Double-shaft composite rotating structure and tea bud picking actuator thereof

Abstract

The double-shaft composite rotating structure comprises a mounting support, an output bevel gear and a picking frame, the output bevel gear is arranged on the mounting support, the output bevel gear is connected with a second rotating motor, the output bevel gear is connected with a synchronous bevel gear, a driving bevel gear is arranged in the middle of the synchronous bevel gear, and the driving bevel gear is connected with the picking frame. The driving bevel gear is connected to a bevel gear disc, a bevel gear disc shaft is arranged on a first rotating shaft, the bottom of the bevel gear disc is connected with a picking frame, and wedge-shaped slopes inclining upwards are formed in the positions, located on the two sides of the tea bud inlet, of the picking frame. According to the invention, the two second rotating motors respectively control the same-direction or reverse-direction rotation of the output bevel gear, and the first rotating motor on the mounting bracket is combined, so that the flexible adjustment of the bevel gear disc in multiple directions is realized; the posture of the tea bud picking actuator fixedly connected with the helical gear disc can be adjusted in a horizontal, inclined or vertical state, and flexible picking of tea shoots in different growth directions and postures is achieved.

Description

Technical Field

[0001] This invention relates to the field of tea picking technology, specifically to a dual-axis composite rotary structure and its tea bud picking actuator. Background Technology

[0002] Currently, tea picking is still mostly done manually, which is labor-intensive and inefficient. Therefore, designing and developing tea-picking robots to replace traditional manual picking can effectively reduce labor usage and lower labor costs.

[0003] However, most existing tea-picking robots have end effectors designed to adapt to tea buds at different heights or horizontal positions by moving in a straight line, but their end posture is often fixed or can only swing at a limited angle, which makes their movement mode relatively simple in the actual picking process.

[0004] The growth pattern of tea trees is complex. In addition to differences in height and plane position, many new shoots do not grow vertically, but exhibit specific tilt angles, bending amplitudes, or even twining patterns. The spatial randomness of the growth posture of their new shoots is relatively large.

[0005] Therefore, the linear motion mode of existing end effectors may not be able to be adjusted to the optimal picking angle to match the new tea shoots, resulting in low adaptability. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-axis composite rotary structure and its tea bud picking actuator to solve the technical problems of low flexibility and poor adaptability in the prior art due to the fact that it can only perform linear movement.

[0007] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A biaxial composite rotational structure, comprising: The mounting bracket has a top plate and side plates on both sides of the top plate. The output end of a first rotating motor is fixedly connected to the top plate. A second rotating shaft is provided between the two side plates. The two ends of the second rotating shaft are fixedly provided on the two side plates. A sleeve is coaxially rotatably sleeved on the outside of the second rotating shaft. The first rotating shaft is fixedly connected to the outer peripheral wall of the sleeve. The output helical gears are axially rotatably mounted on the top plate and connected to the output end of the second rotating motor. The two output helical gears are respectively meshed with two synchronous helical gears. The two synchronous helical gears are coaxially rotatably mounted on the end of the second rotating shaft. The synchronous helical gears are rotatably mounted on the inner surfaces of the two side plates through a rotating structure. The synchronous helical gears are coaxially mounted with a driving helical gear in the middle. The outer edge of the driving helical gear is fixedly connected to the inner edge of the synchronous helical gear to rotate synchronously with the synchronous helical gear. The two driving helical gears are meshed together on the helical gear disk. The helical gear disk shaft is rotatably mounted on the first rotating shaft. When the two output helical gears rotate in the same direction, they drive the helical gears to rotate around the first rotating shaft. When the two output helical gears rotate in opposite directions, they drive the helical gears to revolve around the second rotating shaft.

[0008] A tea bud picking actuator based on the above-mentioned dual-axis composite rotation structure includes a picking frame, which is fixedly connected to the bottom of the helical gear disk. The bottom of the picking frame is provided with a tea bud inlet for tea shoots to enter. On the picking frame, upwardly inclined wedge-shaped ramps are provided on both sides of the tea bud inlet to form the picking frame into an inverted triangular shape with a gradually increasing width from bottom to top. The two output helical gears rotate in the same direction, and drive the picking frame to rotate around the first rotating shaft through the helical gear disk; The two output helical gears rotate in opposite directions, driving the harvesting frame to revolve around the second rotating shaft via the helical gear disk; When the two output helical gears rotate in opposite directions and the first rotating motor rotates in conjunction with them, the picking frame rotates around the output end of the first rotating motor in an inclined posture.

