CN118928825B - A tea picking device based on drone - Google Patents
A tea picking device based on drone Download PDFInfo
- Publication number
- CN118928825B CN118928825B CN202411419241.XA CN202411419241A CN118928825B CN 118928825 B CN118928825 B CN 118928825B CN 202411419241 A CN202411419241 A CN 202411419241A CN 118928825 B CN118928825 B CN 118928825B
- Authority
- CN
- China
- Prior art keywords
- bracket
- transmission
- telescopic
- tea
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241001122767 Theaceae Species 0.000 title claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims abstract description 88
- 210000000078 claw Anatomy 0.000 claims description 24
- 235000009024 Ceanothus sanguineus Nutrition 0.000 claims description 15
- 240000003553 Leptospermum scoparium Species 0.000 claims description 15
- 235000015459 Lycium barbarum Nutrition 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000012876 topography Methods 0.000 abstract description 2
- 239000003381 stabilizer Substances 0.000 description 14
- 238000005086 pumping Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/40—Undercarriages foldable or retractable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
A tea-picking device based on unmanned aerial vehicle carrying belongs to the field of agricultural machinery. The intelligent tea collecting device comprises a first telescopic support leg assembly, a negative pressure vacuum pump, an unmanned aerial vehicle, a second telescopic support leg assembly, a main support, a transmission device, a third telescopic support leg assembly, a tea collecting device and a collecting box assembly, wherein the first telescopic support leg assembly is arranged at the front part of the main support, the negative pressure vacuum pump is arranged at the front part of the main support through bolts, the unmanned aerial vehicle is arranged on the main support through bolts, the second telescopic support leg assembly and the third telescopic support leg assembly are respectively arranged on two sides of the rear part of the main support, the front part of the transmission device is arranged on the inner side of the first telescopic support leg assembly through bolts, the rear part of the transmission device is fixedly arranged on the main support and below the transmission device, and the collecting box assembly is fixedly arranged on the inner side of the first telescopic support leg assembly. The device can overcome the influence that the topography is complicated and bring, keeps the stability in the process of descending and picking, uses manpower sparingly cost.
Description
Technical Field
The invention relates to a tea picking device based on unmanned aerial vehicle carrying, in particular to a device which adopts an unmanned aerial vehicle carrying tea collecting device and a first telescopic supporting leg assembly, a second telescopic supporting leg assembly and a third telescopic supporting leg assembly, wherein the first telescopic supporting leg assembly, the second telescopic supporting leg assembly and the third telescopic supporting leg assembly are used for adjusting the height of a robot and keeping the height of the robot, and the tea collecting device is used for picking tender leaves on tea trees, belonging to the field of agricultural machinery.
Background
The tea leaves are one of traditional Chinese drinks, market demand is large, but at present, the tea leaves are picked manually, work load of workers is huge, at present, most domestic tea picking devices can be picked only in standardized tea gardens, compared with tea gardens in hilly lands, the tea gardens in hilly lands are high in gradient and are distributed in a stepped mode among tea trees in each row, the existing tea picking devices are difficult to overcome the influence caused by terrains, uneven tea picking devices on the ground soil of the tea gardens can possibly occur uneven dumping when the tea picking devices move and stop, the tea picking devices are damaged, tea picking efficiency is reduced, and in recent years, a new way is opened up for development of the tea picking devices due to the appearance of unmanned technology. The unmanned aerial vehicle is used for carrying the tea picking device, so that environmental factors such as planting topography, planting density and the like can be overcome, labor cost is saved, tea picking efficiency can be improved, and the unmanned aerial vehicle is suitable for situations that manual or ground tea picking machines are difficult to operate.
Disclosure of Invention
Aiming at the defects that the manual tea-picking workload is huge to cause the bad influence on the health, the tea-picking device is difficult to overcome the influence of the terrain and the tea-picking device is difficult to keep stable on uneven ground, the invention provides the tea-picking device based on unmanned plane carrying.
