A kind of high-quality tea end effector picking mechanism based on handle sampling

Abstract

This invention discloses a hand-operated end effector for picking high-quality tea leaves, comprising a bionic gripping mechanism, an arm telescopic mechanism, and a wrist flipping mechanism. The square slot and servo motor in the bionic gripping mechanism are both installed in a moving plate. The servo motor drives a slider via a connecting rod, thereby controlling the gripping or opening of the tea leaves by the bionic fingers. The moving plate of the arm telescopic mechanism is fixed to the base frame via a ball bearing slider and guide rail. The movement of the moving plate is transmitted to the bionic gripping mechanism via the ball bearing slider to control the extension and retraction of the arm. The base frame and sleeve of the wrist flipping mechanism are connected by a nut and are coaxially coupled with a motor. The rotation of the motor causes the base frame to flip. This invention realistically simulates the picking action of a manual hand-operated ...

Description

Technical Field

[0001] This invention relates to the field of high-quality tea picking technology, specifically a high-quality tea picking mechanism based on a handle-type end effector. Background Technology

[0002] The harvesting of premium teas is distinctly seasonal and adheres to strict standards. Typically, only one bud and two leaves, or the terminal bud, are picked, and the tea leaves must be intact and tender. Existing tea-harvesting machinery generally uses a "one-cut" method, failing to distinguish between old leaves and tender buds, resulting in damaged tea leaves and compromised quality, making it unsuitable for premium tea production. Currently, the harvesting of premium teas relies primarily on manual labor, with labor costs accounting for over 60% of the total tea production cost. Manual harvesting has limited speed and is affected by external factors such as weather and terrain, resulting in high labor intensity and costs. The labor shortage in the harvesting of premium teas is becoming increasingly prominent. Currently, most of the machinery used in the market is for harvesting bulk tea, with very few specifically for premium teas. There is still no mature, high-performance premium tea harvesting machine. Furthermore, almost all the premium tea harvesting machinery currently in use adopts a "shearing" harvesting method. Existing technologies have limitations in addressing the problems of low harvesting efficiency and poor harvesting quality. For example, patent 2023115987570 discloses a feedback-type premium tea harvesting device based on synchronous belt transmission. This method uses a synchronous belt to bring the tea leaves into a conveyor, and then a servo motor controls the blades to converge and cut the tea leaves, achieving rapid harvesting. However, it still has the following shortcomings: using the shearing principle, shearing harvesting is prone to mechanical damage to the tea leaves. The cut surface of the tea leaves is susceptible to fungal infection, affecting the regrowth of the tea tree. Moreover, the shearing process may cause the tea leaves to break, especially if the operation is improper, which may damage the tea leaves or tear their edges, affecting the quality of the tea.

[0003] To address the above challenges, through meticulous observation of the manual harvesting process and the accumulation of extensive experimental data, a high-quality tea harvesting mechanism has been developed that realistically simulates manual "hand-picking." This invention can be integrated into serial or parallel robotic arms for harvesting various high-quality teas, improving the adaptability of high-quality tea harvesting. Employing the hand-picking principle, it simulates manual harvesting, precisely picking the tender buds of individual high-quality tea plants, thus reducing damage to the buds. While meeting the standards for high-quality tea harvesting, it reduces the intensity of manual labor, improves the continuity and efficiency of harvesting, significantly reducing the need for human resources and ensuring the standardization and efficiency of harvesting actions, providing an innovative method for tea harvesting. Summary of the Invention

[0004] The purpose of this invention is to provide a novel tea-picking mechanism that features precise picking and non-damaging picking, thereby solving the problems of poor selectivity and low tea quality in existing mechanical picking methods mentioned in the above-mentioned technical background.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The present invention discloses a picking mechanism for premium tea based on a handle, comprising an arm telescopic mechanism, a bionic gripping mechanism, and a wrist flipping mechanism.

