Crank sliding block type end effector based on steering engine driving and tea leaf picking machine

Abstract

The utility model discloses a crank sliding block type end effector based on steering engine driving and a tea leaf picking machine. The end effector comprises a bottom plate, two shearing fingers and a shearing driving mechanism, wherein the two shearing fingers are oppositely arranged on the bottom plate and used for shearing tender shoots of a tea tree, and the shearing driving mechanism is used for driving the two shearing fingers to move close to each other or away from each other; the shearing driving mechanism comprises a slider-crank mechanism, a connecting rod arranged between the slider-crank mechanism and the shearing fingers and a steering engine used for driving the slider-crank mechanism to move. One end of the connecting rod is hinged to the shearing finger, and the other end of the connecting rod is hinged to the slider-crank mechanism. When the end effector works in a tea field, the requirement for the working environment is low, gears and other parts which are prone to being abraded by dust and powder are prevented from being used, the service life of the end effector is prolonged, the structure is simpler, the manufacturing cost is low, and later maintenance is easy.

Description

Technical Field

[0001] The utility model relates to the technical field of tea picking, in particular to a crank slider type end effector and a tea picking machine driven by a steering gear. Background Art

[0002] Tea picking mainly relies on manual picking, which involves visually selecting tea leaves and picking them manually, which is labor-intensive and has low picking efficiency. Using tea picking machines instead of manual tea picking can not only reduce labor intensity and save tea production costs, but also improve tea production efficiency and tea quality.

[0003] The end effector is an actuator installed at the end of the tea picking machine, mainly used to cut tea leaves. The existing end effector drives two meshing gears through a motor to move, and then drives two fingers to move closer to the middle and merge. The blades on the ends of the two fingers contact with the blade pads to cut the tea buds and achieve tea picking. However, the above end effector has the following shortcomings:

[0004] 1. The use of gears for transmission has relatively high requirements on the working environment and needs to be dust and scale proof.

[0005] 2. Since the opening and closing actions of the two fingers are controlled by gear meshing, repeated meshing is performed through fewer teeth during operation, which can easily cause wear on the tooth surface. Under high-intensity and long-term work, the life of the gears is easily shortened, and frequent lubrication and repair are required in the later stage.

[0006] 3. Gears are relatively precise parts, and the subsequent maintenance costs are relatively high. Utility Model Content

[0007] The purpose of the utility model is to overcome the above-mentioned problems and provide a crank slider type end effector driven by a servo gear. When the end effector is operating in a tea plantation, it has low requirements on the working environment, avoids the use of parts such as gears that are easily worn by dust and powder, thereby increasing the service life of the end effector, having a simpler structure, low manufacturing cost, and easy maintenance in the later stage.

[0008] Another object of the present utility model is to provide a tea picking machine comprising the crank slider type end effector driven by a servo engine.

[0009] The purpose of the utility model is achieved through the following technical solutions:

[0010] A crank slider type end effector based on steering gear drive, comprising a base plate, two shearing fingers arranged on the base plate for shearing tea tree buds, and a shearing drive mechanism for driving the two shearing fingers to move toward or away from each other; wherein,

[0011] The shearing drive mechanism includes a crank slider mechanism, a connecting rod arranged between the crank slider mechanism and the shearing fingers, and a servo for driving the crank slider mechanism to move; one end of the connecting rod is hinged to the shearing fingers, and the other end of the connecting rod is hinged to the crank slider mechanism.

[0012] The working principle of the above-mentioned crank slider type end effector based on steering gear drive is:

[0013] When picking tea leaves, the servo drives the crank slider mechanism to move, which in turn drives the two connecting rods to move. The two connecting rods drive the two cutting fingers to move closer to each other, and the cutting fingers cut the tender buds of the tea tree to achieve tea picking. When the servo drives in the reverse direction, the two cutting fingers can move away from each other to prepare for the next picking action.

[0014] A preferred solution of the utility model, wherein the crank slider mechanism includes a crank, a rocker and a slider; the slider is set on the bottom plate along a straight line, one end of the crank is connected to the main shaft of the servo; one end of the rocker is hinged to the other end of the crank, the other end of the rocker is hinged to the slider, and the connecting rod is hinged to the slider. In the above structure, the crank is driven by the servo to swing, which drives the rocker to move, and then drives the slider to move along a straight line on the bottom plate, the slider drives the two connecting rods to move, and the two connecting rods respectively drive the two shearing fingers to move closer to or away from each other, so as to realize the opening and closing action of the two shearing fingers.

[0015] Preferably, the bottom plate is provided with a slide rail, and the slider is slidably arranged on the slide rail. The slide rail can guide the slider, ensure the stability of the slider movement, thereby improving the movement accuracy of the shearing fingers, and further improving the picking accuracy.

[0016] Preferably, the slider is provided with a connecting block, and the rocker and the connecting rod are both hinged to the connecting block. The connecting block is provided to facilitate the installation of the rocker and the connecting rod, and the slider does not need to be further processed, and the structure is also made more compact.

