Tobacco leaf picking and collecting device and method

Abstract

The tobacco leaf picking and collecting device comprises a collecting mechanism, a cutting mechanism, a moving mechanism and a control mechanism, a rotating base is installed in a collecting box, a mechanical arm is installed on the rotating base and comprises a mechanical arm body and a collecting assembly, and the collecting assembly is installed at the tail end of the mechanical arm body; the collecting assembly comprises two tobacco leaf collecting bins and two collecting blades, the collecting blades are installed on the inner sides of the tobacco leaf collecting bins, and the camera is installed on the mechanical arm body and is in communication connection with the mechanical arm; the cutting mechanism is used for cutting off tobacco stems of the collected tobacco leaves; the moving mechanism is used for driving the collecting box to move. According to the technical scheme, on one hand, through cooperation of the moving mechanism and the control mechanism, the collecting box can be moved to the to-be-collected tobacco stems, and the automation degree is high; on the other hand, all tobacco leaves on the tobacco stems to be collected can be automatically collected into the collecting box at a time through cooperation of the camera and the mechanical arm, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of tobacco leaf picking and collecting, and in particular to a tobacco leaf picking and collecting device and a collecting method. Background Art

[0002] Existing tobacco leaves are generally picked manually, and the picking efficiency is limited. Therefore, in order to reduce labor intensity and improve tobacco leaf picking efficiency, some tobacco leaf picking and collecting devices have begun to be used.

[0003] For example, the patent with announcement number CN217336488U and invention name is a small automatic tobacco leaf picking vehicle. The vehicle is driven by a driving device to automatically move along the corridor between the ridges of the tobacco field, while the staff follows closely to pick the tobacco leaves and place them in the tobacco leaf collection bag. Although the labor intensity is reduced, it needs to cooperate with the machine for manual picking, which is too inefficient.

[0004] The patent with announcement number CN221127986U and invention name is a tobacco leaf picking robot. By configuring a depth camera, it can accurately identify the position of tobacco leaves on each tobacco plant, so that the joint robot can lead the electric gripper to remove each tobacco leaf individually. Although the degree of automation is high, the efficiency of the robot arm picking tobacco leaves one by one is too low. Summary of the invention

[0005] Therefore, it is necessary to provide a tobacco leaf picking and collecting device and a collecting method to solve the technical problem of low picking efficiency of the existing tobacco leaf picking and collecting devices.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a tobacco leaf picking and collecting device, comprising:

[0007] The collecting mechanism includes a collecting box, a rotating base, a mechanical arm and a camera. The rotating base is installed inside the collecting box, and the mechanical arm is installed on the rotating base. The rotating base is used to drive the mechanical arm to rotate 360 ​​degrees. The mechanical arm includes a mechanical arm body and a collecting component. The end of the mechanical arm body is installed with a collecting component. The collecting component includes two tobacco leaf collecting bins and two collecting blades. The inner side of the tobacco leaf collecting bin is installed with a collecting blade. The two collecting blades are arranged opposite to each other. The camera is installed on the mechanical arm body and is connected to the mechanical arm in communication. The mechanical arm is used to control the collecting component to collect tobacco leaves according to the image data collected in real time by the camera.

[0008] A cutting mechanism, which is installed at the bottom of the collection box and is used to cut off the tobacco stems after the tobacco leaves are collected;

[0009] A moving mechanism, which is installed on both sides of the collection box and is used to drive the collection box to move;

[0010] The control mechanism is respectively connected to the collecting mechanism, the cutting mechanism and the moving mechanism for communication.

[0011] As an embodiment of the present invention, the cutting mechanism includes a cutting fixing plate, a cutting connecting rod, a cutting chassis, two or more cutting blades and a cutting power assembly. The cutting fixing plate is installed at the bottom of the collecting box. The cutting connecting rod is L-shaped. One end of the cutting connecting rod is connected to the bottom of the cutting fixing plate, and the other end of the cutting connecting rod is connected to the cutting chassis. The cutting chassis is located at the front end of the collecting box. The edge of the cutting chassis is evenly distributed with two or more cutting blades around its circumference. The cutting power assembly is connected to the cutting chassis. The cutting power assembly is used to drive the cutting chassis to rotate so that the two or more cutting blades cut off the tobacco rods after collecting the tobacco leaves.

