A mechanical claw driving structure simulating human manual tea picking

Abstract

The present invention provides a mechanical claw driving structure for simulating human body picking tea leaves manually, and belongs to the technical field of supporting equipment for tea picking machines. It solves the problem that there is no mechanical claw specifically used for simulating human body picking tea leaves manually in the existing market. The mechanical claw driving structure for simulating human body picking tea leaves manually includes a limit block fixedly arranged relative to a bracket, a movable plate linearly movable on the limit block and used to fix the claw body, a driving block connected to the output end of the driving motor, and a self-locking mechanism. Compared with the prior art, the mechanical claw driving structure can complete the functions of clamping, clamping, loosening, and expanding tea leaves in the process of periodic rotation drive input power, and has self-locking ability, making it feasible to simulate human hand picking of tea leaves.

Description

Technical Field

[0001] The invention belongs to the technical field of supporting equipment for tea plucking machines, and relates to a mechanical claw driving structure for simulating manual plucking of tea leaves by human body. Background Art

[0002] Tea is the general name for tea buds and tea leaves. It originated in China. As a natural green drink, it has a long cultural tradition in our country. Chinese green tea not only has a wide variety of varieties, but also has excellent quality, unique and beautiful shapes, and great artistic appreciation value. With the development of the times, it is increasingly loved by people all over the world.

[0003] Therefore, the scale of my country's tea planting industry is also very large. With the development of the times, the way of picking tea has also progressed from pure manual operation to the current automated operation using machinery.

[0004] Since the beginning of the industrial age, in order to improve the efficiency of tea picking and reduce people's labor intensity, people have designed shearing-type tea picking machines to assist in picking tea leaves. Shearing-type tea picking machines are divided into hand-held tea picking machines (for example, the Chinese utility model patent with patent number "CN201921552187.0" and the name "A portable electric tea picking mechanical device") and fully automatic tea picking machines (for example, the Chinese invention patent with patent number "CN201310057808.9" and the name "Straddle-type self-propelled riding tea picking machine and its working method"). Their core components are all laterally arranged toothed knives. The hand-held tea picking machine requires the operator to carry the bracket of the tea picking component and then step forward to cut the tea leaves. The fully automatic tea picking machine integrates the tea picking component on the vehicle body and automatically steps forward while completing the cutting of the tea leaves.

[0005] However, the quality and taste of tea picked by shearing tea picking machines are still not as good as those of tea picked manually. This is because the tea leaves need to be cut by two sets of blades in opposite directions during the cutting process. This method easily makes the cut surface of the tea leaves uneven and burred. As the blades become blunt or loose, gaps are likely to exist between the edges of the two blades. The existence of gaps causes the shearing effect on both sides of the tea leaves to be uneven, thereby aggravating the burr degree of the broken surface of the tea leaves, and ultimately leading to a reduction in the quality of the processed tea leaves.

[0006] Therefore, manual picking is still an indispensable way of picking tea, especially for precious tea. In order to preserve the taste, manual picking is still adopted. Although this will be more time-consuming and more labor-intensive, precious tea itself is expensive so the necessary cost is also indispensable.

[0007] However, if human hands can be simulated through robotic arms, the work of manual tea picking can be simulated by freeing up human labor.

[0008] The working process is roughly as follows: the robot arm descends from above to the appropriate position, then clamps the tea leaves with appropriate force, then pulls the tea leaves upwards and breaks them off, and finally uses a suction device to absorb and collect the released tea leaves.

[0009] The right position and right force can be achieved by using visual sensors and pressure sensors. One of the key points is the design of the manipulator. After research, it is found that the manipulator needs to complete four actions: descending, clamping, ascending, and releasing. The descending and ascending can be directly completed by a linear drive structure (such as a cylinder, a hydraulic cylinder, etc.), and the clamping and releasing functions are generally completed by two symmetrically arranged mechanical claws. The manipulator is a mature technology in the existing technology, but the mechanical claws in various fields generally use cylinders to realize the driving clamping and releasing functions, and the extension and retraction process of the cylinder is not accurate. In particular, the object that needs to be clamped in this article is a plant body such as tea, so it is easy to use conventional mechanical claws to complete the force improperly and produce extrusion transition phenomenon.

