Storage type tea-leaf picker and automatic tea-leaf picking equipment

Abstract

The utility model belongs to the technical field of tea leaf picking equipment, and discloses a storage type tea leaf picker and automatic tea leaf picking equipment. The tea picker comprises a picking clamp and a storage cylinder, the picking clamp comprises an upper jaw and a lower jaw which are hinged to each other, the upper jaw and the lower jaw are meshed up and down to form an occlusion cavity, and a hollow part is arranged on the lower jaw and located in the occlusion cavity; the bottom of the lower jaw of the picking clamp is detachably connected with the storage cylinder, and the hollow part is communicated to the storage cylinder and used for enabling the tea leaves picked by the picking clamp to automatically fall into the storage cylinder for storage. According to the storage type tea picker, the storage cylinder is detachably installed at the bottom of the picking clamp, picked tea leaves are temporarily stored in the storage cylinder, the empty storage cylinder is replaced after the storage cylinder is filled with the tea leaves, uninterrupted tea picking work can be achieved, the time for placing the tea leaves after single picking of a mechanical arm is saved, and the picking efficiency is improved. The tea picking efficiency is obviously improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of tea picking equipment, and in particular relates to a storage type tea picker and automatic tea picking equipment. Background Art

[0002] Tea garden cultivation is an important agricultural industry economic pillar in some areas, and intelligent picking is of great significance to the development of the tea industry.

[0003] Existing automated picking equipment, when using robotic arms to pick tea leaves, generally has to place the tea leaves in a storage bag or storage box once each time they are picked. The reciprocating action of "picking - placing tea leaves - picking" is time-consuming, resulting in slow picking speed and low work efficiency when picking a large amount of tea leaves, which cannot meet the current needs of large-scale tea gardens and fast picking.

[0004] Therefore, when the current automated picking equipment uses a robotic arm for picking, how to improve the picking efficiency of the robotic arm is a difficult problem that needs to be solved urgently. Utility Model Content

[0005] The utility model aims to solve the technical problems existing in the background technology and provides a storage-type tea picker and automatic tea picking equipment. A storage cylinder is detachably installed at the bottom of the picking clamp. The picked tea leaves are temporarily stored in the storage cylinder. When the storage cylinder is full of tea leaves, the empty storage cylinder is replaced to achieve uninterrupted tea picking, save the time of placing tea leaves once, and significantly improve the tea picking efficiency.

[0006] In order to achieve the above technical objectives, the utility model adopts the following technical solutions:

[0007] A storage-type tea picker, comprising a picking clamp and a storage cylinder;

[0008] The picking clamp comprises an upper jaw and a lower jaw which are hinged to each other, the upper jaw and the lower jaw mesh up and down to form a bite cavity, and a hollow is arranged on the lower jaw and in the bite cavity;

[0009] The bottom of the lower jaw of the picking clamp is detachably connected to the storage tube, and the hollow is connected to the storage tube, so that the tea leaves picked by the picking clamp can automatically fall into the storage tube for storage.

[0010] Furthermore, in the picking clamp, the hollow bottom of the lower jaw is fixedly connected with a magazine tube, the outer wall of the magazine tube is provided with a plurality of ejector sleeves, and a spring ejector is provided in the ejector sleeve;

[0011] The outer wall of the upper end of the storage tube is provided with an annular groove, and the upper end of the storage tube is inserted into the magazine tube. At the same time, the top of the spring ejector pin elastically abuts against the annular groove, so that the storage tube is clamped in the magazine tube.

[0012] Furthermore, the bottom of the spring ejector head is provided with a chamfer.

[0013] Furthermore, the outer diameter of the cylinder wall of the storage cylinder located at the upper end of the annular groove is smaller than the outer diameter of the cylinder wall located at the lower end of the annular groove.

[0014] Furthermore, the inner liner material of the storage tube is made of aluminum oxide film sticker or aluminum oxide foil.

[0015] Furthermore, a desiccant bag is attached to the storage cylinder, and the desiccant bag contains desiccant.

[0016] Furthermore, the desiccant is silica gel.

[0017] At the same time, an automatic tea picking device is also provided, including a tea picking device as described in any of the above items, including a tea picking cart, a mechanical arm is installed on the rear side of the frame of the tea picking cart, a storage box is arranged on the front side of the frame of the tea picking cart, and the mechanical arm is connected to the tea picking device.