[0007] Furthermore, the arm telescopic mechanism includes a movable plate, a long-headed bolt, a brushless servo motor, a servo motor support frame, a ball bearing slide rail, a movable crank, a hinge pin, a straight groove connecting rod, a boss fixing block, an arc-shaped movable plate, a compression spring, a cylindrical guide rod, and a ball bearing slide rail; the bottom of the movable plate is fixedly connected to four ball bearing sliders by screws; the centers of the cylindrical surfaces of the ball bearing sliders and the ball bearing slide rails mate, allowing the movable plate to slide left and right along the ball bearing slide rails, thus moving the movable plate; the spring latch is fixedly connected to the servo motor support frame by the long-headed bolt; the brushless servo motor is fixedly connected to the servo motor support frame by the long-headed bolt; the movable crank and the servo motor... The rocker arm has a built-in hinge and rotates freely along the hinge pin. 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 groove and is hinged to the cylindrical guide rod through the hinge pin. The right end has a positioning center hole and is hinged to the movable crank. The cylindrical guide rod has a cut shoulder and a center hole at its right end. The right end is hinged to the straight groove connecting rod through the hinge pin. The middle part is coaxially engaged with the compression spring and the arc-shaped moving plate. The arc-shaped moving plate is located to the right of the compression spring. The bottom of the arc-shaped moving plate has a door-shaped groove. The bottom groove of the arc-shaped moving plate engages 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 motor, a main connecting rod, a secondary connecting rod, a servo motor rotation shaft, a nut, a hexagonal head semi-threaded bolt, and a bolt. The bionic finger is shaped like the human index finger, with a central threaded hole at the bottom. The fingertip surface of the bionic finger is inclined at 5-10 degrees to the horizontal plane, and has rectangular protrusions on the surface to simulate human fingerprints. The bionic finger is fixed to the L-shaped block by the bolt; the L-shaped block is connected and 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 slot, thus mimicking the movement of a bionic finger along the groove of the square slot to achieve the opening and closing action; the digital servo motor is concentrically fitted with the square slot, and the rotation center of the servo motor and the center hole of the square slot are concentrically fitted; the side of the digital servo motor and the back of the square slot are tightly fitted; the two ends of the servo motor rotation shaft have keyways, and the cylindrical surface of the left end has a threaded hole. The servo motor rotation shaft and the rocker arm of the servo motor are connected circumferentially by a rectangular flat key, forming a [missing information - likely a specific action or feature] when they rotate. The servo motor is a single unit, axially positioned via a nut bracket and retaining washer. The servo arm has an involute spline keyway inside. The external metal gears of the servo motor and the involute spline of the servo arm are connected through tooth surface positioning, enabling the servo arm's rotation to synchronously drive the servo motor's rotating shaft. The servo motor's rotating shaft is coaxially mounted with the main connecting rod, using a hinged connection and secured by an internal threaded nut. The servo motor's rotating shaft has threads machined on it, and the threaded connection uses spring washers for anti-loosening. The secondary connecting rod is hinged to the main connecting rod via hexagonal head semi-threaded bolts. The left end of the hexagonal head semi-threaded bolt is a smooth shaft surface, and the right end is threaded. The right end thread is fixedly connected to the threaded hole of the main connecting rod, while the left end smooth shaft surface is hinged to the secondary connecting rod and a washer is used to prevent it from moving. The secondary connecting rod and the threaded hole inside the T-shaped slider are hinged together by the hexagonal head semi-threaded bolt. The right end threaded surface is fixedly connected to the threaded hole of the T-shaped slider, while the left end smooth shaft surface is hinged to the secondary connecting rod. That is, the secondary connecting rod rotates around the central hole of the T-shaped slider. 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-flipping mechanism includes a base frame, a flange locking nut, a stepped driven shaft, a bushing, a cross-shaped inner liner, a guide key, screws, an LYCA plum blossom coupling, a support baffle, a fixed support frame, a stepper motor, and a machine housing. The support baffle is installed in the groove of the fixed support frame and fixed by bolts. The bushing is concentrically fitted with the support baffle, with the bottom surface of the bushing and the right side of the support baffle overlapping. The external tenon of the cross-shaped inner liner is fitted with the internal groove of the bushing. The stepper motor is installed inside the motor guard, and the coupling connects the motor output shaft and the stepped driven shaft, coaxially fitted. The guide key is installed on the keyway of the driven shaft and tightly fitted with the internal groove of the cross-shaped inner liner. The base frame and the bushing are fixedly connected by screws, and the flange locking nut is threaded to the stepped drive shaft to prevent axial movement of the stepped driven shaft.

