inlet at the upper end of the conveying pipe 401 to the outlet at the lower end of the conveying pipe 401, wherein the upper end of the conveying pipe 401 is installed at the end of the multi-degree-of-freedom robot arm 5, and the lower end is located in the tea collecting frame 301, and the conveying pipe 401 is a corrugated plastic pipe, which can be stretched and contracted, i.e. its length can be changed at will, so it can move with the multi-degree-of-freedom robot arm 5 without interference; the wind conveying mechanism is used to promote the airflow in the conveying pipe 401 to flow from the upper end to the lower end of the conveying pipe 401, which can be a bladeless fan or a negative pressure device, by pumping air at the lower end of the conveying pipe 401, so that the air pressure at the outlet of the lower end of the conveying pipe 401 is greater than that at the inlet of the upper end of the conveying pipe 401, thereby enabling the tea entering the conveying pipe 401 to smoothly reach the tea collecting frame 301; in addition, because the air pressure at the outlet of the lower end of the conveying pipe 401 is greater than that at the inlet of the upper end of the conveying pipe 401, a negative pressure will be generated at the inlet of the upper end of the conveying pipe 401, and when the tea clamping mechanism 8 releases the tea, the tea will be sucked into the conveying pipe 401 under the action of the negative pressure, so the tea clamping mechanism 8 does not need to accurately send the tea to the inlet of the upper end of the conveying pipe 401.

[0039] Referring to Figures 1-15 , the tea conveying mechanism 4 further comprises a conveying driving mechanism for driving the outlet at the lower end of the conveying pipe 401 to move along the X-axis and Y-axis in a horizontal plane, wherein the conveying driving mechanism comprises a moving frame 402, an X-axis driving mechanism 403 for driving the moving frame 402 to move along the X-axis, and a Y-axis driving mechanism 404 for driving the X-axis driving mechanism 403 to move along the Y-axis; wherein the outlet at the lower end of the conveying pipe 401 is fixed on the moving frame 402;

[0040] In the embodiment, the X-axis driving mechanism 403 and the Y-axis driving mechanism 404 both adopt the driving mode of motor combined with screw rod transmission mechanism; by arranging the conveying driving mechanism, the lower end outlet of the conveying pipeline 401 can be driven to move in the process of collecting tea leaves, so that the tea leaves falling from the lower end outlet of the conveying pipeline 401 can be laid flat in the tea leaf collecting frame 301, which not only can maximize the capacity of the tea leaf collecting frame 301, but also can avoid the tea leaves falling from the conveying pipeline 401 from being stacked too high at a position of the tea leaf collecting frame 301 to cause the tea leaves to be blocked in the conveying pipeline 401.

[0041] Referring to Figures 1-15 , the tea leaf clamping mechanism 8 comprises a rotating seat 810, clamping assemblies arranged on the rotating seat 810, and a rotary driving mechanism for driving the rotating seat 810 to rotate 180 degrees intermittently and reciprocally, wherein the clamping assemblies are two groups, and the two groups of clamping assemblies are arranged at 180 degrees; after the rotating seat 810 is driven by the rotary driving mechanism to rotate 180 degrees, one group of clamping assemblies drives the picked tea leaves to the inlet of the conveying pipeline 401, and the other group of clamping assemblies moves to the picking station; by arranging the two groups of clamping assemblies, the continuous picking of tea leaves can be realized, and the picking efficiency is higher.

[0042] Referring to Figures 1-15 , the rotary driving mechanism comprises a bracket 808, an intermittent rotary reciprocating mechanism 9 arranged on the bracket 808, and a rotary power mechanism for driving the intermittent rotary reciprocating mechanism 9 to move, wherein,

[0043] The bracket 808 is mounted at the end of the multi-degree-of-freedom mechanical arm 5;

[0044] The intermittent rotary reciprocating mechanism 9 comprises a rotating disc 901 and driving members 902 symmetrically arranged on both sides of the rotating disc 901 for driving the rotating disc 901 to rotate, wherein,

