Tea leaf picking bionic hand and working method thereof

Abstract

The invention belongs to the field of agricultural machinery, and discloses a tea leaf picking bionic hand and a working method thereof.The tea leaf picking bionic hand comprises a support assembly, a picking claw assembly, a clamping claw assembly and a picking control assembly.The picking claw assembly comprises a first lifting base, a left picking claw body, a right picking claw body and a first elastic piece; the clamping jaw assembly comprises a left clamping jaw body, a right clamping jaw body and a second elastic piece. The picking control assembly comprises rolling wheels and a lifting driving mechanism. The clamping claw assembly and the picking claw assembly can be separated up and down during clamping, and picking and separation of tea leaf tip buds and tender leaves are achieved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to a tea picking bionic hand and a working method thereof. Background Art

[0002] Existing tea picking mainly relies on manual labor or simple mechanical equipment, but there are problems such as high labor intensity, low picking efficiency and high tea damage rate. With the advancement of agricultural mechanization, there is an urgent need for an end-of-line picking device that can efficiently and flexibly pick tea leaves to improve picking quality and reduce labor costs. Summary of the invention

[0003] The purpose of the present invention is to provide a tea picking bionic hand and a working method thereof to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: A bionic hand for picking tea leaves, comprising: Bracket assembly; A picking claw assembly, the picking claw assembly comprising a first lifting seat slidably mounted on the bracket assembly, two left and right picking claw bodies relatively arranged and rotatably mounted on the first lifting seat, and a first elastic member, wherein the first elastic member enables the two picking claw bodies to always maintain a closing tendency; A clamping claw assembly, wherein the clamping claw assembly is arranged opposite to the picking claw assembly in front and back, and the clamping claw assembly comprises two left and right clamping claw bodies which are arranged opposite to each other and rotatably mounted on the bracket assembly, and a second elastic member, wherein the second elastic member enables the two clamping claw bodies to always maintain a closing tendency; and A picking control component is arranged on the bracket component, and comprises a roller and a lifting drive mechanism for driving the roller to lift and lower. The roller is used to engage with the picking claw body and the clamping claw body. The roller controls the opening degree of the picking claw body and the clamping claw body by moving up and down. When the roller moves up and separates from the clamping claw body, the roller still maintains contact connection with the picking claw body and can drive the picking claw assembly to move up, so that the distance between the picking claw assembly and the clamping claw assembly in the vertical direction becomes larger.

[0005] Furthermore, the picking control component includes two groups of left and right rollers, the rollers on the left side simultaneously abut against the upper left side of the left picking claw body and the upper left side of the left clamping claw body, and the rollers on the right side simultaneously abut against the upper right side of the right picking claw body and the upper right side of the right clamping claw body.

[0006] Furthermore, a hook-back structure connected to a roller is provided at the upper end of the picking claw body, and the groove of the hook-back structure faces outward. When the roller moves upward and separates from the clamping claw body, the roller contacts the hook-back structure of the picking claw body, and the roller can drive the picking claw assembly to move upward by cooperating with the hook-back structure.

[0007] Furthermore, the middle portion of the picking claw body is rotatably connected to the first lifting seat, and the first elastic member is a tension spring connected between the lower portions of the two picking claw bodies.

[0008] Furthermore, the middle portion of the clamping claw body is rotatably connected to the bracket assembly, and the second elastic member is a tension spring connected between the lower portions of the two clamping claw bodies.

[0009] Furthermore, the lifting drive mechanism is an electric nut-screw mechanism, which is provided with a second lifting seat that can be lifted and lowered, and the roller is connected to the second lifting seat.

[0010] Furthermore, the support assembly has a vertically arranged guide rod, the first lifting seat and the second lifting seat are both slidably matched with the guide rod up and down, and the first lifting seat is located at the lower end of the second lifting seat.

[0011] Furthermore, the lower ends of the picking claw body and the clamping claw body are both configured as flexible claw-like structures.

