Humanoid robot for fermented tea production line

Abstract

The utility model relates to a humanoid robot for a fermented tea production line in the technical field of tea fermentation processes. The humanoid robot comprises a movable base, a material box translation mechanism, a lifting mechanism, a sensing device, a spraying device and a control system, the material box translation mechanism comprises a first sliding platform, a second sliding platform and a supporting platform; a first servo motor, a synchronous belt and a first sliding rail are arranged on the second sliding platform; a second servo motor, a lead screw and a second sliding rail are arranged on the supporting platform. According to the utility model, the mobile operation robot is adopted to carry out man-like operation, and is matched with an automatic production line system, so that the requirements of the fermented tea processing technology are met, and the intelligent mobile robot which can carry out man-like operation and has the function of integrating the fermented tea technology is realized. The material box translation mechanism adopts a three-layer platform structure design, and through the combination of the first sliding platform and the second sliding platform, the two sliding platforms can slide and extend simultaneously and can also slide and extend independently so as to cope with a more complex working environment.

Description

TECHNICAL FIELD

[0001] The utility model relates to tea fermentation process technical field, especially in kind of fermentation tea production line humanoid robot. BACKGROUND

[0002] In the fermentation tea processing and manufacturing process production process, in order to guarantee tea fermentation process flow environmental condition, the overall environment of the workshop where the production line is is typical high temperature, high humidity environment, the highest temperature can reach 45 DEG C, humidity can reach 95%, in the fermentation tea processing, through spraying, warehousing, stacking, transfer, break, temperature measurement and humidity measurement, fermentation etc. SUMMARY

[0003] In order to solve the above technical problem, a kind of fermentation tea production line humanoid robot is disclosed in the utility model, and the technical scheme of the utility model is implemented as follows:

[0004] A kind of fermentation tea production line humanoid robot, comprising:

[0005] Mobile base, for moving in the fermentation tea production line;

[0006] Material box translation mechanism, it is set up on the mobile base for parallel taking and placing fermentation material box from the fermentation tea production line;

[0007] The material box translation mechanism includes first sliding platform, second sliding platform and support platform;

[0008] First servo motor, synchronous belt and first slide rail are provided on the second sliding platform;

[0009] Second servo motor, lead screw and second slide rail are provided on the support platform;

[0010] The synchronous belt connects the first sliding platform and the first servo motor, the lead screw connects the second sliding platform, and the lead screw is connected with the driving shaft of the second servo motor through a belt;The first sliding platform is arranged on the first slide rail, and the second sliding platform is arranged on the second slide rail;

[0011] Lifting mechanism, it is set up on the mobile base, for horizontally lifting the material box translation mechanism;

[0012] Mechanical arm, it is set up on the mobile base;

[0013] Perception device, it is set up on the mobile base, for detecting the tea fermentation environment in the fermentation material box and the material box fullness;

[0014] A spraying device is arranged on the mechanical arm and used to generate a spray;

[0015] A control system internally stores at least one fermentation process information including at least two process flows and one fermentation time axis state information, judges the process flow in which the fermentation bin or the tea leaves in the fermentation bin is located based on the detection result of the sensing device, controls the mobile base, the bin translation mechanism, the lifting mechanism, the mechanical arm and the spraying device to make the fermentation bin or the tea leaves in the fermentation bin gradually execute the fermentation process based on the process flow, and monitors whether the tea leaf fermentation meets the fermentation time axis state.

[0016] The stroke of the translation mechanism and the lifting mechanism includes maintaining the fermentation bin at a working position, and the stroke of the mechanical arm supporting the spraying device spraying the fermentation bin at the working position.

[0017] Preferably, the bin translation mechanism further includes a reinforcing support, and the bin translation mechanism is installed on the lifting mechanism through the reinforcing support.

[0018] Preferably, the lifting mechanism includes a lifting support, a power chain, a lifting platform and a fixed plate, the lifting platform is provided with a third guide rail, the third guide rail is arranged at the middle part of the lifting platform, the fixed plate is slidably installed on the lifting platform, and the reinforcing support is installed on the fixed plate.

[0019] Preferably, the sensing device includes a visual recognition device, a temperature detection device and a humidity detection device, the visual recognition device is used to identify the amount of tea leaves in the fermentation bin, the temperature detection device is used to detect the temperature of the tea leaves in the fermentation bin at the working position, and the humidity detection device is used to detect the humidity of the tea leaves in the fermentation bin at the working position.

[0020] Preferably, the temperature detection device is a temperature measuring gun, which is replaceably installed at the moving end of the mechanical arm and moves with the moving end.