[0009] As a preferred embodiment of the present invention, at least two track grooves are provided in the picking rack, the track grooves are inclined toward the tea bud inlet, and a cutter is slidably arranged in the track groove. The cutter is connected to a drive source that inputs linear displacement to cut the tea shoots located at the tea bud inlet.

[0010] In a preferred embodiment of the present invention, the drive source is disposed at the top of the picking rack, the drive source outputs a downward vertical linear displacement, and the cutter is connected to the output end of the drive source through a redirection linkage structure.

[0011] As a preferred embodiment of the present invention, the redirecting linkage structure includes a swing arm, one end of which is rotatably connected to the cutter via a rotating shaft, and the other end of which is rotatably connected to the output end of the drive source via a rotating shaft.

[0012] As a preferred embodiment of the present invention, a strip-shaped through hole is provided on the wedge-shaped slope, which communicates with the interior of the picking rack, and the strip-shaped through hole is connected to the tea bud inlet.

[0013] In a preferred embodiment of the present invention, the cutter is slidably disposed on the side surface of the wedge-shaped ramp facing the inside of the picking rack; When the cutter slides toward the tea bud inlet to cut off the new tea shoot, the cutter completely covers the strip-shaped through hole.

[0014] As a preferred embodiment of the present invention, the top of the picking rack is provided with a negative pressure absorption port, the negative pressure absorption port is connected to a negative pressure pipe, and the negative pressure pipe is connected to a collection box.

[0015] As a preferred embodiment of the present invention, the cutter is provided with a plurality of ventilation holes.

[0016] Compared with the prior art, the present invention has the following advantages: This invention uses two second rotating motors to control the output helical gears to rotate in the same or opposite directions, enabling the helical gear disk to rotate around a first rotating axis or revolve around a second rotating axis. Combined with the first rotating motor on the mounting bracket driving the first rotating axis to achieve Z-axis rotation, this allows for flexible adjustment of the helical gear disk in the X-axis, Z-axis, and combined rotation directions. This enables the tea bud picking actuator, which is fixedly connected to the helical gear disk, to adaptively adjust its posture in horizontal, inclined, or vertical states, thereby approaching tea buds from multiple dimensions and achieving flexible picking of tea shoots with different growth orientations and postures. This greatly expands the accessibility and adaptability of the picking actuator in complex canopies. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 This is one of the partial cross-sectional views of the picking actuator of the present invention, specifically showing the cutter in the retracted state; Figure 4 This is a schematic diagram of the overall structure of the harvesting actuator of the present invention; Figure 5This is a second partial cross-sectional view of the picking actuator of the present invention, specifically showing the cutter in the extended state.

[0019] The labels in the diagram represent the following: 1. Harvesting actuator; 2. Helical gear disk; 3. First rotating shaft; 4. Sleeve; 5. Second rotating shaft; 6. Mounting bracket; 7. First rotating motor; 8. Drive helical gear; 9. Tea bud inlet; 10. Side plate; 11. Second rotating motor; 12. Output helical gear; 13. Synchronous helical gear; 14. Harvesting rack; 15. Wedge-shaped ramp; 16. Track groove; 17. Cutter; 18. Drive source; 19. Swing arm; 20. Strip-shaped through hole; 21. Negative pressure absorption port. Detailed Implementation

[0020] 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.

[0021] like Figures 1 to 2 As shown, the present invention provides a dual-axis composite rotation structure, including a mounting bracket 6. The mounting bracket 6 has a top plate and side plates 10 disposed on both sides of the top plate. The output end of a first rotating motor 7 is fixedly connected to the top plate. A second rotating shaft 5 is disposed between the two side plates 10. The two ends of the second rotating shaft 5 are fixedly disposed on the two side plates 10. A sleeve 4 is coaxially rotatably sleeved on the outside of the second rotating shaft 5. A first rotating shaft 3 is fixedly connected to the outer peripheral wall of the sleeve 4.

[0022] Output helical gears 12 are axially rotatably mounted on the top plate and connected to the output end of the second rotating motor 11. The two output helical gears 12 are respectively meshed with two synchronous helical gears 13. The two synchronous helical gears 13 are coaxially rotatably mounted at the end of the second rotating shaft 5, and the synchronous helical gears 13 are rotatably mounted on the inner surface of the two side plates 10 through a rotating structure. The middle of the synchronous helical gear 13 is coaxially provided with a driving helical gear 8. The outer edge of the driving helical gear 8 is fixedly connected to the inner edge of the synchronous helical gear 13 so as to rotate synchronously with the synchronous helical gear 13. The two driving helical gears 8 are meshed together on the helical gear disk 2. The shaft of the helical gear disk 2 is rotatably mounted on the first rotating shaft 3. When the two output helical gears 12 rotate in the same direction, they drive the helical gear disk 2 to rotate around the first rotating shaft 3. When the two output helical gears 12 rotate in opposite directions, they drive the helical gear disk 2 to revolve around the second rotating shaft 5.

