阅读说明：本技术 茶叶低碳采收机器人 (Low-carbon tea harvesting robot ) 是由 马伟 杨其长 姚森 杨晓 于 2021-07-30 设计创作，主要内容包括：本公开涉及一种茶叶低碳采收机器人,包括行走机构、连接支架、采摘机构、分级机构、动力系统和控制器；行走机构设置在连接支架的两侧,行走机构与连接支架之间形成茶叶采摘区,采摘机构设置在连接支架上,并位于茶叶采摘区上方,采摘机构用于对茶叶进行采摘,分级机构用于对采摘的茶叶进行分拣,控制器控制行走机构行走、分级机构以及采摘机构的运动；动力系统包括发动机和充电电池,发动机和充电电池可分别驱动行走机构运动,充电电池驱动采摘机构运动进行采摘作业,发动机工作时还可以为充电电池充电。本公开的茶叶低碳采收机器人采用油电混合动力驱动,可以适应各种作业环境,降低了碳的排放量,提高了适应性。(The utility model relates to a low-carbon tea harvesting robot, which comprises a traveling mechanism, a connecting bracket, a picking mechanism, a grading mechanism, a power system and a controller; the walking mechanisms are arranged on two sides of the connecting support, a tea leaf picking area is formed between the walking mechanisms and the connecting support, the picking mechanisms are arranged on the connecting support and are positioned above the tea leaf picking area, the picking mechanisms are used for picking tea leaves, the grading mechanisms are used for sorting the picked tea leaves, and the controller controls the walking of the walking mechanisms, the grading mechanisms and the picking mechanisms to move; the power system comprises an engine and a rechargeable battery, the engine and the rechargeable battery can respectively drive the traveling mechanism to move, the rechargeable battery drives the picking mechanism to move to carry out picking operation, and the engine can also charge the rechargeable battery when working. The low-carbon tea harvesting robot is driven by oil-electricity hybrid power, can adapt to various operating environments, reduces the carbon emission and improves the adaptability.)

1. A low-carbon tea harvesting robot is characterized by comprising a traveling mechanism, a connecting support, a picking mechanism, a grading mechanism, a power system and a controller;

the walking mechanisms are arranged on two sides of the connecting support, a tea leaf picking area is formed between the walking mechanisms and the connecting support, the picking mechanisms are arranged on the connecting support and are positioned above the tea leaf picking area, the picking mechanisms are used for picking the tea leaves, the grading mechanisms are used for sorting the picked tea leaves, and the controller controls the walking mechanisms, the grading mechanisms and the picking mechanisms to move;

the power system comprises an engine and a rechargeable battery, the engine and the rechargeable battery can respectively drive the traveling mechanism to move, the rechargeable battery drives the picking mechanism to move to pick, and the engine can charge the rechargeable battery when working.

2. The tea low carbon harvesting robot of claim 1, wherein the controller is a distributed controller that controls the traveling mechanism, the plucking mechanism, and the grading mechanism, respectively.

3. The tea low carbon harvesting robot of claim 1, wherein the power distribution of the power system is in a dynamic priority mode, and the dynamic priority can be set according to the requirements of the walking mechanism, the picking mechanism and the grading mechanism.

4. The tea low carbon harvesting robot of claim 1, wherein the connecting bracket comprises a support rod and a support plate;

the bracing piece sets up quantity and is a plurality of, and is a plurality of the vertical direction setting of bracing piece, one end with running gear connects, the other end with the backup pad is connected, so that the backup pad erects district top is picked to tealeaves, running gear includes crawler chassis and installs walking wheel on the crawler chassis.

5. The tea low carbon harvesting robot of claim 4, wherein a positioning device is arranged on the supporting plate and used for enabling the walking mechanism to walk according to a preset route.

6. The tea low carbon harvesting robot of claim 1, wherein the picking mechanism comprises a collection box and a mechanical arm;

the collecting box is arranged on the connecting support and is used for collecting the tea leaves picked by the mechanical arm; the tea leaf collecting device comprises a collecting box, a mechanical arm and a conveying pipe, wherein the mechanical arm is used for picking tea leaves, the conveying pipe is arranged between the mechanical arm and the collecting box, and the conveying pipe conveys the tea leaves picked by the mechanical arm into the collecting box.

7. The tea low carbon harvesting robot of claim 6, wherein the number of the mechanical arms is multiple, and the mechanical arms are arranged at intervals to pick the tea sufficiently.

