Broad-name high-quality tea end effector picking mechanism based on handle picking

Abstract

The invention discloses a famous high-quality tea end effector picking mechanism based on handle picking. The famous high-quality tea end effector picking mechanism comprises a bionic grabbing mechanism, an arm telescopic mechanism and a wrist turnover mechanism. A square groove and a steering engine in the bionic grabbing mechanism are both mounted in a moving plate, the steering engine drives a sliding block to move through a connecting rod, and then bionic fingers are controlled to clamp or open tea leaves; a moving plate of the arm telescopic mechanism is fixed to the base frame through cooperation of a ball sliding block and a guide rail, and movement of the moving plate is transmitted to the bionic clamping mechanism through a ball sliding rail to control telescopic movement of the arm. A base frame of the wrist overturning mechanism is in positioning connection with a sleeve through a nut and is coaxially matched with a motor, and the base frame is driven to overturn by rotation of the motor; according to the device, the picking action of manual handle picking is truly simulated, horizontal shearing force and vertical lifting force are decomposed at the same time by the rotating bionic fingers under the action of clamping force, rapid picking of tea tender shoots is achieved, and tea stem damage caused by mechanical picking is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of picking high-quality tea, and in particular to a picking mechanism for a high-quality tea end effector based on handle picking. Background Art

[0002] The picking of famous and high-quality tea has obvious seasonality and strict picking standards. Usually only one bud and two leaves or the top bud are picked, and the tea leaves are required to be complete and fresh. The existing tea picking machinery generally adopts a "one-size-fits-all" approach, which cannot distinguish between old leaves and tender buds, resulting in damage to the shape and quality of the tea leaves, and is not suitable for picking famous and high-quality tea. At present, the picking of famous and high-quality tea mainly relies on manual labor, and the labor cost of the picking process accounts for more than 60% of the total tea production cost. The speed of manual picking is limited, and it is affected by external factors such as weather and terrain. The labor intensity is high, resulting in high costs. Nowadays, the labor shortage problem faced by the picking of high-quality tea is becoming more and more prominent. Most of the machines currently used on the market are bulk tea picking machines, and very few are high-quality tea picking machines. There is no mature high-performance high-quality tea picking machine, and almost all of the high-quality tea picking machines currently used adopt "shearing" picking. In the prior art, the solutions to the problems of low picking efficiency and poor picking quality have certain limitations. For example, Patent 2023115987570 discloses a feedback-type high-quality tea picking device based on synchronous belt transmission. This method brings the tea leaves into the conveying device through a synchronous belt, and then the servo controls the blades to aggregate and cut the tea leaves, thereby achieving rapid picking. However, there are still the following shortcomings: using the shearing principle, shearing picking is prone to mechanical damage to the tea leaves, and the cross-section of the tea leaves is susceptible to fungal infection, affecting the regrowth of the tea trees, and the tea leaves may be broken during the shearing process, especially if the operation is improper, the tea leaves may be cut or the edges may be torn, affecting the quality of the tea leaves.

[0003] In response to the above difficulties, after careful observation of the manual picking process and accumulation of a large amount of experimental data, we have developed a terminal picking mechanism for high-quality tea that truly simulates the manual "hand-picking". This invention can be integrated on series or parallel robot arms and used for picking various high-quality teas, thereby improving the adaptability of picking high-quality teas. It adopts the principle of hand-picking to simulate manual picking and accurately pick the tender buds of a single plant of high-quality tea, which can reduce damage to the tender buds of tea leaves. On the premise of meeting the standards for picking high-quality tea, it reduces the intensity of manual labor and improves the continuity and efficiency of picking. This not only greatly reduces the demand for human resources, but also ensures the standardization and efficiency of picking actions, providing an innovative method for tea picking. Summary of the invention

[0004] The purpose of the present invention is to provide a new type of famous and high-quality tea picking mechanism, which has the characteristics of accurate picking and damage-free picking, so as to solve the problems of poor selectivity and low tea quality in the existing mechanical picking proposed in the above technical background.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The invention discloses a picking mechanism of a high-quality tea end effector based on handle picking, which comprises an arm telescopic mechanism, a bionic grasping mechanism and a wrist turning mechanism.

