Tobacco leaf picking robot

Abstract

The utility model relates to a picking robot, and provides a tobacco leaf picking robot in order to solve the problems that an existing picking robot cannot pick tobacco plants layer by layer from bottom to top, picking efficiency is low, cost is high and the like, the tobacco leaf picking robot comprises a rectangular frame and a solar panel, and a picking executing mechanism and a tobacco leaf containing frame are arranged on the two opposite side faces of the rectangular frame. Four stand columns of the rectangular frame are a first stand column, a second stand column, a third stand column and a fourth stand column which are sequentially arranged in the anticlockwise direction, and wheel assemblies are arranged below the four stand columns. A driving installation cabin is arranged between the two stand columns on the opposite side faces, and a battery assembly electrically connected with the solar panel is arranged in the driving installation cabin. The picking execution mechanism is used for identifying, picking and placing tobacco leaves on tobacco plants; the side, opposite to the picking executing mechanism, of the tobacco leaf containing frame is of an opening structure so that the picking executing mechanism can stack the tobacco leaves into the tobacco leaf containing frame conveniently.

Description

Technical Field

[0001] This utility model relates to a harvesting robot, specifically a tobacco leaf harvesting robot. Background Technology

[0002] Tobacco is one of my country's important economic crops and occupies an important position in the national economy. At present, tobacco harvesting in my country still mainly relies on manual harvesting by tobacco farmers, which is labor-intensive. However, with the increasing aging of the rural population, it is often difficult to ensure the timely harvesting of tobacco leaves. Therefore, promoting mechanized harvesting equipment to improve harvesting efficiency and reduce the labor intensity of tobacco farmers is an inevitable development trend for the tobacco harvesting industry in the future.

[0003] During the growth of tobacco plants, the lower leaves typically mature earlier than those in the middle. Harvesting usually begins at the bottom of the plant. Timely harvesting of the lower leaves provides more nutrients and growing space for the upper leaves, promoting their full maturity. If the lower leaves are not harvested after maturity, they can easily become breeding grounds for diseases, affecting the health of the entire plant. After harvesting, the lower leaves can be cured promptly to avoid prolonged storage and subsequent quality degradation. The curing process for the lower leaves differs from that of the middle and upper leaves; harvesting layer by layer from bottom to top better adapts to different curing requirements. Therefore, tobacco harvesting generally follows the principle of "from bottom to top, from outside to inside," effectively ensuring the quality of the tobacco leaves and the curing effect.

[0004] Chinese patent CN 220422490 U discloses a tobacco leaf harvesting robot, which uses an inverted robotic arm to harvest tobacco leaves. This harvesting robot cannot follow the principles of tobacco leaf harvesting because when the robotic arm moves to the end of the linear module, the overall strength of the linear module needs to be increased to ensure the accuracy of the robotic arm. Otherwise, the motion accuracy will be reduced, making it difficult to accurately harvest mature tobacco leaves. However, increasing the overall strength of the linear module will increase the cost and drive energy consumption, which is not conducive to large-scale promotion and use, and cannot guarantee the harvesting efficiency and quality of tobacco leaves.

[0005] Since most of the core tobacco-producing areas are located in mountainous and hilly regions, it is impossible to use large-scale harvesting equipment. Existing small-scale tobacco harvesting equipment, such as the tobacco leaf picking robot disclosed in Chinese patent CN 221127986 U, uses a single general-purpose robotic arm to pick tobacco leaves. Although this structure improves the degree of automation in harvesting, the harvesting efficiency is low, the overall cost is high, and the use of a full tracked structure makes the overall structure more complex, the machine heavier, the energy consumption higher, and the overall cost higher, which is not conducive to large-scale promotion and use. Utility Model Content

[0006] The purpose of this invention is to solve the problems of existing tobacco harvesting robots being unable to harvest tobacco plants layer by layer from bottom to top, as well as the complex overall structure, low harvesting efficiency, large weight, high energy consumption, and high cost of existing tobacco harvesting robots, and to propose a tobacco harvesting robot.