The tea-picking device based on unmanned aerial vehicle carrying is composed of a first telescopic support leg assembly, a negative pressure vacuum pump, an unmanned aerial vehicle, a second telescopic support leg assembly, a main support, a transmission device, a third telescopic support leg assembly, a tea collecting device and a collecting box assembly, wherein the first telescopic support leg assembly is arranged at the front part of the main support, the negative pressure vacuum pump is fixedly arranged at the front part of the main support through bolts, the unmanned aerial vehicle is fixedly arranged on the main support through bolts, the second telescopic support leg assembly and the third telescopic support leg assembly are respectively arranged at two sides of the rear part of the main support, the front part of the transmission device is arranged at the inner side of the outer wall of the first telescopic support leg assembly through bolts, the rear part of the transmission device is fixedly arranged on the main support and below the main support, the tea collecting device is fixedly arranged on the transmission device and below the transmission device, and the collecting box assembly is fixedly arranged at the inner side of the first telescopic support leg assembly.
The main support constitute by front end mounting panel, unmanned aerial vehicle mounting panel and rear end mounting panel, front end mounting panel fixed mounting in the front portion of unmanned aerial vehicle mounting panel, rear end mounting panel fixed mounting in the rear portion of unmanned aerial vehicle mounting panel.
The rear end mounting plate on be equipped with left side stabilizer blade mounting hole and right side stabilizer blade mounting hole, the flexible stabilizer blade subassembly of second install on left side stabilizer blade mounting hole, the flexible stabilizer blade subassembly of third install on right side stabilizer blade mounting hole.
The first telescopic support leg assembly comprises a first stepping motor, a first stepping motor support, a first coupler, a first screw rod, a first bearing, a telescopic sleeve shell, a bearing end cover, a support leg sliding block, a wheel assembly and a second bearing, wherein the first stepping motor support is fixedly arranged on a front end mounting plate of a main support through bolts, the first stepping motor is fixedly arranged on the first stepping motor support through bolts, the telescopic sleeve shell is provided with a through hole and a dovetail key, the telescopic sleeve shell is fixedly arranged below the front end mounting plate of the main support, the first bearing is arranged in the front end mounting plate, the second bearing is arranged at the bottom of the telescopic sleeve shell, the first screw rod coaxially penetrates through the first bearing and the second bearing and is arranged inside the telescopic sleeve shell, a motor shaft of the first screw rod is connected with the first stepping motor through the first coupler, the bearing end cover is fixedly arranged on the telescopic sleeve shell and covers the second bearing, the upper end of the support leg sliding block is arranged inside the telescopic sleeve and is in threaded connection with the first screw rod, and the lower end of the sliding block extends out of the bottom of the telescopic sleeve shell through the telescopic sleeve shell and is fixedly arranged at the lower end of the support leg assembly through the wheel.
The second telescopic leg assembly and the third telescopic leg assembly have the same structure as the first telescopic leg assembly.
The support leg sliding block is provided with a dovetail groove, a connecting support plate and a wheel mounting plate and is provided with a first screw nut, the dovetail groove can be connected with a dovetail key in the telescopic sleeve shell, the connecting support plate can stretch out and draw back through a through hole in the bottom of the telescopic sleeve shell, and the first screw nut is in threaded connection with the first screw.
The wheel assembly comprises a second stepping motor, a second stepping motor support, a second coupler, a bevel gear shaft, a first bevel gear, a first buckle, a second bevel gear, a second buckle, a wheel support, wheels, a first wheel bearing and a second wheel bearing, wherein the second stepping motor support is fixedly arranged on the upper side of a wheel mounting plate through bolts, the second stepping motor is fixedly arranged on the second stepping motor support through bolts, the second coupler is connected with a motor shaft and a bevel gear shaft of the second stepping motor, the first bevel gear is arranged on the bevel gear shaft, the first buckle is arranged at the front end of the first bevel gear to prevent the first bevel gear from falling, the wheel support is fixedly arranged on the lower side of the wheel mounting plate through bolts, the first wheel bearing and the second wheel bearing are respectively arranged on the left side and the right side of the wheel support, the wheels are coaxially arranged between the first wheel bearing and the second wheel bearing, the second bevel gear is arranged on the shaft end of the wheels, the front part of the wheels is provided with the second buckle to fix the second bevel gear and the first bevel gear and the second bevel gear, and the first bevel gear are mutually meshed.