[0010] Therefore, the applicant wants to develop a mechanical claw specially used for clamping the position of tea leaves and tea stems. It needs to be able to complete the functions of clamping and releasing, and its driving source should avoid the form of cylinders or hydraulic cylinders. It is best to use a motor and a transmission with rotational power input to provide precise and accurate clamping movement. In addition, because the tea bud stems need to be clamped for a period of time to ensure that there is sufficient time to break the tea stems before they can be released, so when it clamps the tea stems to break them, the clamping action is preferably self-locking to ensure the stability of the clamping process and avoid interference from external factors. And because the clamping object of the mechanical claw is a small tea leaf, the size of the mechanical claw will also be very small, and the movement of the mechanical claw needs to be completed by a micro motor, and the micro motor is difficult to set up as a CNC form with forward and reverse capabilities, so the design process is best achieved using an ordinary motor. Summary of the invention

[0011] The purpose of the present invention is to address the problem that there is no mechanical claw specifically used to simulate human manual tea picking in the existing market, and to propose a mechanical claw driving structure that simulates human manual tea picking.

[0012] The driving structure of the present invention is specially used for a mechanical claw that simulates the manual picking of tea leaves by human body. In the design process of this mechanical claw, in order to simplify the action, one of the two claw bodies is fixed, and the other claw body can move relative to the fixed claw body, so as to realize the two actions of clamping and releasing. If one claw body is fixed on the bracket, the design purpose of the driving structure is to realize the movable movement of the other claw body relative to the bracket, and the driving motor cooperates with the transmission to input power.

[0013] The purpose of the present invention can be achieved by the following technical solutions:

[0014] A mechanical claw driving structure for simulating human hand-picking of tea leaves, characterized by comprising: a limit block fixedly arranged relative to a bracket, a movable plate linearly arranged on the limit block and used to fix the claw body, a driving block connected to an output end of a driving motor, and a self-locking mechanism;

[0015] A driving pin is eccentrically arranged on the driving block around its rotation center, a driving slot is opened on the movable plate, and the driving pin is located in the driving slot;

[0016] The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block. The left and right end directions of the driving groove are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving block, the left and right end widths of the driving groove are sufficient to prevent the driving pin from contacting it at any time. The front and rear end lengths of the driving groove will allow the driving pin to sequentially produce four situations in the process of rotation within one cycle: contact with the front end face of the driving groove, no contact with any front and rear end faces of the driving groove, contact with the rear end face of the driving groove, and no contact with any front and rear end faces of the driving groove. The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block.

[0017] The self-locking mechanism performs a limit locking function on the movable plate from the moment the driving pin ends contacting the front end surface of the driving groove, and performs a stop limit locking function on the movable plate from the moment the driving pin starts contacting the rear end surface of the driving groove.

[0018] In the above-mentioned mechanical claw driving structure simulating human manual tea picking, the self-locking structure includes a stepped groove opened on the side of the movable plate, a fixed body fixedly arranged relative to the bracket, and a card linearly slidably connected to the fixed body through a limiting square rod and a limiting round rod;

[0019] The stepped groove includes an inner groove and an outer groove, the width of the outer groove is greater than that of the inner groove, the inner groove is a groove shape continued on the basis of the outer groove, and the inner groove and the outer groove are combined to form a stepped shape;

[0020] The card is located in the stepped groove, and the width of the card is consistent with the inner groove. When the card is embedded in the inner groove, the inner groove of the movable plate will be limited by the card and cannot move, forming a locking effect;

[0021] A spring is sleeved on the limiting round rod, and the two ends of the spring are respectively connected to the fixed body and the card. The spring has a tendency to push the card to the inner end of the stepped groove. When the card is aligned with the inner groove, the spring will push the card into the inner groove.

[0022] The outer ring of the driving block is in a three-segment shape, the upper end of the card is higher than the movable plate, and the outer ring of the driving block can contact the card during the rotation process;

[0023] The three-segment shape is specifically the following shapes that are connected in sequence: the first segment is an arc segment with a constant radius, the second segment is a cam arc segment with a gradually increasing radius, and the third segment is a straight line segment. The arc segment of the outer ring of the driving block will not push the card in the inner groove outward during the rotation process, the cam arc segment of the outer ring of the driving block will contact the card in the inner groove and squeeze the card outward during continuous rotation until the card moves to the outer groove, and the straight line segment of the outer ring of the driving block can disengage the squeezing effect of the cam arc segment on the card at the moment of docking with the card.