[0012] The present invention also provides a working method of the bionic hand for picking tea leaves as described above, comprising: Step 1: The picking robot identifies the position of the target tea leaves through a visual recognition system, and adjusts the posture of the tea picking bionic hand so that the tea picking bionic hand is located at an appropriate position of the target tea leaves and enters a ready-to-pick state; Step 2, the lifting drive mechanism drives the roller to move downward, so that the picking claw body and the clamping claw body are opened; Step 3, move the tea picking bionic hand to above the tea leaves and enter the picking position, the lifting drive mechanism drives the roller to move upward, and under the action of the first elastic member and the second elastic member, the picking claw body and the clamping claw body are gradually closed, the clamping claw body clamps the tea branches, and the picking claw body clamps the tea leaves. When the clamping claw body is completely closed, the roller continues to move upward, the hook structure keeps the roller in contact with the picking claw body, and the roller drives the picking claw assembly to move upward, so that the vertical distance between the clamping claw body and the picking claw body increases, and the tea leaves are broken off from the branches; Step 4, the young leaves are sucked into the picking bag through the negative pressure suction device.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1) The clamping claw assembly and the picking claw assembly can be separated up and down during clamping, so as to realize the picking and separation of the tea leaves; 2) The synchronous linkage mechanism of the double grippers makes the picking action more stable, reduces misoperation, and improves the success rate of picking; 3) The modular design facilitates maintenance, and the flexible clamping design effectively protects the tender tea leaves and reduces the damage rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is one of the structural schematic diagrams of the present invention when it is in an open state.

[0015] Figure 2 This is the second structural schematic diagram of the present invention when it is in an open state.

[0016] Figure 3 This is the third structural schematic diagram of the present invention when it is in an open state.

[0017] Figure 4 It is a schematic structural diagram of the present invention when it is in a clamping state.

[0018] Figure 5 It is a schematic diagram of the structure of the present invention when it is in a pulling state.

[0019] In the figure: bracket assembly 1, guide rod 100, base 101, mounting seat 102, picking claw assembly 2, picking claw body 200, hook return structure 2000, first elastic member 201, first lifting seat 202, clamping claw assembly 3, clamping claw body 300, second elastic member 301, picking control assembly 4, roller 400, second lifting seat 401, motor 402, screw rod 403. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 5A tea picking bionic hand comprises a support assembly 1, a picking claw assembly 2, a clamping claw assembly 3 and a picking control assembly 4. The picking claw assembly 2 comprises a first lifting seat 202 slidably mounted on the support assembly 1, two left and right picking claw bodies 200 which are relatively arranged and rotatably mounted on the first lifting seat 202, and a first elastic member 201, wherein the first elastic member 201 enables the two picking claw bodies 200 to always maintain a closing tendency. The clamping claw assembly 3 is arranged front and back opposite to the picking claw assembly 2, and the clamping claw assembly 3 comprises two left and right clamping claw bodies 300 which are relatively arranged and rotatably mounted on the support assembly 1, and a second elastic member 301, wherein the second elastic member 301 enables the two clamping claw bodies 300 to always maintain a closing tendency. The picking control component 4 is arranged on the bracket component 1, which includes a roller 400 and a lifting drive mechanism for driving the roller 400 to rise and fall. The roller 400 is used to engage with the picking claw body 200 and the clamping claw body 300. The roller 400 controls the opening degree of the picking claw body 200 and the clamping claw body 300 by moving up and down. When the roller 400 moves up and separates from the clamping claw body 300, the roller 400 still maintains the connection with the picking claw body 200 and can drive the picking claw assembly 2 to move up, so that the distance between the picking claw assembly 2 and the clamping claw assembly 3 in the vertical direction becomes larger.

[0022] Continue reading Figure 1-Figure 5 In one embodiment of the present invention, the bracket assembly 1 includes a base 101, a mounting seat 102 arranged on the base 101, and two guide rods 100 vertically arranged between the base 101 and the mounting seat 102. The base 101 and the mounting seat 102 form an L-shaped structure, and the first lifting seat 202 slides up and down with the two guide rods 100 through a sliding bearing.

[0023] Continue reading Figure 1-Figure 5 In one embodiment of the present invention, the middle part of the picking claw body 200 is rotatably connected to the first lifting seat 202, and the lower part of the picking claw body 200 is provided with a flexible claw-like structure for picking tea leaves, that is, the lower part of the picking claw body 200 is made of a flexible material or a flexible layer is provided at the part of the lower part of the picking claw body 200 that contacts the tea leaves. The first elastic member 201 is preferably a tension spring connected between the lower parts of the two picking claw bodies 200.