[0045] The rotating disc 901 is fixed at the lower end of the rotating seat 810, and the outer side of the rotating disc 901 is provided with arc-shaped grooves 9011, the arc-shaped grooves 9011 are four groups, the four groups of arc-shaped grooves 9011 are arranged along the circumferential direction of the rotating disc 901, and the included angle between adjacent two groups of arc-shaped grooves 9011 is 90 degrees; straight grooves 9012 extending along the radial direction of the rotating disc 901 are arranged between adjacent two groups of arc-shaped grooves 9011; the straight grooves 9012 are also four groups; the four groups of straight grooves 9012 are arranged along the circumferential direction of the rotating disc 901, and the included angle between adjacent two groups of straight grooves 9012 is also 90 degrees;

[0046] The driving member 902 is divided into a first driving member and a second driving member, and comprises coaxially arranged first driving part 9021 and second driving part 9022; the first driving part 9021 and the second driving part 9022 are arranged at 90 degrees and are rotatably connected to the support 808 through driving shafts; wherein the end of the first driving part 9021 is provided with a cylindrical block, and the outer diameter of the cylindrical block is smaller than the width of the straight slot 9012; the end of the second driving part 9022 is provided with an arc surface, and the curvature of the arc surface is the same as the curvature of the arc slot 9011; the first driving part 9021 and the second driving part 9022 in the first driving member 902 and the second driving member 902 are staggered by 90 degrees;

[0047] The rotating power mechanism is used for driving the first driving member 902 and the second driving member 902 to rotate in the same direction, and comprises a rotating motor 10 installed on the support 808, wherein a driving gear 11 is arranged on the main shaft of the rotating motor 10, and driven gears (i.e. driven gear 12 and driven gear 13) are arranged on the driving shafts at both sides, and the driving gear 11 is engaged with the driven gears (i.e. driven gear 12 and driven gear 13) on the driving shafts at both sides;

[0048] When the rotation power mechanism drives the first driving member 902 and the second driving member 902 to rotate in the same direction, and the cylindrical block at the end of the first driving part 9021 in the first driving member 902 enters the straight slot 9012 of the rotating disc 901; during the process that the rotation power mechanism drives the first driving member 902 and the second driving member 902 to rotate 90 degrees, the first driving member 902 drives the rotating disc 901 to rotate 90 degrees; when the rotating disc 901 rotates 90 degrees, the cylindrical block at the end of the first driving part 9021 in the first driving member 902 is out of the straight slot 9012 of the rotating disc 901, while the cylindrical block at the end of the first driving part 9021 in the second driving member 902 enters another straight slot 9012 of the rotating disc 901, then along with the rotation power mechanism continues to drive the first driving member 902 and the second driving member 902 to rotate 90 degrees, the second driving member 902 continues to drive the rotating disc 901 to rotate 90 degrees; when the rotating disc 901 rotates 180 degrees, the cylindrical block at the end of the first driving part 9021 in the second driving member 902 is out of the straight slot 9012 of the rotating disc 901, and the arc surface at the end of the second driving part 9022 in the second driving member 902 matches the arc slot 9011 of the rotating disc 901; then the rotation power mechanism drives the first driving member 902 and the second driving member 902 to rotate 90 degrees, at this time, because the curvature of the arc surface at the end of the second driving part 9022 in the second driving member 902 is the same as the curvature of the arc slot 9011 on the rotating disc 901, the second driving part 9022 does not drive the rotating disc 901 to rotate, and the rotating disc 901 is in a stationary state during this process;

[0049] Then, the rotating driving mechanism reversely drives the first driving member 902 and the second driving member 902 to rotate by 270 degrees, wherein in the first 90 degrees of the rotating range, the arc surface at the end of the second driving part 9022 in the second driving member 902 is matched with the arc-shaped slot 9011 of the rotating disc 901, and the rotating disc 901 is in a stationary state; in this process, the two groups of clamping assemblies start to release the picked tea leaves and clamp the tea leaves to be picked respectively; then in the next 180 degrees of the rotating range, the second driving member 902 reversely rotates the rotating disc 901 by 90 degrees first, and then the cylindrical block at the end of the first driving part 9021 of the second driving member 902 is separated from the straight slot 9012 in the rotating disc 901, while the cylindrical block at the end of the first driving part 9021 of the first driving member 902 enters another straight slot 9012 in the rotating disc 901, and the rotating disc 901 is continuously reversely rotated by 90 degrees by the first driving member 902 again; when the rotating disc 901 is reversely rotated by 180 degrees, the rotating driving mechanism drives the first driving member 902 and the second driving member 902 to continue to reversely rotate by 90 degrees, and in this process, the rotating disc 901 is in a stationary state due to the matching of the arc surface at the end of the second driving part 9022 in the first driving member 902 and the arc-shaped slot 9011 of the rotating disc 901; the above-mentioned actions are repeated, so as to drive the rotating seat 810 to intermittently reciprocate by 180 degrees.