[0010] Compared with existing tea-picking machinery, the beneficial effects of this invention's end-effector picking mechanism for premium teas based on a handle are:

[0011] (1) The bionic grasping mechanism of this invention uses the precise control of a digital servo motor, and the combination of the digital servo motor, main connecting rod, secondary connecting rod and T-shaped slider to realize the precise conversion of the rotational motion of the servo motor into the linear motion of the bionic finger. This enables precise control of the opening and closing state of the bionic finger, ensuring stability and accuracy during the picking process. The clamping motion has significant advantages such as stability and reliability, reduced energy consumption and wide applicability. The entire mechanism adopts a compact design, and the components are fixed together by bolts, nuts and other connecting parts. The structure is stable and easy to assemble and maintain. The bionic finger, through the cooperation of the T-shaped slider and the square groove, can move back and forth along a specific trajectory to achieve a picking action similar to that of a human hand, which improves the flexibility of picking, makes the specific movement smoother, and reduces friction and wear. The anti-loosening design uses spring washers at the threaded connection to prevent loosening, ensuring the stability and reliability of the mechanism during long-term operation and reducing failures caused by loose threads.

[0012] (2) The shape of the bionic finger of this invention is modeled after the human index finger. The fingertip surface is tilted at 5-10 degrees and has patterned protrusions on the surface of the finger to simulate human fingerprints. This design makes the grasping action more natural and precise, prevents the tea buds from slipping when holding 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, which is lightweight and has excellent impact resistance. It can withstand the mechanical impact 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 telescopic mechanism of the present invention utilizes a moving plate, a spring latch, a movable crank, a straight groove connecting rod, a cylindrical guide rod, and a compression spring to form a fast return crank-guide rod mechanism. The moving plate squeezes the compression spring, and the compression spring begins to compress, reaching its maximum elastic potential energy. When the movable crank reaches the rightmost end, the spring in the spring latch is in a relaxed state. The movable crank continues to rotate, squeezing the spring latch beyond the spring limit. The movable crank then drives the cylindrical guide rod to move rapidly to the left, realizing the fast return motion of the arm telescopic mechanism. During the arm extension process, the rapid release of the spring can accelerate the arm telescopic mechanism, making the return motion faster, 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, reducing vibration and noise, thereby protecting the internal components of the mechanism and extending the service life of the equipment. The design of this 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 flipping mechanism of this invention, through the precise control of the stepper motor, can achieve precise angle flipping, adapting 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 transmission stability and ensures the smoothness of the wrist flipping mechanism during high-speed operation. Through the combination design of support baffle and fixed support frame, the wrist flipping mechanism can effectively absorb and buffer vibration during operation, reducing damage to tea leaves; the design of the wrist flipping mechanism allows for simple bolt fixing and connection, facilitating quick adjustment and replacement of parts, 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, meeting the high efficiency and energy-saving requirements of modern agricultural equipment.

[0015] (5) This invention realistically simulates the picking action of manual "hand picking". It adopts a mechanical control method. Through the cooperation of the bionic gripping mechanism and the wrist flipping mechanism, while flipping at high speed, the component Fx of the bionic finger in the X-axis direction provides the horizontal tea clamping force (picking force) and the component Fy of the clamping force in the Y-axis direction provides the vertical tea lifting force (lifting force). Under the combined action of the clamping force F and the force arm d, the tea picking action is completed. It has the significant advantages of being able to accurately pick the tender buds of famous and high-quality tea, meeting the picking standards of famous and high-quality tea, with small clamping force, gentle action, and less damage to the tender tea shoots. After picking, it is conducive to the continuous healthy growth of tea trees and greatly improves the overall picking quality of famous and high-quality tea.

