Tea leaf tender bud intelligent picking device

Abstract

A tea leaf picking device and a tea leaf bud intelligent picking equipment thereof, the tea leaf picking device adopts a finger clamping and twisting off mode simulating manual picking, which is different from traditional clamping off, shearing off and cutting off mode, and can more truly restore the quality of manual picking, so that the appearance and quality of the tender leaves are guaranteed. Clamping off can cause the broken part to be flat and fragmented, while shearing off and cutting off can make the broken part too neat, which has a strong industrial processing feeling during later infusion, affecting the appearance of the tea leaves and also affecting the taste. Shearing off and cutting off adopt cutter cutting, which can leave some metallic odor. The tea leaf picking device adopts a material receiving box to store the tea leaves sent by the first finger and the second finger for multiple times, and then stores the tea leaves in the temporary storage box through negative pressure input in batches. Compared with the mode of sucking every time of picking, this concentrated suction mode needs lower negative pressure. In addition, the airflow blown by the negative pressure pump can effectively avoid the accumulation of tea leaves.

Description

Technical Field

[0001] This invention relates to tea picking technology, and in particular to an intelligent tea bud picking device. Background Technology

[0002] Chinese invention patent application CN202210926278.6 discloses a tea baling machine and its tea-picking robot, which uses a robotic arm to pick tea leaves, feeds the tea leaves into the baling machine for baling, and then outputs them. During subsequent research and development, the applicant discovered the following shortcomings in the aforementioned patent:

[0003] 1. Using negative pressure to suck tea leaves into the storage box during each harvest results in significantly high energy consumption. Furthermore, the discharge of tea leaves from the storage box relies on gravity; if tea leaves become stuck inside, manual intervention is required. Additionally, the negative pressure suction during harvesting causes the tea leaves to fall into the storage box under gravity, potentially leading to a pile-up of tea leaves below the feed pipe instead of spreading out, thus affecting the storage capacity of the box.

[0004] 2. The picking robot uses a clamping method to break the tea leaves. If the clamping force is insufficient during picking, the tea leaves will be pulled apart, affecting the taste and quality. If the clamping force is too large, the broken part of the tea leaves will be flat and filamentous, which will also affect the taste and quality. Even if the clamping force is moderate, there will be obvious clamping marks at the break, which will still affect the taste and quality.

[0005] 3. The packaging bags are unfolded using a side-shifting frame. This method means that when the tea is loaded into the bag, its weight acts on the side wall of the bag. Since the bag is relatively vertically installed and quite thin, it is easy for the bag to slide or fold vertically, leading to malfunctions. To reduce the probability of bag slippage, a large suction negative pressure must be maintained, which results in higher energy consumption. Excessive tension can also cause the bag to tear or break.

[0006] 4. After loading, the packaging bags need to be sealed. However, due to factors such as bag slippage during loading, excessive loading, folding at the sealing point, or tea leaves being located at the sealing area, the packaging bags may not be completely sealed or may not be sealed properly. In such cases, removing the packaging bag will inevitably cause the tea leaves to fall out. Even if sealing is completed, the packaging bags must be opened again during subsequent processing, resulting in wasted manpower. Furthermore, in hot weather, the sealing method can also affect the quality of the tea.

[0007] 5. If the packaging bag is not covered when it is open, foreign objects can easily enter the bag, requiring manual sorting later, which wastes manpower and affects the quality of the tea. Summary of the Invention

[0008] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a tea picking device and an intelligent tea bud picking equipment, which can simulate manual tea picking and avoid causing unsightly broken tea leaves and excessive damage, thus affecting the quality and taste of the tea.

[0009] To achieve the above objectives, the present invention provides a tea picking device, including a robotic arm. The robotic arm includes a first arm, a second arm, a third arm, a fourth arm, a first finger, and a second finger. A first motor is mounted on the second arm, and the output shaft of the first motor passes through the second arm and is assembled with the first arm. The third arm is assembled and fixed with the second arm, and a second motor is mounted on the third arm. The output shaft of the second motor passes through the third arm and is assembled with the fourth arm.

[0010] The fourth arm is equipped with a third motor and a fourth motor, and the output shafts of the third motor and the fourth motor are respectively assembled and fixed to the first finger and the second finger; the first finger and the second finger are respectively equipped with a first thin-film pressure sensor and a second thin-film pressure sensor, which are used to detect the clamping pressure on the tea leaves;

[0011] When picking tea leaves, the first and second fingers clamp the tea leaves together, and then the second motor and / or the first motor is started to drive the first and second fingers to rotate, thereby breaking the tea leaves.

[0012] The beneficial effects of this invention are:

[0013] This invention employs a method where the packaging bag is opened at the top of the unfolding frame, while the bottom of the bag remains closed. This distributes the weight of the tea leaves inside the bag across the unfolding frame, significantly reducing the vertical stress on the bag and thus decreasing the probability of it being pulled down or misaligned due to the weight of the tea leaves. Simultaneously, when discharging the bag, the entire packaging device lowers to reduce the bag's height above the ground, and then the unloading frame unfolds to release the bag. Since the amount of tea leaves inside the bag is small, and the bag doesn't fall from a high position, it is unlikely to tip over, and even if it does, the tea leaves are unlikely to spill out. This achieves the goal of preventing tea leaves from spilling out of the bag without the need for plastic sealing. Furthermore, the bag can be reused, avoiding the waste of manpower caused by manually damaging the bag and reducing costs. It also boasts lower energy consumption and higher reliability. Additionally, the packaging device incorporates a side sliding door assembly. The opening and closing of two side sliding doors allows the space above the bag to be opened as needed, reducing the probability of foreign objects entering the bag and thus ensuring tea quality.

[0014] The tea-picking device of this invention uses a method that simulates manual picking by clamping and twisting the leaves with fingers. This method differs from traditional methods such as clamping, cutting, and slicing, and more realistically replicates the quality of hand-picking, thus ensuring the appearance and quality of the tender leaves. Clamping results in a flattened and fragmented break, while cutting and slicing create overly neat cuts that give the tea a strong industrial feel during brewing, affecting both the appearance and taste. Cutting and slicing with knives can leave a metallic taste. The tea-picking device uses a receiving box to repeatedly store the tea leaves fed by the first and second fingers, then centrally inputs them into a temporary storage box via negative pressure. Compared to the method of suction after each picking, this centralized suction method requires less negative pressure and consumes less energy. In addition, the airflow blown by the negative pressure pump effectively prevents tea leaves from piling up, thus ensuring that the storage capacity of the temporary storage box does not decrease significantly. Attached Figure Description

[0015] Figures 1-3 This is a schematic diagram of the structure of the present invention, wherein... Figure 3 This is a schematic diagram showing the state of the packaging device discharging the packaging bag;

[0016] Figure 4 This is a partial structural schematic diagram of the present invention (with Mecanum wheel 230 and part of the support column 140 removed).

[0017] Figures 5-6 This is a partial structural diagram of the top frame 110, longitudinal shift frame 170, and transverse shift frame 180.

[0018] Figures 7-8 This is a structural schematic diagram of the transverse sliding frame 180 and the longitudinal sliding frame 170 (partial);

[0019] Figure 9 This is a structural diagram of the transverse frame 180 (partial), the lifting frame 190, the robotic arm 300, and the temporary storage module 400.

[0020] Figures 10-12 This is a structural diagram of the lifting frame 190, the robotic arm 300, and the temporary storage module 400.