[0024] In another embodiment of the present invention, the first elastic member 201 may also be a compression spring connected between the upper parts of the two picking claw bodies 200 .

[0025] Continue reading Figure 1-Figure 5In one embodiment of the present invention, the middle part of the clamping claw body 300 is rotatably connected to the bracket assembly 1, and the lower part of the clamping claw body 300 is provided with a flexible claw-like structure for clamping tea leaves, that is, the lower part of the clamping claw body 300 is made of a flexible material or a flexible layer is provided at the lower part of the picking claw body 200 that contacts the tea leaves. The second elastic member 301 is a tension spring connected between the lower parts of the two clamping claw bodies 300.

[0026] In another embodiment of the present invention, the second elastic member 301 may also be a compression spring connected between the upper portions of the two clamping claw bodies 300 .

[0027] Continue reading Figure 1-Figure 5 In one embodiment of the present invention, the lifting drive mechanism is an electric nut screw mechanism, and its structure is a well-known technology, including a motor 402, a screw 403 and a second lifting seat 401. The motor 402 is installed on the upper end of the mounting seat 102, and the screw 403 is rotatably installed on the mounting seat 102. The output shaft of the motor 402 is connected to the screw 403, and the middle of the second lifting seat 401 is screwed with the screw 403. The two ends of the second lifting seat 401 are slidably matched with the two guide rods 100, and the first lifting seat 202 is located at the lower end of the second lifting seat 401. The motor 402 can drive the second lifting seat 401 to rise and fall through the screw 403, and the roller 400 is connected to the second lifting seat 401.

[0028] Continue reading Figure 1-Figure 5 In one embodiment of the present invention, the picking control component 4 includes two left and right rollers 400, the left roller 400 is simultaneously abutted against the upper left side of the left picking claw body 200 and the upper left side of the left clamping claw body 300, and the right roller 400 is simultaneously abutted against the upper right side of the right picking claw body 200 and the upper right side of the right clamping claw body 300.

[0029] The picking claw body 200 and the clamping claw body 300 are synchronously linked through the second lifting seat 401 and the roller 400 to ensure the stability and coordination of the clamping action.

[0030] Continue reading Figure 1-Figure 5 In one embodiment of the present invention, the wheel surface of the roller 400 is connected to the picking claw body 200 and the clamping claw body 300, the roller 400 can slide along the inclined surface of the upper part of the picking claw body 200 or the upper part of the clamping claw body 300, and the roller 400 is connected to the second lifting seat 401 by a rotating joint.

[0031] Continue reading Figure 1-Figure 5In one embodiment of the present invention, a hook-back structure 2000 is provided at the upper end of the picking claw body 200 for connecting with the roller 400, and the groove of the hook-back structure 2000 faces outward, and the outer side is the side of the picking claw body 200 that is away from the other picking claw body 200. When the roller 400 moves up and separates from the clamping claw body 300, the roller 400 is connected to the hook-back structure 2000 of the picking claw body 200, that is, the hook-back structure 2000 hooks the roller 400, and the roller 400 can drive the picking claw assembly 2 to move up by cooperating with the hook-back structure 2000.

[0032] Working principle of the present invention: The roller 400 and the outer inclined surfaces of the picking claw body 200 and the clamping claw body 300 are always kept in close contact under the action of the tension spring. The roller 400 moves up and down along the vertical direction driven by the second lifting seat 401, and rolls on the outer inclined surfaces of the picking claw body 200 and the clamping claw body 300, forming a cam-like auxiliary mechanism, thereby controlling the closing and opening of the picking claw body 200 and the clamping claw body 300. Compared with the clamping claw body 300, the top of the picking claw body 200 has a hook structure 2000.

[0033] When the roller 400 moves to the top of the clamping claw body 300, the clamping claw body 300 and the picking claw body 200 are both in a closed state, and the tea leaves are clamped under the action of the tension spring. When the roller 400 continues to move upward, it is out of contact with the clamping claw body 300. Due to the cooperation with the return hook structure 2000, the roller 400 drives the picking claw assembly to move upward as a whole, and the distance between the clamping claw assembly and the picking claw assembly in the vertical direction increases.

