Tendon rope driving type famous high-quality tea picking machine

Abstract

The invention discloses a tendon rope driving type famous high-quality tea picking machine. The tendon rope driving type famous high-quality tea picking machine comprises a picking end effector and a mechanical arm moving mechanism. The picking end effector is composed of a bionic finger bending mechanism, a palm supporting mechanism and a wrist rotating mechanism. The bionic finger bending mechanism realizes far, middle and near joint coupling through a miniature bearing and a movable pin shaft, and is fixedly connected with the bionic palm supporting mechanism through a fixed knuckle; a tension tendon rope of the bionic palm supporting mechanism drives finger joints through a fixed pulley, the wrist rotating mechanism is connected with the bionic palm through a thin-wall bearing and fixed to the movable platform through a dovetail groove and a hexagon bolt, and the picking mechanical arm moving mechanism drives the picking end effector to efficiently and rapidly pick tea tender shoots. According to the design, through multi-degree-of-freedom bionic cooperation, the problems of high damage rate, low adaptability and poor efficiency of a traditional picking machine are solved while the biomechanical characteristics of the tea leaves are kept, and the picking efficiency of famous and high-quality tea is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of high-quality tea plucking machines, in particular to a tendon rope driven high-quality tea plucking machine. Background Art

[0002] The picking of famous and high-quality tea has distinct seasonality and strict quality requirements. Usually, only fresh and tender buds with one bud and one leaf or one bud and two leaves are selected, and the buds and leaves must be intact and undamaged. However, the existing mechanized picking technology still faces major challenges: 1. Insufficient selectivity: The current tea picking machinery generally adopts the "undifferentiated shearing" mode, which cannot accurately identify and distinguish tender buds from old leaves, resulting in uneven tea leaves after picking, affecting the high-end quality of famous and high-quality tea; 2. Serious dependence on manual labor: Since mechanized picking is difficult to meet the standards of famous and high-quality tea, it still mainly relies on manual picking. However, manual picking is not only inefficient (each person can only pick a few kilograms of fresh leaves per day), but also labor costs account for more than 60% of the total cost of tea production. In addition, tea picking is restricted by factors such as weather and terrain, and the labor intensity is high, resulting in an increasingly serious problem of seasonal labor shortages. 3. Limitations of existing machinery: The tea picking machines on the market are currently mainly designed for bulk tea, and there are very few special models suitable for famous and high-quality tea, and they basically adopt the "shearing" picking principle. This method is prone to cause damage to the tea incision, increase the risk of fungal infection, and may also cause the buds and leaves to break, affecting the quality and economic benefits of the finished tea. Although some studies have attempted to optimize the picking efficiency and quality, the existing technology still finds it difficult to balance the needs of high precision, low damage and high efficiency, and has not yet formed a mature and reliable intelligent picking solution for famous and high-quality tea. For example, patent CN202410850628 discloses a hybrid drive variable stiffness famous and high-quality tea flexible picking manipulator, which controls the variable stiffness flexible fingers to clamp and shear the tea roots and stems through a winding motor, and the lifting motor drives the picking manipulator to move along the internal groove of the hollow cylindrical cam to achieve tea picking, but there are still certain limitations: the shearing principle is still used to cut tea, which is easy to cause mechanical damage at the tea incision, destroying the integrity of the tea tissue and affecting the subsequent growth and development of the tea tree; if the shearing force is not properly controlled, physical damage will directly affect the finished product quality and commodity value of the tea; the picking efficiency is low, the structure is more complex, the overall size is larger, the movement is more cumbersome, and the picking speed is slow.

[0003] To address the above technical problems, based on in-depth research on manual tea picking actions and biomechanical analysis, this patent innovatively proposes a tendon-cable-driven high-quality tea picking machine. Through bionic design, this mechanism truly reproduces the core action characteristics of manual "lifting and picking - horizontal picking", achieving low-damage and efficient picking of one-bud-one-leaf or one-bud-two-leaf tender shoots. This invention can be combined with wheeled or tracked mobile mechanisms to achieve large-scale picking in tea gardens on complex terrains such as mountains and hills. On the premise of ensuring the picking quality of high-quality tea, it effectively alleviates the labor shortage problem, reduces the economic burden on tea farmers, provides key technical support for the mechanization upgrade of the tea industry, and its bionic design concept also provides a new technical route for the research and development of intelligent harvesting equipment for other high-value agricultural products. Summary of the Invention

[0004] In view of the deficiencies in the existing tea picking technology, the present invention provides a tendon-cable-driven high-quality tea picking machine to achieve efficient, rapid, and low-damage picking of high-quality tea. To solve the above technical problems, the present invention is solved by the following technical solutions.