The transmission device consists of a third stepping motor, a third coupling, a third stepping motor support, a first linear guide rail, a second lead screw, a second linear guide rail, a second lead screw nut, a transmission sliding block, a first transmission support, a first transmission bearing, a second transmission support and a second transmission bearing, wherein the third stepping motor support is fixedly arranged on the upper side of a rear end mounting plate, the third stepping motor is fixedly arranged on the third stepping motor support through a screw, the first transmission support is fixedly arranged on a telescopic sleeve shell of a first telescopic support leg assembly through a screw, the first transmission bearing is arranged on the first transmission support, the second transmission support is fixedly arranged on the lower side of the rear end mounting plate through the screw, the second transmission bearing is arranged on the second transmission support, the second lead screw is coaxially arranged between the first transmission bearing and the second transmission bearing, the shaft end of the second lead screw is connected with the third stepping motor through the third coupling, the first linear guide rail end is fixedly arranged on the third stepping motor support, the first lead screw is fixedly arranged on the second linear guide rail, the second lead screw is fixedly arranged on the other side of the second lead screw, and is fixedly arranged on the second linear guide rail, and is fixedly arranged on the second lead screw.
The tea leaf collecting device is composed of a picking tail end assembly, a first steering engine, a long rocker arm, a short rocker arm, a second steering engine, a rotary table, a third steering engine and a rotary table, wherein the rotary table is fixedly installed at the bottom of a transmission sliding block, the rotary table is installed at the bottom of the rotary table and extends out of the bottom of the rotary table, the short rocker arm is installed on the rotary table, one end of the short rocker arm is connected with the rotary table through a pin, the other end of the short rocker arm is connected with the long rocker arm through the third steering engine, one end of the long rocker arm is connected with the long rocker arm through a pin, the other end of the long rocker arm is connected with the second steering engine, the picking tail end assembly is installed on the long rocker arm, one end of the long rocker arm is connected with the long rocker arm through the pin, and the other end of the long rocker arm is connected with the first steering engine.
The picking tail end assembly comprises a right picking claw, a left picking claw, a rubber sealing ring, an exhaust pipe mounting plate, a tail end support and an electric clamping jaw, wherein the tail end support is mounted on a long rocker arm and connected with the long rocker arm through a first steering engine and a pin, the electric clamping jaw is mounted on the tail end support through a screw, the exhaust pipe mounting plate is fixedly mounted on the tail end support and located at the front end of the electric clamping jaw, the exhaust pipe is fixedly mounted on the exhaust pipe mounting plate, the rubber sealing ring is mounted at the bottom of the outer wall of the exhaust pipe, air holes are formed in the left picking claw and the right picking claw, the left picking claw is mounted at the left end of the electric clamping jaw through the screw, and the right picking claw is mounted at the right end of the electric clamping jaw through the screw.
The turntable consists of a turntable base and a fourth steering engine, wherein the fourth steering engine is fixedly arranged in the turntable base, and the turntable base is fixedly arranged at the bottom of the transmission sliding block.
The collecting box assembly consists of a box cover and a box body, wherein the box body is fixedly arranged on the outer wall of the telescopic sleeve shell, and the box cover is arranged at the top of the box body.
The box cover consists of a top cover and a rubber pad, and the rubber pad is fixedly arranged in the top cover.