[0007] To achieve the above objectives, the technical solution proposed by this utility model is as follows:

[0008] A tobacco leaf harvesting robot includes a rectangular frame, characterized in that: a solar panel is provided on the top of the rectangular frame, and harvesting actuators and tobacco leaf placement frames are provided on the two opposite sides of the rectangular frame;

[0009] The rectangular frame has four columns arranged in a counterclockwise direction: a first column, a second column, a third column, and a fourth column. Each column has a wheel assembly underneath it. A drive mounting compartment is provided between the first and second columns and between the third and fourth columns. The drive mounting compartment contains a battery assembly electrically connected to the solar panel to store or release the electrical energy required by the harvesting robot.

[0010] The inner sides of the first and fourth columns are provided with slide rails, and the picking mechanism is mounted on the corresponding slide rails. The picking mechanism can slide up and down along the slide rails. The inner sides of the second and third columns are provided with mounting plates, and the tobacco leaf placement frame is mounted on the mounting plates.

[0011] The harvesting mechanism is connected to an external control module and is used to identify, remove, and place tobacco leaves on the tobacco plant.

[0012] The tobacco leaf placement frame has an open structure on the side opposite to the harvesting mechanism, which is used by the harvesting mechanism to stack tobacco leaves into the tobacco leaf placement frame.

[0013] Furthermore, the drive mounting compartments between the first and second columns, and between the third and fourth columns, are all located at one end near the wheel assembly.

[0014] The harvesting mechanism includes a drive control component, a robotic arm, and a harvesting execution component;

[0015] The drive control component is connected to an external control module. The drive control component is installed in the drive mounting compartment, and its control end is connected to the robotic arm to drive and control the robotic arm to move to the target position.

[0016] One end of the robotic arm is slidably connected to the slide rail, which is used to drive the picking execution mechanism to slide up and down along the slide rail, and the other end is connected to the picking execution component, which is used to drive the picking execution component to the target position;

[0017] The picking execution component is connected to an external control module and is used to identify and remove tobacco leaves from the tobacco plant and place them in a tobacco leaf placement frame.

[0018] Furthermore, the picking execution component includes a picking actuator and a picking recognition device, both of which are connected to an external control module.

[0019] The picking actuator is used to clamp and break the tobacco leaves, enabling the individual picking of the tobacco leaves;

[0020] The picking and identification device is used to identify the position of tobacco leaves on the tobacco plant and guide the picking actuator to pick them.

[0021] Furthermore, the picking and identification device is a binocular camera used to accurately identify the position of tobacco leaves on the tobacco plant.

[0022] Furthermore, the top of the tobacco leaf placement frame is lower than the top of the rectangular frame, and the top of the tobacco leaf placement frame is designed with an opening to facilitate the picking and placement of the picking execution component.

[0023] Furthermore, the wheel assemblies below the first and fourth pillars are omnidirectional wheels;

[0024] The wheel assemblies below the second and third pillars are drive tracks.

[0025] Furthermore, a sunshade is provided between the top of the rectangular frame and the solar panel to block direct sunlight and reduce the interference of sunlight on the harvesting execution components.

[0026] Furthermore, the tobacco leaf placement frame is a rectangular hollowed-out grid placement frame.

[0027] The beneficial effects of this utility model are:

[0028] [1] This utility model discloses a tobacco leaf picking robot with a simple structure that is easy to install and maintain. It realizes the individual picking and placement of tobacco leaves through the picking execution mechanism. By setting a solar panel and battery assembly on the top of the rectangular frame, it can not only provide power to the picking robot, which is energy-saving and environmentally friendly, but also effectively reduce the operating and maintenance costs of the picking robot, extend the service life of the picking robot, and reduce the waste of resources. The solar panel can also block sunlight, reduce the interference of sunlight on the picking execution component, ensure the accurate picking of the picking execution component, effectively improve the picking efficiency of the picking robot, ensure its working stability and reliability, and effectively reduce the energy consumption and production cost of the whole machine. The setting of two sets of picking execution mechanisms and tobacco leaf placement frames effectively improves the working efficiency of the picking robot, enhances its automation level, reduces labor costs, and saves production resources.