[0012] As an embodiment of the present invention, the cutting power assembly includes a first cutting motor, which is mounted on a cutting chassis and is used to drive the cutting chassis to rotate.

[0013] As an embodiment of the present invention, the cutting power assembly also includes a second cutting motor, a first connecting rod, a first bevel gear, a second bevel gear, a second connecting rod, a third bevel gear and a fourth bevel gear. The second cutting motor is installed at the bottom of the cutting fixed plate, the second cutting motor is connected to the first connecting rod, the first connecting rod is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the second connecting rod, the second connecting rod is connected to the third bevel gear, the third bevel gear is connected to the fourth bevel gear, the fourth bevel gear is installed on the cutting chassis, and the second cutting motor is used to drive the cutting chassis to rotate.

[0014] As an embodiment of the present invention, the mobile mechanism includes two groups of mobile components, which are respectively installed on both sides of the collection box. The mobile components include a frame, two tires, a mobile motor, a rotating shaft, two driving sprockets, two chains and two driven sprockets. A tire is installed at the front end and the rear end of the frame respectively. The mobile motor is installed in the frame. The mobile motor is connected to the rotating shaft by transmission. A driving sprocket is installed on both sides of the rotating shaft. The driving sprocket is connected to the driven sprocket by a chain. The driven sprocket is installed on the tire. The mobile motor is used to drive the tire to rotate so as to move the collection box.

[0015] As an embodiment of the present invention, the moving mechanism further includes a connecting shaft, both sides of which are respectively hinged to the two groups of moving components, and the connecting shaft is used to make the two groups of moving components rotate around it respectively.

[0016] As an embodiment of the present invention, the collection component also includes two collection sensors, which are installed on the inner side of the collection blade. The collection sensor is communicatively connected to the robotic arm, and the robotic arm is used to control the closing of the collection blade according to the position data of the collection blade and the cigarette rod detected by the collection sensor.

[0017] As an embodiment of the present invention, the collection mechanism also includes a weighing sensor, which is installed at the bottom of the collection box. The weighing sensor is communicated with the control mechanism, and the control mechanism is used to control the movement of the moving mechanism according to the weight data of the tobacco leaves in the collection box detected by the weighing sensor.

[0018] As an embodiment of the present invention, the control mechanism includes a control box and a battery box. The control box is respectively connected to the collection mechanism, the cutting mechanism, the moving mechanism and the battery box for communication. The battery box is respectively connected to the collection mechanism, the cutting mechanism and the moving mechanism.

[0019] To achieve the above object, in a second aspect, the inventor provides a tobacco leaf picking and collecting method, comprising any tobacco leaf picking and collecting device provided by the inventor above, and further comprising the following steps:

[0020] S01: Setting the initial position of the robot arm and the camera to be located in the forward direction of the collection box;

[0021] S02: The control mechanism controls the moving mechanism to move, and the moving mechanism drives the collection box to move to the cigarette rods to be collected;

[0022] S03: The robot arm controls the two tobacco leaf collection bins to open and align with the root of the tobacco stem to be collected according to the image data collected in real time by the camera, and then controls the two tobacco leaf collection bins to close after the alignment is completed. After the closing is completed, the robot arm controls the two collection blades to cut all the tobacco leaves on the tobacco stem from the bottom to the top along the height direction of the tobacco stem to be collected, and the cut tobacco leaves automatically fall into the tobacco leaf collection bin;

[0023] S04: After all tobacco leaves on the tobacco stem to be collected are collected, the robot arm rotates to the backward direction of the collection box, and then the collection component is turned over, and the tobacco leaves collected in the tobacco collection bin fall into the collection box;

[0024] S05: The robotic arm and the camera return to their initial positions. At the same time, the control mechanism controls the cutting mechanism to start and controls the moving mechanism to move. While the moving mechanism drives the collection box to move forward, the cutting mechanism cuts off the tobacco stems from which the tobacco leaves have been collected.