[0007] Furthermore, the arm telescopic mechanism includes a moving plate, a long-head bolt, a brushless servo, a servo support frame, a ball slide rail, a movable crank, a hinge pin, a straight-groove connecting rod, a boss fixing block, an arc-shaped moving sheet, a compression spring, a cylindrical guide rod, and a ball slide rail; the bottom of the moving plate is fixedly connected to four ball sliders by screws; the cylindrical surfaces of the ball sliders and the ball slide rails cooperate with each other and slide left and right along the ball slide rails to realize the movement of the moving plate; the spring latch is fixedly connected to the servo support frame by the long-head bolt; the brushless servo is fixedly connected to the servo support frame by the long-head bolt; the movable crank and the servo The rocker arm is hinged and can rotate freely along the hinge pin, and the second positioning hole of the rocker arm is connected to the hinge pin; the left end of the straight groove connecting rod has a cut notch, which is hinged to the cylindrical guide rod through the hinge pin, and the right end has a positioning center hole, which is hinged to the movable crank; the cylindrical guide rod is cut with a shoulder and has a center hole at the right end, and the right end is hinged to the straight groove connecting rod through the hinge pin, and the middle part is coaxially matched with the compression spring and the arc-shaped moving piece, and the arc-shaped moving piece is located on the right side of the compression spring; the bottom of the arc-shaped moving piece has a door-shaped groove, and the groove at the bottom of the arc-shaped moving piece cooperates with the tenon of the boss fixing block, and moves left and right along the tenon.

[0008] Furthermore, the bionic grasping mechanism includes a bionic finger, an L-shaped block, a T-shaped slider, a square slot, a digital servo, a main connecting rod, a secondary connecting rod, a servo rotating shaft, a nut, a hexagonal head semi-threaded bolt, and a bolt; the bionic finger is shaped like the index finger of a human finger, with a central threaded hole at the bottom, the fingertip surface of the bionic finger is inclined 5-10 degrees to the horizontal plane, and has a rectangular protrusion on the surface to simulate a human fingerprint, the bionic finger is fixed to the L-shaped block by the bolt; the L-shaped block is fixed to the T-shaped slider by the bolt; the T-shaped slider The external tenon slides back and forth in the T-shaped groove inside the square groove, and then the bionic finger moves back and forth along the groove of the square groove to realize the opening and closing action; the digital servo is concentrically matched with the square groove, and the rotation center of the servo and the center hole of the square groove are concentrically matched; the digital servo is concentrically matched with the square groove, and the side of the servo and the back of the square groove are tightly fitted; key grooves are opened on both end surfaces of the servo rotation shaft, and a threaded hole is cut on the left end cylindrical surface. The servo rotation shaft is connected to the servo's own rocker arm in the circumferential direction through a rectangular flat key, and the two form a The servo gear rocker arm is an integral whole, and the axial direction is connected and positioned by a nut frame stop washer. There is an involute spline keyway inside the servo gear rocker arm. The metal gear outside the servo gear and the involute spline of the servo gear rocker arm are matched and connected through tooth surface positioning, so that the rotation of the servo gear rocker arm drives the servo gear rotating shaft to rotate synchronously; the servo gear rotating shaft is coaxially installed with the main connecting rod, and is hinged and fixed by the internal thread of the nut. Threads are processed on the servo gear rotating shaft, and the threaded connection method adopts a spring gasket to prevent loosening. The secondary connecting rod is hinged and matched with the main connecting rod through the hexagonal head semi-threaded bolt The left end of the hexagonal head semi-threaded bolt is a smooth axial surface, and the right end surface is a thread. The right end surface thread is fixedly connected to the threaded hole of the main connecting rod, and the left end smooth axial surface is hinged to the secondary connecting rod, and a gasket is used to prevent it from moving. The secondary connecting rod and the threaded hole inside the T-shaped slider are hingedly matched through the hexagonal head semi-threaded bolt, the right end threaded surface is fixedly connected to the threaded hole of the T-shaped slider, and the left end smooth axial surface is hinged to the secondary connecting rod, that is, the secondary connecting rod rotates around the center hole of the T-shaped slider, and the rotation of the digital servo drives the connecting rod to rotate, and then the connecting rod drives the bionic finger to slide in the square groove.

[0009] Furthermore, the wrist flip mechanism includes a base frame, a flange locking nut, a stepped driven shaft, a bushing, a cross liner, a guide flat key, a screw, a LYCA plum blossom coupling, a support baffle, a fixed support frame, a stepper motor, and a body shell; the support baffle is installed in the groove of the fixed support frame and is fixed by bolts; the bushing is concentrically matched with the support baffle, and the bottom surface of the bushing is heavier than the right side of the support baffle; the external tenon of the cross liner is matched with the internal groove of the bushing; the stepper motor is installed inside the motor protection, and the coupling connects the motor output shaft and the stepped driven shaft, and they are coaxially matched; the guide flat key is installed on the keyway of the driven shaft and is tightly matched with the internal groove of the cross liner; the base frame is fixedly connected to the bushing by screws, and the flange locking nut is connected to the stepped transmission shaft by threads to prevent axial movement of the stepped driven shaft.