[0016] (6) The components of the end effector for picking premium tea based on the handle of this invention (such as the bionic gripping mechanism, wrist flipping mechanism, and arm telescopic mechanism) adopt a modular design, which can be used in conjunction with structures such as Delta parallel robotic arms. It has high scalability and can add or adjust functional modules according to needs to adapt to more agricultural operation scenarios. The modular integrated design makes the overall structure compact and easy to assemble and maintain, reducing the maintenance cost of the equipment. Each component uses high-strength materials (such as polycarbonate, tapered roller bearings, etc.), which further improves the durability of the equipment. The fixed connection by standard parts such as bolts and screws ensures the stability of the mechanism and extends the service life of the equipment. The power source adopts digital servo motors and stepper motors, using clean energy, which is energy-saving and environmentally friendly. Through efficient energy utilization and low energy consumption design, the dependence on energy is reduced, which meets the energy-saving and environmental protection requirements of modern agricultural equipment. Attached Figure Description

[0017] Figure 1 This is a flowchart of a high-quality tea picking end effector based on a handle for picking tea leaves according to the present invention;

[0018] Figure 2 This is a three-dimensional structural view of the present invention;

[0019] Figure 3 This is a three-dimensional structural view of the wrist flipping mechanism in this invention;

[0020] Figure 4 This is a three-dimensional structural view of the arm telescopic mechanism in the compressed state of the present invention;

[0021] Figure 5 This is a three-dimensional view of the arm telescopic mechanism in the relaxed state of this invention;

[0022] Figure 6 This is a three-dimensional structural view of the biomimetic grasping mechanism in the open and relaxed state of the present invention;

[0023] Figure 7 This is a three-dimensional structural view of the closed clamping state of the biomimetic grasping mechanism in this invention;

[0024] Figure 8 This is a diagram showing the actual force points when the bionic gripping mechanism of this invention clamps the tender tea buds.

[0025] Figure 9 This is a force diagram of the tea buds in the clamping state of the biomimetic gripping mechanism in this invention;

[0026] In the diagram: 1. Bionic grasping mechanism; 2. Arm telescopic 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 rotation axis; 19. Nut; 111. Hexagonal head semi-threaded bolt; 112. Bolt; 21. Moving plate; 22. Long head bolt; 23. Brushless servo; 24. Servo support frame; 25. Ball bearing slide; 26. Movable crank; 27. Hinge pin 28. Straight groove connecting rod; 29. ​​Boss fixing block; 211. Arc-shaped moving plate; 212. Compression spring; 213. Cylindrical guide rod; 214. Ball slide 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 drive shaft; 313. Guide key; 314. Cross inner liner. Detailed Implementation

[0027] To help those skilled in the art better understand and implement this invention, the specific implementation steps of this invention will be described in detail below.

[0028] The workflow of the end effector for picking premium tea is as follows: Figure 1 As shown, the "hand-picking" principle is adopted. When the human eye observes the target to be picked, the arm extension 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 extension mechanism returns to the original position, thus successfully picking the tea leaves.