[0025] S06: The control mechanism controls the cutting mechanism to close and controls the moving mechanism to continue to move, and the moving mechanism drives the collection box to move to the next tobacco stem to be collected;

[0026] S07: Repeat steps S03 to S06 until the collection box is full of tobacco leaves.

[0027] Different from the prior art, the technical solution of the present application can realize the movement of the collection box to the tobacco rods to be collected through the cooperation of the moving mechanism and the control mechanism, with a high degree of automation. On the other hand, through the cooperation of the camera and the robotic arm, all tobacco leaves on the tobacco rods to be collected can be automatically collected into the collection box at one time, thereby improving the picking efficiency. In addition, by setting a cutting mechanism to cut off the tobacco rods after the tobacco leaves have been collected, the subsequent manual cutting of the tobacco rods can be avoided, thereby reducing labor costs.

[0028] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present application and other related contents, and shall not be considered as limitations of the present application.

[0030] In the drawings of the specification:

[0031] Figure 1 A schematic diagram of the structure of a tobacco leaf picking and collecting device according to an embodiment of the present application Figure 1 ;

[0032] Figure 2 A schematic diagram of the structure of a tobacco leaf picking and collecting device according to an embodiment of the present application Figure 2 ;

[0033] Figure 3 This is a schematic diagram of the structure of a collection component according to an embodiment of the present application;

[0034] Figure 4 This is a schematic structural diagram of a cutting mechanism according to an embodiment of the present application;

[0035] Figure 5 Another schematic structural diagram of a cutting mechanism according to an embodiment of the present application;

[0036] Figure 6 This is a schematic diagram of a structure in which a control mechanism according to an embodiment of the present application is installed on a moving mechanism;

[0037] Figure 7 A schematic diagram of the structure of a tobacco leaf picking and collecting device according to an embodiment of the present application Figure 3 ;

[0038] Figure 8 A schematic diagram of the structure of a tobacco leaf picking and collecting device according to an embodiment of the present application Figure 4 .

[0039] The reference numerals in the above drawings are described as follows:

[0040] 100-tobacco leaf picking and collecting device; 1-collecting mechanism; 11-collecting box; 12-rotating base; 13-mechanical arm; 131-mechanical arm body; 132-collecting component; 1321-tobacco leaf collecting bin; 1322-collecting blade; 1323-collecting sensor; 14-camera; 2-cutting mechanism; 21-cutting fixing plate; 22-cutting connecting rod; 23-cutting chassis; 24-cutting blade; 25-cutting power component; 251-first cutting motor; 252-second cutting Motor; 253-first connecting rod; 254-first bevel gear; 255-second bevel gear; 256-second connecting rod; 257-third bevel gear; 258-fourth bevel gear; 3-moving mechanism; 31-moving assembly; 311-frame; 312-tire; 313-moving motor; 314-rotating shaft; 315-driving sprocket; 316-chain; 317-driven sprocket; 32-connecting shaft; 4-control mechanism; 41-control box; 42-battery box; X-the forward direction of the collection box. DETAILED DESCRIPTION

[0041] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0042] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0043] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0044] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0045] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0046] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0047] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0048] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0049] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] According to some embodiments of the present application, please refer to Figures 1 to 8 The present embodiment relates to a tobacco leaf picking and collecting device 100, comprising a collecting mechanism 1, a cutting mechanism 2, a moving mechanism 3 and a control mechanism 4. The collecting mechanism 1 comprises a collecting box 11, a rotating base 12, a mechanical arm 13 and a camera 14. The rotating base 12 is installed inside the collecting box 11. The mechanical arm 13 is installed on the rotating base 12. The rotating base 12 is used to drive the mechanical arm 13 to rotate 360°. The mechanical arm 13 comprises a mechanical arm body 131 and a collecting component 132. The collecting component 132 is installed at the end of the mechanical arm body 131. The collecting component 132 comprises two tobacco leaf collecting bins 1321 and two collecting blades. 1322, a collecting blade 1322 is installed on the inner side of the tobacco collection bin 1321, and the two collecting blades 1322 are arranged opposite to each other. The camera 14 is installed on the robot body 131 and is communicated with the robot 13. The robot 13 is used to control the collecting component 132 to collect tobacco according to the image data collected in real time by the camera 14; the cutting mechanism 2 is installed at the bottom of the collection box 11, and the cutting mechanism 2 is used to cut off the tobacco rods after the tobacco leaves are collected; the moving mechanism 3 is installed on both sides of the collection box 11, and the moving mechanism 3 is used to drive the collection box 11 to move; the control mechanism 4 is communicated with the collecting mechanism 1, the cutting mechanism 2 and the moving mechanism 3 respectively.