[0021] Figure 13 Schematic diagram of 300 parts of the robotic arm;

[0022] Figure 14 This is a cross-sectional view of the temporary storage module 400 located at the center plane of the axis of the suction tube 402;

[0023] Figure 15 This is a cross-sectional view of the temporary storage module 400 located at the center plane of the suction chamber 481;

[0024] Figures 16-19 This is a partial structural diagram of the temporary storage module 400;

[0025] Figure 20 This is a structural diagram of the guide plate 470, the guide spring 502, the guide seat 460, and the limiting frame 450.

[0026] Figure 21 This is a schematic diagram of the structure of guide gear 446, guide rack 447, and guide slide 462;

[0027] Figure 22 This is a schematic diagram of the structure at suction shell 480 and valve plate 483;

[0028] Figure 23 This is a structural diagram of valve plate 483, valve plate cable 510, and orifice cover 482.

[0029] Figures 24-25 This is a structural diagram of valve plate 483, valve plate cable 510, and valve plate branch cable 511.

[0030] Figure 26 This is a structural diagram of the temporary storage module 400 in material discharge mode, the robotic arm 300, and the lifting frame 190.

[0031] Figure 27 This is a cross-sectional view of the tea picking device and packaging device working together, with the temporary storage module 400 in discharge mode, located at the center plane of the suction shell 480 axis.

[0032] Figure 28 This is a cross-sectional view of the packaging device located at the center plane of the transmission belt 740;

[0033] Figures 29-31 This is a partial structural diagram of the packaging device;

[0034] Figure 32 This is a schematic diagram of the connection between the material feeding rack 620 and the unfolding rack 630;

[0035] Figures 33-34 This is a partial structural diagram of the unfolding frame at point 630;

[0036] Figure 35 This is a structural diagram of the central rotating wheel 720, the pressure wheel 730, and the wheel frame 670;

[0037] Figure 36 This is a partial structural diagram of the temporary storage module 400 after it is combined with the vibration plate 870 and the drive belt 760.

[0038] Figure 37 This is a schematic diagram of the drive assembly and the structure at position 870 of the vibrating plate;

[0039] Figures 38-40 This is a structural diagram of the sliding door assembly. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0041] See Figures 1-4 The intelligent tea bud picking equipment of this embodiment includes a frame, a tea picking device, and a packaging device, both of which are mounted on the frame. The tea picking device is used to pick tea leaves and then feeds the picked tea leaves into the packaging device. The packaging device stores the tea leaves picked by the tea picking device in a packaging bag and then outputs the packaging bag. The tea picking device can directly adopt existing technology, such as the tea picking robot or robotic arm described in patent number CN202210926278.6, etc. Theoretically, anything that can pick tea leaves is acceptable. Of course, this embodiment also provides a specific design of the tea picking device.

[0042] See Figures 1-9 The frame includes a top frame 110, a top plate 120, a top cover 130, and at least four support columns 140. The support columns 140 are assembled and fixed to the support cylinder shaft 211 of the support cylinder 210. The outer shell of the support cylinder 210 is assembled and fixed to the top frame 110. The top plate 120 is installed and fixed on the top frame 110, and the top cover 130 is installed and fixed on the top plate 120. The top cover 130 houses electrical equipment such as batteries, industrial control computers, and wireless modules. The batteries supply power to the various electrical devices, the industrial control computers are used to acquire signals from the various electrical devices and issue control commands, and the wireless modules are used for wireless communication with external devices.

[0043] The top frame 110 is also assembled and fixed to the guide rail 150. The guide rail 150 is provided with a guide groove 151, which engages and slides with a guide strip 141. The guide strip 141 is mounted on the support column 140, and a Mecanum wheel 230 is also mounted on the support column 140. The Mecanum wheel 230 is driven by a travel motor 231. In use, the four Mecanum wheels 230 work together to realize the forward, backward, left, right, left, and right turns of the entire equipment. The support column electric cylinder 210 is a servo electric cylinder, which drives the support column electric cylinder shaft 211 to move axially to realize the lifting and lowering of the top frame 110 relative to the ground.

[0044] The top frame 110 is equipped with a longitudinal optical shaft 161 and a longitudinal lead screw 162. A longitudinal frame 170 is axially slidably fitted onto the longitudinal optical shaft 161 and is fitted onto the longitudinal lead screw 162 and threadedly engaged with it. The longitudinal lead screw 162 is connected to the output shaft of a longitudinal motor 241 via a longitudinal belt 2411, forming a belt drive mechanism. The longitudinal motor 241 is mounted on the top frame 110. In use, the longitudinal motor 241 starts and drives the longitudinal lead screw 162 to rotate, and the longitudinal lead screw 162 drives the longitudinal frame 170 to move along its axial direction via the thread.

[0045] In some embodiments, a longitudinal pull rope displacement sensor 231 is also installed on the top frame 110. The longitudinal pull rope 2311 of the longitudinal pull rope displacement sensor 231 is assembled and fixed with the longitudinal frame 170. When the longitudinal frame 170 moves, it will drive the longitudinal pull rope 2311 to move, thereby using the longitudinal pull rope displacement sensor 231 to detect the displacement of the longitudinal frame 170.

[0046] The longitudinal frame 170 is equipped with a transverse optical shaft 171 and a transverse lead screw 172. A transverse moving frame 180 is axially slidably mounted on the longitudinal optical shaft 171. The transverse moving frame 180 is fitted onto the transverse lead screw 172 and is threadedly engaged with it. The transverse lead screw 172 is connected to the output shaft of a transverse motor 242 via a transverse belt 2421, forming a belt drive mechanism. The transverse motor 242 is mounted on the longitudinal frame 170. After the transverse motor 242 is started, it drives the transverse lead screw 172 to rotate, and the transverse lead screw 172 drives the transverse moving frame 180 via a thread.

[0047] In some embodiments, a transverse pull rope displacement sensor 232 is also installed on the longitudinal frame 170. The transverse pull rope 2321 of the transverse pull rope displacement sensor 232 is assembled and fixed with the transverse frame 180, so that when the transverse frame 180 moves, it drives the transverse pull rope 2321 to move, so that the transverse pull rope displacement sensor 232 can detect the displacement of the transverse frame 180.

[0048] The transverse frame 180 is equipped with a lifting slide rail 181 and two lifting screws 182. The two lifting screws 182 pass through the lifting frame 190 and are threadedly engaged with it. The lifting frame 190 is provided with a lifting frame groove 191 that engages with and slides with the lifting slide rail 181. The two lifting screws 182 are connected by a lifting belt 2431 to form a belt drive mechanism. One of the lifting screws 182 is connected to the output shaft of the lifting motor 243, which is mounted on the transverse frame 180. After the lifting motor 243 is started, it can drive the two lifting screws 182 to rotate synchronously, thereby causing the lifting frame 190 to rise and fall relative to the transverse frame 180.

[0049] In some embodiments, a lifting rope displacement sensor 233 is installed on the transverse frame 180. The lifting rope 2331 of the lifting rope displacement sensor 233 is assembled and fixed with the lifting frame 190. When the lifting frame 190 moves, it drives the lifting rope 2331 to move, so that the lifting rope displacement sensor 233 can detect the displacement of the lifting frame 190.

[0050] See Figures 1-27 The tea picking device includes a robotic arm 300, a temporary storage module 400, and a lifting frame 190. The robotic arm 300 and the temporary storage module 400 are both installed on the lifting frame 190. The robotic arm 300 is used to pick tea leaves, and the temporary storage module 400 is used to temporarily store the picked tea leaves.