[0029] like Figure 3As shown, the wrist flipping 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 bushing 36, a stepper motor 37, a housing 38, a fixed support frame 39, an LYCA plum blossom coupling 311, a stepped transmission shaft 312, a guide key 313, and a cross-shaped inner liner 314. Two symmetrically arranged support baffles 34 are fixed on the fixed support frame 39. The right support baffle is connected and fixed to the housing 38, forming the overall frame of the wrist flipping mechanism, facilitating the subsequent installation of parts such as the LYCA plum blossom coupling 311 and the bushing 36. The stepper motor 37 is installed in a groove inside the housing 38 to prevent motor slippage. The LYCA plum blossom coupling 311 connects the stepper motor output shaft and the stepped transmission shaft 311, compensating for axial, radial, and angular displacements between the two shafts, ensuring that the two shafts are aligned even in misalignment situations. The bearing can still transmit torque normally; the outer tenon of the cross-shaped inner liner 314 is fixed inside the groove of the bushing 36, forming a whole; the guide key 313 is installed in the keyway of the stepped drive shaft 311 and is tightly connected to the groove inside the cross-shaped inner liner 314 to prevent the bushing 36 from moving axially on the shaft, thereby playing a role in axial positioning and effectively transmitting the motor torque to the bushing 36; the bushing 36 and the support baffle 34 are concentrically fitted by the tapered roller bearing 35, and the right end of the bushing 36 coincides with the small end face of the stepped shaft. To prevent axial movement of the stepped drive shaft 312, the left end of the bushing 36 is fixed to the base frame 31 by screws 33; the flange locking nut 32 is tightened through the threaded engagement of the stepped drive 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 drive shaft 312 of the bionic gripping mechanism 1 and wrist flipping mechanism 3 constitute the wrist lifting mechanism. The base frame 31 and the stepped drive shaft 312 are connected by the flange locking nut 32 and the bushing 36. As a whole, the stepped transmission shaft 312 rotates, driving the cross inner liner 314 and the bushing 36 to rotate. The bionic gripping mechanism 1 is located inside the base frame 31. When the bionic fingers 11 of the bionic gripping mechanism 1 clamp the tea bud 10-15mm below the connection point of one bud and two leaves, the stepper motor 37 receives a signal and rotates to drive the stepped transmission shaft 312 to rotate the base frame 90 degrees through the guide key 313. The bionic gripping mechanism also rotates accordingly, completing the picking of tea leaves. The movement trajectory is an arc.

[0030] The initial state of the arm telescopic mechanism is as follows Figure 4As shown, the telescopic arm mechanism includes a movable plate 21, a long-headed bolt 22, a brushless servo motor 23, a servo motor support frame 24, a ball bearing slide 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 movable piece 213, a compression spring 214, and a cylindrical guide rod ball bearing slider 215. The ball slider 214, ball slide rail 25, and servo support frame 24 are all fixed on the base frame 31 of the wrist flipping mechanism. The bottom of the moving plate 21 is fixed to the four ball sliders 214 with screws, making them a single unit. The ball sliders 214 are mounted on the ball slide rail 25 and slide back and forth on the ball slide rail 25, changing sliding friction into rolling friction and reducing wear. The brushless servo 23 is fixed to the servo support frame 24 with long head bolts 22. The movable crank 26 and the servo's built-in rocker arm are hinged and rotate freely along the hinge pin 27. 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 through the hinge pin 27. The right end has a positioning center hole and is hinged to the movable crank. The cylindrical guide rod 213 has a shoulder cut and a center hole on the right end. The hole, at its right end, is hinged to the straight groove connecting rod 28 via a hinge pin 27. The middle part is coaxially fitted with the compression spring 212 and the arc-shaped moving plate 211, with the arc-shaped moving plate 211 located to the right of the compression spring 212. The bottom of the arc-shaped moving plate 211 has a door-shaped groove, which engages with the tenon of the boss fixing block 29, allowing it to move left and right along the tenon. In the initial state, the movable crank is at its rightmost end. At this time, the arc-shaped moving plate 211 is located at the rightmost end of the tenon of the boss fixing block 29, and the spring latch 26 is in a relaxed state, firmly pressing against the movable crank, keeping the compression spring 214 compressed and maximizing its elastic potential energy. When the hinge pin on the servo's built-in rocker arm pushes the movable crank to continue rotating, the movable crank 27 compresses the spring latch 26. After the movable crank 27 passes the spring latch 26, as... Figure 5 As shown, when the compressed spring is released, the elastic potential energy of the spring is converted into the kinetic energy of the cylindrical guide rod 211, which drives the moving plate 21 back to the leftmost end, controls the forward movement of the arm, realizes the fast return movement of the arm, and transforms the rotational motion of the brushless servo motor 23 into the linear motion of the moving plate 21, thus 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 groove 14, a digital servo motor 15, a main connecting rod 16, a secondary connecting rod 17, a servo motor rotation shaft 18, a nut 19, a hexagonal head semi-threaded bolt 111, and a bolt 112. The digital servo motor 15 of the bionic grasping mechanism 1 is fixed to 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 force-bearing surface of the bionic finger has grooves and patterned protrusions to simulate human fingerprints and prevent the tea leaves from slipping when gripping the tender buds; the protruding tenon of the T-shaped slider cooperates with the groove of the square groove 14 and slides left and right in the groove of the square groove 14, thereby moving the bionic finger 11 along the groove of the square groove 14; the digital servo motor 15 is concentrically engaged with the center hole of the square groove 14, and the servo motor rotation shaft 18 is coaxially engaged with the rocker arm and main connecting rod of the servo motor and fixed by nuts 19 to limit the axial movement of the main connecting rod 16; the two circular slots of the secondary connecting rod 17 are respectively hinged to the main connecting rod 16 and the L-shaped block 12 by hexagonal head semi-threaded bolts 111. When the bionic finger grasping mechanism is working, it is as follows: Figure 7 As shown, the rotation of the servo motor shaft 18 of the digital servo motor drives the connecting rod to rotate. The secondary connecting rod 17 drives the bionic finger to slide towards the center along the T-shaped groove in the square slot 14, thereby controlling the bionic finger 11 of the bionic gripping mechanism 1 to clamp the tea bud. When the bionic gripping mechanism clamps the tea bud, the actual point of action of the tea bud is as follows: Figure 8 As shown, the tea buds are subjected to force during the clamping process. Figure 9 As shown, the distance between the rotation center point O of the stepper motor 37 and the center point A of the servo rotation axis 18 of the bionic gripping 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 gripping mechanism 1 clamps the tea bud 10-15mm below the connection point of the bud and two leaves, the tea bud tilts to the right by 5-10 degrees due to the tilt of the side surface of the bionic finger 11. The direction of the clamping force F is perpendicular to the tilting side direction of the bionic finger 11. The clamping force F in the X-axis direction, Fx, provides the horizontal clamping force for the tea leaves, and the clamping force F in the Y-axis direction, Fy, provides the vertical lifting force for the tea leaves. The torque of the clamping force F is d. After the bionic finger clamps the tea bud, the stepper motor 37 receives the signal and rotates to drive the base frame to rotate 90 degrees, which controls the bionic gripping mechanism 1 to also rotate 90 degrees. Under the combined action of the clamping force F and the lever arm d, the tea bud is picked, realizing the tea picking action. The movement trajectory of the picked tea bud is an arc.