[0024] Compared with the existing technology, the mechanical claw driving structure can complete the functions of clamping, clamping, loosening and expanding tea leaves in the process of periodic rotation drive input power, and has self-locking ability, making it feasible to simulate human hand picking of tea leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the driving structure when the movable plate is in a self-locking state;

[0026] Figure 2 It is a structural schematic diagram of the driving structure when the movable plate is in an unlocked state;

[0027] Figure 3 It is a schematic diagram of the bottom perspective structure of the driving structure;

[0028] Figure 4 It is a perspective structural diagram of the drive structure in the first stage of the cycle after a part of the drive structure is cut off and the fixed body is hidden;

[0029] Figure 5 It is a perspective structural diagram of the drive structure in the second stage of the cycle after a part of the drive structure is cut off and the fixed body is hidden;

[0030] Figure 6 It is a perspective structural diagram of the present driving structure after a part is cut off and the fixed body is hidden and it is in the third stage of the cycle;

[0031] Figure 7 It is a perspective structural diagram of the present driving structure after a part is cut off and the fixed body is hidden and it is in the fourth stage of the cycle;

[0032] Figure 8 It is a perspective structural diagram of the drive structure in the fifth stage of the cycle after a part of the drive structure is cut off and the fixed body is hidden;

[0033] Fig. 9 It is a perspective structural diagram of the drive structure in the sixth stage of the cycle after a part of the drive structure is cut off and the fixed body is hidden;

[0034] Fig.10 It is a perspective structural diagram of the drive structure in the seventh stage of the cycle after a part of the drive structure is cut off and the fixed body is hidden;

[0035] Fig.11 This is a perspective structural diagram of the drive structure in the eighth stage of the cycle after a portion of the drive structure is cut off and the fixed body is hidden;

[0036] Fig.12 It is a perspective structural diagram of the present driving structure after a part is cut off and the fixed body is hidden and the structure is in the ninth stage of the cycle;

[0037] In the figure, 0, reference object; 1, limit block; 2, movable plate; 3, driving block; 4, driving pin; 5, driving groove; 6, stepped groove; 7, fixed body; 8, card; 9, inner groove; 10, outer groove; 11, spring; 12, arc segment; 13, cam arc segment; 14, straight line segment. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0039] like Figures 1 to 3 As shown, the mechanical claw driving structure for simulating human manual tea picking comprises a limit block 1 fixedly arranged relative to a bracket, a movable plate 2 linearly arranged on the limit block 1 and used to fix the claw body, a drive block 3 connected to the output end of the drive motor, and a self-locking mechanism;

[0040] A driving pin 4 is eccentrically arranged on the driving block 3 around its rotation center, a driving slot 5 is opened on the movable plate 2, and the driving pin 4 is located in the driving slot 5;

[0041] The front and rear end directions of the driving groove 5 are the directions in which the movable plate 2 moves linearly on the limit block 1. The left and right end directions of the driving groove 5 are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving pin 4 with the driving block 3: the left and right end widths of the driving groove 5 are sufficient to prevent the driving pin 4 from contacting it at any time, and the front and rear end lengths of the driving groove 5 will allow the driving pin 4 to sequentially produce four situations in the process of rotation within one cycle: contact with the front end face of the driving groove 5, not contact with any front and rear end faces of the driving groove 5, contact with the rear end face of the driving groove 5, and not contact with any front and rear end faces of the driving groove 5 again. The front and rear end directions of the driving groove 5 are the directions in which the movable plate 2 moves linearly on the limit block 1.

[0042] The self-locking mechanism performs a limit locking function on the movable plate 2 from the moment the driving pin 4 ends contacting with the front end surface of the driving groove 5, and performs a stop limit locking function on the movable plate 2 from the moment the driving pin 4 starts contacting with the rear end surface of the driving groove 5.

[0043] During a cycle of motion:

[0044] Depend on Figure 10 to Figure 11 Then Fig.12 (In the figure, the driving block 3 rotates counterclockwise, the side at the lower left of the driving slot 5 is the front end surface, and the side at the upper right of the driving slot 5 is the rear end surface. In addition, in order to clearly see the positional relationship of the movable plate 2, reference objects 0 are placed at the four corners of the movable plate 2 when drawing the attached figure. Reference objects 0 are objects that are fixed relative to the bracket). The process in which the driving pin 4 contacts the front end surface of the driving slot 5 and drives the driving slot 5 to move forward is a gradual clamping process. In this process, the mechanical claw is lowered to a position at the same height as the tea leaves, and then the two claw bodies are relatively close to clamp the tea leaves.