[0023] like Figure 1As shown, the bottom end of the first rotating motor 7 is connected to the mounting bracket 6, and the top end is connected to the first rotating motor 7 that outputs rotational torque. Through the cooperation of the gear set, the helical gear disk 2 can form a compound rotation in the Z-axis, the X-axis, and the X-axis and then the Z-axis, thereby achieving the three degrees of freedom of rotation of the helical gear disk.

[0024] Specifically, the synchronous helical gear 13 is rotatably mounted on the inner surfaces of the two side plates 10 via a rotating structure, which can be a sliding block structure or a rotating bearing structure. For example, an annular groove can be formed on the inner side of the mounting bracket 6, and the synchronous helical gear 13 can be slidably mounted in the annular groove via a slider, thereby forming a situation where the synchronous helical gear 13 rotates around the axis of the second rotating shaft 5 as the rotation center line, but the synchronous helical gear is not fixedly connected to the second rotating shaft 5. When the second rotating motor 11 rotates, it drives the synchronous helical gear 13 to rotate synchronously through the output helical gear 12, which in turn drives the active helical gear 8 to rotate. In a specific implementation, a transparent cover can be added to the outside of the mounting bracket 6 to protect the helical gear disk, the active helical gear 8, and other structural components.

[0025] like Figures 3 to 5 As shown, a tea bud picking actuator using the aforementioned dual-axis composite rotary structure includes a picking frame 14, which is hollow inside. The picking frame 14 is fixedly connected to the bottom of the helical gear disk 2. A tea bud inlet 9 is provided at the bottom of the picking frame 14, allowing new tea shoots to enter the interior of the picking frame 14 from below. In actual use, the picking frame 14 moves downward, and the tea bud inlet 9 is placed over the outside of the buds to be picked from top to bottom for picking. The two output helical gears 12 rotate in the same direction, driving the picking frame 14 to rotate around the first rotating shaft 3 via the helical gear disk 2. The two output helical gears 12 rotate in opposite directions, driving the picking frame 14 to revolve around the second rotating shaft 5 via the helical gear disk 2; When the two output helical gears 12 rotate in opposite directions and the first rotating motor 7 rotates in conjunction, the picking frame 14 rotates around the output end of the first rotating motor 7 in an inclined posture.

[0026] Furthermore, a side inlet can be provided on the picking rack 14 at the position of the tea bud inlet 9. The side inlet extends from the front of the picking rack 14 and runs through the entire rack. That is, the tea bud inlet 9 opens from the bottom upwards, and the side inlet opens from front to back. The side inlet, in conjunction with the tea bud inlet 9, allows the picking actuator to wrap the vertical tea buds inside the picking rack 14 from the side when it revolves around the second axis to an inclined or horizontal position. This enables visual picking of the tea buds, thus clearly defining the picking length of the tea buds, i.e., the picking position at the root of the tea bud, which is beneficial for higher quality tea picking.

[0027] When the two second rotating motors 11 control the output helical gears 12 connected to them to rotate in opposite directions, they drive the two synchronous helical gears 13 to rotate in the same direction, which in turn drives the two active helical gears 8 to rotate in the same direction. Since the two active helical gears 8 exert the same force on the helical gear disk 2, the resultant torque on the helical gear disk 2 will drive the first rotating shaft 3 and the sleeve 4 to rotate together around the second rotating shaft 5, so that the entire picking actuator 1 revolves around the axis of the second rotating shaft 5, realizing the swing of the picking actuator 1 in the horizontal plane to adapt to the different postures and orientations of the tea tree branches.

[0028] When the two second rotating motors 11 control their respective connected output helical gears 12 to rotate in the same direction, their respective connected synchronous helical gears will rotate in the opposite direction, thereby driving the active helical gears 8 to rotate in the opposite direction. The forces exerted by the two active helical gears 8 on the helical gear disk 2 form a torque couple. The resultant torque on the helical gear disk 2 will drive it to rotate around the first rotating shaft 3, thereby causing the entire picking actuator 1 to rotate around the rotation axis of the first rotating shaft 3, realizing the rotation adjustment or rotation picking action of the picking actuator 1.