[0051] The robotic arm 300 includes a first arm 310, a second arm 320, a third arm 330, a fourth arm 340, a first finger 360, and a second finger 370. The first arm 310 is mounted and fixed on the lifting frame 190. A first motor 351 is mounted on the second arm 320. The output shaft of the first motor 351 passes through the second arm 320 and is assembled with the first arm 310, so that the second arm 320 and the first arm 310 can be assembled in a relatively circumferential rotation. After the first arm motor 351 is started, it can drive the second arm 320 to rotate relative to the first arm 310.

[0052] The third arm 330 is assembled and fixed to the second arm 320. A second motor 352 is mounted on the third arm 330. The output shaft of the second motor 352 passes through the third arm 330 and is assembled to the fourth arm 340. When the second motor 352 is started, it can drive the fourth arm 340 to rotate relative to the third arm 330. A support arm frame 341 is mounted on the fourth arm 340. A third motor 353 and a fourth motor 354 are respectively mounted on the support arm frame 341. The output shafts of the third motor 353 and the fourth motor 354 are assembled and fixed to the first finger 360 and the second finger 370, respectively. When the third motor 353 and the fourth motor 354 are started, they can drive the corresponding first finger 360 and second finger 370 to rotate.

[0053] A first thin-film pressure sensor 361 and a second thin-film pressure sensor 371 are respectively installed on the first finger 360 and the second finger 370. The signals of the first thin-film pressure sensor 361 and the second thin-film pressure sensor 371 are connected to the industrial control computer, and the first thin-film pressure sensor 361 and the second thin-film pressure sensor 371 can press against each other.

[0054] The top frame 110, the transverse frame 180, and the lifting frame 190 are respectively equipped with a first camera 211, a second camera 222, and a third camera 223. These cameras are used to acquire images for image recognition. In use, the image of the tea bud is identified using image recognition technology. The coordinates of the tea bud relative to the robotic arm 300, as well as the relative coordinates of the clamping points of the first finger 360 and the second finger 370 with respect to the tea bud, are calculated based on the position of the robotic arm 300. Control signals are then generated for the longitudinal motor 241, the transverse motor 242, the lifting motor 243, the first motor 351, the second motor 352, the third motor 353, and the fourth motor 354. These signals control the first thin-film pressure sensor 361 and the second thin-film pressure sensor 371 to clamp the tea bud at the break point. The clamping force is measured by the first thin-film pressure sensor 361 and the second thin-film pressure sensor 371 until the clamping force reaches a preset value. Then, the first motor 351 and / or the second motor 352 are activated to simulate the action of twisting and breaking tea leaves when picking them by hand. For example, if the second motor 352 is activated, it drives the first and second fingers to rotate at a certain angle, thus twisting and breaking the tea leaves. Alternatively, the first motor 351 can be activated to apply torque in the opposite direction. After the tea leaves are twisted and broken, the first motor 351 is activated, driving the first and second fingers to rotate with the tea leaves to the position for releasing them, preparing to input the tea leaves into the temporary storage module 400 for storage. Figure 12 )state.

[0055] In this embodiment, the clamping force range between the thumb and forefinger during manual picking can be collected first, and then this clamping force range can be used as a preset threshold for the clamping force of the first and second fingers on the tender tea leaves. During picking, the first finger 360 first rotates to one side of the target tender leaf, so that the first thin-film pressure sensor 361 is facing the tender leaf. The second finger 370 then rotates to clamp the second thin-film pressure sensor 371 with the tender leaf. The tender leaf is clamped between the first thin-film pressure sensor 361 and the second thin-film pressure sensor 371 until the clamping force reaches the preset threshold. Then, the second motor 352 is started, and the second motor 352 carries the first and second fingers to twist off the tender leaf. Then, the first motor 351 is started, and the first motor 351 carries the tender leaf to reach the target. Figure 12 The tea leaves are ready to be released. This method differs from traditional methods such as pinching, cutting, and slicing, as it more authentically replicates the quality of hand-picking, thus ensuring the appearance and quality of the tender leaves. Pinching results in a flattened and fragmented break, while cutting and slicing create overly clean cuts that give the tea a highly industrial feel during brewing, affecting both the appearance and taste. Cutting and slicing, using knives, can leave a residual metallic taste.

[0056] See Figures 1-13 , Figures 14-27The temporary storage module 400 includes a temporary storage box 410, a receiving box 420, and a door panel 430. The temporary storage box 410 is fixed on the lifting frame 190. The temporary storage box 410 is hollow inside and has an opening on one side. The opening side is closed by the door panel 430. A conveyor belt 443 is installed on the bottom inner side of the temporary storage box 410. The conveyor belt 443 passes around two conveyor belt shafts 4431 and forms a belt drive mechanism. The two conveyor belt shafts 4431 are respectively rotatably assembled with the temporary storage box 410. One of the conveyor belt shafts 4431 passes through the temporary storage box 410 and is assembled and fixed with the power wheel 444. In use, the conveyor belt 443 can be driven to run by driving the power wheel 444 to rotate.

[0057] The door panel 430 is provided with a hinge block 431 and a connecting block 432. A hinge pin 405 passes through the hinge block 431 and is assembled with the temporary storage box 410, so that the door panel 430 is hinged to the temporary storage box 410 by the hinge pin 405. The connecting block 432 is assembled and fixed to one end of the door cable 406. The other end of the door cable 406 passes around the guide wheel 445 and is assembled and fixed to the guide seat 460. The guide seat 460 is installed inside the limiting frame 450, and the limiting frame 450 is installed and fixed on the temporary storage box 410. The guide wheel 445 is rotatably mounted on the limiting end 451 of the limiting frame 450 through the guide wheel shaft.

[0058] A first guide frame 414 and a second guide frame 415 are respectively installed on the inner side of the door panel 430 and below the conveyor belt 443. A guide groove is formed between the first guide frame 414 and the second guide frame 415. The guide groove engages and slides with the first guide cylinder 471 and the second guide cylinder 472 on both sides of the guide plate 470, so that the guide plate 470 is indirectly engaged and slidably installed in the guide groove. The guide groove is open at one end near the door panel 430. After the second guide cylinder 472 passes through the guide groove, it is assembled and fixed with the guide gear 446. The guide gear 446 meshes with the guide rack 447 for transmission. One end of the guide gear 446 and the guide rack 447 are both installed in the guide seat 460. The second guide cylinder 472 engages and slides with the guide gear 446. The seat 460 can be rotatably assembled relative to the circumference; the other end of the guide rack 447 passes through the guide seat 460 and is assembled and fixed with the push plate 4472. The guide rack 447 is provided with a shaft hole 4474 that engages with the spring shaft 407 and can be axially slidably assembled. The shaft hole 4474 passes through the guide rack 447 along the length direction of the guide rack 447. One end of the spring shaft 407 is installed in the shaft hole 4474, and the other end is assembled and fixed with the guide seat 460. A guide spring 503 is fitted on the part of the spring shaft 407 located between the guide seat 460 and the guide rack 447. The guide spring 503 applies a spring force to the guide rack 447 to push the guide seat 460 outward, so that the guide rack 447 and the guide gear 446 maintain the initial state. Figure 19 state).