[0029] [2] The picking execution mechanism of this utility model clamps and breaks the tobacco leaves through the picking actuator, so as to realize the individual picking of tobacco leaves. The binocular camera can accurately identify the position of tobacco leaves on each tobacco plant, thereby guiding the robotic arm to move to the root position of the tobacco leaves for picking, ensuring that the picking robot follows the principle of "from bottom to top and from outside to inside" for picking tobacco leaves, thus ensuring the quality of tobacco leaves and the baking effect.

[0030] [3] This practical tobacco leaf placement frame adopts a double-opening design on the side and top, which not only makes it convenient for the picking mechanism to neatly place any tobacco leaf, but also makes full use of the idle space of the tobacco leaf placement frame to collect more tobacco leaves. In addition, the tobacco leaves in each tobacco leaf placement frame are stacked in sequence, which also makes it convenient to directly clamp the tobacco leaves in the frame into a string for drying. This not only saves tobacco leaf sorting time, but also saves manpower and material resources, and improves the picking efficiency and yield of tobacco leaves.

[0031] [4] This practical tobacco leaf placement frame adopts a rectangular hollow grid placement frame, which makes it easy for staff to observe the tobacco leaf stacking situation and replace the tobacco leaf placement frame in time. The hollow grid placement frame can also increase the ventilation effect of the tobacco leaves and avoid damage to the tobacco leaves due to poor air circulation.

[0032] [5] The wheel assembly of this utility model adopts a combination of drive track and follower universal wheel to drive the picking robot to move. It not only has a certain degree of flexibility and off-road capability, but also effectively reduces the overall weight of the picking robot, preventing it from sinking into the soft soil in the field during the walking process, ensuring that the picking robot can carry out picking work smoothly, effectively enhancing its movement flexibility, product versatility and environmental applicability, and ensuring the working efficiency and work continuity of the picking robot. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an embodiment of the tobacco leaf harvesting robot of this utility model;

[0034] Figure 2 This is a side view of an embodiment of a tobacco leaf harvesting robot according to the present invention;

[0035] Figure 3 This is a schematic diagram of the harvesting mechanism in an embodiment of the present invention;

[0036] Figure label:

[0037] 1-Rectangular frame, 2-Solar panel, 3-Harvesting actuator, 4-Tobacco leaf placement frame, 5-First column, 6-Second column, 7-Third column, 8-Fourth column, 9-Drive mounting compartment, 10-Slide rail, 11-Mounting plate, 12-Robotic arm, 13-Harvesting actuator assembly, 14-Harvesting actuator, 15-Harvesting identification device, 16-Following universal wheel, 17-Drive track. Detailed Implementation

[0038] like Figure 1 and Figure 2 As shown, a tobacco leaf harvesting robot includes a rectangular frame 1. A solar panel 2 is installed on the top of the rectangular frame 1, and a harvesting execution mechanism 3 is installed on the side. The solar panel 2 can not only generate electricity, but also block sunlight, reducing the interference of sunlight on the harvesting execution mechanism 3 and ensuring the accurate harvesting of the harvesting execution mechanism 3. A sunshade can also be installed between the top of the rectangular frame 1 and the solar panel 2 to further block sunlight.

[0039] The rectangular frame 1 is equipped with a harvesting mechanism 3 and a tobacco leaf placement frame 4 on two opposite sides. The rectangular frame 1 is a gantry frame.

