A tea leaf picking terminal device and a working method thereof

Abstract

The present application belongs to the field of agricultural machinery, and discloses a tea leaf picking terminal device and a working method thereof, which comprises a support assembly, a driving clamping assembly and a passive clamping assembly. The driving clamping assembly comprises a motor, a rotating part, a first gear, a second gear and a swing rolling wheel. The passive clamping assembly comprises a guide sliding block, an elastic member, a gear connecting rod folding mechanism, a third gear and a lifting rolling wheel. The present application can realize accurate clamping, lifting and picking of tea leaves, and ensure flexibility and high efficiency in the picking process.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to a tea picking end device and its working method. Background Technology

[0002] Currently, tea harvesting still relies primarily on manual labor, especially for the delicate harvesting of tea leaves, where manual harvesting is costly and labor-intensive. Furthermore, the efficiency of manual harvesting often falls short of the demands of large-scale production, and the quality is easily affected by human factors, leading to inconsistent tea quality. While existing mechanized harvesting equipment can improve efficiency, it often lacks precise control and flexible design, easily damaging the tea leaves and affecting the quality of the finished product. Therefore, there is an urgent need for efficient, flexible, and precisely controlled tea harvesting machinery to replace traditional manual harvesting methods. Summary of the Invention

[0003] The purpose of this invention is to provide a tea-picking end device and its working method to solve the problems of low efficiency, high labor intensity, and significant damage to tea leaves in existing tea-picking processes. Through innovative mechanical design and a reasonable power transmission method, this invention can achieve precise clamping, lifting, and picking of tea leaves, ensuring flexibility and high efficiency in the picking process.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A tea-picking end device, comprising:

[0006] Support assembly;

[0007] An active clamping assembly includes a motor, a rotating component, a first gear, a second gear, and a oscillating rolling wheel. The rotating component is driven to rotate by the motor. The first gear is fixedly mounted on a support assembly. The second gear is rotatably connected to the rotating component and meshes with the lower tooth surface of the first gear. The oscillating rolling wheel is fixedly connected to the second gear. The second gear and the oscillating rolling wheel revolve along the lower tooth surface of the first gear under the drive of the rotating component.

[0008] A passive clamping assembly includes a guide slider, an elastic element, a gear linkage folding mechanism, a third gear, and a lifting roller. The guide slider is slidably mounted on a support assembly. The elastic element applies downward force to the guide slider. The gear linkage folding mechanism connects the support assembly and the guide slider and is capable of folding. The third gear is rotatably mounted on the guide slider and meshes with the fourth gear in the gear linkage folding mechanism. The lifting roller is fixedly connected to the third gear and is positioned opposite to the swing roller.

[0009] The tea picking end device is configured as follows: the motor drives the swinging rolling wheel to move towards the lifting rolling wheel while revolving around the central axis and rotating on its own axis through the rotating component and the second gear. Together with the lifting rolling wheel, the swinging rolling wheel clamps the tea leaves. The swinging rolling wheel squeezes the lifting rolling wheel, causing the lifting rolling wheel and the guide slider to move upward. This causes the gear connecting rod folding mechanism to fold, causing the fourth gear to rotate. The fourth gear drives the lifting rolling wheel to rotate on its own axis through the third gear it meshes with. The swinging rolling wheel and the lifting rolling wheel rotate in opposite directions. The two pull the tea buds upward by rotating on their own axes.

[0010] Furthermore, the first gear has a half-tooth structure with its tooth surface facing downwards.

[0011] Furthermore, the rotating component is a swing arm structure.

[0012] Furthermore, the second gear and the oscillating rolling wheel are coaxially arranged, and the oscillating rolling wheel revolves and rotates together with the second gear.

[0013] Furthermore, a guide rod is vertically arranged on the bracket assembly, and the guide slider slides up and down on the guide rod. The elastic element is a spring sleeved on the guide rod, and the spring presses the guide slider down.

[0014] Furthermore, the lower end of the guide rod has a boss structure, which is used to engage with the guide slider to prevent the guide slider from falling off.