[0017] Preferably, the shear finger includes a knife holder and a knife; one end of the knife holder is hinged to the bottom plate, and the knife is arranged at the other end of the knife holder; the connecting rod is hinged to the middle of the knife holder. The crank is driven to swing by the steering gear, which drives the rocker to move, and then drives the slider to move along a straight line on the bottom plate. The slider drives the two connecting rods to move, and the connecting rod drives the knife holder to swing. The two knife holders swing inward or outward at the same time, driving the two knives to move closer or farther from each other, so as to cut or loosen the tender buds of the tea tree.

[0018] Preferably, a tool holder bracket is provided between the tool holder and the bottom plate, one end of the tool holder bracket is fixedly connected to the bottom plate, and the other end of the tool holder bracket is hinged to the tool holder. By providing the tool holder bracket, the installation of the tool holder is facilitated.

[0019] Preferably, a steering gear bracket is provided on the bottom plate, and the steering gear is installed on the steering gear bracket. By providing the steering gear bracket, it is convenient to install the steering gear.

[0020] A tea picking machine comprises the crank slider type end effector driven by a servo engine.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] 1. The crank slider type end effector in the utility model drives the shear finger to move through the crank slider mechanism. Compared with the gear meshing structure in the prior art, the crank slider mechanism has better movement stability, high movement accuracy and large power transmission.

[0023] 2. The crank slider type end effector in the utility model adopts a crank slider mechanism, which has a simpler structure, is easier to manufacture, has a low manufacturing cost, and is easy to maintain in the later stage.

[0024] 3. The crank slider type end effector in the utility model adopts a crank slider mechanism, which has low requirements on the working environment and avoids the use of parts such as gears that are easily worn by dust and powder. The crank slider mechanism is not easy to wear, which can increase the service life of the crank slider type end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural schematic diagram of one specific implementation of a crank slider type end effector driven by a servo engine in the utility model.

[0026] Figure 2 The utility model is a schematic structural diagram of a crank slider type end effector driven by a servo engine in a side view.

[0027] Figure 3 The schematic diagram of the structure of the crank slider type end effector driven by a servo engine in the utility model is shown in the top view. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0029] Example 1

[0030] See also Figure 1-Figure 3 This embodiment discloses a crank slider type end effector based on servo drive, including a base plate 1, two shearing fingers 2 relatively arranged on the base plate 1 for cutting the tender buds of tea trees, and a shearing drive mechanism for driving the two shearing fingers 2 to move towards or away from each other.

[0031] The shearing drive mechanism includes a crank slider mechanism, a connecting rod 3 arranged between the crank slider mechanism and the shearing finger 2, and a servo 4 for driving the crank slider mechanism to move; one end of the connecting rod 3 is hinged to the shearing finger 2, and the other end of the connecting rod 3 is hinged to the crank slider mechanism.

[0032] The crank slider mechanism used in this embodiment can adapt to more complex scenarios and broaden the application scope of the tea picking machine; the use of precision parts is reduced, the cost is reduced, the crank slider type end effector has a longer life and is simpler to maintain; the crank slider mechanism has stronger motion stability and higher motion accuracy, and can better accomplish the tea picking task.

[0033] See also Figure 1-Figure 3 The crank slider mechanism includes a crank 5, a rocker 6 and a slider 7; the slider 7 is arranged on the bottom plate 1 to slide along a straight line, one end of the crank 5 is connected to the main shaft of the servo 4; one end of the rocker 6 is hinged to the other end of the crank 5, the other end of the rocker 6 is hinged to the slider 7, and the connecting rod 3 is hinged to the slider 7. In the above structure, the crank 5 is driven to swing by the servo 4, which drives the rocker 6 to move, and then drives the slider 7 to move along a straight line on the bottom plate 1, and the slider 7 drives the two connecting rods 3 to move, and the two connecting rods 3 respectively drive the two shearing fingers 2 to move closer to or away from each other, so as to realize the opening and closing action of the two shearing fingers 2.

[0034] See also Figure 1-Figure 3 The bottom plate 1 is provided with a slide rail 8, and the slider 7 is slidably arranged on the slide rail 8. By providing the slide rail 8, the slider 7 can be guided to ensure the stability of the movement of the slider 7, thereby improving the movement accuracy of the shearing finger 2, and further improving the picking accuracy.

[0035] See also Figure 1-Figure 3 The slide rail 8 and the base plate 1 are integrally arranged.

[0036] See also Figure 1-Figure 3 The slide rail 8 is located in the middle of the two shearing fingers 2, and its purpose is to ensure the synchronization of the movement of the two shearing fingers 2 and improve the shearing effect.

[0037] See also Figure 1-Figure 3The slider 7 is provided with a connecting block 9, and the rocker 6 and the connecting rod 3 are hinged to the connecting block 9. By providing the connecting block 9, the installation of the rocker 6 and the connecting rod 3 is facilitated, and the slider 7 does not need to be further processed, and the structure is also made more compact.