[0051] The interior of the collecting box 11 is hollow, and the rotating base 12 is conical and installed at the bottom of the collecting box 11. Preferably, the rotating base 12 is installed in the middle of the bottom of the collecting box 11 to ensure the stability of the collecting box 11. The rotating base 12 is provided with a rotating shaft 314 bearing, so that the mechanical arm 13 installed thereon can be driven to rotate. The mechanical arm 13 is an existing industrial mechanical arm 13, including joints, connecting rods, drivers, sensors, controllers, and end effectors. Among them, the joints are built with servo motor devices for controlling the pitch and rotation movements of each section of the mechanical arm 13. In this embodiment, the end effector is a collection component 132. The mechanical arm body 131 controls the rotation, position movement, or control of the two tobacco collection bins 1321 to open or close relative to each other through the image data fed back by the camera 14, so that the collection blade 1322 collects the tobacco on the tobacco rod into the tobacco collection bin 1321. Among them, the collection blade 1322 is semi-annular and can be well adapted to the tobacco rod.

[0052] The cutting mechanism 2 may be an existing cutting device, and the cutting end of the cutting mechanism 2 is located at the front end of the collecting box 11 and faces the advancing direction X of the collecting box.

[0053] The control mechanism 4 cooperates with the moving mechanism 3 , wherein the control mechanism 4 can control the moving mechanism 3 to move to a specified position through image data captured in real time by the camera 14 .

[0054] The technical solution of the present application can realize the movement of the collection box 11 to the tobacco stems to be collected through the cooperation of the moving mechanism 3 and the control mechanism 4, with a high degree of automation. On the other hand, the cooperation of the camera 14 and the mechanical arm 13 can automatically collect all the tobacco leaves on the tobacco stems to be collected into the collection box 11 at one time, thereby improving the picking efficiency.

[0055] According to some embodiments of the present application, optionally, Figure 4 and Figure 5 As shown, the cutting mechanism includes a cutting fixed plate 21, a cutting connecting rod 22, a cutting chassis 23, two or more cutting blades 24 and a cutting power assembly 25. The cutting fixed plate 21 is installed at the bottom of the collecting box 11. The cutting connecting rod 22 is L-shaped. One end of the cutting connecting rod 22 is connected to the bottom of the cutting fixed plate 21, and the other end of the cutting connecting rod 22 is connected to the cutting chassis 23. The cutting chassis 23 is located at the front end of the collecting box 11. The edge of the cutting chassis 23 is evenly distributed around its circumference. More than two cutting blades 24 are arranged. The cutting power assembly 25 is connected to the cutting chassis 23. The cutting power assembly 25 is used to drive the cutting chassis 23 to rotate so that the more than two cutting blades 24 cut off the tobacco rods after collecting the tobacco leaves.

[0056] like Figure 4As shown, in this embodiment, six cutting blades 24 are evenly distributed around the circumference of the edge of the cutting chassis 23, and the cutting blades 24 are sharp. The cutting blades 24 are connected to the cutting chassis 23 by bolts and have certain movable characteristics, thereby allowing the cutting blades 24 to swing slightly when subjected to a large external force, that is, when encountering hard objects (such as stones), the impact force can be reduced to protect the cutting blades 24 and the cutting chassis 23.