[0032] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the scope of the patent. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A harvesting mechanism for premium tea based on a handle-type end effector, characterized in that: It includes a bionic grasping mechanism (1), an arm telescopic mechanism (2), and a wrist flipping mechanism (3); The arm telescopic mechanism (2) includes a movable plate (21), a long-headed bolt (22), a brushless servo motor (23), a servo motor support frame (24), a ball bearing slide 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 movable piece (213), a compression spring (214), and a ball bearing slider (215). The bottom of the movable plate (21) is fixedly connected to the four ball bearing sliders (215) by screws. The center of the cylindrical surface of the ball bearing slider (215) and the ball bearing slide rail (25) are engaged, and the movable plate (21) slides along the ball bearing slide rail (25) to realize the movement of the movable plate (21). The spring latch (26) is fixedly connected to the servo motor support frame (24) by the long-headed bolt (22). The brushless servo motor (23) is connected to the servo motor support frame (24) by means of the long-headed bolt (22). The long-headed bolt (22) is used for fixed connection; the movable crank (27) and the servo motor's built-in rocker arm are hinged and rotate freely along the hinge pin (28); the second positioning hole of the rocker arm is connected to the hinge pin (28); the left end of the straight groove connecting rod (29) has a cut groove and is hinged to the cylindrical guide rod (211) through the hinge pin (28); the right end has a positioning center hole and is hinged to the movable crank (27); the cylindrical guide rod (211) The shaft has a shoulder and a center hole at the right end. The right end is hinged to the straight groove connecting rod (29) by a hinge pin (28). The middle part is coaxially engaged with the compression spring (214) and the arc-shaped moving plate (213). The arc-shaped moving plate (213) is located to the right of the compression spring (214). The bottom of the arc-shaped moving plate (213) has a door-shaped groove. The bottom groove of the arc-shaped moving plate (213) is engaged with the tenon of the boss fixing block (212) and moves left and right along the tenon.The movable plate (21), the brushless servo (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 piece (213), and the compression spring (214) form a quick-return crank-guide rod mechanism. When the brushless servo (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 piece (213), controlling the left and right extension and retraction of the movable plate. When the movable plate (21) moves to the right, it drives the compression spring (214) and the arc-shaped movable piece (214) to move. 13) Slide along the tenon of the boss fixing block (212), the arc-shaped moving plate (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) begins to compress, the elastic potential energy is at its maximum, the movable crank (27) reaches the rightmost end, the spring of the spring latch (26) is in a relaxed state, the movable crank (27) continues to rotate, squeezing the spring latch (26), exceeding the spring limit, the movable crank (27) drives the cylindrical guide rod (211) to move quickly 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, realizing the fast return motion of the arm telescopic mechanism; The wrist flipping mechanism (3) includes a base frame (31), a flange locking nut (32), a screw (33), two left and right support baffles (34), a tapered roller bearing (35), a bushing (36), a stepper motor (37), a machine body shell (38), a fixed support frame (39), an LYCA plum blossom coupling (311), a stepped transmission shaft (312), a guide key (313), and a cross-shaped inner liner (314). The left support baffle (34) mates with the groove of the fixed support frame (39) and is fixedly connected by bolts. The right support baffle (34) and the machine body shell (38) are fixed by bolts. The stepper motor (37) and the machine body shell (38) are fixedly connected by bolts. The stepper motor (37) and the LYCA plum blossom coupling (311) are connected by a key. The LYCA plum blossom coupling (311) and the stepped transmission shaft (312) are connected by a key. 312) The stepper motor (37) drives the stepped transmission shaft (312) to rotate via the LYCA plum blossom coupling (311) through a key connection; the bushing (36) is coaxially engaged with the left support baffle (34), and the left end face of the bushing (36) coincides with the left support baffle (34). The left end face of the bushing (36) and the base frame (31) are fixedly connected by the screw (33); the external tenon of the cross inner liner (314) is fixed in the groove inside the bushing (36), and the two are connected as a whole; the guide key (313) is installed in the keyway of the stepped transmission shaft (312) and is tightly engaged with the groove inside the cross inner liner (314). The stepper motor (37) drives the bushing (36) to rotate through the guide key (313), thereby driving the base frame (31) to rotate. The bionic grasping mechanism (1) is fixedly connected to the arm telescopic mechanism (2) via a moving plate (21) and a ball slider (215), and the arm telescopic mechanism (2) is connected and fastened to the wrist flipping mechanism (3) via a base frame (31).

