Multi-degree-of-freedom tea bud picking device

Abstract

The invention discloses a multi-degree-of-freedom tea bud picking device which comprises a collecting pipe, a rotary driving mechanism and a swing driving mechanism. The collecting pipe comprises a rotary mounting end and a swing mounting end, the swing mounting end is located at the tail end of the collecting pipe and connected with the rotary mounting end, and the swing mounting end is of a hose structure; the rotary driving mechanism is connected with the rotary mounting end and is used for driving the collecting pipe and the swing driving mechanism to rotate; the swing driving mechanism is connected with the swing mounting end and used for driving the swing mounting end of the collecting pipe to swing. The tea bud picking device has higher flexibility and picking benefits, accurate picking of terminal buds and lateral buds can be achieved, the integrity of picked tea buds is high, and the picking quality of tender buds is greatly improved.

Description

Technical Field

[0001] The invention relates to a tea picking device, in particular to a tea bud picking device with multiple degrees of freedom. Background Art

[0002] The main method of picking high-quality tea is manual picking, which has high labor costs and low efficiency. Therefore, it is urgent to study the mechanized picking technology of high-quality tea.

[0003] Among the currently available picking equipment, a picking device that simulates the picking action of human hands is often used. This picking device has high requirements for positioning accuracy, which can easily lead to problems such as crooked cutting and missed cutting in actual picking, affecting the picking efficiency. Another picking device uses a sleeve to cover the picked tea buds, and then the cutting knife at the end completes the picking, and then the tea buds picked in the sleeve are collected through a negative pressure system. This picking device has high efficiency when picking the top buds, but it is difficult to pick the curved side buds growing next to the old stems, and the problem of sleeve failure occurs. Therefore, it is necessary to optimize the design of the picking device and design a picking device with simple structure, high flexibility and high work efficiency. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems and provide a multi-degree-of-freedom tea bud picking device, which has higher flexibility and picking efficiency, can achieve accurate picking of top buds and side buds, has high integrity of picked tea buds, and greatly improves the picking quality of tender buds.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A tea bud picking device with multiple degrees of freedom, comprising a collecting tube, a rotating drive mechanism and a swinging drive mechanism;

[0007] The collecting pipe comprises a rotating mounting end and a swing mounting end, wherein the swing mounting end is located at the end of the collecting pipe and connected to the rotating mounting end, and the swing mounting end is a hose structure;

[0008] The rotary drive mechanism is connected to the rotary mounting end and is used to drive the collection pipe and the swing drive mechanism to rotate;

[0009] The swing driving mechanism is connected to the swing mounting end and is used to drive the swing mounting end of the collecting pipe to swing.

[0010] The working principle of the above-mentioned multi-degree-of-freedom tea bud picking device is:

[0011] Before use, the upper end of the collecting tube is connected to the negative pressure system, and the lower end of the corrugated tube is connected to the sleeve picking tool. There is no need to adjust the angle when picking the top buds. The robotic arm moves the picking end to just above the top buds, vertically covers the target to complete the picking, and the negative pressure system works to collect the picked tea buds.

[0012] When picking side buds, according to the angle formed by the tea buds and the vertical direction, the swing drive mechanism drives the swing mounting end (end) of the collection tube to swing, and the rotary drive mechanism drives the collection tube to rotate, and the two cooperate with each other to complete the adjustment of the end angle. After picking is completed, the negative pressure system connected to the upper end of the collection tube works to complete the collection of the tea buds in the tube, and then the rotary drive mechanism and the steering drive mechanism are reset to complete the harvesting action.

[0013] In a preferred embodiment of the present invention, the rotary drive mechanism comprises a rotary mounting seat, a rotary drive motor and a rotary transmission assembly.

[0014] The rotating mounting seat is fixedly arranged on the main frame of the tea bud picking device, and the rotating mounting end of the collecting tube is rotatably connected in the rotating mounting seat through a first bearing;

[0015] The rotary drive motor is fixedly arranged on the rotary mounting seat;

[0016] The rotary transmission assembly includes a rotary driving gear and a rotary driven gear, wherein the rotary driving gear is arranged on the output shaft of the rotary driving motor, and the rotary driven gear is fixedly sleeved outside the rotary mounting end of the collection tube. Through the above structure, under the drive of the rotary driving motor, the collection tube can rotate in the rotary mounting seat, thereby adjusting the direction of the end.