[0059] The guide plate 470 is also connected to the connecting plate 417 via a connecting rope 504. The connecting rope 504 is flexible. The connecting plate 417 is snapped into and slidably installed in the guide groove. The connecting plate 417 is fixedly assembled to one end of the guide spring 502, and the other end of the guide spring 502 is fixedly assembled to the spring plate 418. In the initial state ( Figure 20 (State) The connecting plate 417 and the limiting platform 419 are pressed together to limit the maximum displacement of the connecting plate 417 towards the tension spring plate 418. The limiting platform 419 and the tension spring plate 418 are both installed on the temporary storage box 410. The guide spring 502 applies a spring force to the connecting plate 417 to tighten the tension spring plate 418 so as to keep the guide plate 470 located below the conveyor belt 443 in the initial state.

[0060] In some embodiments, the guide rack 447 is further provided with a rack slider 4471 and a rack limiting block 4473. The rack slider 4471 engages with and slides with the rack groove 4611. The rack groove 4611 is provided on the guide seat plate 461. The guide seat plate 461 is also provided with a guide limiting block 4612. The guide seat plate 461 is provided on the guide seat 460. The guide limiting block 4612 and the rack limiting block 4473 are pressed together to limit the maximum displacement of the guide rack 447 towards the push plate 4472. This design allows the guide spring 503 to apply a large thrust to the guide rack 447 in the initial state, ensuring that the guide plate 470 will not rotate after the first guide cylinder 471 passes through the guide groove. That is, the guide gear 446 will not push the guide rack 447 to move, causing the guide plate 470 to rotate.

[0061] The top of the inner side of the temporary storage box 410 is equipped with a suction shell 480. The suction shell 480 has a hollow suction cavity 481 inside. The suction cavity 481 is open at both ends and the bottom of the suction cavity 481 is closed by two valve plates 483. The top of the suction cavity 481 is equipped with a hole cover 482. The hole cover 482 is provided with several through holes and is connected to the inlet of the air valve 246 through a connecting pipe 404. The outlet of the air valve 246 is connected to the inside of the negative pressure tank 245. The inside of the negative pressure tank 245 is connected to the suction port of the negative pressure pump 2451. The exhaust port of the negative pressure pump 2451 is connected to one end of the air blowing pipe 403. The other end of the air blowing pipe 403 is connected to the inside of the temporary storage box 410 and above the conveyor belt 443. After the negative pressure pump 2451 is started, it can evacuate air from the negative pressure tank 245. The evacuated air is blown through the air blowing pipe 403 towards the tea leaves in the temporary storage box 410 and above the conveyor belt 443 to prevent the tea leaves from accumulating below the suction chamber 481 and affecting the storage capacity of the temporary storage box. The air valve 246 controls the opening and closing of the negative pressure tank 245 and the connecting pipe 404. When the air valve 246 is opened, negative pressure enters the suction chamber 481 for suction. The air valve 246, the negative pressure tank 245, and the negative pressure pump 2451 are all installed on the temporary storage box 410.

[0062] The suction chamber 481 is connected to one end of the suction tube 402, and the other end of the suction tube 402 is connected to the suction hole 4121. The suction hole 4121 is set on the receiving rack 412, which is assembled and fixed to the temporary storage box 410 by a positioning plate 411. A limiting angle iron 413 is set on the receiving rack 412. The receiving rack 412 is assembled and fixed to one side of the receiving box 420 by a rotating shaft 401. The rotating shaft 401 and the receiving rack 412 can be rotatably assembled relative to each other. A worm gear 441 is fitted and fixed on the rotating shaft 401. The worm gear 441 meshes with the worm part 442 for transmission. The worm part 442 is set on the output shaft of the receiving motor 244, which is mounted on the receiving rack 412. After the receiving motor 244 is started, it can drive the rotating shaft 401 to rotate, thereby driving the receiving box 420 to rotate synchronously, so that the receiving box 420 can rotate to the receiving state. Figure 16 , Figure 12 To receive tea leaves from the first and second fingers, in a sucking state ( Figure 9 , Figure 11 This allows the suction tube to draw tea leaves from the receiving box 420 into the suction chamber 481. The limiting angle iron 413 is used to limit the maximum rotation angle of the receiving box 420, so that the receiving box 420 corresponds to the receiving state and the suction state at the two maximum rotation angles respectively.

[0063] The receiving box 420 has a hollow, top-opening receiving cavity 422. A through receiving hole 421 is provided at the bottom of the receiving box 420. A one-way valve 423 is installed on the end of the receiving hole 421 that connects to the receiving cavity 422. Initially, the one-way valve 423 closes the receiving hole 421 using its own elasticity. If the negative pressure inside the receiving cavity 422 becomes too high, the negative pressure opens the one-way valve 423, allowing external air to be drawn into the receiving cavity 422 through the receiving hole 421. This design is primarily to facilitate the rapid and efficient extraction of as much material as possible from the receiving cavity 422 into the suction chamber 481.

[0064] A base plate 485 is provided below the valve plate 483 in the suction shell 480. The base plate 485 and the suction shell 480 form a valve groove 486, in which the valve plate 483 engages and slides within the valve groove 486. One end of each of the two valve plates 483 is rotatably mounted to the same valve shaft 406, which is mounted on the suction shell 480. Each valve plate 483 is also mounted to one end of a corresponding valve plate branch cable 511. The two valve plate branch cables 511 pass over corresponding first pulleys 5111 and second pulleys 5112, respectively, and are then mounted to one end of a valve plate pull cable 510. The first pulleys 5111 and second pulleys 5112 are rotatably mounted on the suction shell 480. A torsion spring is installed between the two valve plates 483 and the suction shell 480. The torsion spring applies a spring force to the valve plates 483 to resist their rotation, ensuring that the two valve plates 483 remain stationary in the initial state. Figure 24 The bottom of the suction chamber 481 is closed. In this embodiment, a torsion spring can be fitted onto the valve shaft 406.

[0065] The other end of the valve plate cable 510 passes through the shell plate 484, exits the temporary storage box 410, and is directly or indirectly assembled and fixed to the telescopic shaft of the electromagnet 247. The electromagnet 247 is installed on the temporary storage box 410. The valve plate cable 510, shell plate 484, and temporary storage box 410 can be slidably assembled relative to each other. A spring ring 512 is provided on the valve plate cable 510. A cable spring 501 is fitted on the part of the valve plate cable 510 located between the spring ring 512 and the shell plate 484. The cable spring 501 applies a thrust away from the shell plate 484 to the spring ring 512, so that in the initial state, the two valve plates 483 keep the bottom of the suction chamber 481 closed. Figure 24 When valve plate 483 needs to be opened, electromagnet 247 is activated to drive valve plate cable 510 to move upward against the elastic force of cable spring 510. This causes the two valve plate branches 511 to move upward respectively, and each branch cable 511 applies an outward rotational pulling force to the corresponding valve plate 483 to pull the corresponding valve plate 483 to rotate outward and open, until the valve plate 483 is opened. Figure 25In this state, the bottom of the suction chamber 481 is open. After the electromagnet is de-energized, the cable spring 510 and the torsion spring respectively drive the valve plate cable and valve plate 483 to reverse and reset to their original positions. Figure 24 state.

[0066] In some embodiments, a guide plate protrusion 473 is provided on one end face of the guide plate 470 facing the conveyor belt 443. The guide plate protrusion 473 is used to prevent tea leaves located between the two guide plate protrusions 473 from falling out of the guide plate 470 from one side of the guide plate protrusion 473.