[0050] Referring to Figures 1-15 , the clamping assembly comprises a first clamping rod 801, a second clamping rod 802, and a clamping driving assembly for driving the first clamping rod 801 and the second clamping rod 802 to move towards each other or reversely;

[0051] A first connecting rod 805 is arranged between the first clamping rod 801 and the rotating seat 810, one end of the first connecting rod 805 is hinged to the first clamping rod 801, and the other end is rotatably connected to the rotating seat 810; a second connecting rod 806 is arranged between the second clamping rod 802 and the rotating seat 810, one end of the second connecting rod 806 is hinged to the first clamping rod 801, and the other end is rotatably connected to the rotating seat 810;

[0052] The first driving plate 803 comprises a first rotating part and a first connecting part arranged on the first rotating part; a first gear part is arranged on the first rotating part, and the first rotating part is rotatably connected to the rotating seat 810 through a first rotating shaft; one end of the first connecting part is connected to the first rotating part, and the other end is hinged to the first clamping rod 801;

[0053] The second driving plate 804 comprises a second rotating part and a second connecting part arranged on the second rotating part; the second rotating part is arranged with a second gear part meshing with the first gear part, and is rotatably connected to the rotating base 810 through a second rotating shaft; one end of the second connecting part is connected to the first rotating part, and the other end is hingedly connected to the second clamping rod 802;

[0054] The clamping driving assembly comprises a transmission shaft, a main gear 807 arranged on the transmission shaft, and a slave gear 809 arranged on the first rotating shaft or the second rotating shaft of the two sets of clamping driving assemblies; one end of the transmission shaft is connected to the main shaft of the rotary motor 10; the other end vertically passes through the support 808, the rotating disc 901 and the rotating base 810, and is connected to the main gear 807; the support 808, the rotating disc 901 and the rotating base 810 are arranged with bearings at positions corresponding to the transmission shaft; the main gear 807 meshes with the slave gears 809 arranged on the first rotating shaft or the second rotating shaft and mounted on both sides of the main gear 807; wherein a friction transmission member is arranged between the main gear 807 and the transmission shaft (i.e. friction transmission is adopted between the main gear 807 and the transmission shaft), the friction transmission member is mounted on the transmission shaft, when the resistance received by the main gear 807 is greater than the frictional force between the main gear 807 and the friction transmission member, the transmission shaft is in an idle state, i.e. the main gear 807 does not rotate.

[0055] Through the above arrangement, the following advantages are achieved:

[0056] As can be seen from the above description, the power adopted by the clamping driving assembly and the rotating power mechanism in the present application is the same rotating motor 10, so during the process that the main shaft of the rotating motor 10 rotates and the rotating disc 901 is in a stationary state, the transmission shaft will drive the main gear 807 to rotate, thereby driving the slave gears 809 on both sides of the main gear 807 to rotate in the same direction, and driving the first rotating shaft or the second rotating shaft to rotate in the same direction, and further driving the first driving plate 803 or the second driving plate 804 on both sides to rotate. Since the slave gears 809 are located on both sides of the main gear 807, the first driving plate 803 or the second driving plate 804 in the two clamping assemblies rotates in the same direction, so that one of the clamping assemblies is in an open state, and the other clamping assembly is in a clamped state. When the rotating power mechanism drives the rotating disc 901 to rotate, the rotating motor 10 will continue to drive the transmission shaft to rotate. At this time, since the clamping assemblies on both sides are in the limit position (i.e., one of the clamping assemblies is in a closed state, and the other clamping assembly is in an open state), the two clamping assemblies will not continue to act, i.e., the slave gears 809 on the first rotating shaft and the second rotating shaft will not rotate. In this way, the resistance (the force of the slave gears 809 acting on the main gear 807) received by the main gear 807 is greater than the friction between the main gear 807 and the friction transmission member on the transmission shaft, so that the transmission shaft and the main gear 807 will rotate relatively, i.e., the main gear 807 is stationary, and the transmission shaft is idling. In this way, it will not interfere with the rotation of the rotating disc 901 (or the rotating seat 810), i.e., the rotating seat 810 can rotate normally, and the clamping assemblies on both sides can maintain their respective limit states (e.g., the limit open state and the limit closed state) during this process. In this way, one set of power mechanism can achieve the opening and closing of the two clamping assemblies and the 180-degree intermittent reciprocating rotation of the rotating seat 810.