[0010] Compared with the existing tea picking machinery, the beneficial effects of the picking mechanism of the end effector of the famous and high-quality tea based on the handle picking of the present invention are:

[0011] (1) The bionic grasping mechanism of the present invention realizes the precise conversion of the rotational motion of the servo into the linear motion of the bionic finger through the precise control of the digital servo, and utilizes the combination of the digital servo, main connecting rod, auxiliary connecting rod and T-shaped slider, so as to accurately control the opening and closing state of the bionic finger, ensure the stability and accuracy in the picking process, and the clamping movement process has the remarkable advantages of stability, reliability, reduced energy consumption and wide application range; the whole mechanism adopts a compact design, and the various components are fixed by bolts, nuts and other connectors, and the structure is stable and easy to assemble and maintain; the bionic finger can reciprocate along a specific trajectory through the cooperation of the T-shaped slider and the square groove, so as to realize the picking action similar to the handle of human hand, improve the picking flexibility, make the specific movement smoother, and reduce friction and wear; the anti-loosening design uses spring washers at the threaded connection to prevent loosening, ensure the stability and reliability of the mechanism in long-term operation, and reduce the failure caused by loose threads.

[0012] (2) The shape of the bionic finger of the present invention simulates the human index finger, the fingertip surface is inclined 5-10 degrees, and there are patterned protrusions on the finger surface to simulate the fingerprint of human fingers. This design makes the grasping action more natural and precise, prevents the tea buds from sliding when clamping the tea leaves, facilitates picking, improves picking efficiency, reduces labor intensity, reduces labor costs, saves costs, and can better meet the picking needs of famous and high-quality teas; the bionic finger is made of polycarbonate material, has a light structure, and has excellent impact resistance. It can withstand the mechanical shock and vibration that may be encountered during the picking process, ensuring the durability and reliability of the bionic finger in complex environments.

[0013] (3) The arm retractable mechanism of the present invention utilizes a movable plate, a spring tenon, a movable crank, a straight groove connecting rod, a cylindrical guide rod, and a compression spring to form a quick return crank guide rod mechanism. The movable plate squeezes the compression spring, and the compression spring begins to compress, and the elastic potential energy is maximum. The movable crank reaches the rightmost end, and the spring of the spring tenon is in a relaxed state. The movable crank continues to rotate, squeezing the spring tenon, exceeding the spring limit, and the movable crank drives the cylindrical guide rod to move rapidly to the left, thereby realizing the quick return movement of the arm retractable mechanism. During the arm extension process, the rapid release of the spring can accelerate the arm retractable mechanism, thereby speeding up the return movement, improving work efficiency, and improving energy utilization efficiency. During the movement, the spring can effectively absorb and buffer the impact force generated by the mechanism, reduce vibration and noise, thereby protecting the internal components of the mechanism and extending the service life of the equipment. The design of the mechanism can adjust the stiffness and compression of the spring according to actual needs to adapt to different workloads and movement speed requirements, and has strong adaptability.

[0014] (4) The wrist flip mechanism of the present invention is precisely controlled by a stepper motor, so that the wrist flip mechanism can achieve precise angle flipping and adapt to different position and angle requirements during tea picking. The transmission device adopts the design of LYCA plum blossom coupling and stepped transmission shaft, which improves the transmission stability and ensures the stability of the wrist flip mechanism during high-speed operation. Through the combined design of the support baffle and the fixed support frame, the wrist flip mechanism can effectively absorb and buffer vibration during operation, reducing damage to the tea leaves. The design of the wrist flip mechanism allows simple bolt fixing and connection, which makes it convenient and quick to adjust and replace parts, thereby improving the maintainability of the equipment. The stepper motor used in the power device has the characteristics of high precision and low energy consumption. Combined with the efficient transmission mechanism, it can achieve energy-saving operation, which meets the high-efficiency and energy-saving requirements of modern agricultural equipment.

[0015] (5) The present invention truly simulates the picking action of "lifting hands to pick" by humans, adopts a mechanical control method, and cooperates with a bionic grasping mechanism and a wrist flipping mechanism. While flipping at high speed, the component Fx of the clamping force F of the bionic finger in the X-axis direction provides a horizontal clamping force (picking force) for the tea leaves, and the component Fy of the clamping force F in the Y-axis direction provides a vertical lifting force (lifting force) for the tea leaves. Under the joint action of the clamping force F and the force arm d, the tea lifting and picking action is completed. The present invention has the significant advantages of being able to accurately pick the tender buds of famous and high-quality teas, meeting the picking standards for famous and high-quality teas, having a small clamping force, being gentle in action, and causing less damage to the tender shoots of tea leaves. After picking, it is beneficial to the continued healthy growth of tea trees, greatly improving the overall picking quality of famous and high-quality teas.