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

[0006] The tendon-cable-driven high-quality tea picking machine of the present invention comprises a picking end effector and a picking robotic arm moving mechanism, wherein the picking end effector includes a bionic finger bending mechanism, a bionic palm supporting mechanism, and a wrist rotating mechanism.

[0007] Further, the bionic finger bending mechanism includes a distal joint, a fingertip gasket, a middle joint, an "8"-shaped coupling pulley, a proximal joint, a hexagon thin nut, a fixed finger joint, a miniature bearing, a movable pin shaft, a middle joint pulley, a convex screw, and a rope winding pin shaft; the distal joint, the middle joint, and the proximal joint are shaped like the index finger phalanges in a human finger; the fingertip gasket is an arc-shaped rubber soft gasket with crescent-shaped patterns on the surface, simulating human fingerprints, and the fingertip gasket is fastened to the internal card slot of the distal joint; the distal joint has an annular notch and a reserved rope winding pin hole inside, and each of the left and right ends of the rope winding pin shaft has a rope passing center hole. The left end rope passing hole is fixedly connected to the pulling tendon rope through a rope knot, and the other end is fixedly connected to the pre-tightening rope through a rope knot; a straight notch is machined on the side surface of the middle joint, and a threaded hole is reserved in the middle position. The middle joint is connected to the distal joint through a movable pin shaft. The "8"-shaped coupling pulley is installed in the straight notch on the outer surface of the middle joint and is fixedly connected through a convex screw and a hexagon thin nut to achieve a specific transmission ratio for the adjacent joint coupling between the distal joint and the middle joint; the middle joint is connected to the proximal joint through a movable pin shaft, and a middle joint pulley is installed at the connection; the proximal joint is installed in the groove of the fixed finger joint and is connected through a movable pin shaft, and both ends are fixedly connected using a convex screw and a hexagon thin nut. A miniature shaft is installed at each joint to achieve flexible and rapid rotation between the joints of the bionic finger.

[0008] Furthermore, the bionic palm support mechanism includes a preload rope, a digital steering gear, a spring fixing block, a bionic hand cover plate, a bionic palm, a cross screw, a preload spring, a spring sleeve, a fixed pulley winding group, and a tension tendon rope; the bionic palm (shaped like a humanoid palm, with a notch turned inside, a center hole milled on the inner surface, a threaded hole matched with the bionic palm cover plate on the outer surface, a cylindrical boss on the right side surface, a rectangular keyway on the boss, a positioning hole and a threaded hole matched with a fixed knuckle on the left side surface, the bionic finger bending mechanism is centrally matched with the threaded hole on the left side surface of the bionic palm, and a cross is used The screws are connected and fixed, thereby fixing the bionic finger bending mechanism and the bionic palm supporting mechanism into one; the bottom of the spring sleeve has two threaded holes and is connected and fixed to the bionic palm through convex screws; the left end of the spring fixing block has a cylindrical pin, the surface of the cylindrical pin is turned with threads, and the right end has a hook, and the spring fixing block is concentrically fixed with the threaded hole on the side of the bionic palm; there is a circular hook at each end of the pre-tensioning spring, the hook at the left end of the pre-tensioning spring is connected and matched with the hook of the spring fixing block, and the hook at the right end of the pre-tensioning spring is connected and fixed by winding with the pre-tensioning rope, and the pre-tensioning spring is connected to the through hole of the spring sleeve The concentric fit is realized to slide left and right along the center hole of the spring sleeve, so as to adjust the installation position of the preload spring according to the weight of the bionic finger bending mechanism; the fixed pulley winding group is composed of two winding wheels, one winding wheel center is provided with a rectangular spline groove, the other winding wheel center is provided with a rotating hole, and the edges of the two winding wheels are grooved with threading holes, the fixed pulley winding group is installed on the inner surface of the bionic palm, and is connected by a movable pin and a micro bearing; one end of the tension tendon rope is wound with the fixed pulley winding group through the threading hole, and the other end is passed through the fixed finger joint, the proximal joint, the middle joint, and the distal joint in sequence. The notch on the top is finally fixedly connected with the rope threading hole on the left end of the rope winding pin shaft through a knot; one end of the pre-tightening rope is fixedly connected with the rope threading hole on the left end of the rope winding pin shaft through a knot, and the other end passes through the notches of each joint of the bionic finger bending mechanism in turn, and is finally fixedly connected with the hook of the pre-tightening spring; the output shaft of the digital servo has a rectangular spline that meshes with the center of the central rectangular spline notch of the fixed pulley winding group, the digital servo is fixedly connected to the bionic hand cover plate by bolts, and the rotation of the digital servo drives the tension rope to rotate along the fixed pulley winding group, thereby controlling the clamping and loosening movement of the bionic finger bending mechanism.