The box body is provided with a vacuum pump air pumping port, a baffle net and a collection air pumping port, the baffle net is arranged at the position of the vacuum pump air pumping port in the box body, the vacuum pump air pumping port is connected with a negative pressure vacuum pump through a vacuum pump pipe, and the collection air pumping port is connected with an air pumping pipe through a pneumatic hose.
The tea picking device has the advantages that the unmanned aerial vehicle is adopted to carry the tea picking device, the influence of the terrain complexity factor in the picking process is overcome, the tea picking efficiency can be improved, the three telescopic support leg assemblies adopted by the device can enable the device to keep stable through telescopic heights and can adjust the picking device to the height suitable for picking, the universality of the tea picking of the device is improved, the negative pressure vacuum pump adopted by the device is used for pumping and collecting picked tea, the tea can be prevented from being damaged, the tea collecting efficiency is improved, meanwhile, the quality of the tea is guaranteed, the wheel assemblies adopted by the device can enable the device to conduct tea picking while advancing along tea trees, the time spent for tea picking is shortened, and the baffle net is arranged in the collecting box assembly adopted by the device, so that the tea can be prevented from being blocked by being sucked into the vacuum pump pipe in the tea collecting process.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a diagram of the tracheal connection of the present invention;
FIG. 3 is a schematic view of the construction of the first telescoping leg assembly;
FIG. 4 is a schematic structural view of a main support;
FIG. 5 is a schematic diagram of the transmission mechanism;
Figure 6 is a schematic structural view of the tea leaf collecting device;
FIG. 7 is a schematic view of the structure of the collection tank assembly;
FIG. 8 is a top view of the telescoping sleeve;
FIG. 9 is a schematic view of the structure of the foot slider;
FIG. 10 is a schematic structural view of a wheel assembly;
FIG. 11 is another view of the wheel assembly;
FIG. 12 is a schematic view of the structure of the rear mounting plate;
FIG. 13 is a schematic view of the structure of the picking tip assembly;
FIG. 14 is a schematic view of a turret;
FIG. 15 is a schematic view of the structure of the case;
Fig. 16 is a sectional view of the case cover.
In the figure, 1, a first telescopic support leg assembly, 2, a negative pressure vacuum pump, 3, an unmanned aerial vehicle, 4, a second telescopic support leg assembly, 5, a main support, 6, a transmission device, 7, a third telescopic support leg assembly, 8, a tea collecting device, 9 and a collecting box assembly;
10. A vacuum pump pipe 11 and a pneumatic hose;
101. the first stepping motor comprises a first stepping motor body 102, a first stepping motor support 103, a first coupler 104, a first lead screw, a first bearing 105, a first bearing 106, a telescopic sleeve shell 107, a bearing end cover 108, a support leg sliding block 109, a wheel assembly 110 and a second bearing;
501. Front end mounting plate 502, unmanned aerial vehicle mounting plate, 503, back end mounting plate;
601. The device comprises a third stepping motor, 602, a third coupling, 603, a third stepping motor bracket, 604, a first linear guide rail, 605, a second lead screw, 606, a second linear guide rail, 607, a second lead screw nut, 608, a transmission slide block, 609, a first transmission bracket, 610, a first transmission bearing, 611, a second transmission bracket, 612 and a second transmission bearing;
801. picking end components 802, first steering gears 803, long rocker arms 804, short rocker arms 805, second steering gears 806, rotary tables 807, third steering gears 808 and rotary tables;
901. a box body, 902 and a box cover;
10601. Dovetail key, 10602, through hole;
10801. Dovetail grooves 10802, a connecting support plate 10803, a wheel mounting plate 10804 and a first lead screw nut;
10901. The first stepping motor 10902, the first stepping motor bracket 10903, the first coupling, 10904, the bevel gear shaft, 10905, the first bevel gear, 10906, the first buckle, 10907, the second bevel gear, 10908, the second buckle, 10909, the wheel, 10910 and the wheel bracket;
10911. A first wheel bearing 10912, a second wheel bearing;
50301. left side leg mounting holes, 50302, right side leg mounting holes;
80101. right picking claw, 80102, left picking claw, 80103, rubber sealing ring, 80104, exhaust tube, 80105, exhaust tube mounting plate, 80106, end bracket, 80107 and electric clamping jaw;
80601. a fourth steering engine, 80602, a turntable base;
90101. A vacuum pump exhaust port, 90102, a blocking net, 90103 and a collection extraction port;
90201. top cap, 90202, rubber pad.