[0016] (6) The various components of the end effector of the handle-based high-quality tea picking of the present invention (such as the bionic grasping mechanism, the wrist flipping mechanism, and the arm retracting mechanism) adopt a modular design and can be used in conjunction with structures such as the Delta parallel robotic arm. It has high scalability and can add or adjust functional modules as needed to adapt to more agricultural operation scenarios. The modular integrated design makes the overall structure compact and easy to assemble and maintain, thereby reducing the maintenance cost of the equipment. The various components are made of high-strength materials (such as polycarbonate, tapered roller bearings, etc.), which further improves the durability of the equipment. The components are fixed and connected by standard parts such as bolts and screws to ensure the stability of the mechanism and extend the life of the equipment. The power source adopts a digital servo and a stepper motor, uses clean energy, is energy-saving and environmentally friendly, and reduces dependence on energy through efficient energy utilization and low energy consumption design, which meets the energy-saving and environmental protection requirements of modern agricultural equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of picking tea leaves with a handle-based end effector for picking high-quality tea in the present invention;

[0018] Figure 2 It is a structural stereogram of the present invention;

[0019] Figure 3 It is a structural stereogram of the wrist turning mechanism of the present invention;

[0020] Figure 4 It is a structural stereogram of the arm telescopic mechanism of the present invention in a compressed state;

[0021] Figure 5 It is a structural stereogram of the arm telescopic mechanism of the present invention in a relaxed state;

[0022] Figure 6 It is a structural stereogram of the bionic grasping mechanism of the present invention in an open and relaxed state;

[0023] Figure 7 It is a structural stereogram of the closed clamping state of the bionic grasping mechanism of the present invention;

[0024] Figure 8 This is a diagram showing the actual force point positions when the bionic gripping mechanism of the present invention clamps the tea buds;

[0025] Fig. 9 It is a force diagram of the tea buds when the bionic gripping mechanism of the present invention is in a clamping state;

[0026] In the figure: 1. Bionic grasping mechanism; 2. Arm extension and retraction mechanism; 3. Wrist flipping mechanism; 11. Bionic finger; 12. L-shaped block; 13. T-shaped slider; 14. Square slot; 15. Digital servo; 16. Main connecting rod; 17. Secondary connecting rod; 18. Servo rotating shaft; 19. Nut; 111. Hexagon head semi-threaded bolt; 112. Bolt; 21 Moving plate; 22. Long head bolt; 23. Brushless servo; 24. Servo support frame; 25. Ball guide rail; 26. Active crank; 27. Hinge pin ; 28. Straight groove connecting rod; 29. ​​Boss fixing block; 211. Arc moving piece; 212. Compression spring; 213. Cylindrical guide rod; 214. Ball guide rail; 31. Base frame; 32. Flange locking nut; 33. Screw; 34. Support baffle; 35. Tapered roller bearing; 36. Bushing; 37. Stepper motor; 38. Machine body shell; 39. Fixed support frame; 311. LYCA plum blossom coupling; 312. Stepped transmission shaft; 313. Guide flat key; 314. Cross lining. DETAILED DESCRIPTION

[0027] In order to help those skilled in the art better understand and implement the present invention, the specific implementation steps of the present invention are described in detail below.

[0028] The workflow of the end effector for picking high-quality tea is as follows: Figure 1 As shown, the "hand-lifting and picking" principle is adopted. When the human eye observes the target to be picked, the arm telescopic mechanism drives the bionic grasping mechanism to the picking position and stops moving. Then the bionic grasping mechanism controls the bionic fingers to clamp the tea leaves. Finally, the wrist flipping mechanism flips, and the arm telescopic mechanism returns to the original position. Finally, the tea leaves are successfully picked.

[0029] like Figure 3As shown, the wrist flip mechanism of the present invention includes a base frame 31, a flange locking nut 32, a screw 33, a support baffle 34, a tapered roller bearing 35, a sleeve 36, a stepper motor 37, a body shell 38, a fixed support frame 39, a LYCA plum blossom coupling 311, a stepped transmission shaft 312, a guide flat key 313, and a cross liner 314. Two symmetrically arranged support baffles 34 are fixed on the fixed bracket 39, and the right support baffle is connected and fixed to the body shell 38 to form the overall framework of the wrist flip mechanism, which is convenient for the subsequent installation of parts such as the LYCA plum blossom coupling 311 and the sleeve 36; the stepper motor 37 is installed in the internal groove of the body shell 38 to prevent the motor from sliding; the LYCA plum blossom coupling 311 connects the stepper motor output shaft and the stepped transmission shaft 311 to compensate for the axial, radial and angular displacement between the two shafts, so that the two shafts can be aligned in the event of misalignment. The torque can still be transmitted normally under the condition of the cross liner 314; the external tenon of the cross liner 314 is fixed in the internal groove of the sleeve 36 and connected into a whole; the guide flat key 313 is installed in the keyway of the stepped transmission shaft 311 and is tightly connected to the internal groove of the cross liner 314 to prevent the sleeve 36 from axially moving on the shaft, thereby playing the role of axial positioning and effectively transmitting the motor torque to the sleeve 36; the sleeve 36 and the support baffle 34 are concentrically matched through the tapered roller bearing 35, and the right end of the sleeve 36 coincides with the small end face of the stepped shaft, To prevent axial movement of the stepped transmission shaft 312, the left end of the sleeve 36 is fixed to the base frame 31 by a screw 33; the flange locking nut 32 is tightened through the threaded fit of the stepped transmission shaft 312 to prevent axial sliding of the base frame 31. The base frame 31, stepper motor 37, LYCA plum blossom coupling 31, and stepped transmission shaft 312 of the bionic grasping mechanism 1 and the wrist flipping mechanism 3 constitute a wrist lifting mechanism. The base frame 31 and the stepped transmission shaft 312 are fixed together by the flange locking nut 32 and the sleeve 36. As a whole, the stepped transmission shaft 312 rotates to drive the cross lining 314 and the sleeve 36 to rotate, and the bionic grasping mechanism 1 is located inside the base frame 31. When the bionic fingers 11 of the bionic grasping mechanism 1 clamp the tea buds 10-15mm below the connection point of one bud and two leaves, the stepper motor 37 receives the signal, and the motor rotates to drive the stepped transmission shaft 312 to drive the base frame to rotate 90 degrees through the guide flat key 313, and the bionic grasping mechanism is controlled to rotate as well, completing the picking of tea leaves, and the motion trajectory is in an arc shape.