[0057] By providing a cutting mechanism 2 to cut off the tobacco stems after the tobacco leaves are collected, subsequent manual cutting of the tobacco stems can be avoided, thereby reducing labor costs.

[0058] According to some embodiments of the present application, optionally, Figure 4 As shown, the cutting power assembly 25 includes a first cutting motor 251 . The first cutting motor 251 is mounted on the cutting chassis 23 . The first cutting motor 251 is used to drive the cutting chassis 23 to rotate.

[0059] The cutting chassis 23 can be directly driven to rotate by the first cutting motor 251, so that the cutting blade 24 installed on the cutting chassis 23 can rotate synchronously to cut the tobacco rods after the tobacco leaves are collected.

[0060] According to some embodiments of the present application, optionally, Figure 5 As shown, the cutting power assembly 25 also includes a second cutting motor 252, a first connecting rod 253, a first bevel gear 254, a second bevel gear 255, a second connecting rod 256, a third bevel gear 257 and a fourth bevel gear 258. The second cutting motor 252 is installed at the bottom of the cutting fixed plate 21. The second cutting motor 252 is connected to the first connecting rod 253, the first connecting rod 253 is connected to the first bevel gear 254, the first bevel gear 254 is meshed with the second bevel gear 255, the second bevel gear 255 is connected to the second connecting rod 256, the second connecting rod 256 is connected to the third bevel gear 257, the third bevel gear 257 is connected to the fourth bevel gear 258, and the fourth bevel gear 258 is installed on the cutting chassis 23. The second cutting motor 252 is used to drive the cutting chassis 23 to rotate.

[0061] The second cutting motor 252 transmits power to the cutting chassis 23 through a bevel gear transmission, thereby driving the cutting chassis 23 to rotate at high speed. Due to the connection between the cutting blade 24 and the cutting chassis 23, the rotation of the cutting chassis 23 directly drives the cutting blade 24 to rotate synchronously to achieve cutting. Compared with the direct drive of the first cutting motor 251, the second cutting motor 252 is located behind the cutting blade 24 to prevent the second cutting motor 252 from being affected when the cutting blade 24 is cutting.

[0062] According to some embodiments of the present application, optionally, Figure 2 and Figures 6 to 8As shown, the mobile mechanism 3 includes two groups of mobile components 31, and the two groups of mobile components 31 are respectively installed on both sides of the collection box 11. The mobile components 31 include a frame 311, two tires 312, a mobile motor 313, a rotating shaft 314, two driving sprockets 315, two chains 316 and two driven sprockets 317. A tire 312 is installed at the front end and the rear end of the frame 311 respectively. The mobile motor 313 is installed in the frame 311. The mobile motor 313 is connected to the rotating shaft 314 by transmission. A driving sprocket 315 is installed on both sides of the rotating shaft 314. The driving sprocket 315 is connected to the driven sprocket 317 by a chain 316. The driven sprocket 317 is installed on the tire 312. The mobile motor 313 is used to drive the tire 312 to rotate so as to move the collection box 11.

[0063] The mobile motor 313 transmits power to the rotating shaft 314, which can be driven by bevel gears or gears. The driving sprockets 315 are installed on both sides of the rotating shaft 314. Therefore, the rotation of the rotating shaft 314 drives the driving sprocket 315 to rotate synchronously, and then drives the corresponding driven sprocket 317 to rotate through the chain 316, and finally drives the front and rear tires 312 to rotate, so as to realize the movement of the collection box 11. A group of mobile components 31 are arranged on both sides of the collection box 11, and the two groups of mobile components 31 are driven by separate mobile motors 313 to ensure the independence of the two sides of the collection box 11, so that the steering can be achieved by adjusting the speed difference of the mobile motors 313 on both sides. Preferably, the tire 312 is set as a large-diameter rough tread tire 312, and the high ground clearance enables the tobacco leaf picking and collection device 100 to climb over complex terrain such as stone piers.