8. The tea low carbon harvesting robot of claim 7, wherein the robotic arm comprises a four-bar linkage and a manipulator;

the four-bar mechanism comprises a fixed rod, a connecting rod, a driving rod and a moving rod, the fixed rod is fixed on the connecting support, the connecting rod and the driving rod are hinged to the fixed rod respectively, the connecting rod and the driving rod are hinged to the moving rod respectively, the moving rod is fixedly connected with the manipulator, a driving device is further arranged on the driving rod, the driving device drives the driving rod to rotate relative to the fixed rod so as to drive the moving rod to move up and down, and therefore the manipulator moves up and down.

9. The tea low carbon harvesting robot of claim 8, wherein the manipulator comprises a straw dividing tooth, a roller plate, a housing and a rotating device;

the casing is of an arc-shaped structure, the seedling dividing teeth are arranged at the lower edge of the casing, the rotating device is arranged on one side of the casing, the rolling shaft and the rolling shaft plate are arranged in the casing and can be driven by the rotating device to rotate, a feed port is formed in the casing, and the tea leaves are conveyed to the collecting box through the feed port.

10. The tea low carbon harvesting robot of claim 6, wherein the grading mechanism is disposed in the collection box, the grading mechanism comprising a grading fan by which the tea is graded for screening.

Technical Field

The utility model relates to a tealeaves picks technical field, especially relates to a tealeaves low carbon harvesting robot.

Background

If the tea leaves are picked manually, a large amount of labor is consumed, the cost is not high, and the efficiency is low. Therefore, the tea leaf picking device is adopted to pick tea leaves, so that the picking efficiency can be improved, and the labor cost can be greatly reduced. However, the existing tea-picking equipment cannot adapt to hilly terrain, and most of tea-planting areas in China are gathered in hilly areas. Hilly areas have complex topography, more slopes and inconvenient traffic, and bring certain difficulty to the existing tea-picking equipment.

Disclosure of Invention

In order to solve the technical problem or at least partially solve the technical problem, the present disclosure provides a tea low-carbon harvesting robot.

The utility model provides a low-carbon tea harvesting robot, which comprises a walking mechanism, a connecting bracket, a picking mechanism, a grading mechanism, a power system and a controller;

the walking mechanisms are arranged on two sides of the connecting support, a tea leaf picking area is formed between the walking mechanisms and the connecting support, the picking mechanisms are arranged on the connecting support and are positioned above the tea leaf picking area, the picking mechanisms are used for picking the tea leaves, the grading mechanisms are used for sorting the picked tea leaves, and the controller controls the walking mechanisms, the grading mechanisms and the picking mechanisms to move;

the power system comprises an engine and a rechargeable battery, the engine and the rechargeable battery can respectively drive the traveling mechanism to move, the rechargeable battery drives the picking mechanism to move to carry out picking operation, and the engine can also charge the rechargeable battery when working.

Optionally, the controller is a distributed controller, and the distributed controller respectively controls the travelling mechanism, the picking mechanism and the grading mechanism.

Optionally, the power distribution of the power system adopts a dynamic priority mode, and the dynamic priority can be set according to the needs of the travelling mechanism, the picking mechanism and the grading mechanism.

Optionally, the connecting bracket comprises a supporting rod and a supporting plate;

the bracing piece sets up quantity and is a plurality of, and is a plurality of the vertical direction setting of bracing piece, one end with running gear connects, the other end with the backup pad is connected, so that the backup pad erects district top is picked to tealeaves, running gear includes crawler chassis and installs walking wheel on the crawler chassis.

Optionally, a positioning device is arranged on the supporting plate, and the positioning device is used for enabling the travelling mechanism to travel according to a preset route.

Optionally, the picking mechanism comprises a collection box and a mechanical arm;

the collecting box is arranged on the connecting support and is used for collecting the tea leaves picked by the mechanical arm; the tea leaf collecting device comprises a collecting box, a mechanical arm and a conveying pipe, wherein the mechanical arm is used for picking tea leaves, the conveying pipe is arranged between the mechanical arm and the collecting box, and the conveying pipe conveys the tea leaves picked by the mechanical arm into the collecting box.

Optionally, the mechanical arms are arranged in a plurality of numbers, and the mechanical arms are arranged at intervals to fully pick the tea leaves.

Optionally, the mechanical arm comprises a four-bar linkage and a manipulator;

the four-bar mechanism comprises a fixed rod, a connecting rod, a driving rod and a moving rod, the fixed rod is fixed on the connecting support, the connecting rod and the driving rod are hinged to the fixed rod respectively, the connecting rod and the driving rod are hinged to the moving rod respectively, the moving rod is fixedly connected with the manipulator, a driving device is further arranged on the driving rod, the driving device drives the driving rod to rotate relative to the fixed rod so as to drive the moving rod to move up and down, and therefore the manipulator moves up and down.

Optionally, the manipulator comprises a seedling dividing tooth, a rolling shaft plate, a shell and a rotating device;

the casing is of an arc-shaped structure, the seedling dividing teeth are arranged at the lower edge of the casing, the rotating device is arranged on one side of the casing, the rolling shaft and the rolling shaft plate are arranged in the casing and can be driven by the rotating device to rotate, a feed port is formed in the casing, and the tea leaves are conveyed to the collecting box through the feed port.

Optionally, the grading mechanism is arranged in the collection box, the grading mechanism comprises a grading fan, and the tea leaves are graded and screened by the grading fan.

Compared with the prior art, the technical scheme has the following advantages:

the low-carbon tea harvesting robot disclosed by the invention has the advantages that the walking mechanism, the grading mechanism and the picking mechanism are controlled to move through the controller, so that the mechanisms can move independently without mutual interference, the robot can walk in an operation area to operate by self through the arrangement of the walking mechanism, a tea picking area is formed between the walking mechanism and the connecting support, the picking mechanism is arranged on the connecting support, so that the robot can pick tea while walking, and the picked tea is sorted through the grading mechanism to obtain tea with different qualities; through setting up engine and rechargeable battery for the power of robot can freely be changed, still can charge rechargeable battery through the engine simultaneously, has reduced the emission of carbon, and the operation district of adaptable various terrain environment has improved the adaptability.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments or the prior art of the present disclosure, the following embodiments or the prior art will be described

The drawings that are needed for use in the description are briefly described, and it will be apparent to those of ordinary skill in the art that other drawings may be derived from these drawings without inventive exercise.

Fig. 1 is a schematic structural view of a low-carbon tea harvesting robot according to an embodiment of the disclosure;

fig. 2 is another schematic structural diagram of a tea low-carbon harvesting robot according to an embodiment of the disclosure;

FIG. 3 is a schematic view of a robot arm according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present disclosure.

10, a traveling mechanism; 11. a crawler chassis; 12. a traveling wheel; 20. connecting a bracket; 21. a support bar; 22. a support plate; 23. a positioning device; 30. a picking mechanism; 31. a collection box; 32. a mechanical arm; 321. fixing the rod; 322. a connecting rod; 323. a drive rod; 324. a motion bar; 325. a drive device; 33. a delivery pipe; 34. a manipulator; 341. dividing the straw into straw teeth; 342. a roller; 343. a roller board; 344. a housing; 345. a rotating device; 346. a feed inlet; 40. a power system; 41. an engine.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The low-carbon tea harvesting robot disclosed by the invention comprises a walking mechanism 10, a connecting bracket 20, a picking mechanism 30, a grading mechanism, a power system 40 and a controller, as shown in fig. 1 and 2.

The number of the traveling mechanisms 10 is two, the traveling mechanisms 10 are respectively arranged on two sides of the connecting support 20, the traveling mechanisms 10 are used for traveling of the robot, a tea leaf picking area is formed between the traveling mechanisms 10 and the connecting support 20, the tea leaf picking area is located between the two traveling mechanisms 10 and below the connecting support 20, the picking mechanism 30 is arranged on the connecting support 20 and above the tea leaf picking area, the picking mechanism 30 is used for picking tea leaves, and the controller controls the traveling mechanisms 10, the grading mechanism and the picking mechanism 30 to move;

the power system 40 comprises an engine 41 and a rechargeable battery, the engine 41 and the rechargeable battery can respectively drive the traveling mechanism 10 to move, the rechargeable battery drives the picking mechanism 30 to move for picking operation, and the engine 41 can also charge the rechargeable battery when in work.