[0021] Preferably, the humidity detection device is a humidity measuring gun, which is replaceably installed at the moving end of the mechanical arm and moves with the moving end.

[0022] Preferably, the spraying device is replaceably installed at the moving end of the mechanical arm and moves with the moving end.

[0023] Preferably, the visual recognition device is replaceably installed at the moving end of the mechanical arm and moves with the moving end.

[0024] Preferably, the bottom of the mobile base is provided with a driving device, and the driving device drives the mobile base to move and turn.

[0025] Preferably, a landmark magnetic strip and a guide magnetic strip are arranged on the fermentation tea production line; the landmark magnetic strip and the guide magnetic strip are arranged in a positional relationship with the fermentation tea production line; a magnetic navigation sensor and a landmark sensor are arranged on the mobile base; the magnetic navigation sensor and the landmark sensor identify the landmark magnetic strip and the guide magnetic strip to establish the positional relationship between the mobile base and the fermentation tea production line.

[0026] In order to solve the above technical problems, the present application provides a fermentation tea production line humanoid robot, which uses a mobile operation robot to perform "humanoid" operation, cooperates with an automatic production line system, adapts to the demand of fermentation tea processing technology, realizes an intelligent mobile robot capable of "humanoid" operation and having integrated fermentation tea process function, can automatically and unmannedly operate the fermentation tea processing process, completely replaces manual operation, and avoids health damage to human body caused by long-term work on the tea fermentation production line. The core of the present application is that the material box translation mechanism adopts a three-layer platform structure design, through the combination of the first sliding platform and the second sliding platform, the two sliding platforms can simultaneously slide and extend, or can individually slide and extend, so as to cope with more complex working environment. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only one embodiment of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Wherein the same parts are indicated by the same reference numerals. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0029] Figure 1 is a structural schematic view of a fermentation tea production line humanoid robot in the specific embodiment of the present application;

[0030] Figure 2 is a state schematic view of a fermentation material box in the working position in the specific embodiment of the present application;

[0031] Figure 3 is a top view of a material box translation mechanism in the specific embodiment of the present application;

[0032] Figure 4 is a bottom view of a material box translation mechanism in the specific embodiment of the present application;

[0033] Figure 5 Figure 2 is a coupling structure diagram of the lifting mechanism and the material box translation mechanism in the embodiment of the present application;

[0034] Figure 6 Figure 3 is a rear view of the present application; Figure 5

[0035] Figure 7 Figure 4 is a connection structure diagram of the reinforcing bracket and the fixed plate in the embodiment of the present application;

[0036] Figure 8 Figure 5 is a state diagram of the lifting fermentation material box in the embodiment of the present application;

[0037] Figure 9 Figure 6 is a navigation mode diagram of the driving device in the embodiment of the present application.

[0038] In the above-mentioned drawings, the symbol marks of each drawing respectively represent:

[0039] 1, mobile base; 2, material box translation mechanism; 21, first sliding platform; 22, second sliding platform; 221, first servo motor; 222, synchronous belt; 223, first sliding rail; 23, support platform; 231, second servo motor; 232, lead screw; 233, second sliding rail; 234, belt; 24, reinforcing bracket; 3, lifting mechanism; 31, lifting bracket; 32, power chain; 33, lifting platform; 34, fixed plate; 35, third sliding rail; 4, mechanical arm; 5, sensing device; 6, spraying device; 7, tea fermentation box; 8, driving device; 81, magnetic navigation sensor, 82, landmark sensor; 9, navigation magnetic strip; 10, landmark magnetic strip. DETAILED DESCRIPTION

[0040] The technical scheme of the present application will be described clearly and completely below by combining the embodiments of the present application with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] Unless otherwise defined, all the technical and scientific terms used in the present application have the same meanings as those commonly understood by those skilled in the technical field of the present application; the terms used in the specific embodiments are only for the purpose of describing the specific embodiments, and are not intended to limit the present application; the terms "include" and "have" in the specification and claims of the present application and the above-mentioned drawing description, as well as any variants thereof, are intended to cover the non-exclusive inclusion.

[0042] ​In the description of the specific embodiments of the utility model, the technical terms "first", "second" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the utility model, the meaning of "a plurality of" is more than two, unless otherwise explicitly specified.

[0043] In the utility model, "embodiment" means that the specific features, structures or properties described in combination with the embodiment can be included in at least one embodiment of the utility model. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is not mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the utility model can be combined with other embodiments.

[0044] In the description of the embodiments of the utility model, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in the utility model generally represents that the front and rear associated objects have an "or" relationship.