[0064] According to some embodiments of the present application, optionally, Figure 2 and Figures 6 to 8 As shown, the moving mechanism 3 further includes a connecting shaft 32, both sides of which are respectively hinged to the two groups of moving components 31, and the connecting shaft 32 is used to make the two groups of moving components 31 rotate around it respectively.

[0065] The two groups of moving components 31 are connected by a connecting shaft 32, and both sides can freely rotate around the connecting shaft 32, thereby ensuring the stability of the tobacco leaf picking and collecting device 100. Figure 7 and Figure 8 As shown, the tobacco leaf picking and collecting device 100 can be used in complex terrains (such as hilly areas) and has a wider range of use areas.

[0066] According to some embodiments of the present application, optionally, Figure 3As shown, the collection component 132 also includes two collection sensors 1323, which are installed on the inner side of the collection blade 1322. The collection sensor 1323 is communicated with the robotic arm 13, and the robotic arm 13 is used to control the closing of the collection blade 1322 according to the position data of the collection blade 1322 and the cigarette rod detected by the collection sensor 1323.

[0067] By setting the collection sensor 1323 to detect the position data of the collection blade 1322 and the tobacco rod, it can be determined whether the tobacco collection bin 1321 is closed in place. If it is closed in place, the tobacco collection starts; if it is not closed in place, the robot arm 13 continues to control the tobacco collection bin 1321 to close to the specified position, thereby ensuring that the collection blade 1322 can be suitable for tobacco rods of different thicknesses, so that the collection blade 1322 can play a good effect of cutting tobacco. Optionally, the collection sensor 1323 can be an infrared sensor, a position sensor, or a travel switch.

[0068] According to some embodiments of the present application, optionally, the collecting mechanism 1 also includes a weighing sensor, which is installed at the bottom of the collecting box 11. The weighing sensor is communicatively connected to the control mechanism 4, and the control mechanism 4 is used to control the movement of the moving mechanism 3 according to the weight data of the tobacco leaves in the collecting box 11 detected by the weighing sensor.

[0069] By setting a weighing sensor, it can be ensured that when the tobacco leaves in the collection box 11 reach a specified weight, the moving mechanism 3 is controlled to move to a specified position, and then the staff takes out the tobacco leaves in the collection box 11. After the tobacco leaves in the collection box 11 are emptied, the control mechanism 4 controls the moving mechanism 3 to move to the tobacco rods to be collected.

[0070] According to some embodiments of the present application, optionally, Figure 1 and Figure 6 As shown, the control mechanism 4 includes a control box 41 and a battery box 42. The control box 41 is respectively connected to the collection mechanism 1, the cutting mechanism 2, the moving mechanism 3 and the battery box 42 for communication. The battery box 42 is respectively connected to the collection mechanism 1, the cutting mechanism 2 and the moving mechanism 3.

[0071] The control box 41 and the battery box 42 are respectively installed on both sides of the collection box 11. The battery box 42 provides power for various motors, and the control box 41 realizes remote control and automatic operation of the tobacco leaf picking and collecting device 100. Optionally, the control box 41 and the battery box 42 are also installed above the two groups of moving components 31 respectively.

[0072] To achieve the above objectives, in a second aspect, the inventor provides a tobacco leaf picking and collecting method, including a tobacco leaf picking and collecting device 100, and further comprising the following steps:

[0073] S01: setting the initial positions of the robot arm 13 and the camera 14 to be located in the forward direction X of the collection box;

[0074] S02: The control mechanism 4 controls the moving mechanism 3 to move, and the moving mechanism 3 drives the collection box 11 to move to the cigarette rods to be collected;

[0075] S03: The robot arm 13 controls the two tobacco leaf collecting bins 1321 to open and align with the root of the tobacco stem to be collected according to the image data collected in real time by the camera 14, and then controls the two tobacco leaf collecting bins 1321 to close after the alignment is completed. After the closing is completed, the two collecting blades 1322 are controlled to cut all the tobacco leaves on the tobacco stem from the bottom to the top along the height direction of the tobacco stem to be collected, and the cut tobacco leaves automatically fall into the tobacco leaf collecting bin 1321;

[0076] S04: After collecting all the tobacco leaves on the tobacco rod to be collected, the robot arm 13 rotates to the backward direction of the collection box 11, and then flips the collection component 132, and the tobacco leaves collected in the tobacco collection bin 1321 fall into the collection box 11;

[0077] S05: The mechanical arm 13 and the camera 14 return to their initial positions. At the same time, the control mechanism 4 controls the cutting mechanism 2 to start and controls the moving mechanism 3 to move. While the moving mechanism 3 drives the collecting box 11 to move forward, the cutting mechanism 2 cuts off the tobacco stems from which the tobacco leaves have been collected.

[0078] S06: the control mechanism 4 controls the cutting mechanism 2 to close and controls the moving mechanism 3 to continue to move, and the moving mechanism 3 drives the collecting box 11 to move to the next tobacco stem to be collected;

[0079] S07: Repeat steps S03 to S06 until the collecting box 11 is full of tobacco leaves.

[0080] In S02, it should be emphasized that the control mechanism 4 can control the movement of the moving mechanism 3 through the image data collected in real time by the camera 14, so that the tobacco leaf picking and collecting device 100 can move to the tobacco stems to be collected.

[0081] In S03, it is important to note that the image data collected in real time by the camera 14 can be used to determine whether the collection blade 1322 cuts from the bottom to the top along the height direction of the tobacco stem to be collected, thereby ensuring that all tobacco leaves on the tobacco stem are collected.

[0082] It should be noted that, although the above embodiments have been described in this article, the patent protection scope of the present invention is not limited thereby. Therefore, based on the innovative concept of the present invention, changes and modifications made to the embodiments described herein, or equivalent structures or equivalent process changes made using the contents of the present invention specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included in the patent protection scope of the present invention.

Claims

1. A tobacco leaf picking and collecting device, characterized in that: include: A collection mechanism, the collection mechanism comprises a collection box, a rotating base, a mechanical arm and a camera, the rotating base is installed inside the collection box, the mechanical arm is installed on the rotating base, the rotating base is used to drive the mechanical arm to rotate 360 ​​degrees, the mechanical arm comprises a mechanical arm body and a collection component, the end of the mechanical arm body is installed with the collection component, the collection component comprises two tobacco collection bins and two collection blades, the inner side of the tobacco collection bin is installed with the collection blades, the two collection blades are arranged oppositely, the camera is installed on the mechanical arm body, and is in communication connection with the mechanical arm, the mechanical arm is used to control the collection component to collect tobacco according to the image data collected by the camera in real time; A cutting mechanism, the cutting mechanism is installed at the bottom of the collecting box, and the cutting mechanism is used to cut off the tobacco stems after the tobacco leaves are collected; A moving mechanism, the moving mechanism is installed on both sides of the collection box, and the moving mechanism is used to drive the collection box to move; A control mechanism is respectively connected to the collecting mechanism, the cutting mechanism and the moving mechanism for communication.

2. The tobacco leaf picking and collecting device according to claim 1, characterized in that: The cutting mechanism includes a cutting fixing plate, a cutting connecting rod, a cutting chassis, two or more cutting blades and a cutting power assembly. The cutting fixing plate is installed at the bottom of the collecting box. The cutting connecting rod is L-shaped. One end of the cutting connecting rod is connected to the bottom of the cutting fixing plate, and the other end of the cutting connecting rod is connected to the cutting chassis. The cutting chassis is located at the front end of the collecting box. The edge of the cutting chassis is evenly distributed with two or more cutting blades around its circumference. The cutting power assembly is connected to the cutting chassis. The cutting power assembly is used to drive the cutting chassis to rotate so that the two or more cutting blades cut off the tobacco rods that have collected the tobacco leaves.

3. The tobacco leaf picking and collecting device according to claim 2, characterized in that: The cutting power assembly comprises a first cutting motor, which is mounted on the cutting chassis and is used to drive the cutting chassis to rotate.