[0045] Depend on Figure 12 to Figure 4 Then Figure 5 The process in which the driving pin 4 is separated from the front end surface of the driving slot 5 and does not contact any front and rear end surfaces of the driving slot 5 is a continuous clamping process when the clamping gap is the smallest. In this process, the self-locking mechanism completes the locking of the movable plate 2 (that is, the position relationship of the two claws is locked), and it needs to last for a while, because at this time the two claws have clamped the tea leaves, and the entire mechanical claw needs to be lifted to pull the tea leaves off;

[0046] Depend on Figure 5 to Figure 6 Then Figure 7 as well as Figure 8 The process in which the driving pin 4 contacts the rear end surface of the driving slot 5 and moves the driving slot 5 backward is a gradual loosening process. In this process, the mechanical claw has already pulled the tea leaves upwards and then the tea leaves are loosened and the pulled tea leaves are collected under the action of the suction device.

[0047] Depend on Figure 8 to Figure 9 Then Fig.10, the driving pin 4 gradually breaks away from the contact with the rear end face of the driving groove 5, and enters the state of not contacting any front or rear end face of the driving groove 5 again. At this time, the two claws are in a fully open state. After a certain period of time, the mechanical claws are lowered back to the same height as the tea leaves, waiting to enter the next cycle.

[0048] Therefore, the movement of the movable plate 2 is forward, stop (self-locking at the same time), backward (unlocking at the same time), and stop as a complete cycle of movement, corresponding to the gradual tightening of the claw body (clamping process), clamping (locking for upward pulling of material), gradual loosening (releasing the pulled-off material), and continuous loosening (to lower the material back to the height).

[0049] The design of the self-locking structure is one of the important core elements of the present invention.

[0050] like Figures 1 to 12 As shown, the self-locking structure includes a stepped groove 6 opened on the side of the movable plate 2, a fixed body 7 fixedly arranged relative to the bracket, and a card 8 linearly slidably connected to the fixed body 7 through a limiting square rod and a limiting round rod;

[0051] The stepped groove 6 includes an inner groove 9 and an outer groove 10. The width of the outer groove 10 is greater than that of the inner groove 9. The inner groove 9 is a groove shape that is continued on the basis of the outer groove 10. The inner groove 9 and the outer groove 10 are combined to form a stepped shape.

[0052] The card 8 is located in the stepped groove 6, and the width of the card 8 is consistent with the inner groove 9. When the card 8 is embedded in the inner groove 9, the inner groove 9 of the movable plate 2 will be limited by the card 8 and cannot move, forming a locking effect;

[0053] A spring 11 is sleeved on the limiting round rod, and the two ends of the spring 11 are respectively connected to the fixed body 7 and the card 8. The spring 11 has a tendency to push the card 8 toward the inner end of the stepped groove 6. When the card 8 is aligned with the inner groove 9, the spring 11 will push the card 8 into the inner groove 9.

[0054] The outer ring of the driving block 3 is in a three-segment shape, the upper end of the card 8 is higher than the movable plate 2, and the outer ring of the driving block 3 can contact the card 8 during the rotation process;

[0055] The three-segment shape is specifically the following shapes that are connected in sequence: the first segment is an arc segment 12 with a constant radius, the second segment is a cam arc segment 13 with a gradually increasing radius, and the third segment is a straight line segment 14. The arc segment 12 of the outer ring of the driving block 3 will not push the card 8 in the inner groove 9 during the rotation process. The cam arc segment 13 of the outer ring of the driving block 3 will contact the card 8 in the inner groove 9 and squeeze the card 8 outward during the continuous rotation until the card 8 moves to the outer groove 10. The straight line segment 14 of the outer ring of the driving block 3 can disengage the squeezing effect of the cam arc segment 13 on the card 8 at the moment of docking with the card 8.