[0067] In some embodiments, the tops of the door panel 430 and the temporary storage box 410 are respectively assembled and fixed to both ends of the elastic sheet 433, which is elastic. This design ensures that the door panel 430 can be opened normally while the temporary storage box 410 can be closed through the elastic sheet 433.

[0068] In some embodiments, a laser sensor 201 is installed on the receiving box 420. The laser sensor 201 is used to detect the height of the tea leaves in the receiving box 420. Once the tea leaves block the laser sensor 201, it is determined that the box is full and needs to be sucked out. At this time, the tea leaves in the receiving chamber 422 need to be sucked out and stored in the temporary storage box.

[0069] See Figure 27When material needs to be discharged, the top of the door panel 430 is pressed against the top opening plate 617 of the packaging device, so that the door panel 430 rotates and opens around the hinge pin 405. During this process, the door panel 430 pulls the guide seat 460 to move through the door lock 406. The guide seat 460 drives the guide plate 470 to move synchronously. The guide plate 470 pulls the connecting plate 417 through the connecting rope 504 to overcome the tension of the guide spring 502 and move towards the limiting end 451. The first guide cylinder 471 will first pass through the guide groove, but due to the guide spring 503 The resistance of the guide rack 447 prevents the guide plate 470 from rotating until the push plate 4472 is pressed against the limiting end 451. At this point, the guide seat 460 continues to move, causing the guide rack 447 to compress the guide spring 503 and move away from the limiting end 451 relative to the guide seat 460. This drives the guide gear 446 to rotate, which in turn causes the guide plate 470 to rotate downwards at one end of the first guide cylinder 471, forming an overlapping inclined plate. The connecting rope, being flexible, can adapt to the rotation of the guide plate 470. When tea leaves are subsequently output from the temporary storage box, the guide plate 470 can be used to guide the tea leaves into the packaging device. After the door panel 430 separates from the top opening plate 617, the guide spring 502 will pull the guide plate 470 and the connecting plate 417 towards the spring plate 418 until they are reset. During this process, the guide seat 460 gradually moves away from the limit end 451, which causes the guide spring 503 to drive the guide rack 447 to move in the opposite direction to reset, which in turn drives the guide plate 470 to reverse to a horizontal state and enter the guide groove with the pull of the connecting plate 417 to complete the reset.

[0070] See Figure 27 , Figures 35-37 During material discharge, the temporary storage box 410 moves to the discharge state. Figure 27 During the process, the temporary storage box 410 is first moved between the two drive components, with the power wheel 444 facing the drive belt 760 of the drive component. Then, the temporary storage box 410 is lowered until the power wheel 444 is pressed against the corresponding drive belt 760. At this time, the drive belt 760 runs and drives the power wheel 444 to rotate, thereby driving the conveyor belt 443 to run to discharge the tea leaves in the temporary storage box onto the guide plate 470. The tea leaves are then introduced into the packaging bag of the packaging device along the guide plate 470.

[0071] In this embodiment, the process by which the temporary storage module receives the tender tea leaves delivered by the first and second fingers and then transports them to the temporary storage box is as follows:

[0072] S1, see also Figure 12 After the first and second fingers pick up the tea leaves, the machine rotates to the feeding state. Then, the receiving motor 244 is started, which drives the receiving box 420 to rotate to the receiving state. At this time, the receiving chamber 422 is located below the first and second fingers.

[0073] S2, the fourth motor 354 starts, driving the second finger 370 away from the first finger to release the tea leaves. The tea leaves fall into the receiving chamber 422 under the action of gravity.

[0074] S3, the receiving motor reverses, driving the receiving box 420 to rotate into the suction state. Figure 11 The material is received. The robotic arm then moves to begin the next harvest.

[0075] S4. When the receiving box is full of tea leaves, the receiving box rotates to the suction state. The valve plate keeps the bottom of the suction chamber 481 closed. The air valve is opened, and the negative pressure in the negative pressure tank enters the suction chamber and generates suction negative pressure along the suction pipe 402 to the receiving chamber 422. The suction negative pressure draws the tea leaves into the suction chamber 481. During the suction process, if the suction negative pressure is too large, the one-way valve will open, thereby drawing in airflow to assist in conveying the tea leaves into the suction chamber 481.

[0076] S5. After suction is complete, the air valve closes, and the negative pressure pump starts to draw negative pressure from the negative pressure tank. The electromagnet starts, driving the two valve plates 483 to rotate and open. The tea leaves fall into the temporary storage box and above the conveyor belt 443 by gravity, and the air blowing pipe 403 blows air to push the tea leaves towards the door plate 430 to prevent them from accumulating below the suction chamber 481. After the electromagnet reaches its start time, it closes, the valve plates reset, and it waits for the next suction. Once the negative pressure in the negative pressure tank reaches the required level, the negative pressure pump shuts off.

[0077] Compared to suctioning tea leaves after each harvest, this centralized suction method requires less negative pressure and therefore consumes less energy. Although a robotic arm is needed to carry the tea leaves to the receiving station and place them into the receiving box after each harvest, the robotic arm uses small motors with low energy consumption. Therefore, the overall energy consumption is significantly lower than that of suctioning tea leaves after each harvest. In addition, the airflow blown by the negative pressure pump effectively prevents tea leaves from piling up, thus ensuring that the storage capacity of the temporary storage box does not decrease significantly.

[0078] See Figures 1-4 , Figures 27-40The packaging device includes an outer frame 610, a feeding rack 620, and an unfolding rack 630. The outer frame 610 is assembled and fixed to the top frame 110. The feeding rack 620 is installed inside the outer frame 610, and the unfolding rack 630 is installed inside the feeding rack 620. The feeding rack 620 is hinged to the outer frame 610 via a second rotating shaft 820. The feeding rack 620 is also assembled to a second drive shaft (not shown). The second drive shaft passes through a second arc groove 611 and is rotatably assembled to a second drive block 252. The second drive block 252 is mounted on a second electric cylinder shaft 251. The second electric cylinder shaft 251 is installed inside a second electric cylinder 250. The second electric cylinder 250 is hinged to the outer frame 610 via a second shaft (not shown). The center of the second arc groove 611 is coaxial with the axis of the second rotating shaft 820. In use, the second electric cylinder 250 is activated, driving the second electric cylinder shaft 251 to extend and retract axially. This, in turn, drives the feeding rack 620 to rotate around the second rotating shaft 820 via the second drive block 252 and the second drive shaft. Consequently, the bottom of the feeding rack 620 opens outward relative to the outer frame 610 to facilitate the release of the packaging bag 651, ultimately achieving... Figure 3 Status (in actual use) Figure 3 The packaging bag 651 should be in a dropped state, not an adsorbed state.

[0079] The bottom of the unfolding frame 630 is hinged to the feeding frame 620 via a first rotating shaft 810. The unfolding frame 630 is also assembled with a first drive shaft (not shown). The first drive shaft passes through a first arc groove 621 and is rotatably assembled with a first drive block 262. The first drive block 262 is mounted on a first electric cylinder shaft 261, which is inserted into a first electric cylinder 260. The first electric cylinder 260 is hinged to the feeding frame 620 via a first shaft body (not shown). The center of the first arc groove 621 is coaxial with the axis of the first rotating shaft 810. In use, the first electric cylinder 260 is activated, driving the first electric cylinder shaft 261 to extend and retract axially. This, through the first drive block 262 and the first drive shaft, drives the unfolding frame 630 to rotate around the first rotating shaft 810, causing the top of the unfolding frame to open outward relative to the feeding frame 620 and the outer frame 610, facilitating the unfolding of the packaging bag 651, ultimately achieving... Figure 3 state.