Detailed Description
The utility model provides a tea-leaf picking device based on unmanned aerial vehicle carries on, is by first flexible stabilizer blade subassembly 1, negative pressure vacuum pump 2, unmanned aerial vehicle 3, the flexible stabilizer blade subassembly 4 of second, main support 5, transmission 6, the flexible stabilizer blade subassembly of third 7, tealeaves collection system 8 and collection box subassembly 9 constitute, first flexible stabilizer blade subassembly 1 install in main support 5 front portion, negative pressure vacuum pump 2 pass through bolt fixed mounting in main support 5 front portion, unmanned aerial vehicle 3 pass through bolt fixed mounting on main support 5, flexible stabilizer blade subassembly 4 of second and the flexible stabilizer blade subassembly of third 7 install respectively in main support 5 rear portion both sides, the front portion of transmission 6 pass through the bolt and install in the outer wall inboard of first flexible stabilizer blade subassembly 1, the rear portion fixed mounting of transmission 6 on main support 5 and be located main support 5 below, tealeaves collection system 8 fixed mounting on transmission 6 and be located transmission 6 below, collection box subassembly 9 fixed mounting in first flexible stabilizer blade subassembly 1 inboard.
The main support 5 is composed of a front end mounting plate 501, an unmanned aerial vehicle mounting plate 502 and a rear end mounting plate 503, wherein the front end mounting plate 501 is fixedly arranged at the front part of the unmanned aerial vehicle mounting plate 502, and the rear end mounting plate 503 is fixedly arranged at the rear part of the unmanned aerial vehicle mounting plate 502.
The rear end mounting plate 503 is provided with a left side support leg mounting hole 50301 and a right side support leg mounting hole 50302, the second telescopic support leg assembly 4 is mounted on the left side support leg mounting hole 50301, and the third telescopic support leg assembly 7 is mounted on the right side support leg mounting hole 50302.
The first telescopic support leg assembly 1 consists of a first stepping motor 101, a first stepping motor support 102, a first coupler 103, a first lead screw 104, a first bearing 105, a telescopic shell 106, a bearing end cover 107, a support leg slider 108, a wheel assembly 109 and a second bearing 110, wherein the first stepping motor support 102 is fixedly arranged on a front end mounting plate 501 of a main support 5 through bolts, the first stepping motor 101 is fixedly arranged on the first stepping motor support 102 through bolts, the telescopic shell 106 is provided with a through hole 10602 and a dovetail key 10601, the telescopic shell 106 is fixedly arranged below a front end mounting plate 501 of the main support 5, the first bearing 105 is arranged in the front end mounting plate 501, the second bearing 110 is arranged at the bottom of the telescopic shell 106, the first lead screw 104 coaxially penetrates through the first bearing 105 and the second bearing 110 and is arranged inside the telescopic shell 106, the shaft ends of the first lead screw 104 and a motor shaft 101 are connected through the first coupler 103, the bearing end cover 107 is fixedly arranged on the screw 106 through the second bearing end 108 and is fixedly arranged on the support leg 108, and is fixedly arranged on the support leg 108 and covers the inner side of the telescopic shell 106 through the telescopic shell 106, and is fixedly arranged at the lower end of the support leg 108, and is fixedly arranged at the bottom of the telescopic shell 106 through the telescopic shell 106.