[0057] In addition, in order to prevent the clamping force of the first clamping rod 801 and the second clamping rod 802 on the tea leaves from being too large and damaging the tea leaves, a buffer block (e.g., an elastic block) is arranged on the clamping part of the first clamping rod 801 and the second clamping rod 802, thereby playing a role of elastic buffering.

[0058] In addition, limit blocks are arranged at corresponding positions of the clamping portions of the first clamping rod 801 and the second clamping rod 802; the height of the limit blocks is less than the height of the buffer blocks; through the above arrangement, when it is necessary to clamp the tea leaves, the buffer blocks on the clamping portions first contact the two sides of the tea leaves, and with the increase of the clamping force of the first clamping rod 801 and the second clamping rod 802, the buffer blocks on the clamping portions are compressed, until the limit blocks on the clamping portions of the first clamping rod 801 and the second clamping rod 802 contact each other, at which time it is the limit closing state of the clamping assembly, so that the tea leaves are not damaged due to excessive clamping force; at this time, the tea leaves are clamped in the buffer blocks of the clamping portions and do not contact the limit blocks, that is, the tea leaves are always in an elastic clamping state, so as to ensure that the appearance of the picked tea leaves is intact.

[0059] Referring to Figures 1-15 The tea leaf shearing mechanism includes a fixed blade 701 arranged on the support 808, a movable blade 702, and a shearing driving mechanism for driving the movable blade 702 to rotate to realize the shearing action of the movable blade 702 and the fixed blade 701; the fixed blade 701 is fixed on the support 808, and the movable blade 702 is rotatably connected to the fixed blade 701; the shearing driving mechanism is used for transmitting the power of the rotary motor 10 to the movable blade 702, which can be a separate power mechanism (such as a motor) for driving the movable blade 702 to rotate; in this embodiment, a transmission gear set 14 is used, one end of the transmission gear set 14 is engaged with a set of driven gears, and the other end is connected to the movable blade 702 through a drive shaft; when the driven gears rotate, the transmission gear set 14 is driven to work, and in turn drives the movable blade 702 to rotate, so as to realize the shearing of the petiole of the tea leaves in cooperation with the fixed blade 701.

[0060] In addition, a limiting mechanism is arranged between the fixed blade 701 and the movable blade 702 for limiting the rotation stroke of the movable blade 702, which includes a limiting portion arranged on the movable blade 702 and a limiting groove arranged on the fixed blade 701 and matched with the limiting portion;

[0061] In addition, since the tea leaves need to be clamped by the clamping assembly first, and then the petiole of the tea leaves is sheared by the tea leaf shearing mechanism, the transmission ratio can be adjusted, that is, the diameters of the gears are adjusted, so as to realize the clamping of the tea leaves by the tea leaf clamping mechanism 8 first, and then the shearing of the petiole of the tea leaves by the tea leaf shearing mechanism.

[0062] Finally, in order to prevent interference between the various mechanisms, the friction transmission is also adopted between the moving knife 702 and the driving shaft, that is, when the moving knife 702 rotates to the limit position (the tea leaf shearing mechanism is in the limit opening or limit closing), as the transmission gear set 14 continues to work, the resistance received by the moving knife 702 will be greater than the friction between the moving knife 702 and the driving shaft, at this time, the driving shaft will be in an idle state, so as not to interfere with the movement of other mechanisms; conversely, when the moving knife 702 rotates to the limit position, if the driving shaft drives the moving knife 702 to rotate in the opposite direction, the driving shaft will not idle.