[0015] Furthermore, the gear linkage folding mechanism includes two opposing single-sided folding mechanisms on the left and right sides. Each single-sided folding mechanism includes an upper connecting rod, a lower connecting rod, a fourth gear, and a fifth gear. The upper end of the upper connecting rod is fixedly connected to the fifth gear, which is rotatably mounted on the bracket assembly. The lower end of the upper connecting rod is rotatably connected to the upper end of the lower connecting rod, and the lower end of the lower connecting rod is fixedly connected to the fourth gear. The fourth gear is rotatably mounted on the guide slider. The fourth gears of the two single-sided folding mechanisms on the left and right sides mesh with each other, and the fifth gears of the two single-sided folding mechanisms on the left and right sides mesh with each other. One of the fourth gears meshes with the third gear.

[0016] Furthermore, in the gear linkage folding mechanism, the upper connecting rods (304) of the two single-sided folding mechanisms have the same length; the lower connecting rods (305) of the two single-sided folding mechanisms have the same length; the fifth gears (307) of the two single-sided folding mechanisms have the same diameter; the fourth gears (306) of the two single-sided folding mechanisms have the same diameter; and the diameter of the fourth gear is greater than the diameter of the third gear.

[0017] Furthermore, the diameter of the oscillating roller is larger than the diameter of the lifting roller, and the oscillating roller can rotate to the lower side of the lifting roller when it revolves around the first gear. The diameter of the first gear is larger than the diameter of the second gear.

[0018] The present invention also provides a method for operating the tea picking end device as described above, comprising:

[0019] Step 1: The tea picking end device is in the open position, ready to carry out the picking task;

[0020] Step 2: The picking robot identifies the position and state of the target tea leaves through the vision system. The tea picking end device moves to the picking position, at which point the tea buds are located between the swinging roller and the lifting roller.

[0021] Step 3: The motor rotates in the forward direction, causing the oscillating roller to move towards the lifting roller. At this time, due to the meshing between the second gear and the first gear on the oscillating roller, the oscillating roller revolves around the axis of the motor, clamping the tea buds together with the lifting roller. On the other hand, it rotates clockwise, causing the oscillating roller to rotate upward towards the side of the tea buds.

[0022] Step 4: After the oscillating roller and the lifting roller clamp the tea buds, the motor continues to rotate forward, and the oscillating roller continues to revolve in the direction of the lifting roller. The oscillating roller pushes the lifting roller and the guide slider upward, forming a lifting action. The gear linkage folding mechanism folds as the guide slider moves upward, and drives the lifting roller to rotate counterclockwise through the fourth gear, so that the lifting roller rotates upward on the side facing the tea buds. When the lifting roller and the oscillating roller rotate, they lift the tea buds upward together. The tea buds are pulled and broken at the clamping point and sucked into the picking bag by the negative pressure adsorption device.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1) High-efficiency harvesting: This invention achieves high efficiency in tea harvesting through the linkage design of motor and gear set, which can quickly complete the harvesting of large areas of tea leaves and reduce labor costs.

[0025] 2) Precision and flexibility: The picking device adopts a flexible design when picking tea leaves. Through a spring reset structure and precise up-and-down movement control, it ensures the integrity and high quality of the tea leaves during the picking process.

[0026] 3) Automatic reset and continuous operation: The elastic element and guide rod work together to achieve automatic reset, so that the harvesting device can quickly return to the initial state after harvesting and prepare for the next harvest, ensuring the continuous operation capability of the equipment.

[0027] 4) High adaptability: Through reasonable power transmission and structural design, the present invention can adapt to tea stems of different sizes and shapes, and has good adaptability and stability, making it suitable for the picking needs of various tea varieties. Attached Figure Description

[0028] Figure 1 This is one of the structural schematic diagrams of the present invention in its initial state.

[0029] Figure 2 This is the second structural schematic diagram of the present invention in its initial state.

[0030] Figure 3 This is one of the structural schematic diagrams of the present invention in the clamping state.

[0031] Figure 4 This is the second schematic diagram of the structure of the present invention in the clamping state.

[0032] Figure 5 This is one of the structural schematic diagrams of the present invention in the lifted state.