[0018] Furthermore, the storage box is provided with an upwardly protruding positioning cylinder or a downwardly sunken positioning hole for positioning the storage cylinder.

[0019] Compared with the prior art, the beneficial effects produced by the utility model are:

[0020] (1) The storage-type tea picker provided by the utility model has a storage cylinder detachably mounted at the bottom of the picking clamp. By temporarily storing the picked tea leaves in the storage cylinder and replacing the empty storage cylinder after the storage cylinder is filled with tea leaves, uninterrupted tea picking can be achieved, saving the time of placing tea leaves after a single picking by the mechanical arm, and significantly improving the tea picking efficiency;

[0021] (2) The storage-type tea picker provided by the utility model has a picking clamp bottom plate equipped with a magazine tube, and a spring thimble is provided on the outer wall of the magazine tube. The top of the spring thimble elastically abuts against the ring groove at the upper end of the magazine tube, so that the storage tube is clamped in the magazine tube, which is convenient for automatic disassembly and installation of the picking clamp and the storage tube under the control of the manipulator, and the degree of automation is higher; at the same time, the bottom of the top of the spring thimble is provided with a chamfer, which can ensure that the spring thimble is smoothly clamped or detached from the ring groove during installation or disassembly; in addition, the outer diameter of the tube wall of the storage tube at the upper end of the ring groove is smaller than the outer diameter of the tube wall at the lower end of the ring groove, which is not only conducive to the limited clamping during installation, but also conducive to smooth separation from the storage tube during automatic disassembly, making the automatic disassembly and replacement operation more reliable;

[0022] (3) Between the picking and processing of tea leaves, storage is an important process that affects the freshness of the buds and leaves, but it is often overlooked. Since the picking of fresh leaves is highly seasonal and the labor concentration is high, the storage device needs to have both storage and moisturizing and quality preservation functions to cope with the large time difference between tea picking and processing. Containers with only a single storage function will lead to quality problems such as excessive water loss and excessive oxidation of the buds and leaves after picking. The storage-type tea picker provided by the utility model uses aluminum oxide film stickers or aluminum oxide foil as the inner liner material of the storage cylinder, which can effectively prevent oxidation of tea leaves during storage. At the same time, a desiccant bag is attached to the storage cylinder, and the desiccant bag contains a desiccant, such as silica gel, which can absorb moisture in the cylinder and keep the tea leaves in the cylinder dry during storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the automatic tea picking device according to an embodiment of the utility model;

[0024] Figure 2 A schematic diagram of the structure of a tea picking device according to an embodiment of the utility model;

[0025] Figure 3 This is a schematic structural diagram of the connection between the magazine tube and the storage tube of an embodiment of the utility model;

[0026] Figure 4 It is a schematic structural diagram of the spring ejector pin of the magazine tube and the storage tube being clamped together in an embodiment of the utility model;

[0027] Markings in the figure: 1-tea picking vehicle; 2-mechanical arm; 3-picking clamp; 4-storage cylinder; 5-storage box; 6-ball joint connecting arm; 7-magazine cylinder;

[0028] 3.1-upper jaw; 3.2-lower jaw; 3.21-hollowing; 4.1-ring groove; 7.1-thimble sleeve; 7.2-spring thimble; 7.21-chamfer. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0032] The utility model provides a storage type tea picking device and an automatic tea picking device. The automatic tea picking device is as follows: Figure 1 As shown, the tea picker is installed on the tea picking vehicle 1 of the automatic tea picking equipment; the tea picker includes a picking clamp 3 and a storage tube 4, the picking clamp 3 is connected to a mechanical arm 2, and the mechanical arm 2 is installed on the rear side of the frame of the tea picking vehicle 1 through a ball joint connecting arm 6, and a storage box 5 is provided on the front side of the frame of the tea picking vehicle 1.

[0033] like Figure 2 As shown, the picking clamp 3 includes an upper jaw 3.1 and a lower jaw 3.2 which are hinged to each other, and the mechanical arm 2 is fixedly connected to the lower jaw 3.2; the upper jaw 3.1 and the lower jaw 3.2 of the picking clamp 3 are meshed up and down to form an engagement cavity, and a hollow 3.21 is provided on the lower jaw 3.2 and in the engagement cavity; the bottom of the lower jaw 3.2 of the picking clamp 3 is detachably connected to the storage cylinder 4, and the hollow 3.21 is connected to the storage cylinder 4, so that the tea leaves picked by the picking clamp 3 automatically fall into the storage cylinder 4 for storage; when the storage cylinder 4 is full, it can be replaced with an empty storage cylinder 4, and the full storage cylinder 4 is placed in the storage box 5.