[0056] The self-locking structure of the present invention is a very clever design. Fig.10 The analysis begins. The drive block 3 rotates counterclockwise, and the drive pin 4 contacts the front end of the drive slot 5, moving the movable plate 2 forward and first entering the Fig.11 In the state, because the front and rear positions of the card 8 remain unchanged during this process, and the front and rear positions of the movable plate 2 are moved, the stepped groove 6 on the movable plate 2 will also move forward and backward. Fig.10 and Fig.11 When the card 8 is in the outer groove 10, it will not limit the forward and backward movement of the movable plate 2. Fig.12 When the card 8 is aligned with the inner groove 9, the card 8 is pushed into the inner groove 9 by the elastic force of the spring 11, and then the card 8 is pushed into the inner groove 9 in sequence. Fig.10 , Fig.11 , Fig.12 , Figure 4 In the case (the movable plate 2 is always in the self-locking state in these figures), the arc segment 12 of the outer ring of the driving block 3 is always aligned with one side of the card 8, so the arc segment 12 will not squeeze the card 8 outward until Figure 5 In the case where the arc segment 12 is no longer aligned with the card 8, but the cam arc segment 13 is aligned with the card 8, because the radius of the cam arc segment 13 is gradually increasing, the driving block 3 continues to rotate, and the card 8 is squeezed by the cam arc segment 13 and pushed toward the outer groove 10, until Figure 6 In this case, the card 8 has been completely pushed into the outer groove 10, and the driving pin 4 is in contact with the rear end surface of the driving groove 5. That is, the driving pin 4 rotates slightly counterclockwise to make the movable plate 2 move back. At this time, the inner groove 9 and the card 8 are offset and enter the inner groove 9. Figure 7 When the cam arc segment 13 ends contacting the card 8, the straight line segment 14 is aligned with the card 8, reaching the state of Figure 8 In the case of the straight line segment 14, although the straight line segment 14 no longer has the ability to push the card 8 out of the inner groove 9, because the inner groove 9 has been staggered with the card 8, the inner groove 9 will no longer restrict the movable plate 2. Fig. 9 After the situation, we return to Fig.10 state, completing a cycle.

[0057] It should be understood that in the claims and description of the present invention, all "including..." should be understood as an open-ended meaning, that is, its meaning is equivalent to "at least contains...", and should not be understood as a closed meaning, that is, its meaning should not be understood as "only includes...".

[0058] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A mechanical claw driving structure simulating human manual tea picking, characterized in that: It includes a limit block fixedly arranged relative to the bracket, a movable plate linearly arranged on the limit block and used to fix the claw body, a driving block connected to the output end of the driving motor, and a self-locking mechanism; A driving pin is eccentrically arranged on the driving block around its rotation center, a driving slot is opened on the movable plate, and the driving pin is located in the driving slot; The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block. The left and right end directions of the driving groove are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving block, the left and right end widths of the driving groove are sufficient to prevent the driving pin from contacting the left and right ends of the driving groove at any time. The front and rear end lengths of the driving groove will allow the driving pin to sequentially contact the front end face of the driving groove, not contact any front and rear end faces of the driving groove, contact the rear end face of the driving groove, and not contact any front and rear end faces of the driving groove in the process of rotation within one cycle. The self-locking mechanism performs a limit locking function on the movable plate from the moment the driving pin ends contacting the front end surface of the driving groove, and performs a stop limit locking function on the movable plate from the moment the driving pin starts contacting the rear end surface of the driving groove.

2. The mechanical claw driving structure for simulating human manual tea picking according to claim 1, characterized in that: The self-locking mechanism comprises a stepped groove provided on the side of the movable plate, a fixed body fixedly arranged relative to the bracket, and a card linearly slidably connected to the fixed body via a limiting square rod and a limiting round rod; The stepped groove includes an inner groove and an outer groove, the width of the outer groove is greater than that of the inner groove, the inner groove is a groove shape continued on the basis of the outer groove, and the inner groove and the outer groove are combined to form a stepped shape; The card is located in the stepped groove, and the width of the card is consistent with the inner groove. When the card is embedded in the inner groove, the inner groove of the movable plate will be limited by the card and cannot move, forming a locking effect; A spring is sleeved on the limiting round rod, and the two ends of the spring are respectively connected to the fixed body and the card. The spring has a tendency to push the card toward the inner end of the stepped groove. When the card is aligned with the inner groove, the spring pushes the card into the inner groove. The outer ring of the driving block is in a three-segment shape, the upper end of the card is higher than the movable plate, and the outer ring of the driving block can contact the card during the rotation process; The three-segment shape is specifically the following shapes that are connected in sequence: the first segment is an arc segment with a constant radius, the second segment is a cam arc segment with a gradually increasing radius, and the third segment is a straight line segment. The arc segment of the outer ring of the driving block will not push the card in the inner groove outward during the rotation process, the cam arc segment of the outer ring of the driving block will contact the card in the inner groove and squeeze the card outward during continuous rotation until the card moves to the outer groove, and the straight line segment of the outer ring of the driving block can disengage the squeezing effect of the cam arc segment on the card at the moment of docking with the card.

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