[0038] See also Figure 1-Figure 3 The shear finger 2 includes a knife holder 201 and a knife 202; one end of the knife holder 201 is hinged to the bottom plate 1, and the knife 202 is arranged at the other end of the knife holder 201; the connecting rod 3 is hinged to the middle of the knife holder 201. The crank 5 is driven to swing by the steering gear 4, driving the rocker 6 to move, and then driving the slider 7 to move along a straight line on the bottom plate 1. The slider 7 will drive the two connecting rods 3 to move, and the connecting rods 3 will drive the knife holder 201 to swing. The two knife holders 201 swing inward or outward at the same time, driving the two knives 202 to move closer or farther from each other, and cutting or loosening the tea tree buds.

[0039] See also Figure 1-Figure 3 A tool holder bracket 10 is provided between the tool holder 201 and the bottom plate 1, one end of the tool holder bracket 10 is fixedly connected to the bottom plate 1, and the other end of the tool holder bracket 10 is hinged to the tool holder 201. By providing the tool holder bracket 10, the installation of the tool holder 201 is facilitated.

[0040] See also Figure 1-Figure 3 A steering gear bracket 11 is provided on the bottom plate 1, and the steering gear 4 is installed on the steering gear bracket 11. By providing the steering gear bracket 11, it is convenient to install the steering gear 4.

[0041] See also Figure 1-Figure 3 The servo 4 is the source moving part of the crank slider type end effector, and its torque is closely related to the shear force formed by the tool 202. Therefore, the model of the servo 4 is selected as DS3115, with a torque of 1.7N·m and a speed of 6.5rad / s. By using the crank slider mechanism, more complex motion laws and motion trajectories can be achieved to meet various mechanical motion requirements. The connections between the crank 5, rocker 6, slider 7, connecting rod 3, and tool holder 201 are all hinged, and the slider 7 can ensure that the tools 202 on the left and right sides move synchronously for closed picking.

[0042] See also Figure 1-Figure 3 The crank slider mechanism and the connecting rod 3 are made of aluminum alloy 1060, and the base plate 1, the tool holder 201, the steering gear bracket 11 and the tool holder bracket 10 are made of alloy steel.

[0043] See also Figure 1-Figure 3 The working principle of the above-mentioned crank slider type end effector based on steering gear drive is:

[0044] When picking tea leaves, the steering gear 4 drives the crank slider mechanism to move, thereby driving the two connecting rods 3 to move, and the two connecting rods 3 respectively drive the two cutting fingers 2 to move closer to each other, and the cutting fingers 2 cut the tender buds of the tea tree to achieve tea picking. When the steering gear 4 drives in the reverse direction, the two cutting fingers 2 can move away from each other to prepare for the next picking action.

[0045] Example 2

[0046] The other structures of this embodiment are the same as those of the embodiment 1, except that a guide groove is provided on the bottom plate 1, and the slider 7 is slidably connected to the guide groove. The guide groove can also play a guiding role to ensure the stability of the movement of the slider 7.

[0047] Example 3

[0048] This embodiment discloses a tea picking machine, including a crank slider type end effector driven by a servo as described in Embodiment 1 or Embodiment 2.

[0049] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A crank slider type end effector based on steering gear drive, characterized in that: It comprises a bottom plate, two shearing fingers arranged opposite to each other on the bottom plate for shearing off young buds of tea trees, and a shearing driving mechanism for driving the two shearing fingers to move toward or away from each other; wherein, The shearing drive mechanism includes a crank slider mechanism, a connecting rod arranged between the crank slider mechanism and the shearing fingers, and a servo for driving the crank slider mechanism to move; one end of the connecting rod is hinged to the shearing fingers, and the other end of the connecting rod is hinged to the crank slider mechanism.

2. The crank slider type end effector based on steering gear drive according to claim 1, characterized in that: The crank slider mechanism includes a crank, a rocker and a slider; the slider is set on the base plate along a straight line, one end of the crank is connected to the main shaft of the servo; one end of the rocker is hinged to the other end of the crank, the other end of the rocker is hinged to the slider, and the connecting rod is hinged to the slider.

3. The crank slider type end effector based on steering gear drive according to claim 2, characterized in that: The bottom plate is provided with a slide rail, and the slider is slidably arranged on the slide rail.

4. The crank slider type end effector based on steering gear drive according to claim 3 is characterized in that: The sliding block is provided with a connecting block, and the rocker and the connecting rod are both hinged to the connecting block.

5. The crank slider type end effector based on steering gear drive according to claim 1, characterized in that: The shear finger comprises a tool holder and a tool; one end of the tool holder is hinged to the bottom plate, and the tool is arranged at the other end of the tool holder; and the connecting rod is hinged to the middle part of the tool holder.

6. The crank slider type end effector based on steering gear drive according to claim 5, characterized in that: A tool holder bracket is provided between the tool holder and the bottom plate, one end of the tool holder bracket is fixedly connected to the bottom plate, and the other end of the tool holder bracket is hinged to the tool holder.

7. The crank slider type end effector based on steering gear drive according to claim 1, characterized in that: The bottom plate is provided with a steering gear bracket, and the steering gear is installed on the steering gear bracket.

8. A tea picking machine, characterized in that: It comprises a crank slider type end effector driven by a servo engine as described in any one of claims 1 to 7.

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