[0045] The embodiments of the utility model will be described in more detail by the following examples. It should be noted that the embodiments of the utility model are not limited to these examples only.

[0046] In one embodiment of the present application, a fermentation tea production line humanoid robot is proposed, as shown in Figure 1 、 2 , comprising:

[0047] The mobile base 1 is used for moving in the fermentation tea production line;

[0048] The material box translation mechanism 2 is arranged on the mobile base 1 and is used for parallel taking and placing the fermentation material box from the fermentation tea production line;

[0049] The lifting mechanism 3 is arranged on the mobile base 1 and is used for horizontally lifting the material box translation mechanism 2;

[0050] The mechanical arm 4 is arranged on the mobile base;

[0051] The sensing device 5 is arranged on the mobile base 1 and is used for detecting the tea fermentation environment and the material box fullness in the fermentation material box;

[0052] The spraying device 6 is arranged on the mechanical arm 4 and is used for generating spray;

[0053] The control system is internally provided with at least one fermentation process information including at least two process flows and one fermentation time axis state information, judges the process flow in which the fermentation bin or the tea in the fermentation bin is located based on the detection result of the sensing device 5, controls the mobile base 1, the bin translation mechanism 2, the lifting mechanism 3, the mechanical arm 4 and the spraying device 6 to make the fermentation bin or the tea in the fermentation bin gradually execute the fermentation process based on the process flow, and monitors whether the tea fermentation meets the fermentation time axis state.

[0054] Wherein, the stroke of the translation mechanism and the lifting mechanism 3 includes keeping the fermentation bin in the working position; the stroke of the mechanical arm 4 supporting the spraying device 6 spraying the fermentation bin in the working position.

[0055] As shown in Figure 3 and Figure 4 , the bin translation mechanism 2 includes a first sliding platform 21, a second sliding platform 22 and a support platform 23; the second sliding platform 22 is provided with a first servo motor 221, a synchronous belt 222 and a first sliding rail 223; the support platform 23 is provided with a second servo motor 231, a lead screw 232 and a second sliding rail 233; the synchronous belt 222 connects the first sliding platform 21 and the first servo motor 221, the lead screw 232 connects the second sliding platform 22, and the lead screw 232 is connected with the driving shaft of the second servo motor 231 through a belt 234; the first sliding platform 21 is arranged on the first sliding rail 223, and the second sliding platform 22 is arranged on the second sliding rail 233; the bin translation mechanism 2 further includes a reinforcing bracket 24; the bin translation mechanism 2 is installed on the lifting mechanism 3 through the reinforcing bracket 24.

[0056] As shown in Figure 5 and Figure 6 , the lifting mechanism 3 includes a lifting bracket 31, a power chain 32, a lifting platform 33 and a fixed plate 34; the lifting platform 33 is provided with a third sliding rail 35; the third sliding rail 35 is arranged at the middle part of the lifting platform 33, the fixed plate 34 is slidably installed on the lifting platform 33, and the reinforcing bracket 24 is installed on the fixed plate 34. The lifting platform 33 is driven by the power chain 32; the power chain 32 is distributed on both sides of the lifting bracket 31 and is driven by a servo motor. Among them, the third sliding rail 35 at the back facilitates the balance of the lifting platform 33 when moving up and down.

[0057] In this embodiment, the bin translation mechanism 2 is a two-section sliding mode, which can cope with more complex scenarios and autonomously choose to slide simultaneously or in segments. The reinforcing bracket 24 is used to install and fix the overall bin translation mechanism 2 to the lifting mechanism 3 to improve the load capacity. The mounting structure of the reinforcing bracket 24 and the fixed plate 24 is shown in Figure 7 .

[0058] In the embodiment, the mobile base 1 is a mobile robot chassis, which is internally provided with a control system and an energy system, and is provided at the bottom with a driving device 8. The energy system is the power source of the tank translation mechanism 2, the lifting mechanism 3, the mechanical arm 4, the sensing device 5, the spraying device 6, the driving device 8, and the control system. The above-mentioned devices are all controlled by the control system to work, and the driving device 8 can drive the mobile robot chassis to move in the fermentation tea production line workshop scene.