[0033] Figure 6 This is the second schematic diagram of the structure of the present invention in the lifted state.

[0034] In the diagram: bracket assembly 1, guide rod 100, boss structure 1000, active clamping assembly 2, motor 200, rotating component 201, first gear 202, second gear 203, swinging roller 204, passive clamping assembly 3, guide slider 300, elastic component 301, third gear 302, lifting roller 303, upper connecting rod 304, lower connecting rod 305, fourth gear 306, fifth gear 307. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1-6A tea-picking end device includes a support assembly 1, an active clamping assembly 2, and a passive clamping assembly 3. The active clamping assembly 2 includes a motor 200, a rotating component 201, a first gear 202, a second gear 203, and a swinging roller 204. The rotating component 201 is driven to rotate by the motor 200. The first gear 202 is fixedly mounted on the support assembly 1. The second gear 203 is rotatably connected to the rotating component 201 and meshes with the lower tooth surface of the first gear 202. The swinging roller 204 is fixedly connected to the second gear 203. The second gear 203 and the swinging roller 204 revolve around the lower tooth surface of the first gear 202 under the drive of the rotating component 201. The passive clamping assembly 3 includes a guide slider 300, an elastic element 301, a gear linkage folding mechanism, a third gear 302, and a lifting roller 303. The guide slider 300 is slidably mounted on the bracket assembly 1. The elastic element 301 applies downward force to the guide slider 300, causing the guide slider 300 to have a downward movement tendency. The gear linkage folding mechanism is connected between the bracket assembly 1 and the guide slider 300 and can be folded. The third gear 302 is rotatably mounted on the guide slider 300 and meshes with the fourth gear 306 in the gear linkage folding mechanism. The lifting roller 303 is fixedly connected to the third gear 302 and is arranged opposite to the swing roller 204.

[0037] When the invention is in operation, the motor 200 drives the swinging roller 204 to move toward the lifting roller 303 while revolving around the revolution and rotating on its own axis through the rotating component 201 and the second gear 203. Together with the lifting roller 303, the swinging roller 204 clamps the tea leaves. The swinging roller 204 squeezes the lifting roller 303, causing the lifting roller 303 and the guide slider 300 to move upward, and causing the gear connecting rod folding mechanism to fold, causing the fourth gear 306 to rotate. The fourth gear 306 drives the lifting roller 303 to rotate on its own axis through the third gear 302 that meshes with it. The swinging roller 204 and the lifting roller 303 rotate in opposite directions, and the two lift the tea buds upward by rotating on their own axes.

[0038] Continue reading Figures 1-6 In one embodiment of the present invention, the first gear 202 is a half-tooth structure with its tooth surface facing downwards.

[0039] Continue reading Figures 1-6 In one embodiment of the present invention, the rotating member 201 is a swing arm structure, which is fixedly connected to the output shaft of the motor 200 and rotates around the axis of the output shaft.

[0040] Continue reading Figures 1-6 In one embodiment of the present invention, the second gear 203 and the oscillating rolling wheel 204 are coaxially arranged and their shafts are fixedly connected. The oscillating rolling wheel 204 revolves and rotates together with the second gear 203.

[0041] Continue reading Figures 1-6 In one embodiment of the present invention, the support assembly 1 is an inverted U-shaped plate structure, with its front side fixedly connected to the first gear 202, and a guide rod 100 vertically arranged at its lower rear end. The guide slider 300 slides up and down on the guide rod 100. The elastic element 301 is a spring sleeved on the guide rod 100, and the spring presses the guide slider 300 downward. The lower end of the guide rod 100 has a boss structure 1000, the outer diameter of which is larger than the outer diameter of the main body of the guide rod 100. The boss structure 1000 is used to block the guide slider 300 and prevent the guide slider 300 from falling off.