[0080] The unfolding frame 630 is equipped with multiple sequentially arranged conveyor rollers 710 and unfolding boxes 660. The conveyor rollers 710 are rotatably mounted on conveyor roller shafts 711, which are mounted on the unfolding frame 630. The unfolding box 660 has a hollow unfolding cavity 661 inside. Several through unfolding holes 662 are provided on the side of the unfolding box 660 facing the mating plate 612, which connect the unfolding cavity 661 to the outside air. An air connector 663 is also installed on the unfolding box 660, which is connected to the unfolding cavity 661. An external negative pressure source is also connected to the air connector 663, so that negative pressure is drawn into the unfolding cavity 661 through the air connector 663, so that the unfolding holes 662 suck up one side of the packaging bag 651.

[0081] The mating plate 612 is mounted on the outer frame 610, and a suction plate 690 is installed on the part of the mating plate 612 that faces the unfolding frame 630. The suction plate 690 is hollow inside and has several through suction holes on the side facing the unfolding frame 630. In use, negative pressure is applied inside the suction plate 690, so that the suction holes are used to suction the other side of the packaging bag 651 through the negative pressure.

[0082] When the packing bag 651 is loaded, the conveying roller 710 presses the packing bag 651 against the mating plate 612 or the suction plate 690 to convey the packing bag 651 by the rotation of the conveying roller 710.

[0083] The conveyor roller 710 is driven to rotate by at least one drive mechanism 680. The drive mechanism 680 includes a drive frame plate 681, a central rotating wheel 720, a pressure wheel 730, and a transmission belt 740. The drive frame plate 681 is mounted and fixed on the unfolding frame 630. The central rotating wheel 720 presses against the conveyor roller 710 to drive the conveyor roller 710 to rotate by friction. The transmission belt 740 is clamped between the central rotating wheel 720 and the pressure wheel 730. The transmission belt 740 passes around at least four transmission belt shafts 741 and forms a belt drive mechanism. One of the transmission belt shafts 741 is connected to the output shaft of the conveyor motor 290 through a drive belt 770 and forms a belt drive mechanism. The conveyor motor 290 is mounted on the drive frame plate 681.

[0084] The intermediate rotating wheel 720 and the pressure wheel 730 are rotatably mounted on the intermediate rotating wheel shaft 721 and the pressure wheel shaft 731, respectively. The intermediate rotating wheel shaft 721 is mounted on the drive frame plate 681, and the pressure wheel shaft 731 is mounted on the wheel frame 670. A wheel frame sliding shaft 671 is mounted on the wheel frame 670. One end of the wheel frame sliding shaft 671 is fitted with a wheel frame spring 601, which passes through the sliding shaft plate 682 and is axially slidably assembled therewith. Both ends of the wheel frame spring 601 are respectively assembled and fixed to the wheel frame 670 and the sliding shaft plate 682. The wheel frame spring 601 applies a pulling force to the wheel frame 670 towards the sliding shaft plate 682 to keep the pressure wheel 730 pressing the transmission belt 740 against the intermediate rotating wheel 720, thereby ensuring that the transmission belt 740 can drive the intermediate rotating wheel 720 to rotate when running. The sliding shaft plate 682 is mounted and fixed on the corresponding drive frame plate 681.

[0085] The packaging bag 651 is rolled up to form a packaging bag roll 650. The packaging bag roll 650 is fitted onto a feeding shaft 801, which is rotatably mounted on an outer frame 610. One end of the outer frame 610 is connected to the output shaft of a feeding motor 270, which is mounted on the outer frame 610. The packaging bag roll 650 unfolds into a series of connected packaging bags 651, which pass sequentially around a guide roller 641 and a feeding roller 642 before entering between a conveying roller 710 and a suction plate 690. The feeding roller 642 presses the packaging bags 651 against a mating plate 612 to convey the packaging bags 651. The guide roller 641 and the feeding roller 642 are respectively fitted onto a guide shaft 802 and a feeding shaft 803, which are rotatably assembled with the outer frame 610. The feeding shaft 803 is connected to the feeding motor 280 via a feeding belt 750. Figure 1 The output shaft of the feed motor 280 is connected to form a belt drive mechanism, and the feed motor 280 is mounted on the outer frame. In use, the feed motor 280 starts to drive the feed shaft 803 to rotate, so as to transport the packing bag 651 to the conveyor roller 710 side by rotating the feed roller 642. At the same time, the discharge motor 290 starts to discharge the material.

[0086] The two connected packing bags are connected by intermittent connection points, which can be achieved using a roll of garbage bags, as long as the two packing bags can be quickly broken apart. When loading packing bags, the unfolding frame 630 corresponds to one packing bag. After loading one packing bag at the unfolding frame 630, the feeding roller 642 can be reversed to pull the packing bags that have not entered the unfolding frame 630 toward the guide roller 641, thereby breaking the packing bag 651 (the packing bag can be rolled up by reversing the feeding motor). At this time, the packing bag 651 corresponding to the unfolding frame 630 is independent and not connected to other packing bags.

[0087] After the packaging bag is loaded, negative pressure is applied to the unfolding cavity 661 and the suction plate 690, respectively. The negative pressure passes through the suction hole and the unfolding hole 662 to suction the packaging bag 651 from both sides. Then, the first electric cylinder 260 is activated to drive the unfolding frame 630 to rotate around the first rotating shaft 810, thereby unfolding the top of the unfolding frame 630 to open the packaging bag 651. Figure 27 With this as the reference, the unfolding frame 630 is rotated to the right and tilted, and the end face of the unfolding box 660 is also tilted, so that the weight of the tea can be distributed on the unfolding frame 630 in a large amount, which greatly reduces the impact of the weight of the tea on the packaging bag, and it is not easy to cause the packaging bag to be pulled. At the same time, there is no need to maintain a low negative pressure in the unfolding cavity 661 and the suction plate 690, which reduces energy consumption. In addition, the opening end of the packaging bag is facing upwards, which also makes it easy to put the tea in.

[0088] After the tea leaves are loaded, the packaging bag 651 needs to be removed, and the negative pressure of the unfolding chamber 661 and the suction plate 690 needs to be disconnected. The packaging bag on the side corresponding to the suction plate 690 will naturally bend or retract towards the unfolding frame 630 because the packaging bag on this side is in a vertical state. Adjust the lifting frame 190 so that the bottom of the lifting frame 190 is not directly opposite the tea tree. Start the support cylinder 210, which will move the outer frame 610 down to the preset position. Specifically, the height of the outer frame 610 from the bottom surface should not be higher than the height of the packaging bag. The second electric cylinder 250 is activated, which drives the feeding rack 260 to open its bottom around the second rotating shaft 820. During the tea loading process, the bottom of the packaging bag is not initially open. Opening it at this point causes the tea leaves to fall and push open the bottom of the packaging bag, naturally keeping the tea leaves further away from the opening. Then, the packaging bag falls under gravity. Because the falling distance is not high, the packaging bag is not easily tipped over, meaning the tea leaves inside are not easily spilled out. Simultaneously, the large amount of tea leaves moving towards the bottom of the packaging bag also shifts the center of the bag downwards, further reducing the likelihood of tipping over. In this embodiment, the amount of tea leaves loaded each time does not exceed half the capacity of the packaging bag. This allows the excess packaging bag to naturally retract during the fall, forming a sealed effect and further reducing the probability of tea leaves falling out. Especially when the packaging bag falls to less than 1 / 3 of its height from the bottom surface, the feeding rack opens. Although the bottom of the packaging bag falls onto the bottom surface, the top remains between the outer frame and the feeding rack, preventing the packaging bag from tipping over. Then, the outer frame moves upwards, further preventing the packaging bag from tipping over. Even when tilted, the tea leaves are difficult to pour out due to the large size of the packaging bag. During subsequent processing, workers can remove the tea leaves without breaking the bag, and the bag can also be used for subsequent circulation and storage of tea leaves, thus further increasing the bag's value, reducing waste, and saving costs.