[0059] In the embodiment, as shown in Figure 1 , 2 , one end of the mobile base 1 is provided with the mechanical arm 4, and the other end is provided with the lifting mechanism 3. A working space capable of accommodating the fermentation tank is arranged between the mechanical arm 4 and the lifting mechanism 3, which is a working position. The lifting mechanism 3 can slide up and down to drive the tank translation mechanism 2 to move up and down. The tank translation mechanism 2 can slide horizontally, and the end is provided with a first sliding platform 21, a second sliding platform 22, and a support platform 23. When the humanoid robot of the embodiment grabs the fermentation tank, it is first moved to the shelf of the fermentation tea production line under the drive of the mobile base 1. The lifting mechanism 3 drives the tank translation mechanism 2 to be flush with the bottom of the fermentation tank (as shown in Figure 8 ), and then the tank translation mechanism 2 drives the first sliding platform 21 or the second sliding platform 22 to the bottom of the fermentation tank and then drives the fermentation tank to retract, thereby completing the grabbing of the fermentation tank. The two sliding platforms can slide and extend simultaneously or individually, depending on the application scenario.

[0060] After the grabbing is completed, as shown in Figure 2 , the lifting mechanism 3 can drive the tank translation mechanism 2 and the fermentation tank to move downward to the working position, thereby realizing the carrying of the fermentation tank, the sensing of the sensing device 5, and the spraying of the spraying device 6.

[0061] When the placement position of the fermentation tank on the shelf is a position that can be covered by the mechanical arm 4, the mechanical arm 4 can directly drive the sensing device 5 and the spraying device 6 to sense and spray the fermentation environment in the fermentation tank.

[0062] The control system of the embodiment is provided with a position determination program, a timing program, a control program, a calculation program, a fermentation process time axis, and a judgment program. Before the humanoid robot of the embodiment works, the position information of the shelves, the loading device, the crushing device, and the spraying device 6 on the fermentation tea production line needs to be input into the control program. The control system automatically judges the carrying, loading, crushing, spraying fermentation time control, and detection of the fermentation tank based on the set fermentation process time axis. In the embodiment, the program of the control system can be adjusted to be suitable for different fermentation tea production lines and different fermentation processes.

[0063] The humanoid robot of the embodiment has a power supply battery, and when the battery power is automatically detected to be insufficient, the robot automatically moves to a charging station for charging, and the charging state is shown in Figure 1

[0064] In some embodiments, the sensing device 5 includes a visual recognition device, a temperature detection device, and a humidity detection device; the visual recognition device is used to identify the amount of tea in the fermentation bin; the temperature detection device is used to detect the temperature of the tea in the fermentation bin on the work site; and the humidity detection device is used to detect the humidity of the tea in the fermentation bin on the work site.

[0065] In some embodiments, the temperature detection device is a temperature measuring gun, which is installed on the moving end of the mechanical arm 4 during use and moves with the moving end. In other embodiments, the temperature detection device can also be a device such as a thermometer that can measure the temperature of the tea, which is not limited here.

[0066] In some embodiments, the humidity detection device is a humidity measuring gun, which is installed on the moving end of the mechanical arm 4 during use and moves with the moving end. In other embodiments, the humidity detector can also be a device such as a humidity meter that can measure the humidity of the tea, which is not limited here.

[0067] In some embodiments, the spraying device 6 is installed on the moving end of the mechanical arm 4 during use and moves with the moving end.

[0068] In some embodiments, the visual recognition device is installed on the moving end of the mechanical arm 4 during use and moves with the moving end.

[0069] In one embodiment, when the temperature detection device, the humidity detection device, the spraying device 6, and / or the visual recognition device are arranged on the moving part of the mechanical arm 4, and the stroke of the mechanical arm 4 can reach the fermentation bin on the shelf or other positions, the fermentation bin can be directly detected, identified, and / or sprayed based on the movement of the mechanical arm 4.

[0070] In some embodiments, the mechanical arm 4 can automatically select at least one of the above different sensing devices 5 to install on the moving end according to specific needs.

[0071] In the embodiment, the bottom of the mobile base 1 is provided with a driving device 8; the driving device 8 drives the movement and turning of the mobile base 1. The driving device 8 of the embodiment can be a conventional mobile working robot driving device 8, which is not explained and limited here.

[0072] ​In the embodiment, the landmark magnetic stripe 10 and the guide magnetic stripe are arranged on the fermentation tea production line; the landmark magnetic stripe 10 and the guide magnetic stripe have a positional relationship with the fermentation tea production line; the magnetic navigation sensor 81 and the landmark sensor 82 are arranged on the mobile base 1; the magnetic navigation sensor 81 and the landmark sensor 82 identify the landmark magnetic stripe 10 and the guide magnetic stripe to establish the positional relationship between the mobile base 1 and the fermentation tea production line.

