Bionic manipulator device for picking tea leaves

Abstract

The utility model relates to the technical field of bionic mechanical arms, in particular to a bionic mechanical arm device for picking tea leaves, which comprises a three-axis mechanical arm and a bionic clamping and cutting assembly, the bionic clamping and cutting assembly comprises a stabilizing frame, a clamping plate, a clamping jaw, a cutting plate and a cutting knife, the stabilizing frame is detachably connected with the three-axis mechanical arm, and the cutting knife is detachably connected with the three-axis mechanical arm. The clamping handle is detachably connected with the stabilizing frame and located above the side, away from the three-axis mechanical arm, of the stabilizing frame, the clamping jaw is detachably connected with the clamping plate, the dividing plate is detachably connected with the stabilizing frame and arranged below the clamping plate, and the dividing knife is slidably connected with the dividing plate. An original clamping mechanism is replaced with the bionic clamping and cutting assembly, so that the problem that the completeness of tea cannot be effectively guaranteed when the tea is picked due to the fact that the clamping function of a bionic mechanical arm is provided by two rotating mechanical plates at a port is positively and effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic manipulators, in particular to a bionic manipulator device for picking tea leaves. Background Art

[0002] my country is a major tea producer. Currently, the tea picking methods include manual picking and mechanized picking. However, since mechanized picking has not yet been realized in production, manual picking is still the main method. Manual picking requires a large number of labor resources, is inefficient and costly, and is greatly affected by weather conditions. Bad weather can easily increase the difficulty of picking. Although there are a wide variety of mechanical tea picking mechanisms on the market, their working principles are simple, and they are greatly affected by objective factors, which have a great impact on the growth of tea trees and the quality of tea. They cannot guarantee high-quality tea leaves, and the weather and terrain will slow down the picking progress. Manual picking is a huge workload, and consumes financial and material resources. In addition, it is impossible to complete all the picking in a period of time, which affects the gradual aging of tea leaves. This is also a big waste for tea growers.

[0003] Prior art, patent number (CN201921707284.2) mentions a track-type automatic tea picking robot, including a device body, connecting rods are provided on both sides of the upper end of the device body, and driving wheels are provided at the lower ends of the connecting rods. Two stepper motors are also provided on the device body, and the two stepper motors are respectively connected to the corresponding driving wheels; the tea picking robot also includes a visual module and a control module for detecting and identifying tea leaves, the stepper motor and the visual module are connected to the control module, and bionic mechanical arms are also provided on both sides of the device body, and the control module is also connected to the bionic mechanical arms. During the tea picking process, it does not harm tea trees and tea leaves, and realizes tea picking more comprehensively, efficiently, and with low labor intensity, with low production cost and is more reliable.

[0004] In the field of tea picking, automatic tea picking robots have been added, which will effectively solve the huge workload of manual picking, which consumes financial and material resources. In addition, manual picking cannot complete all the tea in a period of time, which affects the problem that the tea leaves will gradually become old. However, since the clamping function of the bionic robotic arm is provided by two rotating mechanical plates at the port, the integrity of the tea leaves cannot be effectively guaranteed when picking tea leaves. Utility Model Content

[0005] The utility model aims to provide a bionic manipulator device for picking tea leaves, which solves the problem that the integrity of the tea leaves cannot be effectively guaranteed when picking tea leaves because the clamping function of the bionic manipulator arm is provided by two rotating mechanical plates at the port.

[0006] To achieve the above-mentioned purpose, the utility model adopts a bionic manipulator device for picking tea leaves, including a three-axis mechanical arm and a bionic clamping and splitting component, the bionic clamping and splitting component including a stabilizing frame, a clamping plate, a clamping claw, a splitting plate and a splitting knife, the stabilizing frame is detachably connected to the three-axis mechanical arm and is located above the three-axis mechanical arm, the clamping handle is detachably connected to the stabilizing frame and is located above a side of the stabilizing frame away from the three-axis mechanical arm, the clamping claw is detachably connected to the clamping plate and is located above the clamping plate, the splitting plate is detachably connected to the stabilizing frame and is located below a side of the stabilizing frame away from the three-axis mechanical arm, and the splitting plate is arranged below the clamping plate, and the splitting knife is slidably connected to the splitting plate and is located on a side of the splitting plate away from the stabilizing frame.