[0034] The embodiment of the utility model is provided with a storage cylinder detachably mounted on the bottom of the picking clamp. By temporarily storing the picked tea leaves in the storage cylinder 4 and replacing the empty storage cylinder 4 after the storage cylinder 4 is filled with tea leaves, uninterrupted tea picking can be achieved, saving the time of placing the tea leaves after a single picking by the robot arm, and significantly improving the tea picking efficiency.

[0035] Furthermore, the tea picker in the embodiment of the utility model can automatically disassemble and replace the storage tube 4. Figure 2-4 As shown, in the picking clamp 3, the bottom of the hollow 3.21 of the lower jaw 3.2 is fixedly connected to a magazine tube 7, and the outer wall of the magazine tube 7 is provided with a plurality of ejector sleeves 7.1, and a spring ejector 7.2 is provided in the ejector sleeve 7.1; the upper end outer wall of the storage tube 4 is provided with an annular groove 4.1, and the upper end of the storage tube 4 is inserted into the magazine tube 7. At the same time, the top of the spring ejector 7.2 elastically abuts against the annular groove 4.1, so that the storage tube 4 is clamped in the magazine tube 7.

[0036] When it is necessary to unload the storage cylinder 4 filled with tea leaves, the robotic arm 2 controls the picking clamp 3 to fall into the storage box 5. After that, the robotic arm 2 continues to press down the picking clamp 3, and the picking clamp 3 drives the bottom magazine cylinder 7 to move downward relative to the storage cylinder 4. The spring push pin 7.2 is pushed back and retracted by the storage cylinder 4, and then disengages from the annular groove 4.1 at the upper end of the storage cylinder 4 to achieve unlocking. Then, the robotic arm 2 controls the picking clamp 3 to drive the magazine cylinder 7 to rise rapidly, and the fully loaded storage cylinder 4 is separated from the magazine cylinder 7 under the action of gravity.

[0037] Then, the robot arm 2 controls the picking clamp 3 to first position and move to the upper end of the empty storage tube 4, and then controls the picking clamp 3 to fall, so that the upper end of the storage tube 4 is inserted into the magazine tube 7 at the bottom of the picking clamp 3. When inserted into place, the top of the spring ejector pin 7.2 elastically abuts against the annular groove 4.1, so that the storage tube 4 is clamped in the magazine tube 7.

[0038] Furthermore, a chamfer 7.21 is provided at the bottom of the top of the spring ejector pin 7.2, which can ensure that the spring ejector pin 7.2 can be smoothly engaged with or disengaged from the annular groove 4.1 during installation or removal.

[0039] Furthermore, the outer diameter of the cylinder wall of the storage cylinder 4 at the upper end of the annular groove 4.1 is smaller than the outer diameter of the cylinder wall at the lower end of the annular groove 4.1. The purpose of such a setting is: during installation, the upper end of the storage cylinder 4 is conveniently inserted into the magazine cylinder 7, and the step at the lower end of the annular groove forms a limit until the storage cylinder 4 is inserted into place and stops, so that the top of the spring ejector pin 7.2 can be smoothly extended and accurately engaged with the slot 4.1; during disassembly, since the cylinder diameter at the lower end of the annular groove 4.1 is larger than the cylinder diameter at the upper end of the annular groove 4.1, when the magazine cylinder 7 moves downward and unlocks, the cylinder diameter at the lower end of the storage cylinder 4 is large, which can force the spring ejector pin 7.2 to retract a greater distance. When the subsequent mechanical arm 2 controls the picking clip 3 to drive the magazine cylinder 7 to rise rapidly, the spring ejector pin 7.2 has no time to rebound and extend to engage, and is separated from the storage cylinder 4, thereby avoiding the situation that the spring ejector pin 7.2 rebounds and extends to re-engage the annular groove 4.1, and the storage cylinder 4 cannot be automatically disassembled, making the automatic disassembly and replacement operation more reliable.