[0030] The initial state of the arm telescopic mechanism is as follows Figure 4As shown, the arm telescopic mechanism includes a moving plate 21, a long head bolt 22, a brushless servo 23, a servo support frame 24, a ball guide rail 25, a spring latch 26, a movable crank 27, a hinge pin 28, a straight groove connecting rod 29, a cylindrical guide rod 211, a boss fixing block 212, an arc-shaped moving sheet 213, a compression spring 214, and a cylindrical guide rod ball slider 215. The ball slider 214, ball rail 25 and servo support frame 24 are all fixed on the base frame 31 of the wrist flip mechanism; the bottom of the movable plate 21 is fixed to the four ball sliders 214 by screws, and the two become a whole; the ball slider 214 is installed on the ball rail 25, and the ball slider 214 slides back and forth on the ball rail 25, converting the sliding friction into rolling friction and reducing wear; the brushless servo 23 is fixed to the servo support frame 24 by the long head bolt 22; the movable crank 26 is hinged to the servo's built-in rocker arm and can rotate freely along the hinge pin 27, and the second positioning hole of the rocker arm is connected to the hinge pin 27; the straight groove connecting rod 28 is hinged to the cylindrical guide rod 213 by the hinge pin 27, and has a positioning center hole at the right end, which is hinged to the movable crank; the cylindrical guide rod 213 is cut with a shoulder and has a center at the right end Hole, the right end is hinged with the straight groove connecting rod 28 through the hinge pin 27, the middle part and the compression spring 212, the arc moving piece 211 coaxially cooperate, the arc moving piece 211 is located on the right side of the compression spring 212; there is a door-shaped groove at the bottom of the arc moving piece 211, the groove at the bottom of the arc moving piece 211 cooperates with the tenon of the boss fixing block 29, and moves left and right along the tenon; in the initial state, the movable crank is at the rightmost end, at this time, the arc moving piece 211 is located at the rightmost end of the tenon of the boss fixing block 29 The spring tenon 26 is in a relaxed state, firmly supporting the movable crank, so that the compression spring 214 remains in a compressed state, and the elastic potential energy is maximum. When the hinge pin on the rocker arm of the servo engine pushes the movable crank to continue to rotate, the movable crank 27 squeezes the spring tenon 26 for compression. After the movable crank 27 passes over the spring tenon 26, as shown Figure 5 As shown, the compression spring is relaxed, and the elastic potential energy of the spring is converted into the kinetic energy of the cylindrical guide rod 211, driving the movable plate 21 back to the leftmost end, controlling the forward movement of the arm, realizing the fast return movement of the arm, and converting the rotational motion of the brushless servo 23 into the linear motion of the movable plate 21, realizing the free extension and retraction function of the arm.

[0031] The initial state of the bionic grasping mechanism is as follows Figure 6As shown, the bionic grasping mechanism includes a bionic finger 11, an L-shaped block 12, a T-shaped slider 13, a square slot 14, a digital servo 15, a main connecting rod 16, a secondary connecting rod 17, a servo rotating shaft 18, a nut 19, a hexagonal head semi-threaded bolt 111, and a bolt 112. The digital servo 15 of the bionic grasping mechanism 1 is fixed on the moving plate 21 of the arm telescopic mechanism; the bionic finger 11 is fixedly connected to the L-shaped block 12 and the T-shaped slider 13 as a whole by bolts 112. The bionic finger force-bearing surface has grooves and pattern protrusions to simulate the fingerprints of human fingers to prevent the tea leaves from sliding when clamping the tender buds; the convex tenon of the T-shaped slider cooperates with the groove of the square groove 14, slides left and right in the groove of the square groove 14, and then the bionic finger 11 moves along the groove of the square groove 14; the digital servo 15 is concentrically matched with the center hole of the square groove 14 itself, and the servo rotating shaft 18 is coaxially connected with the rocker arm and the main connecting rod of the servo, and is fixed by a nut 19 to limit the axial movement of the main connecting rod 16; the two circular notches of the auxiliary connecting rod 17 are respectively hinged to the main connecting rod 16 and the L-shaped block 12 by hexagonal semi-threaded bolts 111, and the bionic finger grasping mechanism works like Figure 7 As shown, the servo rotating shaft 18 of the digital servo rotates to drive the connecting rod to rotate, and the secondary connecting rod 17 drives the bionic finger to slide along the T-shaped groove in the square groove 14 toward the center, thereby controlling the bionic finger 11 of the bionic grasping mechanism 1 to clamp the tea buds. When the bionic grasping mechanism clamps the tea buds, the actual action point of the tea buds is as shown in FIG. Figure 8 As shown in the figure, the force on the tea buds during the clamping process is as follows: Fig. 9 As shown, the distance between the rotation center point O of the stepper motor 37 and the center point A of the steering gear rotation shaft 18 of the bionic grasping mechanism 1 is R1, and the distance between the actual point of application of the clamping force and the rotation center of the stepper motor 37 is R2. When the bionic finger 11 of the bionic grasping mechanism 1 clamps the tea bud 10-15mm below the connection point of the two leaves, the tea bud is tilted to the right by 5-10 degrees due to the inclination of the side surface of the bionic finger 11, and the clamping force F is applied in a direction perpendicular to the inclination side direction of the bionic finger 11. The component Fx of the clamping force F in the X-axis direction provides the tea clamping force in the horizontal direction, and the component Fy of the clamping force F in the Y-axis direction provides the tea lifting force in the vertical direction. The clamping force F acts with a torque of d. After the bionic fingers clamp the tea buds, the stepper motor 37 receives a signal, and the motor rotates to drive the base frame to rotate 90 degrees, that is, the bionic grasping mechanism 1 is also controlled to flip 90 degrees. Under the joint action of the clamping force F and the lever arm d, the tea buds are picked to realize the tea lifting action. The movement trajectory of the picked tea buds is an arc.

[0032] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A picking mechanism for high-quality tea using an end effector based on a handle, characterized in that: The bionic grasping mechanism (1), an arm telescopic mechanism (2), and a wrist flipping mechanism (3); the bionic grasping mechanism (1) is fixedly connected to the arm telescopic mechanism (2) via a moving plate (21) and a ball slider (212); the arm telescopic mechanism (2) and the wrist flipping mechanism (3) are connected and fastened via a base frame (31).