2. The picking mechanism for premium tea based on a handle-type end effector according to claim 1, characterized in that: The bionic grasping mechanism (1) includes a bionic finger (11), an L-shaped block (12), a T-shaped slider (13), a square slot (14), a digital servo motor (15), a main connecting rod (16), a secondary connecting rod (17), a servo motor rotation shaft (18), a nut (19), a hexagonal head semi-threaded bolt (111), and a bolt (112). 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 at 5-10 degrees to the horizontal plane, and has rectangular protrusions on the surface to simulate human fingerprints. The L-shaped block (12) is fixed to the T-shaped slider (13) by the bolt (112); the L-shaped block (12) and the T-shaped slider (13) are connected and fixed by the bolt (112); the outer protrusion of the T-shaped slider (13) slides back and forth in the T-shaped groove inside the square groove (14), thereby the bionic finger (11) moves back and forth along the groove of the square groove (14) to realize the opening and closing action; the digital servo motor (15) is concentrically matched with the square groove (14), and the rotation center of the servo motor and the center hole of the square groove are concentrically matched; the structural features of the square groove (14) are as follows: The square groove (14) has a T-shaped groove on its side and a central hole in the middle of the groove, with a through hole at the center of mass. The servo motor is concentrically fitted with the square groove, and the side of the servo motor and the back of the square groove are tightly fitted. The two ends of the servo motor rotating shaft (18) have keyways, and the cylindrical surface at the left end has a threaded hole. The servo motor rotating shaft (18) and the rocker arm of the servo motor are connected circumferentially by a rectangular flat key. When they rotate, they form a whole. The axial direction is connected and positioned by a nut and a retaining washer. The rocker arm of the servo motor has an involute spline keyway inside. The metal gears on the outside of the servo motor and the involute spline of the rocker arm of the servo motor are connected. The linear spline is connected by tooth surface positioning, so that the servo arm rotates and drives the servo rotating shaft (18) to rotate synchronously; the main connecting rod (16) has a double arm structure, is centrally symmetrical, and has a keyway in the center; the servo rotating shaft (18) and the main connecting rod (16) are coaxially installed, using a hinge connection, and are fixed by the internal thread connection of the nut (19). The servo rotating shaft (18) is machined with threads, and the threaded connection method uses spring washers to prevent loosening. The auxiliary connecting rod (17) is hinged to the main connecting rod (16) through the hexagonal head semi-threaded bolt (111);The left end of the hexagonal head semi-threaded bolt (111) is a smooth axial surface, and the right end is threaded. The right end 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 washer is used to prevent it from moving. The secondary connecting rod (17) has the following structural features: straight groove shape, symmetrical left and right, and a central threaded hole at each end. The threaded hole inside the secondary connecting rod (17) and the T-shaped slider (13) is hinged to the hexagonal head 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 central hole of the T-shaped slider (13). The digital servo motor (15), main connecting rod (16), secondary connecting rod (17), and T-shaped slider (13) are assembled. Two sets of forward and reverse stroke crank-slider mechanisms are formed. The main connecting rod (16) is centrally symmetrical, and each end of the central hole is connected to a secondary connecting rod (17). The rotation of the digital servo (15) drives the main connecting rod (16) to rotate. The main connecting rod (16) and the secondary connecting rod (17) are hinged. The rotation of the main connecting rod (16) drives the two secondary connecting rods (17) to swing towards each other. The secondary connecting rod (17) is hinged to the T-shaped slider. 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. Finally, the rotational motion of the digital servo (15) is converted into the linear motion of the bionic fingers (11), controlling the clamping or releasing state of the bionic fingers.