The low-carbon tea harvesting robot disclosed by the embodiment controls the walking mechanism 10 to walk, the grading mechanism to move and the picking mechanism 30 to move through the controller, so that the mechanisms can move independently without mutual interference, the robot can walk in an operation area to operate by the aid of the walking mechanism 10, a tea picking area is formed between the walking mechanism 10 and the connecting support, the picking mechanism 30 is arranged on the connecting support 20, the robot can pick tea while walking, and picked tea is sorted through the grading mechanism to obtain tea with different qualities; by arranging the engine 41 and the rechargeable battery, the power of the robot can be freely converted, and meanwhile, the rechargeable battery can be charged through the engine 41, so that the carbon emission is reduced, the robot is suitable for operation areas in various terrain environments, and the adaptability is improved.

Preferably, the controller is a distributed controller, and the distributed controller respectively controls the traveling mechanism 10, the picking mechanism 30 and the grading mechanism, so that the traveling mechanism 10, the picking mechanism 30 and the grading mechanism can respectively and independently work without being influenced by each other. The specific control method is to adopt a PWM signal transmission method for control.

The priority order of each mechanism is uploaded to the controller before the operation is performed, and the priority order of each mechanism is controlled by the controller. The specific process is as follows: the robot is initialized, the controller detects whether each mechanism uploads a priority application, if no priority application exists, each mechanism independently starts to work, if the priority application exists, whether the priority application is the picking mechanism 30 is confirmed, if the picking mechanism 30 sends the priority application, the controller controls the power of the traveling mechanism 10 to be reduced to 65%, and the power-saving mode is entered, so that the picking mechanism 30 has sufficient power to work.

Preferably, the power distribution of the power system 40 adopts a dynamic priority mode, and the dynamic priority can be set according to the requirements of the travelling mechanism 10, the picking mechanism 30 and the grading mechanism, or can be modified according to the actual requirements. For example, the picking mechanism 30 may be set to a first priority, the staging mechanism to a second priority, and the walking mechanism 10 to a third priority.

The tea low-carbon harvesting robot in the embodiment is driven by oil-electricity hybrid power, when the robot leaves an operation area and walks on a road, the engine 41 is used as power, so that the robot enters a high-speed oil-saving low-carbon mode, and the rechargeable battery can be charged while the robot walks, so that the rechargeable battery can be charged without depending on the outside, and the robot can independently operate for a long time. When the tea picking machine works in the tea picking area, the rechargeable battery is used as power, and the rechargeable battery drives the travelling mechanism 10 to travel and the picking mechanism 30 to pick.

When picking the operation, when meetting hilly sloping ground, when running gear 10 was difficult to climb up, running gear 10 can apply for interim power distribution, and the controller increases running gear 10's power, treats to cross behind the barrier, and running gear 10 releases its priority, and the controller reduces running gear 10's power to realize the dynamic management of energy, help the cooperative operation between each mechanism, also can improve rechargeable battery's duration simultaneously.

The power system 40 collects whether the picking mechanism 30 is in a working state in real time, and if the picking mechanism 30 is detected to be in the working state, the power of the travelling mechanism 10 is adjusted within the range of 65% -135%.

The management formula of the power system 40 for the rechargeable battery is Qn ═ a × Qo × W; wherein Qn is the electric energy currently obtained by the traveling mechanism 10, Qo is the rated power of the traveling mechanism 10, a is the distribution coefficient, the initial value is 0.65 according to experience, W is the dynamic adjustment value, the initial dynamic adjustment value of the traveling mechanism 10 is 1, and the maximum value is not more than 2.08, and the adjustment can be performed according to needs.

Specifically, the connecting bracket 20 includes a support rod 21 and a support plate 22.

The supporting rods 21 are arranged in a plurality of numbers, the supporting rods 21 are arranged in the vertical direction, one end of each supporting rod is connected with the travelling mechanism 10, the other end of each supporting rod is connected with the supporting plate 22, the supporting plate 22 is erected above the tea leaf picking area, the supporting plate 22 is provided with the positioning device 23, and the positioning device 23 is used for enabling the travelling mechanism 10 to travel according to a preset route.

The running gear 10 includes a crawler chassis 11 and running wheels 12 mounted on the crawler chassis 11. The walking wheels 12 are arranged in a plurality of numbers, the walking wheels 12 can independently rotate, the walking groups can be mutually formed by the walking wheels 12 to drive the crawler belt to move, and the overall movement of the walking mechanism 10 is not influenced even if the individual walking wheels 12 are damaged. The height of the walking wheels 12 can be adjusted according to actual needs, the maximum height can reach 1350mm, and the minimum height is 600 mm. When a large obstacle is encountered, the height of the walking wheels 12 can be adjusted to be high, so that the robot can quickly pass through the obstacle; or the height of the walking wheels 12 is adjusted according to the height of tea leaves to be picked.