[0063] Referring to Figures 1-15 The knife tooth profile of the fixed knife 701 and the moving knife 702 is based on the geometric structure of the inner edge profile of the mandibular leaf of the mouth organ of the beetle, and is designed by bionic optimization. Based on the principle of bionics, the mouth organ of the beetle shows good cutting ability to plant stems when chewing food, so by analyzing and imitating the geometric structure of the inner edge profile of the mandibular leaf of the mouth organ of the beetle, a smooth curve is fitted for the design and optimization of the tooth profile of the fixed knife 701 and the moving knife 702, so that the common arc-shaped blade tooth profile structure of the traditional cutting type end effector is designed as a variable curvature curved surface structure, which can effectively reduce the contact length of the blade and the stem, improve the sharpness of the tooth profile, and at the same time, the cutting mode can be converted into sliding cutting to reduce the cutting resistance and improve the cutting efficiency.

[0064] Wherein, under the projection in the XOY plane of the Cartesian rectangular coordinate system, the fitting curve equation of the knife tooth profile curve 15 of the moving knife 702 and the fixed knife 701 is:

[0065] Wherein: x∈[73, 258], unit: Pixel;

[0066] Then the bionic blade of the fixed knife 701 and the moving knife 702 is designed through the fitting curve equation, and the tooth of the bionic blade is a variable curvature curved surface structure, so it can effectively cut tea stems than ordinary arc-shaped teeth, and improve the picking efficiency.

[0067] Finally, the multi-degree-of-freedom manipulator 5 in the embodiment can refer to the existing multi-degree-of-freedom manipulator; in order to improve the picking accuracy, a sensor can be arranged on the support 808 for detecting whether the rotating seat 810 rotates 180 degrees; a plurality of groups of wheels and a driving device 2 for driving the wheels to move are further arranged at the lower end of the moving vehicle body 1. The driving device 2 can be implemented by using the existing device.

[0068] The above is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above, and any change, modification, substitution, combination, simplification, etc. made without departing from the spirit and principles of the present application shall be equivalent replacement and included in the protection scope of the present application.