The second telescopic leg assembly 4 and the third telescopic leg assembly 7 have the same structure as the first telescopic leg assembly 1.
The support leg slide block 108 is provided with a dovetail groove 10801, a connection support plate 10802 and a wheel mounting plate 10803, and is provided with a first lead screw nut 10804, the dovetail groove 10801 can be connected with a dovetail key 10601 in the telescopic sleeve 106, the connection support plate 10802 can extend and retract through a through hole 10602 at the bottom of the telescopic sleeve 106, and the first lead screw nut 10804 is in threaded connection with the first lead screw 104.
The wheel assembly 109 is composed of a second stepping motor 10901, a second stepping motor support 10902, a second coupler 10903, a bevel gear shaft 10904, a first bevel gear 10905, a first buckle 10906, a second bevel gear 10907, a second buckle 10908, a wheel support 10910, wheels 10909, a first wheel bearing 10911 and a second wheel bearing 10912, wherein the second stepping motor support 10902 is fixedly arranged on the upper side of a wheel mounting plate 10803 through bolts, the second stepping motor 10901 is fixedly arranged on the second stepping motor support 10902 through bolts, the second coupler 10903 is connected with a motor shaft and the bevel gear shaft 10904 of the second stepping motor 10901, the first bevel gear 10905 is arranged on the bevel gear shaft 10904, the first buckle 10906 is arranged at the front end to prevent the first bevel gear 10905 from falling, the wheel support 10910 is fixedly arranged on the lower side of the wheel mounting plate 10803 through bolts, the first wheel bearing 10911 and the second wheel bearing 10912 are respectively arranged on the left side of the wheel support 10910, the second bevel gear shaft end 10907 is coaxially arranged on the second bevel gear shaft end 10907, and the second bevel gear 10907 is coaxially arranged on the front end of the second bevel gear shaft 10907, and the second bevel gear 10907 is arranged on the front end of the second bevel gear shaft 10907.
The transmission device 6 is composed of a third stepping motor 601, a third coupling 602, a third stepping motor bracket 603, a first linear guide rail 604, a second lead screw 605, a second linear guide rail 606, a second lead screw nut 607, a transmission slide block 608, a first transmission bracket 609, a first transmission bearing 610, a second transmission bracket 611 and a second transmission bearing 612, wherein the third stepping motor bracket 603 is fixedly arranged on the upper side of the rear end mounting plate 503, the third stepping motor 601 is fixedly arranged on the third stepping motor bracket 603 through a screw, the first transmission bracket 609 is fixedly arranged on the telescopic sleeve 106 of the first telescopic support leg assembly 1 through a bolt, the first transmission bearing 610 is arranged on the first transmission bracket 609, the second transmission bracket 611 is fixedly arranged on the lower side of the rear end mounting plate 503 through a bolt, the second transmission bearing 612 is arranged on the second transmission bracket 611, the second 605 is coaxially arranged between the first transmission bearing 610 and the second transmission bearing 612, the second motor shaft 605 is fixedly arranged on the third stepping motor bracket 603 through a screw, the first transmission bearing 605 is fixedly arranged on the other end of the second lead screw bracket 605 through a bolt, the second transmission bracket 605 is fixedly arranged on the other end of the second linear guide rail 605, the first linear guide rail is fixedly connected with the second linear guide rail 605, the first linear guide rail 605 is fixedly arranged on the other linear guide rail 605, and is fixedly arranged on the second linear guide rail 605, and is fixedly connected with the second transmission bracket 605, and is fixedly arranged on the second transmission guide rail, and is mounted on the second transmission device, and has a transmission device, and is mounted, the first linear guide 604 and the second linear guide 606 are reciprocally slidable along the second screw 605.