[0007] Wherein, the three-axis robotic arm also includes a telescopic rod and a rotating disk, the telescopic rod is detachably connected to the stabilizing frame and is located below the stabilizing frame, and the rotating disk is detachably connected to the telescopic rod and is located below the telescopic rod.

[0008] Wherein, the three-axis robotic arm also includes a placement platform and a rotating column, the placement platform is detachably connected to the rotating disk and is located below the rotating disk, and the rotating column is detachably connected to the placement platform and is located below the placement platform.

[0009] Wherein, the three-axis robotic arm also includes a telescopic column and a sliding table, the telescopic column is detachably connected to the rotating column and is located below the rotating column, and the sliding table is slidably connected to the telescopic column and is located below the telescopic column.

[0010] Wherein, the three-axis robotic arm also includes a telescopic seat and a rotating seat, the telescopic seat is detachably connected to the sliding table and is located below the sliding table, and the rotating seat is detachably connected to the telescopic seat and is located below the telescopic seat.

[0011] Among them, the bionic manipulator device for picking tea leaves also includes a positioning auxiliary mounting component, which includes a mounting plate, a mounting hole, a positioning column and a positioning pattern. The mounting plate is detachably connected to the rotating seat and is located below the rotating seat. The mounting hole is fixedly connected to the mounting plate and is located inside the mounting plate. The positioning column is detachably connected to the mounting plate and is located below the mounting plate. The positioning pattern is fixedly connected to the positioning column and is located below the inside of the positioning column.

[0012] The utility model discloses a bionic manipulator device for picking tea leaves, comprising a three-axis mechanical arm and a bionic clamping and splitting assembly, wherein the bionic clamping and splitting assembly comprises a stabilizing frame, a clamping plate, a clamping claw, a splitting plate and a splitting knife, wherein the stabilizing frame is detachably connected to the three-axis mechanical arm and is located above the three-axis mechanical arm, the clamping handle is detachably connected to the stabilizing frame and is located above a side of the stabilizing frame away from the three-axis mechanical arm, the clamping claw is detachably connected to the clamping plate and is located above the clamping plate, the splitting plate is detachably connected to the stabilizing frame and is located below a side of the stabilizing frame away from the three-axis mechanical arm, and the splitting plate is arranged below the clamping plate, the splitting knife is slidably connected to the splitting plate and is located on a side of the splitting plate away from the stabilizing frame, and since the original clamping mechanism is replaced by the bionic clamping and splitting assembly, the problem that the integrity of the tea leaves cannot be effectively guaranteed when picking tea leaves is actively and effectively solved because the clamping function of the bionic mechanical arm is provided by two rotating mechanical plates at the port. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the utility model.

[0015] Figure 2 It is an overall top view of the first embodiment of the utility model.

[0016] Figure 3 It is an overall front view of the second embodiment of the utility model.

[0017] Figure 4 It is an overall bottom view of the second embodiment of the utility model.

[0018] 101-rotating seat, 102-telescopic seat, 103-sliding table, 104-telescopic column, 105-rotating column, 106-placing table, 107-rotating disk, 108-telescopic rod, 109-stabilizing frame, 110-clamping plate, 111-clamping claw, 112-dividing plate, 113-dividing knife, 201-mounting disk, 202-mounting hole, 203-positioning column, 204-positioning pattern. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0020] First embodiment

[0021] See also Figure 1 and Figure 2 , Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the utility model. Figure 2 It is an overall top view of the first embodiment of the utility model.