4. The tobacco leaf picking and collecting device according to claim 2, characterized in that: The cutting power assembly also includes a second cutting motor, a first connecting rod, a first bevel gear, a second bevel gear, a second connecting rod, a third bevel gear and a fourth bevel gear. The second cutting motor is installed at the bottom of the cutting fixing plate. The second cutting motor is connected to the first connecting rod, the first connecting rod is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the second connecting rod, the second connecting rod is connected to the third bevel gear, the third bevel gear is connected to the fourth bevel gear, and the fourth bevel gear is installed on the cutting chassis. The second cutting motor is used to drive the cutting chassis to rotate.

5. The tobacco leaf picking and collecting device according to claim 1, characterized in that: The moving mechanism includes two groups of moving components, which are respectively installed on both sides of the collection box. The moving components include a frame, two tires, a moving motor, a rotating shaft, two driving sprockets, two chains and two driven sprockets. A tire is installed at the front end and the rear end of the frame respectively. The moving motor is installed in the frame. The moving motor is connected to the rotating shaft by transmission. A driving sprocket is installed on each side of the rotating shaft. The driving sprocket is connected to the driven sprocket by the chain. The driven sprocket is installed on the tire. The moving motor is used to drive the tire to rotate so as to move the collection box.

6. The tobacco leaf picking and collecting device according to claim 5, characterized in that: The moving mechanism further comprises a connecting shaft, both sides of which are respectively hinged to the two groups of the moving components, and the connecting shaft is used to make the two groups of the moving components rotate around it respectively.

7. The tobacco leaf picking and collecting device according to claim 1, characterized in that: The collection component also includes two collection sensors, which are installed on the inner side of the collection blade. The collection sensors are communicatively connected to the robotic arm, and the robotic arm is used to control the closing of the collection blade according to the position data of the collection blade and the cigarette rod detected by the collection sensor.

8. The tobacco leaf picking and collecting device according to claim 1, characterized in that: The collection mechanism also includes a weighing sensor, which is installed at the bottom of the collection box. The weighing sensor is communicatively connected to the control mechanism, and the control mechanism is used to control the movement of the moving mechanism according to the weight data of the tobacco leaves in the collection box detected by the weighing sensor.

9. The tobacco leaf picking and collecting device according to claim 1, characterized in that: The control mechanism comprises a control box and a battery box. The control box is respectively connected to the collection mechanism, the cutting mechanism, the moving mechanism and the battery box for communication. The battery box is respectively connected to the collection mechanism, the cutting mechanism and the moving mechanism.

10. A tobacco leaf picking and collecting method, characterized in that: The tobacco leaf picking and collecting device according to any one of claims 1 to 9 further comprises the following steps: S01: setting the initial positions of the robotic arm and the camera to be located in the forward direction of the collection box; S02: the control mechanism controls the moving mechanism to move, and the moving mechanism drives the collection box to move to the cigarette rods to be collected; S03: the robot arm controls the two tobacco leaf collecting bins to open and align with the root of the tobacco stem to be collected according to the image data collected by the camera in real time, and controls the two tobacco leaf collecting bins to close after the alignment is completed, and controls the two collecting blades to cut all the tobacco leaves on the tobacco stem from the bottom to the top along the height direction of the tobacco stem to be collected after the closing is completed, and the cut tobacco leaves automatically fall into the tobacco leaf collecting bin; S04: After all the tobacco leaves on the tobacco rod to be collected are collected, the mechanical arm rotates to the backward direction of the collection box, and then the collection component is turned over, and the tobacco leaves collected in the tobacco collection bin fall into the collection box; S05: the robotic arm and the camera return to their initial positions, and at the same time, the control mechanism controls the cutting mechanism to start and controls the moving mechanism to move, and while the moving mechanism drives the collecting box to move forward, the cutting mechanism cuts off the tobacco stems from which the tobacco leaves have been collected; S06: the control mechanism controls the cutting mechanism to close and controls the moving mechanism to continue to move, and the moving mechanism drives the collection box to move to the next tobacco stem to be collected; S07: Repeat steps S03 to S06 until the collection box is full of tobacco leaves.

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