2. The picking mechanism of the end effector of the famous and high-quality tea based on handle picking according to claim 1 is characterized by: The bionic grasping mechanism (1) comprises a bionic finger (11), an L-shaped block (12), a T-shaped slider (13), a square slot (14), a digital servo (15), a main connecting rod (16), a secondary connecting rod (17), a servo rotating shaft (18), a nut (19), a hexagonal head semi-threaded bolt (111), and a bolt (112); the bionic finger is shaped like an index finger of a human finger, has a central threaded hole at the bottom, the fingertip surface of the bionic finger is inclined 5-10 degrees to the horizontal plane, has a rectangular protrusion on the surface, and simulates a human fingerprint; the bionic finger (11) The L-shaped block (12) is fixed by the bolt (112); the L-shaped block (12) is connected and fixed to the T-shaped slider (13) by the bolt (112); the outer tenon of the T-shaped slider (13) slides back and forth in the T-shaped groove inside the square groove (14), and then the bionic finger (11) moves back and forth along the groove of the square groove (14) to achieve an opening and closing action; the digital steering gear (15) is concentrically matched with the square groove (14), and the rotation center of the steering gear and the center hole of the square groove are concentrically matched; the structural characteristics of the square groove (14) are as follows: The steering gear is square, with a T-shaped groove on the side, and a center hole in the middle of the square groove (14) passes through the circular hole at the centroid position; the steering gear is concentrically matched with the square groove, and the side of the steering gear and the back of the square groove are tightly fitted; the two end surfaces of the steering gear rotating shaft (18) are provided with keyways, and the left end cylindrical surface is cut with a threaded hole, the steering gear rotating shaft (18) is connected to the steering gear rocker arm through a rectangular flat key in the circumferential direction, and the two form a whole when rotating, and are connected and positioned in the axial direction through a nut and a locking washer, the steering gear rocker arm has an involute spline keyway inside, and the metal gear outside the steering gear and the involute spline keyway of the steering gear rocker arm are connected to the steering gear rocker arm through a rectangular flat keyway. The linear spline is matched and connected by positioning the tooth surface, so that the steering gear rocker arm rotates to drive the steering gear rotating shaft (18) to rotate synchronously; the main connecting rod (16) is characterized by double arms, central symmetry, and a keyway in the center; the steering gear rotating shaft (18) and the main connecting rod (16) are coaxially installed, and are hinged and fixed by the internal thread of the nut (19); threads are processed on the steering gear rotating shaft (18), and the threaded connection method adopts a spring gasket to prevent loosening; the auxiliary connecting rod (17) is hinged and matched with the main connecting rod (16) through the hexagonal head semi-threaded bolt (111);The left end of the hexagonal semi-threaded bolt (111) is a smooth axial surface, and the right end surface is a thread. The right end surface thread is fixedly connected to the threaded hole of the main connecting rod, while the left end smooth axial surface is hinged to the secondary connecting rod, and a gasket is used to prevent it from moving. The structural features of the secondary connecting rod (17) are: straight slot shape, left-right symmetry, and a central threaded hole is respectively provided at the center of both ends. The secondary connecting rod (17) and the threaded hole inside the T-shaped slider (13) are hingedly matched through the hexagonal semi-threaded bolt (111). The right end threaded surface is fixedly connected to the threaded hole of the T-shaped slider (13), while the left end smooth axial surface is hinged to the secondary connecting rod, that is, the secondary connecting rod rotates around the center hole of the T-shaped slider (13). The digital servo (15), the main connecting rod (16), the secondary connecting rod (17), and the T-shaped slider (13) are assembled. Two sets of positive and negative stroke crank slider mechanisms are formed, the main connecting rod (16) is centrally symmetrical, and the center holes at both ends are respectively connected to a secondary connecting rod (17). The digital steering gear (15) rotates to drive the main connecting rod (16) to perform rotational motion. The main connecting rod (16) and the secondary connecting rod (17) are hinged. The main connecting rod (16) rotates to drive the two secondary connecting rods (17) to swing toward each other. The secondary connecting rod (17) and the T-shaped slider are hinged. The swing of the secondary connecting rod (17) drives the T-shaped slider (13) to slide back and forth along the T-shaped groove inside the square groove (14), thereby driving the two bionic fingers fixedly connected to the T-shaped slider to perform reciprocating motion, and finally converting the rotational motion of the digital steering gear (15) into the linear motion of the bionic finger (11), thereby controlling the clamping or loosening state of the bionic finger. ; 3. The picking mechanism of the end effector of the famous and high-quality tea based on handle picking according to claim 1 is characterized by: The arm telescopic mechanism (2) comprises a moving plate (21), a long head bolt (22), a brushless steering gear (23), a steering gear support frame (24), a ball guide rail (25), a spring latch (26), a movable crank (27), a hinge pin (28), a straight groove connecting rod (29), a cylindrical guide rod (211), a boss fixing block (212), an arc-shaped moving sheet (213), a compression spring (214), and a cylindrical guide rod ball slider (215); the bottom of the moving plate (21) is fixedly connected to four of the ball sliders (215) by screws; the ball sliders (215) and the cylindrical surfaces of the ball guide rails (25) cooperate with each other and slide along the ball guide rails (25) to realize the movement of the moving plate (21); the spring latch (26) and the steering gear support frame (24) are fixedly connected by the long head bolt (22); the brushless steering gear (23) and the steering gear support frame (24) are fixedly connected to each other by the long head bolt (22); ) is fixedly connected by the long head bolt (22); the movable crank (27) is hinged with the rocker arm of the steering gear and rotates freely along the hinge pin (28), and the second positioning hole of the rocker arm is connected with the hinge pin (28); the left end of the straight groove connecting rod (29) has a cut notch and is hinged with the cylindrical guide rod (211) through the hinge pin (28), and the right end has a positioning center hole and is hinged with the movable crank (27); the cylindrical guide rod (21 1) a shaft shoulder is cut, a center hole is provided at the right end, the right end is hinged to the straight groove connecting rod (29) through a hinge pin (28), the middle part is coaxially matched with the compression spring (214) and the arc-shaped moving piece (213), and the arc-shaped moving piece (213) is located on the right side of the compression spring (214); a door-shaped groove is provided at the bottom of the arc-shaped moving piece (213), and the groove at the bottom of the arc-shaped moving piece (213) is matched with the tenon of the boss fixing block (212), and the arc-shaped moving piece (213) moves left and right along the tenon;The movable plate (21), the brushless steering gear (23), the spring latch (26), the movable crank (27), the straight groove connecting rod (29), the cylindrical guide rod (211), the boss fixing block (212), the arc-shaped movable sheet (213) and the compression spring (214) form a fast return crank guide rod mechanism. When the brushless steering gear (23) rotates, the hinge pin (28) on the rocker arm pushes the movable crank (27) to rotate. The straight groove connecting rod (29) connected to the movable crank (27) drives the cylindrical guide rod (211) to slide left and right along the center hole of the arc-shaped movable sheet (213) to control the left and right extension of the movable plate. The movable plate (21) moves to the right, driving the compression spring (214) and the arc-shaped movable sheet (2 13) Sliding along the tenon of the boss fixing block (212), the arc-shaped moving piece (213) reaches the right end of the tenon of the boss fixing block (212), the moving plate (21) squeezes the compression spring (214), the compression spring (214) starts to compress, the elastic potential energy is maximum, the movable crank (27) reaches the rightmost end, the spring of the spring tenon (26) is in a relaxed state, the movable crank (27) continues to rotate, squeezing the spring tenon (26), exceeding the spring limit, the movable crank (27) drives the cylindrical guide rod (211) to move rapidly to the left, the compression spring (214) returns to the starting position, the spring elastic potential energy drives the moving plate (21) back to the starting position, and the fast return motion of the arm telescopic mechanism is realized. ; 4. The picking mechanism of the end effector of the famous and high-quality tea based on handle picking according to claim 1 is characterized by: The wrist flip mechanism (3) comprises a base frame (31), a flange locking nut (32), a screw (33), a support baffle (34), a tapered roller bearing (35), a sleeve (36), a stepping motor (37), a body shell (38), a fixed support frame (39), a LYCA plum blossom coupling (311), a stepped transmission shaft (312), a guide flat key (313), and a cross liner (314); the fixed baffle (34) cooperates with a groove of the fixed support frame (39) and is fixedly connected by bolts, and the right fixed baffle (34) and the body shell (38) are fixedly connected by bolts; the stepping motor (37) and the body shell (38) are fixedly connected by bolts; the stepping motor (37) and the LYCA plum blossom coupling (311) are connected by keys, and the LYCA plum blossom coupling (311) and the stepped transmission shaft (31 2) through key connection, the stepper motor (37) drives the stepped transmission shaft (312) to rotate through the LYCA plum blossom coupling (311); the shaft sleeve (36) is coaxially matched with the support baffle (34), and the right end face of the shaft sleeve (36) coincides with the support baffle (34), and the left end face of the shaft sleeve (36) and the base frame (31) are fixedly connected through the screw (33); the external tenon of the cross liner (314) is fixed in the internal groove of the shaft sleeve (36), and the two are connected as a whole; the guide flat key (313) is installed in the keyway of the stepped transmission shaft (312) and is tightly matched with the internal notch of the cross liner (314), and the stepper motor (37) drives the shaft sleeve (36) to rotate through the guide flat key (313), thereby driving the base frame (31) to rotate.