[0022] The utility model provides a bionic manipulator device for picking tea leaves, including a three-axis manipulator and a bionic clamping and splitting component, wherein the bionic clamping and splitting component includes a stabilizing frame 109, a clamping plate 110, a clamping claw 111, a splitting plate 112, a splitting knife 113, a telescopic rod 108, a rotating disk 107, a placement table 106, a rotating column 105, a telescopic column 104, a sliding table 103, a telescopic seat 102 and a rotating seat 101. The above-mentioned scheme solves the problem that the clamping function of the bionic manipulator arm is provided by two rotating mechanical plates at the port, thereby failing to effectively ensure the integrity of the tea leaves when picking the tea leaves. It can be understood that the above-mentioned scheme can be used to clamp the rotating seat 101 and the rotating mechanical plates when picking the tea leaves. The rotating column 105 cooperates with the rotating disk 107 to be adjusted to the specified position, and then the telescopic seat 102, the telescopic column 104 and the telescopic rod 108 are adjusted, thereby adjusting the height and position of the stabilizing frame 109, and then the clamping claws 111 on the clamping plate 110 are used to clamp the tea leaves. After the clamping claws 111 clamp the tea leaves, the dividing knife 113 will slide on the dividing plate 112 to separate the tea leaves from the tea trees, thereby eliminating the need for dragging, and effectively ensuring the integrity of the tea leaves. This effectively solves the problem that the integrity of the tea leaves cannot be effectively guaranteed when picking tea leaves because the clamping function of the bionic robotic arm is provided by two rotating mechanical plates at the port.

[0023] According to the present specific embodiment, the stabilizing frame 109 is detachably connected to the three-axis robot arm and is located above the three-axis robot arm. The clamping handle is detachably connected to the stabilizing frame 109 and is located above the side of the stabilizing frame 109 away from the three-axis robot arm. The clamping claw 111 is detachably connected to the clamping plate 110 and is located above the clamping plate 110. The dividing plate 112 is detachably connected to the stabilizing frame 109 and is located below the side of the stabilizing frame 109 away from the three-axis robot arm. The dividing plate 112 is arranged below the clamping plate 110, the dividing knife 113 is slidably connected to the dividing plate 112 and is located on the side of the dividing plate 112 away from the stabilizing frame 109, the three-axis robotic arm is the main functional structural assembly component for adjusting the stabilizing frame 109 to a specified position, and the stabilizing frame 109 is the place for placing the clamping plate 110 and the dividing plate 112, and the clamping claw 111 and the dividing knife 113 are the main functional components for clamping and dividing tea leaves.

[0024] The telescopic rod 108 is detachably connected to the stabilizing frame 109 and is located below the stabilizing frame 109; the rotating disk 107 is detachably connected to the telescopic rod 108 and is located below the telescopic rod 108; the telescopic rod 108 is a functional component for controlling the local height of the stabilizing rod, and the rotating disk 107 is a functional component for adjusting the angle of the stabilizing frame 109.

[0025] Secondly, the placement platform 106 is detachably connected to the rotating disk 107 and is located below the rotating disk 107. The rotating column 105 is detachably connected to the placement platform 106 and is located below the placement platform 106. The rotating column 105 is a functional structural component for controlling the angle of the placement platform 106.

[0026] At the same time, the telescopic column 104 is detachably connected to the rotating column 105 and is located below the rotating column 105. The sliding platform 103 is slidably connected to the telescopic column 104 and is located below the telescopic column 104. The telescopic column 104 is a functional structural component for adjusting the specific position of the rotating column 105, and the sliding platform 103 will control the specific orientation of the rotating column 105 at a certain angle.

[0027] In addition, the telescopic seat 102 is detachably connected to the sliding table 103 and is located below the sliding table 103. The rotating seat 101 is detachably connected to the telescopic seat 102 and is located below the telescopic seat 102. The telescopic seat 102 and the rotating seat 101 will control the height and angle of the sliding table 103 while providing necessary support for the whole.

[0028] When using the utility model to pick tea leaves, the rotating seat 101 and the rotating rotating column 105 will cooperate with the rotating disk 107 to be adjusted to the specified position, and then the telescopic seat 102, the telescopic column 104 and the telescopic rod 108 will be adjusted, thereby adjusting the height and position of the stabilizing frame 109, and then the clamping claws 111 on the clamping plate 110 will be used to clamp the tea leaves. After the clamping claws 111 clamp the tea leaves, the dividing knife 113 will slide on the dividing plate 112 to separate the tea leaves from the tea trees, thereby eliminating the need for dragging and effectively ensuring the integrity of the tea leaves. This will effectively solve the problem that the integrity of the tea leaves cannot be effectively guaranteed when picking tea leaves because the clamping function of the bionic robotic arm is provided by two rotating mechanical plates at the port.