[0017] In a preferred embodiment of the present invention, the swing drive mechanism includes a swing mounting frame, a swing clamp and a swing drive motor, wherein the swing mounting frame is fixedly connected to the rotating mounting end of the collection tube, the swing clamp is fixedly sleeved on the swing mounting end of the collection tube, the swing drive motor is fixedly arranged on the swing mounting frame, and the output shaft of the swing drive motor is connected to the swing clamp through a coupling structure. Through the above structure, under the drive of the swing drive motor, the swing mounting end of the collection tube can swing around the rotation center of the swing drive motor, thereby adapting to the position of the lateral buds.

[0018] Furthermore, the swing mounting frame includes a mounting plate and a mounting arm, the mounting plate is fixedly connected to the rotating mounting end of the collecting tube; the mounting arms are provided with two and are fixed in parallel on the mounting plate, the swing drive motor is fixedly set on one of the mounting arms, and the other mounting arm is connected to the swing clamp via a rotating connection structure.

[0019] Furthermore, the rotating connection structure includes a rotating shaft, a coupling structure and a second bearing.

[0020] Furthermore, a screw hole connected to the swing clamp is provided in the coupling structure.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The tea bud picking device of the present invention drives the swing mounting end (terminal end) of the collecting tube to swing through a swing driving mechanism, and at the same time, the rotating driving mechanism drives the collecting tube to rotate, and the two cooperate with each other to complete the adjustment of the terminal angle, which has higher flexibility and picking efficiency, can achieve accurate picking of top buds and side buds, and has a high degree of integrity in picking tea buds, which greatly improves the picking quality of tender buds. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of a tea bud picking device with multiple degrees of freedom.

[0024] Figure 2 A cross-sectional view of a tea bud picking device with multiple degrees of freedom DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0026] Combination Figure 1-Figure 2 The multi-degree-of-freedom tea bud picking device of this embodiment includes a collecting tube, a rotating drive mechanism and a swinging drive mechanism; the collecting tube includes a rotating mounting end 1 and a swinging mounting end 2, the swinging mounting end 2 is located at the end of the collecting tube and is connected to the rotating mounting end 1, and the swinging mounting end 2 is a hose structure; the rotating drive mechanism is connected to the rotating mounting end 1, and is used to drive the collecting tube and the swinging drive mechanism to rotate; the swinging drive mechanism is connected to the swinging mounting end 2, and is used to drive the swinging mounting end 2 of the collecting tube to swing.

[0027] Combination Figure 1-Figure 2The rotary drive mechanism includes a rotary mounting seat 3, a rotary drive motor 4 and a rotary transmission assembly. The rotary mounting seat 3 is fixedly arranged on the main frame of the tea bud picking device. The rotary mounting end 1 of the collecting tube is rotatably connected to the rotary mounting seat 3 through a first bearing 5. The rotary drive motor 4 is fixedly arranged on the rotary mounting seat 3. The rotary transmission assembly includes a rotary driving gear 6 and a rotary driven gear 7. The rotary driving gear 6 is arranged on the output shaft of the rotary drive motor 4. The rotary driven gear 7 is fixedly sleeved outside the rotary mounting end 1 of the collecting tube. Through the above structure, under the drive of the rotary drive motor 4, the collecting tube can rotate in the rotary mounting seat 3, thereby adjusting the direction of the end.

[0028] Combination Figure 1-Figure 2 The swing drive mechanism includes a swing mounting frame, a swing clamp 8 and a swing drive motor 9. The swing mounting frame includes a mounting plate 10 and a mounting arm 11. The mounting plate 10 is fixedly connected to the rotating mounting end 1 of the collecting pipe; two mounting arms 11 are provided and fixed in parallel on the mounting plate 10. The swing drive motor 9 is fixedly set on one of the mounting arms 11, and the other mounting arm 11 is connected to the swing clamp 8 through a rotating connection structure.