The tea leaf collecting device 8 is composed of a picking tail end assembly 801, a first steering engine 802, a long rocker 803, a short rocker 804, a second steering engine 805, a rotary table 806, a third steering engine 807 and a rotary table 808, wherein the rotary table 806 is fixedly arranged at the bottom of the transmission sliding block 608, the rotary table 808 is arranged at the bottom of the rotary table 806 and extends out of the bottom, the short rocker 804 is arranged on the rotary table 808, one end of the short rocker 804 is connected through a pin, the other end of the short rocker is connected through the third steering engine 807, one end of the long rocker 803 is arranged on the short rocker 804, one end of the long rocker is connected through a pin, the other end of the long rocker is connected through the second steering engine 805, the picking tail end assembly 801 is arranged on the long rocker 803, one end of the long rocker is connected through a pin, and the other end of the long rocker is connected through the first steering engine 802.
The picking tail end assembly 801 is composed of a right picking claw 80101, a left picking claw 80102, a rubber sealing ring 80103, an exhaust pipe 80104, an exhaust pipe mounting plate 80105, a tail end bracket 80106 and an electric clamping jaw 80107, wherein the tail end bracket 80106 is arranged on a long rocker 803 and is connected with the long rocker through a first steering engine 802 and a pin, the electric clamping jaw 80107 is arranged on the tail end bracket 80106 through a screw, the exhaust pipe mounting plate 80105 is fixedly arranged on the tail end bracket 80106 and is positioned at the front end of the electric clamping jaw 80107, the exhaust pipe 80104 is fixedly arranged on the exhaust pipe mounting plate 80105, the rubber sealing ring 80103 is arranged at the bottom of the outer wall of the exhaust pipe 80104, air holes are formed in the left picking claw 80102 and the right picking claw 80107, the left picking claw 80102 is arranged at the left end of the electric clamping jaw 80107 through the screw, and the right picking claw 80101 is arranged at the right end of the electric clamping jaw 07 through the screw.
The turntable 806 is composed of a turntable base 80602 and a fourth steering engine 80601, the fourth steering engine 80601 is fixedly arranged in the turntable base 80602, and the turntable base 80602 is fixedly arranged at the bottom of the transmission sliding block 608.
The collecting box assembly 9 is composed of a box cover 902 and a box body 901, wherein the box body 901 is fixedly arranged on the outer wall of the telescopic sleeve 106, and the box cover 902 is arranged on the top of the box body 901.
The cover 902 is composed of a top cover 90201 and a rubber pad 90202, and the rubber pad 90202 is fixedly arranged in the top cover 90201.
The box 901 is provided with a vacuum pump outlet 90101, a blocking net 90102 and a collection and extraction opening 90103, the blocking net 90102 is arranged in the box 901 and positioned at the vacuum pump outlet 90101, the vacuum pump outlet 90101 is connected with a negative pressure vacuum pump 2 through a vacuum pump pipe 10, and the collection and extraction opening 90103 is connected with an extraction pipe 80104 through a pneumatic hose 11.
When the device is used, the unmanned aerial vehicle 3 flies to the position right above the tea tree according to a planned path, the adjusted posture slowly drops, after landing, the device is obviously inclined or far away from a tea picking area when compared with the tea tree, the device is enabled to reach a stable and proper tea picking position through adjusting the first telescopic leg assembly 1 or the second telescopic leg assembly 4 and the third telescopic leg assembly 7, the transmission device 6 drives the tea picking device 8 to transversely move, the left picking claw 80102 and the right picking claw 80101 on the picking tail end assembly 801 clamp and pick the tender buds on the tea tree in the moving process, then the negative pressure vacuum pump 2 is started, the picked tender buds of the tea leaves are sucked into the collecting box assembly 9 through the suction pipe 80104, after the tea leaves in the range which the tea picking device 8 can be involved are all picked, the wheel assembly 109 is started to enable the device to move forwards to the picking area which is not picked along the tea tree, and when the row of tea trees are picked, the unmanned aerial vehicle 3 takes off and picks up to the other row of tea trees.
Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present invention without departing from the spirit and principles of the invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411419241.XA CN118928825B (en) | 2024-10-12 | 2024-10-12 | A tea picking device based on drone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411419241.XA CN118928825B (en) | 2024-10-12 | 2024-10-12 | A tea picking device based on drone |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118928825A CN118928825A (en) | 2024-11-12 |
| CN118928825B true CN118928825B (en) | 2025-01-21 |
Family
ID=93359141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411419241.XA Active CN118928825B (en) | 2024-10-12 | 2024-10-12 | A tea picking device based on drone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118928825B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117178746A (en) * | 2023-10-19 | 2023-12-08 | 江苏科技大学 | A tea-picking robot |
| CN117643224A (en) * | 2023-11-30 | 2024-03-05 | 杭州电子科技大学 | Tea picking device and tea picking method based on unmanned aerial vehicle module scheduling |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| US10890921B2 (en) * | 2018-05-31 | 2021-01-12 | Carla R. Gillett | Robot and drone array |
| KR102400837B1 (en) * | 2020-03-05 | 2022-05-23 | 주식회사 링크투 | Drones including Robot Leg |
| IL273316B (en) * | 2020-03-15 | 2021-02-28 | Tevel Aerobotics Tech Ltd | Device and method for fruit harvesting |
| CN114916312B (en) * | 2022-06-13 | 2023-04-18 | 安徽农业大学 | Mooring type multi-rotor-wing tea picking unmanned aerial vehicle |
| CN220044231U (en) * | 2023-05-22 | 2023-11-21 | 中国农业机械化科学研究院集团有限公司 | A remote control nut harvester |
-
2024
- 2024-10-12 CN CN202411419241.XA patent/CN118928825B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117178746A (en) * | 2023-10-19 | 2023-12-08 | 江苏科技大学 | A tea-picking robot |
| CN117643224A (en) * | 2023-11-30 | 2024-03-05 | 杭州电子科技大学 | Tea picking device and tea picking method based on unmanned aerial vehicle module scheduling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118928825A (en) | 2024-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206165209U (en) | Self -propelled all -round scalable little berry harvester | |
| CN114885789A (en) | Full-automatic all-in-one is planted to shuttle tree | |
| CN118928825B (en) | A tea picking device based on drone | |
| CN209710758U (en) | One kind is electronic to walk vibration type full automatic jujube garden cropper certainly | |
| CN112514708A (en) | High and cold wild medicinal material equipment of growing seedlings | |
| CN112616444A (en) | Agricultural cone picking robot with good picking quality | |
| CN106342482A (en) | Self-propelled omnibearing scalable berry harvesting machine | |
| CN117243082B (en) | Intelligence forestry seedling is with cultivation system that loosens soil | |
| CN211671399U (en) | Weeding machine for landscaping | |
| CN110972684B (en) | Agricultural weeder with collect weeds function | |
| CN116724826B (en) | Mushroom picking device | |
| CN222509968U (en) | Multipurpose lawn mower | |
| CN214282527U (en) | Lawn planter | |
| CN207118341U (en) | A kind of gardens pruning car | |
| CN115589844A (en) | Multifunctional picking device | |
| CN222090366U (en) | Unmanned bagging machine | |
| CN113906902A (en) | Tea leaf collecting machine and tea leaf collecting method | |
| CN218526837U (en) | Automatic fruit picker | |
| CN218337199U (en) | Machine convenient to categorised tealeaves of picking | |
| CN208675795U (en) | A kind of aspiration screw feeder cutting type safflower recovering device | |
| CN222175332U (en) | A dust removal device for environmentally friendly paper bowl production | |
| CN219228432U (en) | High efficiency tealeaves picking equipment of both arms manipulator | |
| CN216104804U (en) | Automatic change cutting bed and inhale material aircraft nose thereof | |
| CN218897578U (en) | A kind of wax gourd picking device | |
| CN206971363U (en) | Outdoor cultivation case with rainwater-collecting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |