Tea leaf picking bionic hand and working method thereof

Abstract

The application belongs to the field of agricultural machinery, and discloses a tea leaf picking bionic hand and a working method thereof. The 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 seat, two left and right picking claw bodies and a first elastic member. The clamping claw assembly comprises two left and right clamping claw bodies and a second elastic member. The picking control assembly comprises a roller and a lifting driving mechanism. The clamping claw assembly and the picking claw assembly can be separated upward and downward when clamping, so that the picking and separation of tea leaf tips and tender leaves are realized.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to a bionic hand for picking tea leaves and its working method. Background Technology

[0002] Current tea harvesting mainly relies on manual labor or simple machinery, but this method suffers from high labor intensity, low harvesting efficiency, and high tea leaf damage rates. With the advancement of agricultural mechanization, there is an urgent need for a highly efficient and flexible end-harvesting device to improve harvesting quality and reduce labor costs. Summary of the Invention

[0003] The purpose of this invention is to provide a bionic hand for tea picking and its working method, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A bionic hand for picking tea leaves includes:

[0006] Support assembly;

[0007] The picking claw assembly includes a first lifting seat that is slidably mounted on a bracket assembly, two picking claw bodies that are arranged opposite to each other and rotatably mounted on the first lifting seat, and a first elastic element that keeps the two picking claw bodies in a closed tendency at all times.

[0008] A gripping claw assembly, wherein the gripping claw assembly and the picking claw assembly are arranged opposite each other front and back, the gripping claw assembly includes two gripping claw bodies arranged opposite each other and rotatably mounted on a bracket assembly, and a second elastic member, the second elastic member ensuring that the two gripping claw bodies always remain in a closed tendency; and

[0009] A harvesting control component is mounted on a support assembly. It includes rollers and a lifting drive mechanism for driving the rollers to rise and fall. The rollers are used to engage with the harvesting claw body and the clamping claw body. The rollers control the opening degree of the harvesting claw body and the clamping claw body by moving up and down. When the rollers move upward and separate from the clamping claw body, the rollers still maintain contact with the harvesting claw body and can drive the harvesting claw assembly to move upward, thereby increasing the vertical distance between the harvesting claw assembly and the clamping claw assembly.

[0010] Furthermore, the picking control component includes two sets of rollers, left and right. The left roller simultaneously abuts against the upper left side of the left picking claw body and the upper left side of the left clamping claw body, and the right roller simultaneously abuts against the upper right side of the right picking claw body and the upper right side of the right clamping claw body.

[0011] Furthermore, the upper end of the picking claw body is provided with a hook structure for connecting with the roller. The groove of the hook structure faces outward. When the roller moves upward and separates from the gripping claw body, the roller contacts the hook structure of the picking claw body. The roller can drive the picking claw assembly to move upward by cooperating with the hook structure.

[0012] Furthermore, the middle part of the picking claw body is rotatably connected to the first lifting seat, and the first elastic element is a tension spring connected between the lower parts of the two picking claw bodies.

[0013] Furthermore, the middle part of the gripper body is rotatably connected to the support assembly, and the second elastic element is a tension spring connected between the lower parts of the two gripper bodies.

[0014] Furthermore, the lifting drive mechanism is an electric nut screw mechanism, which has a second lifting seat that can be raised and lowered, and the roller is connected to the second lifting seat.

[0015] Furthermore, the bracket assembly has a vertically arranged guide rod, and both the first lifting seat and the second lifting seat slide up and down with the guide rod, with the first lifting seat located at the lower end of the second lifting seat.

[0016] Furthermore, the lower ends of both the picking claw body and the clamping claw body are configured as flexible claw-shaped structures.

[0017] The present invention also provides a working method for the bionic hand for tea picking as described above, comprising:

[0018] Step 1: The picking robot identifies the location 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 in the appropriate position of the target tea leaves, thus entering the pre-picking state.

[0019] Step 2: The lifting drive mechanism drives the rollers to move down, causing the picking claw body and the clamping claw body to open.

[0020] Step 3: Move the bionic hand for picking tea leaves above the tea leaves and enter the picking position. The lifting drive mechanism drives the roller to move upward. Under the action of the first elastic element and the second elastic element, the picking claw body and the clamping claw body gradually close. The clamping claw body clamps the tea branches and the picking claw body clamps the tea buds and tender 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. The roller drives the picking claw assembly to move upward, increasing the vertical distance between the clamping claw body and the picking claw body. The tea buds and tender leaves break off from the branches.

[0021] Step 4: The tender leaves are sucked into the picking bag by a negative pressure suction device.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1) The gripping claw assembly and the picking claw assembly can separate vertically when gripping, so as to separate the picking of tea buds and tender leaves;

[0024] 2) The synchronous linkage mechanism of the double grippers makes the picking action smoother, reduces misoperation, and improves the success rate of picking;

[0025] 3) The modular design facilitates maintenance, and the flexible clamping design effectively protects the tender tea leaves and reduces the damage rate. Attached Figure Description

[0026] Figure 1 This is one of the structural schematic diagrams of the present invention in the open state.

[0027] Figure 2 This is the second schematic diagram of the structure of the present invention in the open state.

[0028] Figure 3 This is the third schematic diagram of the structure of the present invention in the open state.

[0029] Figure 4 This is a schematic diagram of the structure of the present invention in the clamping state.

[0030] Figure 5 This is a schematic diagram of the structure of the present invention in the lifted state.

[0031] In the figure: support assembly 1, guide rod 100, base 101, mounting seat 102, picking claw assembly 2, picking claw body 200, hook structure 2000, first elastic element 201, first lifting seat 202, clamping claw assembly 3, clamping claw body 300, second elastic element 301, picking control assembly 4, roller 400, second lifting seat 401, motor 402, lead screw 403. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-5A bionic hand for picking tea leaves includes 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 includes a first lifting seat 202 slidably mounted on the support assembly 1, two picking claw bodies 200 rotatably mounted on the first lifting seat 202, and a first elastic element 201, which keeps the two picking claw bodies 200 in a closed state. The clamping claw assembly 3 is positioned opposite the picking claw assembly 2, and includes two clamping claw bodies 300 rotatably mounted on the support assembly 1, and a second elastic element 301, which keeps the two clamping claw bodies 300 in a closed state. The picking control component 4 is mounted on the support component 1. It 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 its connection with the picking claw body 200 and can drive the picking claw assembly 2 to move up, thereby increasing the vertical distance between the picking claw assembly 2 and the clamping claw assembly 3.

[0034] Continue reading Figures 1-5 In one embodiment of the present invention, the bracket assembly 1 includes a base 101, a mounting seat 102 disposed on the base 101, and two guide rods 100 vertically disposed between the base 101 and the mounting seat 102. The base 101 and the mounting seat 102 form an L-shaped structure. The first lifting seat 202 slides up and down with the two guide rods 100 through a sliding bearing.

[0035] Continue reading Figures 1-5 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 configured as a flexible claw-shaped structure for picking tea leaves. That is, the lower part of the picking claw body 200 is made of flexible material or a flexible layer is provided on 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.

[0036] In another embodiment of the present invention, the first elastic element 201 may also be a compression spring connected between the upper parts of the two picking claw bodies 200.

[0037] Continue reading Figures 1-5In one embodiment of the present invention, the middle part of the gripping claw body 300 is rotatably connected to the support assembly 1, and the lower part of the gripping claw body 300 is configured as a flexible claw-shaped structure for gripping tea leaves. That is, the lower part of the gripping claw body 300 is made of flexible material or a flexible layer is provided on the part of 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 gripping claw bodies 300.

[0038] In another embodiment of the present invention, the second elastic element 301 may also be a compression spring connected between the upper parts of the two gripping claw bodies 300.

[0039] Continue reading Figures 1-5 In one embodiment of the present invention, the lifting drive mechanism is an electric screw-nut mechanism, the structure of which is a known technology. It includes a motor 402, a screw 403, and a second lifting seat 401. The motor 402 is mounted on the upper end of the mounting base 102, and the screw 403 is rotatably mounted on the mounting base 102. The output shaft of the motor 402 is connected to the screw 403. The middle part of the second lifting seat 401 is screwed to the screw 403, and both ends of the second lifting seat 401 are slidably engaged with two guide rods 100. A 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 via the screw 403. Rollers 400 are connected to the second lifting seat 401.

[0040] Continue reading Figures 1-5 In one embodiment of the present invention, the picking control component 4 includes two rollers 400, the left roller 400 abutting 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 abutting against the upper right side of the right picking claw body 200 and the upper right side of the right clamping claw body 300.

[0041] The picking claw body 200 and the clamping claw body 300 are synchronized through the second lifting seat 401 and the roller 400 to ensure the stability and coordination of the clamping action.

[0042] Continue reading Figures 1-5 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 upper part of the picking claw body 200 or the upper part of the clamping claw body 300. The roller 400 is connected to the second lifting seat 401 by a rotating joint.

[0043] Continue reading Figures 1-5In one embodiment of the present invention, the upper end of the picking claw body 200 is provided with a hook structure 2000 for connecting with the roller 400. The groove of the hook 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 upward and separates from the clamping claw body 300, the roller 400 connects with the hook structure 2000 of the picking claw body 200, that is, the hook structure 2000 hooks the roller 400, and the roller 400 can drive the picking claw assembly 2 to move upward through the cooperation with the hook structure 2000.

[0044] The working principle of this invention is as follows: The roller 400 maintains a tight fit with the outer inclined surfaces of the picking claw body 200 and the clamping claw body 300 under the action of a tension spring. Driven by the second lifting seat 401, the roller 400 moves vertically up and down and rolls on the outer inclined surfaces of the picking claw body 200 and the clamping claw body 300, forming a cam-like mechanism, thereby controlling the closing and opening of the picking claw body 200 and the clamping claw body 300. Compared to the clamping claw body 300, the top of the picking claw body 200 has a hook structure 2000.

[0045] When the roller 400 moves to the top of the gripper body 300, both the gripper body 300 and the picking claw body 200 are in a closed state, clamping the tea leaves under the action of the tension spring. As the roller 400 continues to move upward, it disengages from the gripper body 300. Due to its cooperation with the return hook structure 2000, the roller 400 drives the entire picking claw assembly to move upward, increasing the vertical distance between the gripper assembly and the picking claw assembly.

[0046] The tea-picking bionic hand of the present invention is installed at the end of the actuating component of a picking robot, which is equipped with a conventional visual recognition system and a negative pressure suction device.

[0047] The present invention also provides a method for the operation of the bionic hand for tea picking as described above, comprising the following steps:

[0048] Step 1, Identification and Location:

[0049] The picking robot identifies the location of the target tea leaves through a visual recognition system and adjusts the posture of the robot's end-effector to position the tea leaves appropriately, thus entering the ready-to-pick state.

[0050] Step 2, Clamping Preparation:

[0051] When motor 402 rotates forward, the lifting drive mechanism drives the second lifting seat 401 to move downward. The rollers 400 on the second lifting seat 401 are in close contact with the upper outer sides of the picking claw body 200 and the clamping claw body 300, forming a cam-like mechanism. The rollers 400 push the picking claw body 200 and the clamping claw body 300 to open to their maximum extent, such as... Figures 1-3 As shown.

[0052] Step 3, Harvesting Status:

[0053] The bionic hand for picking tea leaves moves above the tea leaves and enters the picking position. Motor 402 reverses, and the lifting drive mechanism drives the second lifting seat 401 upwards. 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 gripping claw body 300 is fully closed, it clamps the tea stem. When the picking claw body 200 is closed, it clamps the tea buds and tender leaves. The second lifting seat 401 continues to move upward, the roller 400 separates from the gripping claw body 300, and the roller 400 contacts the hook structure 2000 of the picking claw body 200, causing the picking claw body 200 and the first lifting seat 202 to move upward. The distance between the gripping claw body 300 and the picking claw body 200 increases, and the tea buds and tender leaves break off from the stem, as shown. Figure 5 As shown.

[0054] Step 4, tea leaf release:

[0055] The tea leaf picking bionic system lifts upwards, preparing for the next picking cycle. The drive motor 402 rotates in the forward direction, the picking claw body 200 and the clamping claw body 300 open, and the tender leaves are sucked into the picking bag by the negative pressure suction device.

[0056] The structure, principle, and usage of the aforementioned harvesting robot, visual recognition system, and negative pressure suction device are all well-known technologies in this field and will not be elaborated upon.

[0057] The main innovation of this invention is as follows:

[0058] 1) Modular design:

[0059] The drive section, linkage section, and clamping section are independent of each other, which facilitates the maintenance and replacement of individual modules and reduces maintenance costs.