[0034] The tea picking bionic hand of the present invention is installed at the end of the execution component of the picking robot, and the picking robot is equipped with a conventional visual recognition system and a negative pressure suction device.

[0035] The present invention also provides a working method of the bionic hand for picking tea leaves, comprising the following steps: Step 1: Identify and locate: The picking robot identifies the position of the target tea leaves through the visual recognition system, and adjusts the posture of the tea-picking bionic hand at the end of the robot so that the tea-picking bionic hand is located at the appropriate position of the target tea leaves and enters a preparatory picking state.

[0036] Step 2, clamping preparation: The motor 402 rotates forward, and the lifting drive mechanism drives the second lifting seat 401 to move downward. The roller 400 on the second lifting seat 401 is tightly fitted with the upper outer side of the picking claw body 200 and the clamping claw body 300, forming a cam-like mechanism. The roller 400 pushes the picking claw body 200 and the clamping claw body 300 to open to the maximum, such as Figure 1-Figure 3 shown.

[0037] Step 3, picking status: The tea picking bionic hand moves to the top of the tea leaves and enters the picking position. The motor 402 reverses, and the lifting drive mechanism drives the second lifting seat 401 to move upward. The picking claw body 200 and the clamping claw body 300 gradually close under the action of the tension spring. Figure 4 As shown. When the clamping claw body 300 is fully closed, it clamps the tea branches. When the picking claw body 200 is closed, it clamps the tea leaves. The second lifting seat 401 continues to move upward, the roller 400 separates from the clamping claw body 300, and the roller 400 contacts the hook structure 2000 of the picking claw body 200, driving the picking claw body 200 and the first lifting seat 202 to move upward, and the distance between the clamping claw body 300 and the picking claw body 200 increases, and the tea leaves break off from the branches. Figure 5 shown.

[0038] Step 4, tea release: The tea picking bionic device is lifted up as a whole, ready to enter the next picking cycle, the driving motor 402 rotates forward, the picking claw body 200 and the clamping claw body 300 open, and the young leaves are sucked into the picking bag by the negative pressure suction device.

[0039] The structures, principles and usage methods of the above-mentioned picking robot, visual recognition system and negative pressure suction device are well-known technologies in the art and will not be elaborated on herein.

[0040] The main innovative points of the present invention are: 1) Modular design: The driving part, linkage part and clamping part are independent of each other, which is convenient for maintenance and replacement of a single module and reduces maintenance costs.

[0041] 2) Synchronous linkage clamping system: Tension springs and rollers are used to achieve synchronous movement of the picking claw assembly and the clamping claw assembly, ensuring the stability and front-to-back coordination of the clamping action. Compared with the traditional independent drive clamping design, it reduces the power demand for the driver, improves movement coordination, and significantly reduces damage to tea leaves and tea trees.

[0042] 3) Precise control of thread transmission: By using the precise control of the lead screw, the opening and closing of the clamping arm can be precisely adjusted to ensure the flexibility and accuracy of the clamping action. The clamping force can be adjusted according to the size of the target leaves to reduce damage to the tender tea leaves.

[0043] 4) Driver position optimization: The motor is installed on the top and driven by a lead screw. It has a compact structure and a high center of gravity, which improves the response speed and flexibility and is suitable for picking processes that require rapid adjustment of posture.

[0044] 5) Flexible clamping arm structure: The end of the clamping arm is designed to be claw-shaped and flexible, which ensures the clamping stability while giving the leaves proper protection and reducing damage caused by over-tight clamping. It is especially suitable for picking tender leaves.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic hand for picking tea leaves, characterized in that: include: Bracket assembly (1); A picking claw assembly (2), the picking claw assembly (2) comprising a first lifting seat (202) slidably mounted on the support assembly (1) up and down, two picking claw bodies (200) arranged opposite to each other and rotatably mounted on the first lifting seat (202) on the left and right, and a first elastic member (201), wherein the first elastic member (201) enables the two picking claw bodies (200) to always maintain a closing tendency; A clamping claw assembly (3), the clamping claw assembly (3) and the picking claw assembly (2) being arranged opposite to each other in front and back, the clamping claw assembly (3) comprising two left and right clamping claw bodies (300) arranged opposite to each other and rotatably mounted on the support assembly (1), and a second elastic member (301), the second elastic member (301) enabling the two clamping claw bodies (300) to always maintain a closing tendency; and A picking control component (4) is arranged on a support component (1), and comprises a roller (400) and a lifting drive mechanism for driving the roller to lift and lower; the roller (400) is used to engage with a picking claw body (200) and a clamping claw body (300); the roller (400) controls the degree of opening of the picking claw body (200) and the clamping claw body (300) by moving up and down; when the roller (400) moves up and separates from the clamping claw body (300), the roller (400) still maintains contact with the picking claw body (200) and can drive the picking claw component (2) to move up, thereby increasing the distance between the picking claw component (2) and the clamping claw component (3) in the vertical direction.

