Small multifunctional tea picking robot

Abstract

The invention discloses a small multifunctional tea picking robot which comprises a modular tool bit capable of being quickly detached, an alloy clamping mechanism and a multi-layer screening device. The modularized cutter head adopts a gradient hard alloy blade, the surface is coated with a titanium nitride film, and flexible replacement is adapted to different tea varieties. After the mechanical arm drives the tool bit to precisely shear the tea leaves, the screening device dynamically adjusts vibration parameters through the replaceable multi-layer structure screen and the pressure sensing self-adaptive vibration system so as to protect the tea leaves to be complete, and the screen is coated with a hydrophobic coating to prevent adhesion. The telescopic rod is provided with a hydraulic feedback system, and supporting force is automatically adjusted to cope with rugged terrains. The pivot is made of copper-based shape memory alloy and is prevented from being stuck at low temperature. The whole machine integrates picking, sorting and recycling functions, is light in structure and is suitable for efficient operation of small tea gardens. Through cooperative picking of the two mechanical arms and the sorting function of the screening device, the picking and recycling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering, and particularly to a small multi-functional tea-picking robot. Background Art

[0002] At present, the tea-picking robots on the market have problems such as low output and high costs. Developing a small multi-functional tea-picking robot is of great significance for improving the quality of tea-picking and subsequent processing. Optimizing the structure of the tea-picking robot can not only improve the mechanical properties of the tea-picking robot, but also simplify the overall structure, reduce the weight, reduce the production cost, and make it more convenient for tea farmers to operate. CN202411712888.1 provides a three-dimensional coordinate automatic tea-picking robot, which belongs to the field of tea-picking robots and includes: a bracket, and a driving arm is installed at the inner top of the bracket; a picking assembly, and the picking assembly includes a first electric telescopic rod, a lifting plate, a cutting knife, a connecting rod and a cover plate. The present invention realizes five functions of picking, collecting, screening, paving and cleaning; first, the tea leaves are cut and picked through the picking assembly and the transmission assembly, and then the tea leaves are sucked into the collection box through the collection assembly. At the same time, the tea leaves are efficiently and stably screened through the screening assembly, and at the same time, the paving assembly ensures that the tea leaves in the collection tray are evenly distributed and avoid accumulation. At the same time, the cleaning assembly cleans the dust on the second dust-proof net to ensure the smooth operation of the collection system; it reduces the manual burden, reduces the picking cost, and can continuously carry out the picking operation, improving the picking efficiency.

[0003] However, during the picking process, some operations of tea-picking will cause great harm to the body of tea farmers, and it is difficult to ensure that the picked tea leaves are of the highest quality by manual tea-picking. Therefore, both the efficiency and the quality are difficult to guarantee. Moreover, manual picking requires secondary screening, which greatly prolongs the operation time and indirectly affects the economic interests of tea farmers and tea purchasing enterprises. Summary of the Invention

[0004] The purpose of the present invention is to provide a small multi-functional tea-picking robot, which can simplify the overall structure, reduce the weight, reduce the picking cost, and improve the production efficiency. Aiming at the defects existing in the prior art, to achieve the above purpose, the key of the technical solution adopted by the present invention is:

[0005] A quickly detachable modular cutter head, the quickly detachable modular cutter head is formed by staggeredly arranging gradient cemented carbide blades. One end of the large arm connecting rod is coupled with the small arm connecting rod through a pivot, and the other end is coupled with the load-bearing base through a pivot. The load-bearing base is installed on a 360° rotating wheel, and the 360° rotating wheel is locked on the screening device through a hard gasket. The screening device is composed of a general-purpose operation plane and a replaceable multi-layer structure sieve mesh. The storage container is connected below the screening device, and both ends of the telescopic rod are respectively connected with a cooperative movement assisting device and the general-purpose operation plane.