[0042] Continue reading Figures 1-6 In one embodiment of the present invention, the gear linkage folding mechanism includes two opposing single-sided folding mechanisms, each including an upper connecting rod 304, a lower connecting rod 305, a fourth gear 306, and a fifth gear 307. The upper end of the upper connecting rod 304 is fixedly connected to the fifth gear 307, which is rotatably mounted on the bracket assembly 1. The lower end of the upper connecting rod 304 is rotatably connected to the upper end of the lower connecting rod 305, and the lower end of the lower connecting rod 305 is fixedly connected to the fourth gear 306. The fourth gear 306 is rotatably mounted on the guide slider 300. The fourth gears 306 of the two single-sided folding mechanisms mesh with each other, and the fifth gears 307 of the two single-sided folding mechanisms mesh with each other. One of the fourth gears 306 meshes with a third gear 302.

[0043] Continue reading Figures 1-6 In one embodiment of the present invention, the upper connecting rods 304 of the two single-sided folding mechanisms in the gear-link folding mechanism have essentially the same structure, especially the same length. The lower connecting rods 305 of the two single-sided folding mechanisms in the gear-link folding mechanism have essentially the same structure, especially the same length. The fifth gears 307 of the two single-sided folding mechanisms in the gear-link folding mechanism have essentially the same structure, especially the same diameter. The fourth gears 306 of the two single-sided folding mechanisms in the gear-link folding mechanism have essentially the same structure, especially the same diameter. The diameter of the fourth gear 306 is larger than the diameter of the third gear 302, and the diameter of the oscillating rolling wheel 204 is larger than the diameter of the lifting rolling wheel 303. When the oscillating rolling wheel 204 revolves around the first gear 202, it can rotate to the lower side of the lifting rolling wheel 303. The diameter of the first gear 202 is larger than the diameter of the second gear 203.

[0044] The tea picking end device of the present invention is installed at the end of the actuating component of the picking robot, which is equipped with a conventional visual recognition system and a negative pressure suction device.

[0045] The present invention also provides a method for operating the tea picking end device as described above, comprising the following steps, wherein the rotation direction in the following description is in accordance with... Figure 1 , Figure 3 , Figure 5 For reference:

[0046] Step 1, Initialization Preparation

[0047] After the tea picking end device is started, the motor 200 is in standby mode, the swing roller 204 is in the right limit position, and the picking device is in the open state, ready to carry out the picking task.

[0048] Step 2, Target Identification

[0049] The picking robot identifies the position and status of the target tea leaves through a visual recognition system. The tea picking end device moves to the picking position, at which point the tea buds are located between the swinging roller 204 and the lifting roller 303. The control system sends a signal to the motor 200.

[0050] Step 3, holding the tea leaves

[0051] When the motor 200 rotates in the forward direction, the rotating part 201 swings to the left. At this time, due to the meshing between the second gear 203 and the first gear 202 on the swinging rolling wheel 204, the swinging rolling wheel 204 revolves clockwise around the axis of the motor 200, clamping the tea buds together with the lifting rolling wheel 303. On the other hand, the swinging rolling wheel 204 rotates clockwise, so that the wheel surface in contact with the tea has an upward velocity component.

[0052] Step 4, Tea Extraction

[0053] After the oscillating roller 204 and the lifting roller 303 clamp the tea buds, the motor 200 continues to rotate forward, and the oscillating roller 204 continues to revolve to the left. Since the oscillating roller 204 is located below the lifting roller 303 and has a larger diameter, it pushes the lifting roller 303 upward, creating a lifting action. At this time, the lifting roller 303 drives the guide slider 300 to move upward along the guide rod 100. Due to the meshing of the gears, Figure 5 The lower right side (that is) Figure 6 The lower connecting rod 305 (lower left side) rotates clockwise around the guide slider 300 (in the middle). Figure 6 The movement is counterclockwise, and the motion is transmitted to the lifting roller 303 on the guide slider 300, causing the lifting roller 303 to rotate counterclockwise around its own axis while moving upward. Figure 3 The middle is counterclockwise. Figure 4(It appears to be clockwise). At this time, the contact surface between the lifting roller 303 and the tea bud has an upward velocity component. During the extraction process, the guide slider 300 is always subjected to the downward elastic force of the spring, which serves as the tea clamping force. Under the combined action of the velocity components of the lifting roller 303 and the swinging roller 204 and the clamping action, the tea bud is pulled and broken at the clamping point and sucked into the picking bag by the negative pressure adsorption device.