[0089] See Figures 27-31 , Figures 36-37In some embodiments, to prevent tea leaves from accumulating on the guide plate 470 when the temporary storage box discharges tea leaves into the packaging bag, a vibrating plate 870 is added. A vibrating motor 860 is mounted on the vibrating plate 870, and a vibrating shaft 871 is mounted on it. The vibrating shaft 871 is fitted with a vibrating spring 872, which passes through a support plate 614 and is axially slidably assembled with it. The vibrating spring 872 supports the vibrating plate 870, and the support plate 614 is fixedly mounted on the outer frame 610. In use, the guide plate 470 is pressed against the vibrating plate 870, and then the vibrating motor 860 is started, causing the vibrating plate 870 to transmit high-frequency vibrations to the guide plate 470, thereby causing the tea leaves to quickly slide from the guide plate 470 into the packaging bag.

[0090] See Figure 29 , Figures 35-36 The support plate 614 is equipped with a drive assembly that drives the power wheel to rotate. The drive assembly includes a belt frame 840, on which at least two drive belt shafts 761 are mounted. The drive belt 760 passes around each drive belt shaft 761 and forms a belt drive mechanism. One of the drive belt shafts 761 is connected to the output shaft of the drive motor 830. The drive motor is mounted on the belt frame 840, and after the drive motor 830 is started, it drives the drive belt 760 to run.

[0091] The belt frame 840 is equipped with a belt frame shaft 841. The belt frame shaft 841 is fitted with a belt frame spring 842 and passes through a support frame 850 and is axially slidably assembled with it. The support frame 850 is mounted on a support plate 614, and the belt frame spring 842 supports the belt frame 840.

[0092] When the temporary storage box discharges material into the packaging bag, firstly, the positioning plate 411 is moved to fit with the mating plate 612, and the temporary storage box is located between the two drive components. At this time, the door plate 430 has been opened and the guide plate 470 has been unfolded. Then, the temporary storage box moves down so that the power wheel 444 is pressed against the corresponding drive belt 760. At this time, the guide plate 470 is pressed against the vibration plate 870.

[0093] See Figure 29 , Figures 38-40 To prevent foreign objects from entering the packaging bag, the top of the packaging bag needs to be opened when the tea leaves are discharged from the temporary storage box, and closed at other times. For this purpose, this embodiment adds a side sliding door assembly. The side sliding door assembly includes two side sliding doors 960, a fixed sealing plate 613 installed above the unfolding frame 630, and two clamping strips 950 fixed on the outer frame 610. The two clamping strips 950 and the fixed sealing plate 613 form a door groove. The two side sliding doors 960 are engaged and slidably installed in the door groove.

[0094] The fixed sealing plate 613 is fixedly installed on the outer frame 610. The outer frame 610 is also equipped with a first side sliding shaft plate 615 and a second side sliding shaft plate 616 at the position corresponding to each side sliding door 960. The first side sliding shaft plate 615 and the second side sliding shaft plate 616 are respectively assembled to the two ends of the corresponding side sliding shaft 940. The side sliding door 960 is axially slidably fitted on the corresponding side sliding shaft 940. A side sliding spring 901 is fitted on the part of the side sliding shaft 940 between the first side sliding shaft plate 615 and the side sliding door 960. The side sliding spring 901 applies a spring force to the side sliding door 960 to push the second side sliding shaft plate 616 so that the two side sliding doors 960 press against each other in the initial state to close the top of the packing bag.

[0095] One of the sliding doors 960 is equipped with a pull plate 961. The pull plate 962 is assembled with one end of the first cable 930. The other end of the first cable 930, the cable puller 931, is then assembled and fixed with another sliding door 960. The cable puller 931 is rotatably mounted on the outer frame 610. The pull plate 961 is also assembled with one end of the second cable 920. The other end of the second cable 920 is assembled and fixed with the winding wheel 921 for winding. The winding wheel 921 is fixed on the output shaft of the winding wheel motor 910. The winding wheel motor 910 is mounted on the fixed sealing plate 613.

[0096] Initially, the two sliding doors 960 are pressed together to close the opening on the fixed sealing plate 613. When it is necessary to open the sliding door 960, the roller motor 910 is started. The roller motor 910 drives the roller 921 to rotate and wind up the second cable 920. The second cable 920 causes the corresponding sliding door 960 to slide away from the second sliding shaft plate 616. This sliding door 960 drives the other sliding door 960 to move synchronously through the first cable 930 until the opening on the fixed sealing plate 613 is opened, thus achieving the desired result. Figure 39 Status. When it is necessary to close both sliding doors 960, the roller motor 910 reverses, the roller 921 releases the second cable 930, and the side sliding spring 901 drives the two sliding doors 960 to move closer to each other until they are pressed together.

[0097] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0098] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0099] In this application, a circumferentially rotatable assembly is a connection assembly that can rotate relative to each other, such as an assembly using bearings; a circumferentially rotatable but axially movable assembly is one that can rotate relative to each other but cannot move axially, such as by installing shaft clips on both sides of the shaft and the mounting device to prevent the shaft from moving axially; a circumferentially rotatable and axially movable assembly is a movable assembly, such as an assembly where the shaft passes through a shaft hole; an assembly that cannot rotate circumferentially but can move axially can be an assembly using spline grooves or spline mating.