Claims

1. A tea leaf picking bionic machine device integrating clippers with loading and unloading, characterized in that, The tea picking device comprises a mobile vehicle body, a tea picking device arranged on the mobile vehicle body, and a tea collecting device for collecting the picked tea leaves, wherein the tea picking device comprises a tea clamping mechanism, a tea shearing mechanism for shearing the petiole of the tea leaves clamped by the tea clamping mechanism, and a multi-degree-of-freedom mechanical arm for driving the tea clamping mechanism and the tea shearing mechanism to move synchronously; the tea clamping mechanism and the tea shearing mechanism are arranged at the end of the multi-degree-of-freedom mechanical arm; the tea collecting device comprises a tea collecting mechanism arranged on the mobile vehicle body and a tea conveying mechanism for conveying the picked tea leaves to the tea collecting mechanism, wherein the tea collecting mechanism comprises a tea collecting frame arranged on the mobile vehicle body; The tea conveying mechanism comprises a conveying pipeline and an air conveying mechanism for driving the picked tea leaves to move from the inlet at the upper end of the conveying pipeline to the outlet at the lower end of the conveying pipeline; the tea clamping mechanism comprises a rotating seat, a clamping assembly arranged on the rotating seat, and a rotating driving mechanism for driving the rotating seat to rotate 180 degrees intermittently; the clamping assembly is arranged in two groups, and the two groups of clamping assemblies are arranged at an angle of 180 degrees; when the rotating driving mechanism drives the rotating seat to rotate 180 degrees, one group of clamping assemblies drives the picked tea leaves to the inlet of the conveying pipeline, and the other group of clamping assemblies moves to the picking station; The rotating driving mechanism comprises a support, an intermittent rotating reciprocating mechanism arranged on the support, and a rotating power mechanism for driving the intermittent rotating reciprocating mechanism to move; the support is mounted at the end of the multi-degree-of-freedom mechanical arm; the intermittent rotating reciprocating mechanism comprises a rotating disc and driving members arranged symmetrically on both sides of the rotating disc for driving the rotating disc to rotate; the rotating disc is fixed at the lower end of the rotating seat, and the outer side of the rotating disc is provided with arc-shaped grooves; the arc-shaped grooves are arranged in four groups along the circumferential direction of the rotating disc, and the included angle between adjacent two groups of arc-shaped grooves is 90 degrees; straight grooves extending along the radial direction of the rotating disc are arranged between adjacent two groups of arc-shaped grooves; the straight grooves are also arranged in four groups along the circumferential direction of the rotating disc, and the included angle between adjacent two groups of straight grooves is also 90 degrees; the driving members are divided into first driving members and second driving members, and the driving members comprise coaxially arranged first driving portions and second driving portions; the first driving portions and the second driving portions are arranged at an angle of 90 degrees and are rotatably connected to the support by a driving shaft; the end of the first driving portion is provided with a cylindrical block, and the outer diameter of the cylindrical block is smaller than the width of the straight groove; the end of the second driving portion is provided with an arc-shaped surface, and the curvature of the arc-shaped surface is the same as the curvature of the arc-shaped groove; the first driving portions and the second driving portions in the first driving members and the second driving members are arranged at an angle of 90 degrees. The upper end of the conveying pipeline is mounted at the end of the multi-degree-of-freedom mechanical arm, and the lower end is located in the tea collecting frame; the air conveying mechanism is used to promote the airflow in the conveying pipeline to flow from the upper end to the lower end of the conveying pipeline. ​ ​ ​ 2. The bionic machine device for picking and loading tea leaves in one step according to claim 1, characterized in that, ​ 3. The bionic machine device for picking and loading tea leaves in one step according to claim 2, characterized in that, The tea conveying mechanism further comprises a conveying driving mechanism for driving the outlet of the lower end of the conveying pipeline to move along the X-axis and Y-axis in a horizontal plane, wherein the conveying driving mechanism comprises a moving frame, an X-axis driving mechanism for driving the moving frame to move along the X-axis direction, and a Y-axis driving mechanism for driving the X-axis driving mechanism to move along the Y-axis direction; wherein the lower end of the conveying pipeline is fixed on the moving frame.

4. The bionic machine device for picking and loading tea leaves in one step according to claim 3, characterized in that, When the rotating power mechanism drives the first driving member and the second driving member to rotate in the same direction, and the cylindrical block at the end of the first driving part in the first driving member enters the straight slot of the rotating disc, in the process that the rotating power mechanism drives the first driving member and the second driving member to rotate by 90 degrees, the first driving member drives the rotating disc to rotate by 90 degrees; when the rotating disc rotates by 90 degrees, the cylindrical block at the end of the first driving part in the first driving member is separated from the straight slot of the rotating disc, while the cylindrical block at the end of the first driving part in the second driving member enters another straight slot of the rotating disc, then with the rotating power mechanism continuing to drive the first driving member and the second driving member to rotate by 90 degrees, the second driving member drives the rotating disc to continue to rotate by 90 degrees; when the rotating disc rotates by 180 degrees, the cylindrical block at the end of the first driving part in the second driving member is separated from the straight slot of the rotating disc, and the arc surface at the end of the second driving part in the second driving member is matched with the arc slot of the rotating disc; then the rotating power mechanism drives the first driving member and the second driving member to rotate by 90 degrees, at this time, since the curvature of the arc surface at the end of the second driving part of the second driving member is the same as the curvature of the arc slot on the rotating disc, the second driving part does not drive the rotating disc to rotate, and the rotating disc is in a stationary state in this process; Then, the rotating power mechanism reversely drives the first driving member and the second driving member to rotate by 270 degrees, wherein in the first 90-degree rotating range, the arc surface at the end of the second driving part in the second driving member is matched with the arc slot of the rotating disc, and the rotating disc is in a stationary state; in this process, the two groups of clamping assemblies respectively start to release the picked tea leaves and clamp the tea leaves to be picked; then in the next 180-degree rotating range, the second driving member reversely drives the rotating disc to rotate by 90 degrees, then the cylindrical block at the end of the first driving part of the second driving member is separated from the straight slot in the rotating disc, while the cylindrical block at the end of the first driving part of the first driving member enters another straight slot in the rotating disc, and the rotating disc is reversely driven by the first driving member to continue to rotate by 90 degrees; when the rotating disc reversely rotates by 180 degrees, the rotating power mechanism drives the first driving member and the second driving member to continue to reversely rotate by 90 degrees, and in this process, since the arc surface at the end of the second driving part in the first driving member is matched with the arc slot of the rotating disc, the rotating disc is in a stationary state; the above-mentioned actions are repeated, so as to drive the rotating seat to intermittently and reciprocally rotate by 180 degrees.