[0009] Further, the wrist rotation mechanism includes a thin-walled bearing, a bearing retaining ring, a micro harmonic reducer, a four-phase stepper motor, a bionic wrist, a motor flange, round head bolts, and an SFC micro coupling; the bionic wrist is symmetric in structure, shaped like a frustum of a cone, with a hollow interior and a thin-walled structure. There are square block protrusions and dovetail grooves on the surface of the bionic wrist. The two bionic wrists are concentrically fitted and connected and fixed with round head bolts to provide positioning for the installation of the internal transmission device; the bionic palm support mechanism and the bionic wrist are concentrically fitted through the cylindrical boss on the right side of the bionic palm, connecting the bionic palm support mechanism and the bionic wrist into a whole; the thin-walled bearing uses precision ball bearings, which rotate flexibly and have small frictional resistance. The inner surface of the thin-walled bearing is concentrically fitted with the frustum of the cone on the side surface of the bionic palm, and the outer surface of the thin-walled bearing is fitted with the central hole of the bionic wrist to reduce vibration, ensure smooth movement, and prevent joint loosening; the bearing retaining ring is made of spring steel to achieve elastic deformation installation. The bearing retaining ring is concentrically fitted with the card slot on the frustum of the cone on the side surface of the bionic palm for axial positioning of the thin-walled bearing to prevent the bearing from loosening due to fretting wear; the four-phase stepper motor is installed inside the bionic wrist, and the four-phase stepper motor is centered with the motor flange to provide power for wrist flipping; the SFC micro coupling connects the motor output shaft and the stepped driven shaft for coaxial fitting, and is connected and fixed using a thin flat key to transmit the output torque; the left end of the micro harmonic reducer is connected and fixed with the positioning hole on the frustum of the cone on the side surface of the bionic palm through a round head bolt, and the right end face of the micro harmonic reducer is coaxially fitted with the SFC micro coupling to convert the high-speed and low-torque of the four-phase stepper motor into low-speed and high-torque output; when the four-phase stepper motor of the wrist rotation mechanism rotates, it drives the overall synchronous rotation of the bionic finger bending mechanism and the bionic palm support mechanism, thereby realizing the lifting and horizontal picking movement of the end effector for picking famous-quality tea.