3. The picking mechanism for premium tea based on a handle-type end effector according to claim 2, characterized in that: The bionic gripping mechanism (1) and the wrist flipping mechanism (3) consist of a base frame (31), a stepper motor (37), a LYCA plum blossom coupling (311), and a stepped transmission shaft (312). The base frame (31) and the stepped transmission shaft (312) are integrated via a flange locking nut (32) and a bushing (36). The stepped transmission shaft (312) rotates, driving the cross inner liner (314) and the bushing (36) to rotate. The stepper motor ( The distance between the rotation center O of the bionic gripping mechanism (1) and the center A of the servo rotation axis of the bionic gripping mechanism (1) is R1. The bionic gripping 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 gripping mechanism (1) clamps the tea bud 10-15mm below the connection point of the bud and two leaves, the side surface of the bionic finger (11) is tilted, causing the tea bud 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 tilting side direction of the bionic finger (11). The component Fx of the clamping force F in the X-axis direction provides the horizontal clamping force for the tea leaves and the horizontal shearing force during high-speed rotation. The component Fy of the clamping force F in the Y-axis direction provides the vertical lifting force for the tea leaves. The lever arm of the clamping force F is d. The stepper motor (37) receives a signal and rotates to drive the stepped transmission shaft (312) through the guide key (3). 13) Drive the base frame (31) to rotate 90 degrees. During the rotation, the bionic finger (11) decomposes into horizontal shearing force and vertical lifting force under the action of clamping force to realize the rapid picking of tea buds and realize the tea picking action. After picking, 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, completing the overall process of tea picking. The rotation radius is concentric rotation, and the movement trajectory of the picked tea buds is an arc with a radius of R2.

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