[0006] Further, a small multi-functional tea picking robot includes: a small arm link (5), one end of the small arm link (5) is connected to a quickly detachable modular cutter head (2), and the other end is connected to a large arm link (6). The quickly detachable modular cutter head (2) is formed by spatially staggered arrangement of gradient cemented carbide blades (21). One end of the large arm link (6) is coupled to the small arm link through a pivot a (3), and the other end is coupled to a load-bearing base (7) through a pivot b (12). The load-bearing base (7) is installed on a 360° rotating wheel (9), and the 360° rotating wheel (9) is locked on a screening device (11) through a hard gasket (4). The screening device (11) is composed of a general-purpose working plane (111) and a replaceable multi-layer structure sieve mesh (112). A storage container (14) is connected below the screening device (11);

[0007] The eccentric mechanism (16) is composed of a biased rotating disk (161) and a kinetic energy motor (162). The general-purpose working plane (111) and the traveling mechanism (13) are connected by a vertical support member (17).

[0008] Preferably, the screening device (11) is equipped with a vibration adaptive control system for tea processing based on pressure sensing, which can monitor the load condition of the tea in real time and ensure the integrity and high quality of the tea by adjusting the vibration frequency and amplitude.

[0009] Preferably, the replaceable multi-layer structure sieve mesh (112) is stacked by a plurality of sieve bodies, and each sieve body is connected by bolts, which is convenient for disassembly and replacement;

[0010] The material of the sieve body is selected as stainless steel, which has excellent corrosion resistance and strength.

[0011] Preferably, the quickly detachable modular cutter head (2) can be replaced with different cutter heads according to the differences in tea varieties and picking methods.

[0012] Preferably, the replaceable multi-layer structure sieve mesh (112) is coated with a hydrophobic coating.

[0013] Preferably, the telescopic rod (15) is equipped with a hydraulic feedback system, which can automatically adjust the length and supporting force when dealing with steep slopes or soft mountainous areas, so as to keep the whole machine moving smoothly.

[0014] Preferably, the gradient cemented carbide blade (21) uses an alloy as the base material, and a film with ultra-high hardness is coated on the outer surface of the material.

[0015] Preferably, the pivot a (3) and the pivot b (12) are made of shape memory alloy, which automatically adjusts the stiffness according to temperature changes to prevent jamming at low temperatures, and copper-based shape memory alloy is selected.

[0016] Preferably, the tea picking process of a small multi-functional tea picking robot includes the following steps:

[0017] (1) Before use, after checking the information and data required by the tea picking robot, input them into the background of the machine and install the corresponding accessories according to requirements, including a quickly detachable modular cutter head (2) and a rubber gasket (81); carefully check each component to ensure they are correctly installed and firm; then move the device to an open outdoor location and wait for the machine to travel to the area where the tea trees are located.

[0018] (2) After reaching the designated position, the quickly detachable modular cutter head (2) performs a quick cutting motion, and the cut tea leaves are temporarily stored in the tray of the modular cutter head (2). When the tea leaves accumulate to a certain weight, the large arm connecting rod (6) rotates to pour the tea leaves into the screening device (11). The screening device (11) starts working when it detects an item being poured in, and adjusts the frequency and amplitude of the vibration mechanism by detecting the load, so as to leave tea leaves of different specifications on different layers of the sieve mesh, while small branches and other sundries will enter the lower storage container (14); at the same time, the scanning camera above the screening device (11) scans the tea leaves to locate the positions of damaged and insect-bitten tea leaves, and drives the alloy clamping mechanism (8) to clamp them, completing the tea picking and sorting work.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] 1. Through the coordinated operation of the screening device and the storage container, the present invention realizes the further sorting of tea leaves after picking, thus saving the time for tea farmers to perform secondary operations, and sundries such as broken branches can also be collected in a timely manner for recycling.

[0021] 2. The present invention picks tea leaves with a quickly detachable modular cutter head, which can be flexibly replaced according to different types and qualities of tea leaves.

[0022] 3. The replaceable multi-layer structure sieve mesh of the present invention is coated with a hydrophobic coating to prevent tea leaves from adhering to the inner wall of the device during the sorting process. At the same time, this coating is easy to clean and can prevent the inner wall from being corroded and oxidized.

[0023] 4. The telescopic rod of the present invention is equipped with a hydraulic feedback system, which can automatically adjust the length and supporting force to prevent the machine from stalling when running on relatively rough mountain roads or soft land due to unstable center of gravity or insufficient kinetic energy provided by the walking device.