5. The picking mechanism of the end effector of the famous and high-quality tea based on handle picking according to claim 1 is characterized by: The base frame (31) of the bionic grasping mechanism (1) and the wrist flipping mechanism (3), the stepping motor (37), the LYCA plum blossom coupling (311), and the stepped transmission shaft (312) form a wrist lifting mechanism. The base frame (31) and the stepped transmission shaft (312) form a whole through the flange locking nut (32) and the shaft sleeve (36). The stepped transmission shaft (312) rotates to drive the cross liner (314) and the shaft sleeve (36) to rotate. The stepping motor ( The distance between the rotation center O of the bionic grasping mechanism (37) and the rotation axis center A of the steering gear of the bionic grasping mechanism (1) is R1, and the bionic grasping mechanism (1) is located inside the base frame (31); the force direction of the bionic finger (11) is parallel to the initial state plane of the wrist flipping mechanism, when the bionic finger (11) of the bionic grasping mechanism (1) clamps the tea bud 10-15mm below the connection point of the two leaves, due to the inclination of the side surface of the bionic finger (11), the tea bud is driven to tilt to the right by 5-10 degrees The distance between the actual point of application of the clamping force and the rotation center of the stepper motor (37) is R2, the clamping force F is perpendicular to the inclined side direction of the bionic finger (11), the component Fx of the clamping force F in the X-axis direction provides a horizontal tea clamping force and a horizontal shear force during high-speed rotation, the component Fy of the clamping force F in the Y-axis direction provides a vertical tea lifting force, and the force arm of the clamping force F is d; the stepper motor (37) receives a signal, and the motor rotates to drive the stepped transmission shaft (312) through the guide flat key (3 13) drives the base frame (31) to rotate 90 degrees. During the rotation, the bionic finger (11) simultaneously decomposes the horizontal shear force and the vertical lifting force under the action of the clamping force to realize the rapid picking of the tea buds, thus realizing the tea picking action. After the picking is completed, the bionic gripping mechanism (1) controls the bionic finger (11) to open. Under the action of inertia, the tea buds fall into the recycling box, thus completing the overall process of tea picking. The rotation radius is a concentric rotation, and the movement trajectory of the tea buds after picking is an arc shape with a radius of R2.

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