2. The bionic hand for picking tea leaves according to claim 1, characterized in that: The picking control assembly (4) comprises two groups of left and right rollers (400), wherein the left roller (400) is simultaneously abutted against the upper left side of the left picking claw body (200) and the upper left side of the left clamping claw body (300), and the right roller (400) is simultaneously abutted against the upper right side of the right picking claw body (200) and the upper right side of the right clamping claw body (300).

3. The bionic hand for picking tea leaves according to claim 2, characterized in that: A hook-back structure (2000) for contacting and connecting with the roller (400) is provided at the upper end of the picking claw body (2000); the groove of the hook-back structure (2000) faces outward; when the roller (400) moves upward and separates from the clamping claw body (300), the roller (400) is connected to the hook-back structure (2000) of the picking claw body (200); the roller (400) can drive the picking claw assembly (2) to move upward by cooperating with the hook-back structure (2000).

4. The bionic hand for picking tea leaves according to claim 1, characterized in that: The middle part of the picking claw body (200) is rotatably connected to the first lifting seat (202), and the first elastic member (201) is a tension spring connected between the lower parts of the two picking claw bodies (200).

5. The bionic hand for picking tea leaves according to claim 1, characterized in that: The middle portion of the clamping claw body (300) is rotatably connected to the bracket assembly (1), and the second elastic member (301) is a tension spring connected between the lower portions of the two clamping claw bodies (300).

6. The bionic hand for picking tea leaves according to claim 1, characterized in that: The lifting drive mechanism is an electric nut screw mechanism, which is provided with a second lifting seat (401) capable of lifting and lowering, and the roller is connected to the second lifting seat (401).

7. The bionic hand for picking tea leaves according to claim 6, characterized in that: The support assembly (1) has a vertically arranged guide rod (100), the first lifting seat (202) and the second lifting seat (401) both slide up and down with the guide rod (100), and the first lifting seat (202) is located at the lower end of the second lifting seat (401).

8. The bionic hand for picking tea leaves according to claim 1, characterized in that: The lower ends of the picking claw body (200) and the clamping claw body (300) are both configured as flexible claw-like structures.

9. A method for using the bionic hand for picking tea leaves as claimed in any one of claims 1 to 8, characterized in that: include: Step 1: The picking robot identifies the position of the target tea leaves through a visual recognition system, and adjusts the posture of the tea picking bionic hand so that the tea picking bionic hand is located at an appropriate position of the target tea leaves and enters a ready-to-pick state; Step 2, the lifting drive mechanism drives the roller (400) to move downward, so that the picking claw body (200) and the clamping claw body (300) are opened; Step 3, the tea picking bionic hand is moved above the tea leaves to enter the picking position, the lifting drive mechanism drives the roller (400) to move upward, and under the action of the first elastic member (201) and the second elastic member (301), the picking claw body (200) and the clamping claw body (300) gradually close, the clamping claw body (300) clamps the tea branches, and the picking claw body (200) clamps the tea leaves. When the clamping claw body (300) is completely closed, the roller (400) continues to move upward, the return hook structure (2000) keeps the roller (400) in contact with the picking claw body (200), and the roller (400) drives the picking claw assembly (2) to move upward, so that the distance between the clamping claw body (300) and the picking claw body (200) in the vertical direction increases, and the tea leaves are broken off from the branches; Step 4, the young leaves are sucked into the picking bag through the negative pressure suction device.

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