[0029] Furthermore, when the picking actuator 1 revolves around the second rotating shaft 5 and reaches an inclined or horizontal state, it is coordinated with the axial rotation of the first rotating motor 7 at the top, thereby enabling the picking actuator 1 to rotate in an inclined or horizontal posture, forming a rotation in the third direction. This allows the picking actuator 1 to flexibly adjust its posture and aim at tea shoots growing in different directions, improving its picking adaptability, especially for tea buds growing laterally and at an inclined position, which has a better picking effect.

[0030] On the picking frame 14, upward-sloping wedge-shaped ramps 15 are provided on both sides of the tea bud entrance 9. The wedge-shaped ramps 15 make the picking frame 14 have an inverted triangular shape with the width gradually increasing from bottom to top. This structure is conducive to the picking actuator 1 reaching into the branches of adjacent tea trees from below, guiding the new tea shoots growing between the branches into the tea bud entrance 9, avoiding obstruction by branches, and improving the success rate of penetration.

[0031] like Figure 3 As shown, at least two track grooves 16 are provided within the picking rack 14. The track grooves 16 are inclined towards the tea bud inlet 9, meaning the lower end of the track grooves 16 is closer to the tea bud inlet 9. A cutter 17 is slidably disposed within the track grooves 16. The cutter 17 is connected to a drive source 18, which inputs a linear displacement to the cutter 17, causing the cutter 17 to slide along the track grooves 16 towards the tea bud inlet 9, cutting the tea shoots entering the tea bud inlet 9 from the base of the stem. The inclined track grooves 16 guide the movement of the cutter 17, allowing it to move more smoothly and accurately towards the tea bud inlet 9 under the drive of the drive source 18, thereby cutting the tea buds.

[0032] The drive source 18 is located at the top of the picking rack 14, preferably a linear cylinder or an electric push rod, whose output provides a vertical linear displacement downwards. The cutter 17 is connected to the output of the drive source 18 via a redirecting linkage structure to convert the vertically downward linear displacement into a sliding displacement along the inclined track groove 16.

[0033] Placing the drive source 18 on top of the picking rack 14 can prevent the drive source 18 from extending outward to the side, which would cause the picking actuator 1 to have an excessively large lateral dimension, thereby reducing the impact of the picking actuator 1 being blocked by the tea tree when it reaches a lower position.

[0034] The redirecting linkage structure includes a swing arm 19, one end of which is rotatably connected to the cutter 17 via a rotating shaft, and the other end is rotatably connected to the output end of the drive source 18 via a rotating shaft. Figure 5 As shown, a guide ramp is provided on the picking rack 14 to guide the movement of the swing arm 19 under the linear drive of the drive source 18. When the drive source 18 outputs a downward vertical displacement, the swing arm 19 swings under the action of the guide ramp and the guide groove, thereby pushing the cutter 17 to slide along the track groove 16 towards the tea bud inlet 9 to achieve the cutting action; when the drive source 18 returns, the swing arm 19 swings in the opposite direction to drive the cutter 17 to reset.

[0035] A strip-shaped through-hole 20 is provided on the wedge-shaped ramp 15, communicating with the interior of the picking rack 14. The strip-shaped through-hole 20 is connected to the tea bud inlet 9. The design of the strip-shaped through-hole 20 further expands the actual entry area for tea shoots into the picking rack 14, making it easier to guide the tea shoots in, even if the shoots are slightly off-center. Furthermore, the design of the strip-shaped through-hole 20 allows the operator to directly observe the movement of the internal cutter 17 from the outside, which is beneficial for the maintenance and timely adjustment of the cutter 17 in complex operating environments.

[0036] The top of the picking rack 14 is equipped with a negative pressure absorption port 21, which is connected to a negative pressure pipe. The other end of the negative pressure pipe is connected to a collection box (not shown in the figure). During operation, a negative pressure source creates negative pressure inside the picking rack 14 through the negative pressure pipe. Under the action of negative pressure, the tea shoots are drawn into the tea bud inlet 9. After being cut by the cutter 17, the broken tender buds and leaves are drawn into the negative pressure pipe through the negative pressure absorption port 21 under the action of negative pressure, and finally enter the collection box for collection. Furthermore, as... Figure 4 and Figure 5 As shown, the cutter 17 has multiple vent holes 22 through it. The size and number of vent holes 22 can be controlled according to the requirements, which is conducive to the negative pressure absorption of the negative pressure tube.

[0037] Furthermore, the cutter 17 is slidably disposed on one side surface of the wedge-shaped ramp 15 facing the inside of the picking rack 14. When the cutter 17 slides toward the tea bud inlet 9 to cut the new tea shoots, the blade of the cutter 17 covers a large area of ​​the strip-shaped through hole 20. This not only helps to form a greater suction force in the area of ​​the tea bud inlet 9 during negative pressure adsorption, thus improving the adsorption effect, but also prevents impurities other than the cut tea buds from being sucked into the pipe through the strip-shaped through hole 20, thereby maintaining the purity of the tea bud raw material.