[0029] Combination Figure 1-Figure 2 The swing clamp 8 is fixedly sleeved on the swing mounting end 2 of the collection tube, the swing drive motor 9 is fixedly arranged on the swing mounting frame, and the output shaft of the swing drive motor 9 is connected to the swing clamp 8 through a coupling structure 12. Through the above structure, under the drive of the swing drive motor 9, the swing mounting end 2 of the collection tube can swing around the rotation center of the swing drive motor 9, so as to adapt to the position of the side buds.

[0030] Combination Figure 1-Figure 2 The rotating connection structure includes a rotating shaft, a coupling structure 12 and a second bearing.

[0031] Furthermore, a screw hole connected to the swing clamp is provided in the coupling structure.

[0032] Combination Figure 1-Figure 2 The working principle of the multi-degree-of-freedom tea bud picking device of this embodiment is as follows:

[0033] Before use, the upper end of the collecting tube is connected to the negative pressure system, and the lower end of the corrugated tube is connected to the sleeve picking tool. There is no need to adjust the angle when picking the top buds. The robotic arm moves the picking end to just above the top buds, vertically covers the target to complete the picking, and the negative pressure system works to collect the picked tea buds.

[0034] When picking side buds, according to the angle formed by the tea buds and the vertical direction, the swing drive mechanism drives the swing mounting end 2 (end) of the collection tube to swing, and the rotary drive mechanism drives the collection tube to rotate, and the two cooperate with each other to complete the adjustment of the end angle. After the picking is completed, the negative pressure system connected to the upper end of the collection tube works to complete the collection of the tea buds in the tube, and then the rotary drive mechanism and the steering drive mechanism are reset to complete the harvesting action.

[0035] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A tea bud picking device with multiple degrees of freedom, characterized in that: It includes a collecting pipe, a rotating driving mechanism and a swing driving mechanism; The collecting pipe comprises a rotating mounting end and a swing mounting end, wherein the swing mounting end is located at the end of the collecting pipe and connected to the rotating mounting end, and the swing mounting end is a hose structure; The rotary drive mechanism is connected to the rotary mounting end and is used to drive the collection pipe and the swing drive mechanism to rotate; The swing driving mechanism is connected to the swing mounting end and is used to drive the swing mounting end of the collecting pipe to swing.

2. The multi-degree-of-freedom tea bud picking device according to claim 1, characterized in that: The rotary drive mechanism comprises a rotary mounting seat, a rotary drive motor and a rotary transmission assembly.

3. The multi-degree-of-freedom tea bud picking device according to claim 2, characterized in that: The rotating mounting seat is fixedly arranged on the main frame of the tea bud picking device, and the rotating mounting end of the collecting tube is rotatably connected in the rotating mounting seat through a first bearing; the rotating drive motor is fixedly arranged on the rotating mounting seat.

4. The multi-degree-of-freedom tea bud picking device according to claim 3, characterized in that: The rotary transmission assembly comprises a rotary driving gear and a rotary driven gear. The rotary driving gear is arranged on the output shaft of the rotary driving motor, and the rotary driven gear is fixedly sleeved outside the rotary installation end of the collecting pipe.

5. The multi-degree-of-freedom tea bud picking device according to claim 1, characterized in that: The swing drive mechanism includes a swing mounting frame, a swing clamp and a swing drive motor. The swing mounting frame is fixedly connected to the rotating mounting end of the collection pipe. The swing clamp is fixedly sleeved on the swing mounting end of the collection pipe. The swing drive motor is fixedly arranged on the swing mounting frame. The output shaft of the swing drive motor is connected to the swing clamp through a coupling structure.

6. The multi-degree-of-freedom tea bud picking device according to claim 5, characterized in that: The swing mounting frame includes a mounting plate and a mounting arm, wherein the mounting plate is fixedly connected to the rotating mounting end of the collecting tube; two mounting arms are provided and fixed in parallel on the mounting plate, the swing driving motor is fixedly arranged on one of the mounting arms, and the other mounting arm is connected to the swing clamp via a rotating connection structure.

7. The multi-degree-of-freedom tea bud picking device according to claim 6, characterized in that: The rotating connection structure includes a rotating shaft, a coupling structure and a second bearing.

8. The multi-degree-of-freedom tea bud picking device according to claim 7, characterized in that: The coupling structure is provided with a screw hole connected with the swing clamp.

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