The quantity of bracing piece 21 sets up to four in this embodiment, and the both sides of backup pad 22 respectively set up two bracing pieces 21, and bracing piece 21 interval arrangement, backup pad 22 horizontal direction set up, and positioner 23 specifically is beidou navigation system. Through the walking path planned by the Beidou navigation system, the walking mechanism 10 can automatically walk in the operation area, so that the automation of tea leaf picking is realized.

The picker mechanism 30 includes a collection bin 31 and a robotic arm 32. The collecting box 31 is arranged on the connecting bracket 20, is particularly fixed on the connecting bracket 20 above the travelling mechanism 10, and the collecting box 31 is used for collecting tea leaves picked by the mechanical arm 32. The mechanical arm 32 is used for picking tea leaves, a conveying pipe 33 is arranged between the mechanical arm 32 and the collecting box 31, and the conveying pipe 33 conveys the tea leaves picked by the mechanical arm 32 to the collecting box 31.

The grading mechanism is arranged in the collection box 31 and comprises a grading fan, and the tea leaves conveyed into the collection box 31 by the conveying pipe 33 are graded and screened by the grading fan so as to sort out the tea leaves with different qualities.

The mechanical arm 32 sets up quantity for a plurality ofly, and a plurality of mechanical arm intervals set up in order fully to pluck tealeaves.

The number of the robot arms 32 provided in this embodiment is 3. Wherein, two arms 32 interval sets up in more preceding position, and another arm 32 sets up in two preceding arms 32's rear to be located the position of two preceding arms 32's interval department, thereby guarantee the picking efficiency of arm 32, prevent that arm 32 from to the hourglass of tealeaves is picked or less picks.

Further, the robot arm 32 includes a four-bar linkage and a robot arm 34.

As shown in fig. 3, the four-bar linkage includes a fixed bar 321, a connecting bar 322, a driving bar 323, and a moving bar 324, the fixed bar 321 is fixed on the connecting bracket 20 and is arranged in a vertical direction, and the connecting bar 322 and the driving bar 323 are respectively hinged to the fixed bar 321 and are respectively hinged to both ends of the fixed bar 321. The connecting rod 322 and the driving rod 323 are respectively hinged with the moving rod 324 and at both ends of the moving rod 324, the fixed rod 321 and the moving rod 324 have the same length, and the connecting rod 322 and the driving rod 323 have the same length, so that the four-bar linkage has a parallelogram structure. The moving rod 324 is fixedly connected with the manipulator 34, the driving rod 323 is further provided with a driving device 325, the driving device 325 is specifically a driving motor, and the driving device 325 drives the driving rod 323 to rotate relative to the fixing rod 321 so as to drive the moving rod 324 to move up and down, thereby driving the manipulator 34 to move up and down.

Specifically, in the embodiment, the length of the fixed rod 321 and the moving rod 324 is 250mm, the length of the connecting rod 322 and the driving rod 323 is 350mm, and the up-and-down movement range of the manipulator 34 is 180mm through the driving of the driving rod 323.

Further, as shown in fig. 4, the robot 34 includes a reel tooth 341, a roller 342, a roller plate 343, a housing 344, and a rotating device 345.

The shell 344 is of an arc-shaped structure and has an outward opening, the seedling dividing teeth 341 are arranged at the lower edge of the shell 344, and the seedling dividing teeth 341 are used for smoothing tea leaves to be picked up so that the tea leaves enter between the roller 342 and the roller plate 343. The rotating device 345 is arranged at one side of the housing 344, the roller 342 and the roller plate 343 are arranged in the housing 344 and can rotate under the driving of the rotating device 345, and the tea leaves are picked up by the relative rotation of the roller 342 and the roller plate 343. The shell 344 is provided with a feed inlet 346, the feed inlet 346 is connected with the conveying pipe 33, and the picked tea leaves are conveyed to the collecting box 31 through the feed inlet 346.

The low-carbon tea harvesting robot in the embodiment can also be provided with a wireless video monitoring system, and the operation of the robot can be remotely monitored by operators and controlled in real time through the wireless video monitoring system.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.