[0024] 5. In the present invention, the gradient cemented carbide blade uses an alloy as the base material, which can withstand a certain degree of impact and vibration. Moreover, a film with ultra-high hardness is coated on the outer surface of the material, reducing costs and improving the cutting performance and lifespan of the tool.

[0025] 6. In the present invention, the screening device is equipped with a vibration adaptive control system for tea processing based on pressure sensing, which can monitor the load condition of the tea in real time and ensure the integrity and high quality of the tea by adjusting the vibration frequency and amplitude.

[0026] 7. In the present invention, the replaceable multi-layer structure sieve mesh 112 is composed of multiple sieve bodies stacked together, and each sieve body is connected by bolts, which is convenient for disassembly and replacement. The material of the sieve body is selected as stainless steel, which has corrosion resistance and strength.

[0027] 8. In the present invention, shape memory alloy is used for the pivot a and pivot b. The stiffness is automatically adjusted according to the temperature change to prevent jamming at low temperatures. In order to achieve high cost performance, we will choose copper-based shape memory alloy.

[0028] 9. In the present invention, picking, collecting, and sorting are combined onto a small machine, greatly improving the operation efficiency of tea picking, enabling tender tea leaves to be processed at the best time, and significantly enhancing the tea quality.

[0029] 10. The machine of the present invention is not overly large, and the production cost is reduced by optimizing the structure, making it more suitable for use in small tea gardens. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic structural diagram of the present invention;

[0032] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0033] Figure 3 It is a schematic diagram of the main structure of the present invention;

[0034] Figure 4 It is a schematic diagram of the partial structure of the present invention;

[0035] Figure 5 It is a schematic diagram of the detailed partial structure of the present invention:

[0036] In the figure: 1. Scanning camera; 2. Removable modular cutter head; 21. Gradient cemented carbide blade; 3. Pivot a; 4. Hard gasket; 5. Forearm link; 6. Upper arm link; 7. Load-bearing base; 8. Alloy clamping mechanism; 81. Rubber gasket; 9. 360° rotating wheel; 10. Cooperative movement assistance device; 101. Load-bearing unit; 102. Driving unit; 103. Crawler; 11. Screening device; 111. General-purpose operation plane; 112. Replaceable multi-layer structure screen; 12. Pivot b; 13. Traveling mechanism; 131. Driving wheel; 132. Idler wheel; 133. Guide wheel; 134. Sprocket; 135. Crawler; 14. Storage container; 15. Telescopic rod; 16. Eccentric mechanism; 161. Offset rotary disk; 162. Kinetic energy motor; 17. Vertical support member Detailed implementation manners

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application. The following further elaborates on the embodiments of the present invention with reference to the accompanying drawings. It is specifically set according to actual construction requirements and is not specifically limited in this application.

[0038] The present invention provides a small multi-functional tea-picking robot, including a forearm link 5. One end of the forearm link 5 is connected to a removable modular cutter head 2, and the other end is connected to an upper arm link 6. The removable modular cutter head 2 is formed by spatially staggered arrangement of gradient cemented carbide blades 21. One end of the upper arm link 6 is coupled to the forearm link through a pivot a 3, and the other end is coupled to the load-bearing base 7 through a pivot b 12. The load-bearing base 7 is mounted on a 360° rotating wheel 9. The 360° rotating wheel 9 is locked to the screening device 11 through a hard gasket 4. The screening device 11 is composed of a general-purpose operation plane 111 and a replaceable multi-layer structure screen 112. The storage container 14 is connected below the screening device 11. Both ends of the telescopic rod 15 are respectively connected to the cooperative movement assistance device 10 and the general-purpose operation plane 111. The eccentric mechanism 16 is composed of an offset rotary disk 161 and a kinetic energy motor 162. The general-purpose operation plane 111 and the traveling mechanism 13 are connected by a vertical support member 17.

[0039] In this embodiment, the modular blade head 2 that can be quickly disassembled can be replaced with different blade heads according to the quality and requirements of different tea leaves. For example, the leaves of large-leaf tea trees are large and thick, and the difficulty of picking is relatively high. Therefore, the modular blade head suitable for this variety requires: the material must be a hard and tough alloy, and the blade part must be sharper and blunt-angled. In this way, different blade heads can be adapted according to different varieties.