[0010] Further, the picking robotic arm moving mechanism includes a spin axis, a bearing flange, a spin motor, a static platform, a servo motor, a driving rod, a universal tenon, a moving platform, a camera module, an L-shaped main rotating rod, an L-shaped secondary rotating rod, a rotating platform, hexagon bolts, a universal connecting block, a driven rod, and a motor plate; the static platform is triangular in shape, with a through hole at its geometric center and motor connection threaded holes at its three end faces. The static platform is concentrically fitted with the moving platform and supports the entire mechanism through two rigid frames of the driving rod and the driven rod, ensuring that the moving platform can remain relatively stable when the high-quality tea picking machine is operating at high speed, and preventing the rotating platform from vibrating or shifting, which may affect the picking accuracy; the servo motor is fixedly connected to the static platform through the motor plate using hexagon flange bolts; one end of the driving rod is coaxially fitted with the motor output shaft of the servo motor and fixed with a shaft retaining ring, and the other end of the driving rod is hinged to the driven rod through a ball chain; the moving platform is hexagonal in shape, with threaded connection holes at the edges of the self-contained bearings at its center. The moving platform is arranged parallel to the static platform, and each of the three triangular end faces of the moving platform has two ball heads that are hinged and fitted with the spherical grooves on the end faces of the driven rod. When the servo motor rotates, it drives the driving rod to rotate, and the driving rod drives the driven rod to rotate accordingly, thereby controlling the left and right movement of the moving platform hinged to the driven rod. Through the cooperation of different rotation angles among the three servo motors, the moving platform can finally move in all directions of the X-Y-Z axes; the spin motor is connected to the static platform through the bearing flange and fixed with hexagon bolts; the universal tenon has a groove in the middle and threaded holes on both sides. One end of the universal tenon is fitted with the central hole of the universal connecting block, and the other end of the universal tenon is fixedly connected to the threaded hole reserved on the spin axis through a hexagon bolt. In the case of angular deviation, it can still stably transmit power and prevent stress concentration or structural damage caused by rigid connection; the spin axis is composed of a universal shaft and a telescopic shaft. The universal shaft is dumbbell-shaped, thick at both ends and thin in the middle. One end has a threaded hole on its side, and the other end has a telescopic hole and a keyway at its center for cooperation with the universal tenon. The telescopic shaft is thick at one end and thin at the other end. The thick end of the telescopic shaft has a threaded hole on its side for cooperation with the universal tenon. The slender end is centered and fitted with the end of the universal shaft with the telescopic hole and fixed with a common flat key. The telescopic shaft can freely extend and retract along the central hole inside the universal shaft. The thick end of the telescopic shaft is fixedly connected to the universal tenon through a bolt. The bottom of the spin axis is fixedly connected to the rotating platform through cross screws; among them, the rotating platform is composed of a ball bearing, a common flat key, a stepped rotating shaft, a shaft sleeve, a trapezoidal turntable, hexagon flange bolts, a shaft retaining ring, and a rotating disk. The rotating disk has a through hole at its center and threaded connection holes at its edge. The outer side of the rotating disk is concentrically fitted with the moving platform and fixedly connected with hexagon flange bolts. The rotating disk is concentrically fitted with the trapezoidal turntable; the inner surface of the shaft sleeve is concentrically fitted with the stepped rotating shaft, and the outer surface is coaxially fitted with the ball bearing. Moreover, the lower surface of the shaft sleeve is fixedly connected with a shaft retaining ring to prevent the sleeve from slipping off the shaft and avoid axial movement;The central hole of the trapezoidal turntable is installed with a ball bearing and is concentrically fitted with the rotating disk. Moreover, the cylindrical lower surface of the trapezoidal turntable is closely attached to the upper surface of the rotating disk. The lower surface of the trapezoidal turntable has a rectangular raised block, and the rectangular raised block is provided with a notch with threaded holes at both ends. The rectangular raised block of the trapezoidal turntable is connected and fixed to the L-shaped main rotating rod through a hexagon bolt; one end of the L-shaped auxiliary rotating rod is connected and fixed to the L-shaped main rotating rod through a bolt, and the other end is connected and fixed to the camera module through a bolt. The combination of the L-shaped main rotating rod and the L-shaped auxiliary rotating rod is symmetrically arranged, and the other end is connected and fixed to the picking end effector through a hexagon bolt. The self-rotating motor rotates to realize the rotation of the rotating platform, and further drives the rotation of the camera module and the picking end effector, thereby realizing the rapid and accurate picking of tea tender buds.;

[0011] Compared with the existing tea-picking machinery, the beneficial effects of the tendon-cord-driven famous and high-quality tea picking machine of the present invention are as follows:

[0012] (1) The distal, middle, and proximal joints of the bionic finger bending mechanism of the present invention realize the bending actions of human-like fingers (such as grasping and pinching) through movable pins and miniature bearings. Cooperating with the tendon-cord guiding of the "8"-shaped coupling pulley, the fingertip force can be accurately controlled, avoiding the incision oxidation or bud leaf extrusion injury caused by traditional scissor-type cutting, realizing multi-joint coordinated movement, and simulating the clamping movement of human fingers; the fingertip gasket is made of a flexible material (such as silicone), and when contacting the tea bud, the pressure is dispersed through deformation, which is especially suitable for picking delicate parts such as one bud and one leaf. The adaptive contact has bionic flexibility, reducing the damage to the roots and stems of tea tender buds and prolonging the storage time of tea leaves; each finger joint is coupled and connected through a miniature bearing + movable pin, greatly reducing the frictional resistance and making the movement smoother. Among them, the movable pin can be quickly disassembled to facilitate the replacement of worn parts, and the modular joint design enhances flexibility and maintainability.