[0100] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0101] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0102] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A tea leaf picking device, characterized in that it comprises a mechanical hand, the mechanical hand comprising a first supporting arm, a second supporting arm, a third supporting arm, a fourth supporting arm, a first finger, and a second finger, the second supporting arm being provided with a first motor, the output shaft of the first motor penetrating through the second supporting arm and being assembled with the first supporting arm, the third supporting arm being assembled and fixed with the second supporting arm, the third supporting arm being provided with a second motor, the output shaft of the second motor penetrating through the third supporting arm and being assembled with the fourth supporting arm; the fourth supporting arm being provided with a third motor and a fourth motor, the output shafts of the third motor and the fourth motor being assembled and fixed with the first finger and the second finger respectively; the first finger and the second finger being respectively provided with a first thin film pressure sensor and a second thin film pressure sensor, the first thin film pressure sensor and the second thin film pressure sensor being used for detecting the clamping pressure on the tea leaves; when picking the tea leaves, the first finger and the second finger clamp the tea leaves, and then the second motor and / or the first motor is started to drive the first finger and the second finger to rotate so as to break the tea leaves; the device further comprises a temporary storage module and a lifting frame, the first supporting arm being assembled and fixed on the lifting frame; the temporary storage module comprises a temporary storage box, a receiving box, and a door plate, the temporary storage box being fixed on the lifting frame, the inside of the temporary storage box being hollow and one side being open, the open side being closed by the door plate; a suction shell being installed on the top of the inside of the temporary storage box, the inside of the suction shell being a hollow suction cavity, the suction cavity being communicated with one end of a suction pipe, the other end of the suction pipe being communicated with a suction hole, the suction hole being arranged on a receiving frame, the receiving frame being assembled and fixed with the temporary storage box through a positioning plate, the receiving frame being assembled and fixed with one side of the receiving box through a rotating shaft, the rotating shaft being assembled and fixed with a worm gear, the worm gear being partially engaged with a worm shaft, the worm shaft being arranged on the output shaft of a receiving motor, the receiving motor being installed on the receiving frame; the receiving motor drives the rotating shaft to rotate so as to switch the receiving box between a receiving state and a suction state; the inside of the receiving box being a hollow receiving cavity with an open top; when receiving the tea leaves, the first finger and the second finger carrying the tea leaves rotate to a receiving station, then the receiving box rotates to the receiving state and is located below the tea leaves, the second finger releases the tea leaves, the tea leaves fall into the receiving cavity and are stored, and the receiving box reversely rotates to the suction state; when the tea leaves in the receiving cavity need to be sucked into the temporary storage box, the suction cavity is connected to a negative pressure, the negative pressure enters the receiving cavity through the suction pipe to suck the tea leaves, the tea leaves enter the suction cavity along with the suction pipe, and the tea leaves fall into the temporary storage box and are stored after the negative pressure in the suction cavity disappears; the door plate is provided with a hinge block and a connecting block, a hinge pin penetrating through the hinge block and being assembled with the temporary storage box; the connecting block being assembled and fixed with one end of a door cable, the other end of the door cable being assembled and fixed with a guide seat after passing around a guide wheel, the guide seat being installed on the inside of a limiting frame, the limiting frame being installed and fixed on the temporary storage box; the guide wheel being installed on the limiting end of the limiting frame through a guide wheel shaft in a circumferential rotating manner. ​ ​ ​ ​ ​ ​ ​ ​ The first guide frame and the second guide frame are arranged on the inner side of the door plate below the conveying belt, and a guide sliding groove is formed between the first guide frame and the second guide frame, the guide sliding groove is engaged with the first guide cylinder and the second guide cylinder on the two sides of the material guide plate and is slidingly assembled, so that the material guide plate is indirectly engaged and slidingly mounted in the guide sliding groove, one end of the guide sliding groove is open to the door plate, the second guide cylinder is fixedly assembled with the material guide gear after penetrating through the guide sliding groove, the material guide gear is engaged with the material guide rack for transmission, one end of the material guide rack and the material guide gear is mounted in the material guide seat, and the second guide cylinder is relatively circumferentially rotatably assembled with the material guide seat; the other end of the material guide rack penetrates through the material guide seat and is fixedly assembled with the push plate, an axle hole which is engaged with the spring shaft and is axially slidingly assembled is arranged on the material guide rack, the axle hole penetrates through the material guide rack along the length direction of the material guide rack, one end of the spring shaft is mounted in the axle hole and the other end is fixedly assembled with the material guide seat, and a material guide spring is sleeved on the part of the spring shaft between the material guide seat and the material guide rack, the material guide spring applies a spring force to the material guide rack to push it out of the material guide seat.

2. The tea leaf plucking device as claimed in claim 1, wherein: The inner bottom of the temporary storage box is provided with a conveying belt, the conveying belt passes around two conveying belt shafts and forms a belt transmission mechanism, and the two conveying belt shafts are circumferentially rotatably assembled with the temporary storage box, and one of the two conveying belt shafts is fixedly assembled with a power wheel after penetrating through the temporary storage box.

3. The tea leaf plucking device as claimed in claim 1, wherein: The material guide plate is connected with the connecting plate through a connecting rope, the connecting rope is flexible, the connecting plate is engaged and slidingly mounted in the guide sliding groove, one end of the connecting plate is fixedly assembled with the material guide tension spring, the other end of the material guide tension spring is fixedly assembled with a tension spring plate, the connecting plate and the limiting table are pressed in the initial state to limit the maximum displacement of the connecting plate moving to the tension spring plate, the limiting table and the tension spring plate are mounted on the temporary storage box, and the material guide tension spring applies a spring force to the connecting plate to pull it to the tension spring plate in the initial state, so that the material guide plate is located below the conveying belt.

4. The tea leaf plucking device as claimed in claim 1, wherein: The material guide rack is further provided with a rack sliding block and a rack limiting block, the rack sliding block is engaged with a rack sliding groove and is slidingly assembled, the rack sliding groove is arranged on a material guide seat plate, the material guide seat plate is further provided with a material guide limiting block, the material guide seat plate is arranged on the material guide seat, and the material guide limiting block is pressed with the rack limiting block to limit the maximum displacement of the material guide rack moving to the push plate.

5. The tea leaf plucking device as claimed in any one of claims 1 to 4, wherein: The suction cavity is open at both ends, the bottom of the suction cavity is closed by two valve plates, and the top of the suction cavity is provided with a hole cover, a plurality of through holes are arranged on the hole cover, the hole cover is communicated with the inlet of the air valve through a connecting pipe, the outlet of the air valve is communicated with the inside of the negative pressure tank, the inside of the negative pressure tank is communicated with the suction port of the negative pressure pump, the exhaust port of the negative pressure pump is communicated with one end of a blowing pipe, and the other end of the blowing pipe is connected to the inside of the temporary storage box above the conveying belt; the negative pressure pump is started to perform air suction in the negative pressure tank, the air flow sucked out is blown to the tea leaves in the temporary storage box above the conveying belt through the blowing pipe; the air valve controls the opening and closing of the negative pressure tank and the connecting pipe, and when the air valve is opened, negative pressure enters the suction cavity for suction; the air valve, the negative pressure tank and the negative pressure pump are mounted on the temporary storage box.

6. The tea leaf plucking apparatus as claimed in claim 5, wherein: The bottom plate is arranged below the valve plate, and a valve groove is formed between the bottom plate and the suction shell. The valve plate is clamped and slidably installed in the valve groove. One end of each of the two valve plates is circumferentially rotatably assembled with the same valve shaft, which is installed on the suction shell. Each of the two valve plates is also assembled with one end of a corresponding valve plate cable. Each of the two valve plate cables is assembled with one end of a valve plate cable after passing through a corresponding first cable wheel and a second cable wheel, which are circumferentially rotatably installed on the suction shell. A torsion spring is installed between the two valve plates and the suction shell. The torsion spring is used to apply a repulsive force to the valve plates to prevent their rotation, so that the two valve plates remain closed at the bottom of the suction cavity in the initial state. The other end of the valve plate cable passes through the shell plate, penetrates the temporary storage box, and is directly or indirectly assembled with the telescopic shaft of the electromagnet. The electromagnet is installed on the temporary storage box. The valve plate cable and the shell plate are relatively slidably assembled. A spring ring is arranged on the valve plate cable. A cable spring is sleeved on the part of the valve plate cable between the spring ring and the shell plate. The cable spring applies a pushing force to the spring ring away from the shell plate. The shell plate is installed on the suction shell.

7. The tea leaf plucking device as claimed in claim 1, wherein: The receiving rack is provided with a limiting angle iron. The limiting angle iron is used to limit the maximum rotation angle of the receiving box, so that the receiving box corresponds to the receiving state and the suction state at two maximum rotation angles, respectively.

8. A tea bud intelligent picking device, characterized in that: The tea leaf picking device comprises the tea leaf picking device according to any one of claims 1-7.

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