[0073] The magnetic navigation sensor 81 of the embodiment identifies the guide magnetic stripe and sends the identification information to the control system; the control system controls the mobile base 1 to move according to the direction of the guide magnetic stripe; the landmark sensor 82 identifies the landmark magnetic stripe 10 and sends the identification information to the control system; the control system can obtain the absolute position of the mobile base 1 on the tea fermentation production line according to the information; and the navigation schematic diagram is as shown in Figure 9

[0074] In some embodiments, the control system is integrated with an autonomous navigation system; the mobile base 1 moves in the tea fermentation production line based on the autonomous navigation system; and the mobile base 1 can also complete obstacle avoidance based on the visual recognition device.

[0075] It should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application; any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.​

Claims

1. A line of fermentation tea producing humanoid robots, characterized by, The application relates to a fermentation tea production line, which comprises the following parts: a mobile base for moving in the fermentation tea production line; a fermentation box translation mechanism arranged on the mobile base and used for parallel taking and placing a fermentation box on the fermentation tea production line; the fermentation box translation mechanism comprises a first sliding platform, a second sliding platform and a supporting platform; a first servo motor, a synchronous belt and a first sliding rail are arranged on the second sliding platform; a second servo motor, a lead screw and a second sliding rail are arranged on the supporting platform; the synchronous belt is connected with the first sliding platform and the first servo motor, the lead screw is connected with the second sliding platform, the lead screw is connected with the driving shaft of the second servo motor through a belt, the first sliding platform is arranged on the first sliding rail, and the second sliding platform is arranged on the second sliding rail; a lifting mechanism arranged on the mobile base and used for horizontally lifting the fermentation box translation mechanism; a mechanical arm arranged on the mobile base; a sensing device arranged on the mobile base and used for detecting a tea fermentation environment and a fermentation box fullness in the fermentation box; a spraying device arranged on the mechanical arm and used for generating a spray; a control system internally provided with at least one fermentation process information comprising at least two process flows and one fermentation time axis state information, the control system judges a process flow in which the fermentation box or tea leaves in the fermentation box is located based on a detection result of the sensing device, controls the mobile base, the fermentation box translation mechanism, the lifting mechanism, the mechanical arm and the spraying device to make the fermentation box or the tea leaves in the fermentation box gradually execute the fermentation process based on the process flow, and monitors whether tea leaf fermentation meets the fermentation time axis state; wherein the stroke of the translation mechanism and the lifting mechanism comprises keeping the fermentation box in a working position, and the stroke of the spraying device supported by the mechanical arm on the working position on the fermentation box. The fermentation box translation mechanism further comprises a reinforcing support, and the fermentation box translation mechanism is installed on the lifting mechanism through the reinforcing support. The lifting mechanism comprises a lifting support, a power chain, a lifting platform and a fixing plate, a third guide rail is arranged on the lifting platform, the third guide rail is arranged in the middle of the lifting platform, the fixing plate is slidably installed on the lifting platform, and the reinforcing support is installed on the fixing plate. The sensing device comprises a visual recognition device, a temperature detection device and a humidity detection device, the visual recognition device is used for recognizing the amount of tea leaves in the fermentation box, the temperature detection device is used for detecting the temperature of the tea leaves in the fermentation box on the working position, and the humidity detection device is used for detecting the humidity of the tea leaves in the fermentation box on the working position. The temperature detection device is a temperature measuring gun which is alternatively installed on the moving end of the mechanical arm and moves with the moving end. The humidity detection device is a humidity measuring gun which is alternatively installed on the moving end of the mechanical arm and moves with the moving end. The spraying device is alternatively installed on the moving end of the mechanical arm and moves with the moving end. The visual recognition device is alternatively installed on the moving end of the mechanical arm and moves with the moving end. ​ ​ ​ ​ ​ 2. The humanoid robot according to claim 1, characterized by, ​ 3. The humanoid robot according to claim 2, wherein ​ 4. The humanoid robot according to claim 1, wherein ​ 5. The humanoid robot according to claim 4, wherein, ​ 6. The humanoid robot according to claim 5, wherein, ​ 7. The humanoid robot according to claim 6, wherein ​ 8. The humanoid robot according to claim 4, wherein, ​ 9. The humanoid robot of claim 1, wherein, The bottom of the mobile base is provided with a driving device; the driving device drives the mobile base to move and turn.

10. The humanoid robot of claim 1, wherein, The fermentation tea production line is provided with a landmark magnetic strip and a guide magnetic strip; the landmark magnetic strip and the guide magnetic strip are arranged in a position relationship with the fermentation tea production line; the mobile base is provided with a magnetic navigation sensor and a landmark sensor; the magnetic navigation sensor and the landmark sensor identify the landmark magnetic strip and the guide magnetic strip to establish the position relationship between the mobile base and the fermentation tea production line.

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