[0029] Second embodiment

[0030] See also Figure 3 and Figure 4 , Figure 3 It is a front view of the whole of the second embodiment of the utility model. Figure 4 It is an overall bottom view of the second embodiment of the utility model.

[0031] On the basis of the first embodiment, a bionic manipulator device for tea picking of the utility model further includes a positioning auxiliary installation component, which includes a mounting plate 201, a mounting hole 202, a positioning column 203 and a positioning pattern 204.

[0032] According to this specific embodiment, the mounting plate 201 is detachably connected to the rotating seat 101 and is located below the rotating seat 101. The mounting hole 202 is fixedly connected to the mounting plate 201 and is located inside the mounting plate 201. The positioning column 203 is detachably connected to the mounting plate 201 and is located below the mounting plate 201. The positioning pattern 204 is fixedly connected to the positioning column 203 and is located below the inside of the positioning column 203. When the whole needs to be installed on the robot, the mounting plate 201 will cooperate with the mounting hole 202 to install the whole to the specified position on the robot, and the positioning column 203 will cooperate with the positioning pattern 204 to effectively locate the specific installation position, thereby effectively installing the whole to the specified position on the robot.

[0033] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. A bionic manipulator device for tea picking, comprising a three-axis manipulator arm, characterized in that: It also includes a bionic clamping and splitting component, which includes a stabilizing frame, a clamping plate, a clamping claw, a splitting plate and a splitting knife. The stabilizing frame is detachably connected to the three-axis robotic arm and is located above the three-axis robotic arm. The clamping handle is detachably connected to the stabilizing frame and is located above a side of the stabilizing frame away from the three-axis robotic arm. The clamping claw is detachably connected to the clamping plate and is located above the clamping plate. The splitting plate is detachably connected to the stabilizing frame and is located below a side of the stabilizing frame away from the three-axis robotic arm, and the splitting plate is arranged below the clamping plate. The splitting knife is slidably connected to the splitting plate and is located on a side of the splitting plate away from the stabilizing frame.

2. The bionic manipulator device for tea picking according to claim 1, characterized in that: The three-axis mechanical arm also includes a telescopic rod and a rotating disk. The telescopic rod is detachably connected to the stabilizing frame and is located below the stabilizing frame. The rotating disk is detachably connected to the telescopic rod and is located below the telescopic rod.

3. The bionic manipulator device for tea picking according to claim 2, characterized in that: The three-axis mechanical arm also includes a placement platform and a rotating column. The placement platform is detachably connected to the rotating disk and is located below the rotating disk. The rotating column is detachably connected to the placement platform and is located below the placement platform.

4. The bionic manipulator device for tea picking according to claim 3, characterized in that: The three-axis mechanical arm also includes a telescopic column and a sliding platform. The telescopic column is detachably connected to the rotating column and is located below the rotating column. The sliding platform is slidably connected to the telescopic column and is located below the telescopic column.

5. The bionic manipulator device for tea picking according to claim 4, characterized in that: The three-axis robotic arm also includes a telescopic seat and a rotating seat. The telescopic seat is detachably connected to the sliding table and is located below the sliding table. The rotating seat is detachably connected to the telescopic seat and is located below the telescopic seat.

6. The bionic manipulator device for tea picking according to claim 5, characterized in that: The bionic manipulator device for picking tea leaves also includes a positioning auxiliary mounting component, which includes a mounting plate, a mounting hole, a positioning column and a positioning pattern. The mounting plate is detachably connected to the rotating seat and is located below the rotating seat. The mounting hole is fixedly connected to the mounting plate and is located inside the mounting plate. The positioning column is detachably connected to the mounting plate and is located below the mounting plate. The positioning pattern is fixedly connected to the positioning column and is located below the inside of the positioning column.

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