[0040] At the same time, in order to better fix the storage cylinder 4 and prevent the storage cylinder 4 from tipping over during transportation by the tea picking vehicle or tilting during disassembly and installation, the storage box 5 is provided with an upwardly protruding positioning cylinder or a sunken positioning hole (not shown) for positioning the storage cylinder 4; in addition, the storage cylinder 4 is also equipped with a cylinder cover (not shown) for sealing and preventing the storage cylinder 4 filled with tea leaves from spilling tea leaves during the mobile picking process.

[0041] The robotic arm 2 is implemented using the robotic arm structure in the prior art, and is composed of components such as a motor, a joint, and a transmission device. The camera or other sensor equipment (not shown) equipped on the tea picking vehicle is used to monitor the changes in the position of the tea leaves to be picked in real time, and the position of the tea leaves to be picked is accurately locked through image processing and recognition technology. The movement of the robotic arm 2 is automatically controlled, thereby controlling the movement of the picking clamp 3 so that the picking clamp 3 is accurately positioned to the position of the tea leaves to be picked for picking.

[0042] In the embodiment of the utility model, the picking clamp 3 is an automatic picking clamp in the prior art, and the opening and closing of the picking clamp 3 can be directly controlled by the mechanical arm 2, or can be realized by motor drive, gear and connecting rod transmission, or by cylinder drive. For example, as one of the feasible methods, a miniature cylinder (not shown) is installed on the upper end surface of the lower jaw 3.2, and the driving rod of the cylinder drives the lower end surface of the upper jaw 3.1, and the bite or opening between the upper jaw 3.1 and the lower jaw 3.2 is realized by the extension and contraction of the cylinder, thereby realizing the action of picking tea leaves.

[0043] In some embodiments, the inner liner material of the storage tube 4 is made of aluminum oxide film sticker or aluminum oxide foil, which can effectively prevent oxidation of tea leaves during storage; at the same time, a desiccant bag is attached to the storage tube 4, and the desiccant bag contains a desiccant, such as silica gel, which can absorb moisture in the tube and keep the tea leaves in the tube dry during storage.

[0044] The above description is only an embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the scope of application of the present invention shall be included in the protection scope of the present invention.

Claims

1. A storage type tea picking device, characterized in that: The tea picking device comprises a picking clamp and a storage cylinder; The picking clamp comprises an upper jaw and a lower jaw which are hinged to each other, the upper jaw and the lower jaw mesh up and down to form a bite cavity, and a hollow is arranged on the lower jaw and in the bite cavity; The bottom of the lower jaw of the picking clamp is detachably connected to the storage tube, and the hollow is connected to the storage tube, so that the tea leaves picked by the picking clamp can automatically fall into the storage tube for storage.

2. The tea picking device according to claim 1, characterized in that: In the picking clamp, the hollow bottom of the lower jaw is fixedly connected to a magazine tube, the outer wall of the magazine tube is provided with a plurality of ejector sleeves, and a spring ejector is provided in the ejector sleeve; The outer wall of the upper end of the storage tube is provided with an annular groove, and the upper end of the storage tube is inserted into the magazine tube. At the same time, the top of the spring ejector pin elastically abuts against the annular groove, so that the storage tube is clamped in the magazine tube.

3. The tea picking device according to claim 2, characterized in that: The bottom of the spring ejector head is provided with a chamfer.

4. The tea picking device according to claim 3, characterized in that: The outer diameter of the cylinder wall of the storage cylinder located at the upper end of the annular groove is smaller than the outer diameter of the cylinder wall located at the lower end of the annular groove.

5. The tea picking device according to claim 1, characterized in that: The inner liner material of the storage tube is made of aluminum oxide film sticker or aluminum oxide foil.

6. The tea picking device according to claim 1, characterized in that: A desiccant bag is attached to the storage cylinder, and the desiccant bag contains desiccant.

7. The tea picking device according to claim 6, characterized in that: The desiccant is silica gel.

8. An automatic tea picking device, comprising the tea picking device according to any one of claims 1 to 7, characterized in that: It comprises a tea picking vehicle, a mechanical arm is installed on the rear side of the frame of the tea picking vehicle, a storage box is arranged on the front side of the frame of the tea picking vehicle, and the mechanical arm is connected to the tea picking device.

9. The automatic tea picking device according to claim 8, characterized in that: The storage box is provided with an upwardly protruding positioning cylinder or a downwardly sunken positioning hole for positioning and placing the storage cylinder.

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