[0038] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A dual-axis composite rotation structure, characterized in that, include: Mounting bracket (6), the mounting bracket (6) has a top plate and side plates (10) on both sides of the top plate. The output end of the first rotating motor (7) is fixedly connected to the top plate. A second rotating shaft (5) is provided between the two side plates (10). The two ends of the second rotating shaft (5) are fixedly provided on the two side plates (10). A sleeve (4) is coaxially rotatably sleeved on the outside of the second rotating shaft (5). A first rotating shaft (3) is fixedly connected to the outer peripheral wall of the sleeve (4). Output helical gears (12), two output helical gears (12) are axially rotatably mounted on the top plate and connected to the output end of the second rotating motor (11). The two output helical gears (12) are respectively meshed with two synchronous helical gears (13). The two synchronous helical gears (13) are coaxially rotatably mounted on the end of the second rotating shaft (5). The synchronous helical gears (13) are rotatably mounted on the inner surface of the two side plates (10) through a rotating structure. The synchronous helical gears (13) are coaxially mounted with an active helical gear (8) in the middle. The outer edge of the active helical gear (8) is fixedly connected to the inner edge of the synchronous helical gear (13) to rotate synchronously with the synchronous helical gear (13). The two active helical gears (8) are meshed together on the helical gear disk (2). The shaft of the helical gear disk (2) is rotatably mounted on the first rotating shaft (3). When the two output helical gears (12) rotate in the same direction, they drive the helical gear disk (2) to rotate around the first rotating shaft (3); When the two output helical gears (12) rotate in opposite directions, they drive the helical gear disk (2) to revolve around the second rotating shaft (5).

2. A tea bud picking actuator based on the dual-axis composite rotation structure of claim 1, characterized in that, include: The picking rack (14) is fixedly connected to the bottom of the helical gear disk (2). The bottom of the picking rack (14) is provided with a tea bud inlet (9) for the new tea shoots to enter. On the picking rack (14), there are upward inclined wedge-shaped ramps (15) on both sides of the tea bud inlet (9) to form the picking rack (14) into an inverted triangle shape with the width gradually increasing from bottom to top. The two output helical gears (12) rotate in the same direction, and drive the picking frame (14) to rotate around the first rotating shaft (3) through the helical gear disk (2); The two output helical gears (12) rotate in opposite directions, driving the picking frame (14) to revolve around the second rotating shaft (5) via the helical gear disk (2); When the two output helical gears (12) rotate in opposite directions and the first rotating motor (7) rotates in addition, the picking frame (14) rotates around the output end of the first rotating motor (7) in an inclined posture.

3. The tea bud picking actuator according to claim 2, characterized in that: At least two track grooves (16) are provided in the picking rack (14). The track grooves (16) are inclined toward the tea bud inlet (9). A cutter (17) is slidably provided in the track grooves (16). The cutter (17) is connected to a drive source (18) that inputs linear displacement to cut the tea shoots located at the tea bud inlet (9).

4. The tea bud picking actuator according to claim 3, characterized in that: The drive source (18) is located on the top of the picking rack (14). The drive source (18) outputs a downward vertical linear displacement. The cutter (17) is connected to the output end of the drive source (18) through a redirection linkage structure.

5. A tea bud picking actuator according to claim 4, characterized in that: The redirecting linkage structure includes a swing arm (19), one end of which is rotatably connected to the cutter (17) via a rotating shaft, and the other end is rotatably connected to the output end of the drive source (18) via a rotating shaft.

6. The tea bud picking actuator according to claim 4, characterized in that: The wedge-shaped slope (15) is provided with a strip-shaped through hole (20) that communicates with the inside of the picking rack (14), and the strip-shaped through hole (20) is connected to the tea bud inlet (9).

7. A tea bud picking actuator according to claim 6, characterized in that: The cutter (17) is slidably disposed on one side surface of the wedge-shaped ramp (15) facing the inside of the picking rack (14); When the cutter (17) slides toward the tea bud inlet (9) to cut off the new tea shoot, the cutter (17) completely covers the strip-shaped through hole (20).

8. A tea bud picking actuator according to claim 7, characterized in that: The top of the picking rack (14) is provided with a negative pressure absorption port (21), the negative pressure absorption port (21) is connected to a negative pressure pipe, and the negative pressure pipe is connected to a collection box.

9. A tea bud picking actuator according to claim 8, characterized in that: The cutter (17) has multiple ventilation holes (22) through it.

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