5. The bionic machine device for picking and loading tea leaves in one step according to claim 4, characterized in that, The rotating power mechanism comprises a rotating motor mounted on the support, a driving gear is arranged on the main shaft of the rotating motor, and a driven gear is arranged on the driving shafts at both sides, the driving gear is engaged with the driven gears on the driving shafts at both sides.

6. The bionic machine device for picking and loading tea leaves in accordance with claim 5, characterized in that, The clamping assembly comprises a first clamping rod, a second clamping rod, and a clamping driving assembly for driving the first clamping rod and the second clamping rod to move towards each other or in opposite directions; the clamping driving assembly comprises a first driving plate and a second driving plate, wherein, The first driving plate comprises a first rotating part and a first connecting part arranged on the first rotating part; a first gear part is arranged on the first rotating part, the first rotating part is rotatably connected to the rotating seat through a first rotating shaft; one end of the first connecting part is connected to the first rotating part, and the other end is hingedly connected to the first clamping rod; The second driving plate comprises a second rotating part and a second connecting part arranged on the second rotating part; a second gear part engaged with the first gear part is arranged on the second rotating part, the second rotating part is rotatably connected to the rotating seat through a second rotating shaft; one end of the second connecting part is connected to the first rotating part, and the other end is hingedly connected to the second clamping rod.

7. The bionic machine device of claim 6, wherein the device is characterized in that, The clamping driving assembly comprises a transmission shaft, a main gear arranged on the transmission shaft, and a driven gear arranged on the first rotating shaft or the second rotating shaft of the two sets of clamping driving assemblies; one end of the transmission shaft is connected to the main shaft of the rotating motor; the other end vertically penetrates through the support, the rotating disc, and the rotating seat and is connected to the main gear; the support, the rotating disc, and the rotating seat are provided with bearings at positions corresponding to the transmission shaft; the main gear is engaged with the driven gears arranged on both sides thereof and mounted on the first rotating shaft or the second rotating shaft; wherein a friction transmission member is arranged between the main gear and the transmission shaft, when the resistance received by the main gear is greater than the friction between the main gear and the transmission shaft, the transmission shaft is in an idle state.

8. The bionic machine device of claim 7, wherein the device is characterized in that, A buffer block is arranged on the clamping part of the first clamping rod and the second clamping rod; a limiting block is arranged at a position corresponding to the clamping part of the first clamping rod and the second clamping rod, the height of the limiting block is less than the height of the buffer block.

9. The bionic machine device of claim 7, wherein the device is characterized in that, The tea leaf shearing mechanism comprises a support, a fixed knife arranged on the support, a movable knife, and a shearing driving mechanism for driving the movable knife to rotate to complete the shearing action of the movable knife and the fixed knife; the fixed knife is fixed on the support, and the movable knife is rotatably connected to the fixed knife; the shearing driving mechanism is used for transmitting the power of the rotating motor to the movable knife, and the shearing driving mechanism comprises a transmission gear set, one end of the transmission gear set is engaged with one set of driven gears, and the other end is connected to the movable knife through a driving shaft; wherein a friction transmission member is arranged between the movable knife and the driving shaft, when the movable knife rotates to the limit position, the resistance received by the movable knife is greater than the friction between the movable knife and the driving shaft, and the driving shaft is in an idle state.

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