[0040] The four pillars of the rectangular frame 1 are arranged in a counterclockwise direction as first pillar 5, second pillar 6, third pillar 7, and fourth pillar 8, with wheel assemblies installed below each pillar. The wheel assemblies below the first pillar 5 and fourth pillar 8 are follower universal wheels 16, while the wheel assemblies below the second pillar 6 and third pillar 7 are drive tracks 17. The combination of drive tracks 17 and follower universal wheels 16 drives the harvesting robot, which can effectively reduce the overall weight of the harvesting robot, reduce the risk of it getting stuck in soft soil in the field, avoid affecting the harvesting work, effectively enhance its mobility, improve the working efficiency of the harvesting robot, and ensure that it can carry out the harvesting work smoothly.

[0041] A drive mounting compartment 9 is provided between the first column 5 and the second column 6 near the wheel assembly, and between the third column 7 and the fourth column 8. The drive mounting compartment 9 contains a battery assembly electrically connected to the solar panel 2, which is used to store or release the electrical energy required by the harvesting robot. In a sunny environment, the solar panel 2 can charge the battery assembly. When the harvesting robot is working, the battery assembly provides it with electrical energy, which effectively improves its working stability and reliability. It is not only energy-saving and environmentally friendly, but also effectively reduces the operating and maintenance costs of the harvesting robot, extends the service life of the harvesting robot, and reduces the waste of resources.

[0042] The inner sides of both the first column 5 and the fourth column 8 are equipped with slide rails 10, and the picking mechanism 3 is mounted on the corresponding slide rail 10, allowing it to slide up and down along the slide rail 10. The picking mechanism 3 is connected to an external control module and is used to identify, remove, and place tobacco leaves on the tobacco plant. Figure 3 As shown, the harvesting execution mechanism 3 includes a drive control component, a robotic arm 12, and a harvesting execution component 13;

[0043] The drive control component is connected to an external control module. The drive control component is installed in the drive mounting compartment 9, and its control end is connected to the robotic arm 12. The external control module drives the robotic arm 12 to move to the target position by controlling the drive control component. One end of the robotic arm 12 is slidably connected to the slide rail 10 to drive the picking execution mechanism 3 to slide up and down along the slide rail 10. The other end is connected to the picking execution component 13 to drive the picking execution component 13 to the target position. The picking execution component 13 is connected to the external control module. The external control module controls the picking execution component 13 to identify and remove the tobacco leaves on the tobacco plant and place them in the tobacco leaf placement frame 4. The picking execution component 13 includes a picking actuator 14 and a picking recognition device 15, which are respectively connected to an external control module. The picking actuator 14 is used to clamp and break the tobacco leaves to achieve individual picking of the tobacco leaves. The picking recognition device 15 is a binocular camera used to identify the position of the tobacco leaves on the tobacco plant and guide the picking actuator 14 to pick the leaves. This ensures that the picking robot follows the principle of picking tobacco leaves "from bottom to top and from outside to inside", thus guaranteeing the quality of the tobacco leaves and the curing effect.

[0044] The inner sides of the second column 6 and the third column 7 located above the drive installation compartment 9 are equipped with mounting plates 11 for installing tobacco leaf placement frames 4. The tobacco leaf placement frames 4 are rectangular hollow grid placement frames, which make it easy for staff to observe the stacking of tobacco leaves and replace the tobacco leaf placement frames 4 in a timely manner. The use of hollow grid placement frames can also increase the ventilation effect of tobacco leaves and prevent them from being damaged due to poor air circulation.

[0045] The tobacco leaf placement frame 4 has an open structure on the side opposite to the harvesting mechanism 3, which facilitates the harvesting mechanism 3 to stack tobacco leaves into the tobacco leaf placement frame 4. The top of the tobacco leaf placement frame 4 is lower than the top of the rectangular frame 1, and the top of the tobacco leaf placement frame 4 is also open. The tobacco leaf placement frame 4 adopts a double-opening design on the side and top, which not only makes it convenient for the harvesting mechanism 3 to neatly place any tobacco leaf, but also makes full use of the idle space of the tobacco leaf placement frame 4 to collect more tobacco leaves. In addition, the tobacco leaves in each tobacco leaf placement frame 4 are stacked in sequence, which also makes it convenient to directly clamp the tobacco leaves in the frame into a string for drying. This not only saves tobacco leaf sorting time, but also saves manpower and material resources, and improves the tobacco leaf harvesting efficiency and yield.