[0060] 2) Synchronous linkage clamping system:

[0061] The picking claw assembly and the gripping claw assembly are synchronized using tension springs and rollers, ensuring the stability and coordination of the gripping action. Compared with traditional independently driven gripping designs, this reduces the power requirements of the actuator, improves motion coordination, and significantly reduces damage to tea leaves and tea trees.

[0062] 3) Precise control of threaded drive:

[0063] By utilizing the precise control of the lead screw, the opening and closing of the clamping arm can be precisely adjusted, ensuring the flexibility and accuracy of the clamping action. The clamping force can be adjusted according to the size of the target leaf, reducing damage to the tender tea leaves.

[0064] 4) Driver location optimization:

[0065] The motor is mounted on top and driven by a lead screw. Its compact structure and high center of gravity improve response speed and flexibility, making it suitable for harvesting processes that require quick adjustments to posture.

[0066] 5) Flexible clamping arm structure:

[0067] The gripping arm has a claw-shaped flexible design at the end, which ensures gripping stability while providing appropriate protection for the leaves and reducing damage caused by excessive gripping. It is especially suitable for picking tender leaves.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bionic hand for picking tea leaves, characterized in that, include: Support assembly (1); The picking claw assembly (2) includes a first lifting seat (202) that is slidably mounted on the bracket assembly (1), two picking claw bodies (200) that are arranged opposite to each other and rotatably mounted on the first lifting seat (202), and a first elastic element (201). The first elastic element (201) keeps the two picking claw bodies (200) in a closed state at all times. A gripper assembly (3) is arranged opposite to the picking gripper assembly (2). The gripper assembly (3) includes two gripper bodies (300) arranged opposite to each other and rotatably mounted on the bracket assembly (1), and a second elastic member (301). The second elastic member (301) keeps the two gripper bodies (300) in a closed position at all times. The picking control component (4) is mounted on the support assembly (1). It includes a roller (400) and a lifting drive mechanism for driving the roller 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 contact 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 increases. The upper end of the picking claw body (200) is provided with a hook structure (2000) for contacting and connecting with the roller (400). The groove of the hook structure (2000) faces outward. When the roller (400) moves upward and separates from the gripping claw body (300), the roller (400) connects with the hook 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 structure (2000).

2. The bionic hand for tea picking according to claim 1, characterized in that, The picking control component (4) includes two sets of rollers (400) on the left and right sides. The left roller (400) abuts against the upper left side of the left picking claw body (200) and the upper left side of the left clamping claw body (300). The right roller (400) abuts 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 tea picking 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 element (201) is a tension spring connected between the lower parts of the two picking claw bodies (200).

4. The bionic hand for tea picking according to claim 1, characterized in that, The middle part of the gripper body (300) is rotatably connected to the support assembly (1), and the second elastic element (301) is a tension spring connected between the lower parts of the two gripper bodies (300).

5. The bionic hand for tea picking according to claim 1, characterized in that, The lifting drive mechanism is an electric nut screw mechanism, which has a second lifting seat (401) that can be lifted and lowered, and the roller is connected to the second lifting seat (401).

6. The bionic hand for tea picking according to claim 5, characterized in that, The bracket assembly (1) has a vertically arranged guide rod (100). The first lifting seat (202) and the second lifting seat (401) are both slidably engaged with the guide rod (100) up and down. The first lifting seat (202) is located at the lower end of the second lifting seat (401).

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

8. A method for using a bionic hand for tea picking as described in any one of claims 1-7, characterized in that, include: Step 1: The picking robot identifies the location 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 in the appropriate position of the target tea leaves, thus entering the pre-picking state. Step 2: The lifting drive mechanism drives the roller (400) to move down, causing the picking claw body (200) and the clamping claw body (300) to open; Step 3: Move the tea-picking bionic hand above the tea leaves and enter the picking position. The lifting drive mechanism drives the roller (400) to move upward. Under the action of the first elastic element (201) and the second elastic element (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 buds and tender leaves. When the clamping claw body (300) is completely closed, the roller (400) continues to move upward. The hook structure (2000) keeps the roller (400) in contact with the picking claw body (200). The roller (400) drives the picking claw assembly (2) to move upward, increasing the vertical distance between the clamping claw body (300) and the picking claw body (200). The tea buds and tender leaves break off from the branches. Step 4: The tender leaves are sucked into the picking bag by a negative pressure suction device.

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