[0040] In this embodiment, the gradient carbide blade 21 preferably uses alloy as the base material. In the process of collecting tea leaves, even if some sudden external forces are encountered, the blade is not easy to break or damage, thereby ensuring the normal use and working efficiency of the blade. In addition, a layer of titanium nitride (TiN) film with ultra-high hardness is coated on the outer surface of the material, making it sharper when collecting tea leaves, with less cutting force and smoother cutting process, thereby improving cutting efficiency and quality. At the same time, the titanium nitride film also has good wear resistance and corrosion resistance, extending the service life of the tool.

[0041] In this embodiment, the screening device 11 is preferably equipped with a tea processing vibration adaptive control system based on pressure sensing, and the pressure sensor is installed on the screening device to monitor the load of the tea in real time, and the controller receives the signal to control the operation of the variable frequency motor. If the tea load is light, the vibration frequency and vibration amplitude of the vibration mechanism will be reduced. The low vibration frequency can avoid excessive vibration of the tea during the screening process, reduce the breakage and splashing of the tea, and the low vibration amplitude can gently handle the tea, protect the integrity and quality of the tea, and also reduce energy consumption.

[0042] In the present embodiment, the replaceable multi-layer structure screen 112 is preferably composed of a plurality of stacked screen bodies, and the size of the screen holes on each screen body is also different, and they are arranged in the order of gradually decreasing screen holes from top to bottom. The top screen holes may be larger, and are used to preliminarily screen out larger tea leaves; the middle screen holes are moderate, and can preliminarily separate slightly smaller whole leaves from broken leaves; the bottom screen holes are the smallest, and are mainly used to further distinguish smaller broken leaves. Through this aperture grading design, tea leaves can be gradually and finely sorted according to their size and shape. At the same time, each screen body is connected by bolts. If the screen hole of a screen body is worn or blocked, it only needs to be replaced separately, which greatly reduces the cost.

[0043] In this embodiment, the telescopic rod 15 is preferably equipped with a hydraulic feedback system, which can automatically adjust the length and supporting force. When the present invention runs on a relatively rugged mountain road or soft land, if the following walking mechanism cannot enable the present invention to pass smoothly, the telescopic rod begins to lengthen and puts the auxiliary crawler on the ground as a support point to lift the following crawler to pass through the section.

[0044] Furthermore, the replaceable multi-layer structure screen 112 is coated with a hydrophobic coating to prevent tea leaves from adhering to the inner wall of the device during the sorting process, ensuring the smooth transportation and sorting of tea leaves and improving the sorting efficiency. At the same time, this coating is easy to clean and can prevent the inner wall from being corroded and oxidized, prolonging the service life.

[0045] Preferably in this embodiment, the pivot a 3 and the pivot b 12 are made of shape memory alloy. On the one hand, the shape memory alloy can automatically deform according to the changes in temperature and pressure. When the pivot needs to adjust its position and angle due to external temperature changes or during operation, it can deform itself to adapt. On the other hand, this material can maintain stable performance for a long time under working conditions such as frequent rotation and swinging, reducing malignant situations such as fatigue wear or fracture, and increasing the service life of the pivot. To be more suitable for the premise of simplifying the structure and reducing costs of the present invention, we will choose copper-based shape memory alloy. Although it also has disadvantages such as poor thermal stability, it has low cost and good workability, and is more cost-effective for small tea gardens.

[0046] Working principle, i.e., operation method: 1. Before use, after checking the required information and data of the tea-picking robot, input them into the background of the machine and install the corresponding accessories according to the requirements, such as a quickly detachable modular cutter head, rubber gasket, etc. Carefully check each component to ensure that they are correctly installed and firm. Then move this device to an open outdoor location and wait for the machine to move to the area where the tea trees are located.

[0047] 2. After reaching the designated position, the quickly detachable modular cutter head 2 performs a quick cutting motion, and the cut tea leaves are temporarily stored in the tray of the modular cutter head. When the tea leaves accumulate to a certain weight, the large arm connecting rod 6 rotates to pour the tea leaves into the screening device 11. The screening device 11 starts to work when it detects the pouring of an item, and adjusts the frequency and amplitude of the vibration mechanism by detecting the load, so as to leave tea leaves of different specifications on different layers of the screen, while small branches and other sundries will enter the lower storage container 14. At the same time, the scanning camera above the screening device 11 scans the tea leaves to locate the positions of damaged and insect-bitten tea leaves, and drives the alloy clamping mechanism 8 to clamp them. The above is the tea-picking and sorting work.