Claims

1. A tobacco leaf harvesting robot, comprising a rectangular frame (1), characterized in that: A solar panel (2) is provided on the top of the rectangular frame (1), and a harvesting mechanism (3) and a tobacco leaf placement frame (4) are provided on the two opposite sides of the rectangular frame (1). The rectangular frame (1) has four columns arranged in a counterclockwise direction: a first column (5), a second column (6), a third column (7), and a fourth column (8). Each column has a wheel assembly below it. A drive mounting compartment (9) is provided between the first column (5) and the second column (6), and between the third column (7) and the fourth column (8). The drive mounting compartment (9) contains a battery assembly that is electrically connected to the solar panel (2) to store or release the electrical energy required by the harvesting robot. The inner sides of the first column (5) and the fourth column (8) are provided with slide rails (10), and the picking execution mechanism (3) is set on the corresponding slide rail (10). The picking execution mechanism (3) can slide up and down along the slide rail (10); the inner sides of the second column (6) and the third column (7) are provided with mounting plates (11), and the tobacco leaf placement frame (4) is set on the mounting plate (11); The picking execution mechanism (3) is connected to an external control module and is used to identify, remove and place tobacco leaves on the tobacco plant; The tobacco leaf placement frame (4) has an open structure on the side opposite to the harvesting execution mechanism (3), which is used by the harvesting execution mechanism (3) to stack tobacco leaves into the tobacco leaf placement frame (4).

2. The tobacco leaf harvesting robot according to claim 1, characterized in that: The drive mounting compartment (9) between the first column (5) and the second column (6), and between the third column (7) and the fourth column (8) are all located at one end close to the wheel assembly; The harvesting execution mechanism (3) includes a drive control component, a robotic arm (12), and a harvesting execution component (13); The drive control component is connected to an external control module. The drive control component is installed in the drive mounting compartment (9). Its control end is connected to the robotic arm (12) and is used to drive and control the robotic arm (12) to move to the target position. One end of the robotic arm (12) is slidably connected to the slide rail (10) to drive the picking execution mechanism (3) to slide up and down along the slide rail (10), and the other end is connected to the picking execution component (13) to drive the picking execution component (13) to the target position; The picking execution component (13) is connected to the external control module and is used to identify and remove tobacco leaves from the tobacco plant and place them in the tobacco leaf placement frame (4).

3. The tobacco leaf harvesting robot according to claim 2, characterized in that: The picking execution component (13) includes a picking actuator (14) and a picking recognition device (15) that are respectively connected to an external control module; The picking actuator (14) is used to clamp and break the tobacco leaves to achieve individual picking of the tobacco leaves; The picking identification device (15) is used to identify the position of tobacco leaves on the tobacco plant and guide the picking actuator (14) to pick them.

4. The tobacco leaf harvesting robot according to claim 3, characterized in that: The picking and identification device (15) is a binocular camera used to accurately identify the position of tobacco leaves on the tobacco plant.

5. The tobacco leaf harvesting robot according to claim 4, characterized in that: The top of the tobacco leaf placement frame (4) is lower than the top of the rectangular frame (1), and the top of the tobacco leaf placement frame (4) is designed with an opening to facilitate the picking and placement of the picking execution component (13).

6. The tobacco leaf harvesting robot according to claim 5, characterized in that: The wheel assembly below the first column (5) and the fourth column (8) is a follow-up universal wheel (16); The wheel assembly below the second column (6) and the third column (7) is the drive track (17).

7. The tobacco leaf harvesting robot according to claim 6, characterized in that: A sunshade is also provided between the top of the rectangular frame (1) and the solar panel (2) to block direct sunlight and reduce the interference of sunlight on the harvesting execution component (13).

8. The tobacco leaf harvesting robot according to claim 7, characterized in that: The tobacco leaf placement frame (4) is a rectangular hollow grid placement frame.

Images