[0013] (2) The bionic palm support mechanism of the present invention adopts high-strength fiber rope and steel wire rope, and realizes the coordinated movement of three joints (distal / middle / proximal) through the independent driving system of double ropes (tension tendon rope + pre-tightening rope), and utilizes the precise control of digital servo to realize the coordinated movement of three joints (distal / middle / proximal), which can accurately simulate the "hand-lifting" picking action; the closed-loop control of pre-tightening spring + fixed pulley winding group uses the pre-tightening spring to connect with the pre-tightening rope through the hook, and compensates for the slack of the tendon rope caused by long-term use in real time, ensuring that the bending force of the bionic finger joints (distal, middle and proximal) is consistent, avoiding the picking failure of traditional machinery due to rope slack (such as missing or pinching buds and leaves); the fixed pulley winding group adopts a double winding wheel design The design (spline groove + rotating hole) cooperates with the digital servo to realize bidirectional precise rope retraction and release, thereby improving the picking force; the elastic coefficient of the pre-tightening spring can be dynamically adjusted according to the hardness of the tea stem (such as low elastic coefficient spring for tender buds and high elastic coefficient for old stems), so that the bionic finger can automatically adjust the clamping force when encountering different resistances, reduce mechanical damage, and improve picking stability; the pre-tightening spring is concentrically positioned by the spring sleeve, and the bottom threaded hole is quickly locked with the bionic palm. To replace the spring, you only need to loosen the screws. In the fixed pulley winding group, one winding wheel is responsible for the tension tendon rope, and the other is responsible for the pre-tightening rope. They can be replaced separately after independent wear, which is convenient for quick maintenance design and improves work efficiency.

[0014] (3) The wrist rotation mechanism of the present invention utilizes the precision transmission of a micro harmonic reducer + a four-phase stepper motor to simulate the rotation of a human wrist; the adopted micro harmonic reducer has a reduction ratio of 50:1 to 100:1, which converts the high speed and low torque of the stepper motor into a low speed and high torque output, and the positioning accuracy reaches ±0.1, which can accurately control the rotation angle of the bionic wrist and adapt to the bud and leaf picking in different directions of the tea tree canopy (such as horizontal sweeping or vertical pinching). The FC micro coupling connects the motor and the reducer through a thin flat key, eliminating the return clearance of the traditional elastic coupling, avoiding the bud and leaf positioning deviation caused by reverse rotation during the picking process, and improving the picking accuracy.

[0015] (4) The mobile mechanism of the picking robot arm of the present invention adopts a static platform-moving platform parallel structure. The picking end effector and camera module are installed on the rotating platform. With the telescopic rotation of the spinning axis, it can bypass the obstacles of tea tree branches and approach the buds and leaves from multiple angles. The universal joint + telescopic axis is adaptively adjusted. The universal joint of the spinning axis and the telescopic axis are linked by a flat key. The telescopic amount can be automatically adjusted with the picking resistance to avoid hard collision damage to the buds and leaves. It has an anti-vibration design and high-precision dynamic positioning capability. At the same time, the hinged design of the universal joint compensates for installation errors, realizes multi-degree-of-freedom coordinated motion and realizes precise positioning. The parallel robot arm uses a servo motor to directly couple the active rod, eliminating the gear reduction link, has a fast response speed, improves transmission efficiency, and reduces energy consumption per unit picking action.