[0054] Step 5, device reset

[0055] After harvesting, motor 200 rotates in the opposite direction, rotating component 201 and oscillating roller 204 return to their initial positions, and the tea harvesting end device opens again. Guide slider 300 and lifting roller 303 return to their initial positions under the action of springs, the tea harvesting end device is reset as a whole, and the next harvesting cycle begins.

[0056] Step 6, repeat the operation.

[0057] The system continues to identify the next tea leaf and repeats the above process until all picking tasks are completed.

[0058] The structure, principle, and usage of the aforementioned harvesting robot, visual recognition system, and negative pressure suction device are all well-known technologies in this field and will not be elaborated upon.

[0059] The main innovation of this invention is as follows:

[0060] 1) Flexible reset structure

[0061] The design, which combines springs and guide rods, enables the picking device to be flexibly reset, effectively reducing damage to tea leaves during the picking process and ensuring the quality of the tea.

[0062] 2) Articulated arm with up-and-down motion control

[0063] The gear and linkage folding mechanism has only vertical translational freedom. Through the meshing of the lifting roller and the fourth gear, a precise picking action is formed, ensuring that the picking device can provide a stable and sufficient pulling force when picking tea leaves.

[0064] 3) Driven and passive linkage

[0065] The rotating parts and oscillating rollers are driven by a motor, which in turn drive the gear connecting rod folding mechanism and the lifting rollers to perform passive movements, forming a coordinated picking action and improving picking efficiency and stability.

[0066] 4) Gear set clamping design

[0067] The relative height design of the swing roller and the lifting roller ensures that the swing roller can push the lifting roller to generate an upward pulling force when clamping tea leaves, thereby realizing the picking of tea leaves.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tea-picking end device, characterized in that, The utility model relates to a tea leaf picking end device which comprises a support assembly (1), an active clamping assembly (2) and a passive clamping assembly (3). The active clamping assembly (2) comprises a motor (200), a rotating part (201), a first gear (202), a second gear (203) and a swing rolling wheel (204), the rotating part (201) is driven to rotate by the motor (200), the first gear (202) is fixedly arranged on the support assembly (1), the second gear (203) is rotatably connected with the rotating part (201) and meshes with the lower tooth surface of the first gear (202), the swing rolling wheel (204) is fixedly connected with the second gear (203), and the second gear (203) and the swing rolling wheel (204) revolve along the lower tooth surface of the first gear (202) under the driving of the rotating part (201). The passive clamping assembly (3) comprises a guide sliding block (300), an elastic part (301), a gear connecting rod folding mechanism, a third gear (302) and a lifting rolling wheel (303), the guide sliding block (300) is slidably arranged on the support assembly (1), the elastic part (301) exerts a downward force on the guide sliding block (300), the gear connecting rod folding mechanism is connected between the support assembly (1) and the guide sliding block (300) and can be folded, the third gear (302) is rotatably arranged on the guide sliding block (300) and meshes with a fourth gear (306) in the gear connecting rod folding mechanism, and the lifting rolling wheel (303) is fixedly connected with the third gear (302) and is arranged opposite to the swing rolling wheel (204). The tea leaf picking end device is configured in such a manner that the motor (200) drives the swing rolling wheel (204) to move towards the lifting rolling wheel (303) by the rotating part (201) and the second gear (203) and to revolve and rotate simultaneously, and the swing rolling wheel (204) clamps tea leaves together with the lifting rolling wheel (303), the swing rolling wheel (204) presses the lifting rolling wheel (303), the lifting rolling wheel (303) and the guide sliding block (300) move upwards, the gear connecting rod folding mechanism is folded, the fourth gear (306) rotates, the fourth gear (306) drives the lifting rolling wheel (303) to rotate by the third gear (302) meshing with the fourth gear (306), the swing rolling wheel (204) and the lifting rolling wheel (303) rotate in opposite directions, and the two devices pull tea shoots upwards by rotating. The first gear (202) is a half-tooth structure, and the tooth surface thereof is arranged downward. The rotating part (201) is a swing arm structure.