[0048] It should be noted that in this application, relational terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0049] The above are only specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A small multi-functional tea-picking robot, characterized in that, Including: The forearm connecting rod (5), one end of the forearm connecting rod (5) is connected to the quickly detachable modular cutter head (2), and the other end is connected to the large arm connecting rod (6). The quickly detachable modular cutter head (2) is formed by spatially staggered arrangement of gradient cemented carbide blades (21). One end of the large arm connecting rod (6) is coupled to the forearm connecting rod through a pivot a (3), and the other end is coupled to the load-bearing base (7) through a pivot b (12). The load-bearing base (7) is installed on a 360° rotating wheel (9), and the 360° rotating wheel (9) is locked on the screening device (11) through a hard gasket (4). The screening device (11) is composed of a general-purpose operation plane (111) and a replaceable multi-layer structure sieve (112). The storage container (14) is connected below the screening device (11); The eccentric mechanism (16) is composed of a biased rotating disk (161) and a kinetic energy motor (162). The general-purpose operation plane (111) and the traveling mechanism (13) are connected by a vertical support member (17).

2. The small multi-functional tea-picking robot according to claim 1, wherein, The screening device (11) is equipped with a pressure-sensing-based vibration adaptive control system for tea processing, which can monitor the load condition of the tea leaves in real time and ensure the integrity and high quality of the tea leaves by adjusting the vibration frequency and amplitude.

3. The small multi-functional tea-picking robot according to claim 1, characterized in that, The replaceable multi-layer structure sieve (112) is stacked by multiple sieve bodies, and each sieve body is connected by bolts, which is convenient for disassembly and replacement; The material of the sieve body is selected as stainless steel.

4. The small multi-functional tea-picking robot according to claim 1, characterized in that, The quickly detachable modular cutter head (2) can replace different cutter heads according to the differences in tea varieties and picking methods.

5. The small multi-functional tea-picking robot according to claim 1, characterized in that, The replaceable multi-layer structure sieve (112) is coated with a hydrophobic coating.

6. The small multi-functional tea-picking robot according to claim 1, characterized in that, The telescopic rod (15) is equipped with a hydraulic feedback system, which can automatically adjust the length and support force when dealing with steep slopes or soft mountainous areas, so as to keep the whole machine moving smoothly.

7. The small multi-functional tea-picking robot according to claim 1, characterized in that The gradient cemented carbide blade uses alloy as the base material, and a film with ultra-high hardness is coated on the outer surface of the material.

8. The small multi-functional tea-picking robot according to claim 1, wherein, The pivot a (3) and the pivot b (12) are made of shape memory alloy, which automatically adjusts the stiffness according to the temperature change to prevent jamming at low temperature, and copper-based shape memory alloy is selected.

9. The small multi-functional tea-picking robot according to claim 1, wherein, Its tea picking process includes the following steps: (1) Before use, after checking the information and data required by the tea picking robot and inputting them into the background of the machine, install the corresponding accessories according to the requirements, including the quickly detachable modular cutter head (2), rubber gasket (81); carefully check each component to ensure that they are correctly installed and firm; then move the device to an open outdoor location and wait for the machine to move to the area where the tea trees are located; (2) After reaching the designated position, the quickly detachable modular cutter head (2) performs a quick cutting motion, and the cut tea leaves are temporarily stored within the tray of the modular cutter head (2). After the tea leaves accumulate to a certain weight, the large arm connecting rod (6) rotates to pour the tea leaves into the screening device (11). When the screening device (11) detects the pouring of an item and starts to work, it adjusts the frequency and amplitude of the vibration mechanism by detecting the load, so as to leave tea leaves of different specifications on different levels of the sieve mesh, while small branches and other sundries will enter the storage container (14) below. At the same time, the scanning camera above the screening device (11) scans the tea leaves to locate the positions of damaged and insect-bitten tea leaves, and drives the alloy clamping mechanism (8) to clamp them, completing the tea leaf picking and sorting work.

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