2. A tea leaf plucking tip device as claimed in claim 1, wherein, The second gear (203) and the swing rolling wheel (204) are coaxially arranged, and the swing rolling wheel (204) revolves and rotates together with the second gear (203).

3. A tea leaf plucking tip device as claimed in claim 1, wherein, A guide rod (100) is vertically arranged on the support assembly (1), the guide sliding block (300) is slidably fitted on the guide rod (100), and the elastic part (301) is a spring which is sleeved on the guide rod (100) and presses the guide sliding block (300) downward.

4. The tea leaf plucking tip device according to claim 1, wherein ​ 5. The tea leaf plucking tip device as claimed in claim 1, wherein, ​ 6. A tea leaf plucking tip device as claimed in claim 5, wherein, The lower end of the guide rod (100) has a boss structure (1000) for blocking the guide slider (300) to avoid falling.

7. A tea leaf plucking tip device as claimed in claim 1, wherein, The gear link folding mechanism comprises two single-side folding mechanisms arranged oppositely, each single-side folding mechanism comprising an upper link (304), a lower link (305), a fourth gear (306) and a fifth gear (307), the upper end of the upper link (304) being fixedly connected with the fifth gear (307), the fifth gear (307) being rotatably mounted on the bracket assembly (1), the lower end of the upper link (304) being rotatably connected with the upper end of the lower link (305), the lower end of the lower link (305) being fixedly connected with the fourth gear (306), the fourth gear (306) being rotatably mounted on the guide slider (300), the fourth gears (306) of the two single-side folding mechanisms being engaged with each other, the fifth gears (307) of the two single-side folding mechanisms being engaged with each other, and one of the fourth gears (306) being engaged with the third gear (302).

8. A tea leaf plucking tip according to claim 7, wherein The upper links (304) of the two single-side folding mechanisms in the gear link folding mechanism have the same length; the lower links (305) of the two single-side folding mechanisms in the gear link folding mechanism have the same length; the fifth gears (307) of the two single-side folding mechanisms in the gear link folding mechanism have the same diameter; the fourth gears (306) of the two single-side folding mechanisms in the gear link folding mechanism have the same diameter; and the diameter of the fourth gear (306) is greater than the diameter of the third gear (302).

9. The tea leaf plucking tip device as claimed in claim 1, wherein, The diameter of the swing rolling wheel (204) is greater than the diameter of the lifting rolling wheel (303), and the swing rolling wheel (204) can rotate to the lower side of the lifting rolling wheel (303) when it revolves around the first gear (202); the diameter of the first gear (202) is greater than the diameter of the second gear (203).

10. A method of operating a tea leaf plucking tip device as claimed in any one of claims 1 to 9, characterised in that, The method comprises the following steps: Step 1: the tea leaf picking end device is in an open state, and is ready for picking task; Step 2: the picking robot identifies the position and state of the target tea leaf through a vision system, and moves the tea leaf picking end device to the picking position, so that the tea bud is located between the swing rolling wheel (204) and the lifting rolling wheel (303); Step 3: the motor (200) rotates forward, so that the swing rolling wheel (204) moves towards the lifting rolling wheel (303); at this time, due to the engagement between the second gear (203) on the swing rolling wheel (204) and the first gear (202), the swing rolling wheel (204) revolves around the axis of the motor (200) and rotates clockwise, so that the side of the swing rolling wheel (204) facing the tea bud rotates upward. Step 4, when the swing rolling wheel (204) and the lifting rolling wheel (303) clamp the tea buds, the motor (200) continues to rotate forward, the swing rolling wheel (204) continues to revolve towards the lifting rolling wheel (303); the swing rolling wheel (204) pushes the lifting rolling wheel (303) and the guide sliding block (300) to move upwards, forming a lifting action; the gear linkage folding mechanism folds with the guide sliding block (300) moving upwards, and drives the lifting rolling wheel (303) to rotate counterclockwise through the fourth gear (306), so that the lifting rolling wheel (303) rotates upwards towards the side of the tea buds; the lifting rolling wheel (303) and the swing rolling wheel (204) rotate upwards together to lift the tea buds, and the tea buds are broken at the clamping part and are sucked into the picking capsule by the negative pressure suction device.

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