[0016] (5) Each component of a tendon - rope - driven high - quality tea picking machine of the present invention (such as the distal / middle / proximal joints of the finger bending mechanism, bionic palm and cover plate, bionic wrist, L - shaped main and auxiliary rotating rods, etc.) is 3D - printed with polycarbonate material. It has a light structure, meets the strength conditions and has excellent impact resistance. The tendon - rope drive has a lower cost compared to precision gear sets and has environmental protection and economy. The modular design can adapt to complex terrains, is easy to assemble and maintain. The combination of the picking end - effector and the picking robotic arm moving mechanism simulates the "light pinch - rotation - lift" actions of the human hand, can cooperate with crawler or wheel - type walking mechanisms to achieve tea garden picking in complex terrains such as mountains and hills. It has a high degree of modularity and strong environmental adaptability. The camera module and the picking end - effector are rigidly connected through the L - shaped main and auxiliary rotating rods for synchronization, realizing real - time spatial registration of bud and leaf recognition and picking actions, facilitating the later combination of AI vision algorithms to achieve selective picking of high - quality tea tender buds. The power system uses digital servos and four - phase stepper motors, which belong to clean energy, achieving the goals of energy conservation and environmental protection. Through efficient energy conversion and low - energy - consumption design concepts, the energy consumption cost is optimized, meeting the standards of energy - saving and environmental - protection mechanical equipment in modern agricultural production. A tendon - rope - driven high - quality tea picking machine of the present invention can effectively solve the core requirements of "light, soft, accurate, and fast" in high - quality tea picking, combining innovation and practicality, especially suitable for the mechanization upgrade of high - value - added tea gardens, and helping to promote the transformation of tea production from "quantity" to "quality". Brief Description of the Drawings

[0017] Figure 1 is the overall structure diagram of a tendon - rope - driven high - quality tea picking machine of the present invention;

[0018] Figure 2 is the three - dimensional structure diagram of the picking end - effector in the present invention;

[0019] Figure 3 is the three - dimensional structure diagram of the internal structure of the picking end - effector in the present invention;

[0020] Figure 4 is the schematic diagram of the movement process of "lifting - hand picking - horizontal picking" of the picking end - effector in the present invention;

[0021] Figure 5 is the three - dimensional structure diagram of the bionic finger bending mechanism in the present invention;

[0022] Figure 6 is the three - dimensional structure diagram of the bionic palm support mechanism in the present invention;

[0023] Figure 7 is the three - dimensional structure diagram of the wrist rotation mechanism in the present invention;

[0024] Figure 8 is the three - dimensional structure diagram of the picking robotic arm moving mechanism in the present invention;

[0025] Figure 9 is a three-dimensional structure diagram of the moving platform in the present invention;

[0026] Figure 10 is a three-dimensional structure diagram of the spin axis in the present invention;

[0027] Figure 11 is a three-dimensional structure diagram of the rotating platform in the present invention;

[0028] In the figure: 1. Picking end effector; 2. Bionic finger bending mechanism; 3. Bionic palm support mechanism; 4. Wrist rotation mechanism; 5. Picking robotic arm moving mechanism; 6. Spin axis; 7. Bearing flange; 8. Spin motor; 9. Static platform; 10. Servo motor; 11. Active rod; 12. Universal socket; 13. Moving platform; 14. Camera module; 15. L-shaped main rotating rod; 201. Distal joint; 202. Finger tip gasket; 203. Middle joint; 204. "8"-shaped coupling winding pulley; 205. Proximal joint; 206. Hexagon thin nut; 207. Fixed finger joint; 208. Miniature bearing; 209. Movable pin shaft; 210. Middle joint winding pulley; 211. Convex screw; 212. Rope winding pin shaft; 301. Pre-tightening rope; 302. Digital servo; 303. Spring fixing block; 304. Bionic hand cover plate; 305. Bionic palm; 306. Cross screw; 307. Pre-tightening spring; 308. Spring sleeve; 309. Fixed pulley winding group; 310. Tensile tendon rope; 401. Thin wall bearing; 402. Bearing retaining ring; 403. Miniature harmonic reducer; 404. Two-phase stepper motor; 405. Bionic wrist; 406. Motor flange; 407. Round head bolt; 408. SFC miniature coupling; 501. L-shaped secondary rotating rod; 502. Rotating platform; 503. Hexagon bolt; 504. Universal connecting block; 505. Driven rod; 506. Motor plate; 5021 Ball bearing; 5022. Ordinary flat key; 5023. Step-type rotating shaft; 5024. Bush; 5025. Trapezoidal turntable; 5026. Hexagon flange face bolt; 5027. Shaft retaining ring; 5028. Rotating disc; 601. Universal shaft; 602. Telescopic shaft. Detailed implementation manners

[0029] In order to help those of ordinary skill in the art better understand and implement the present invention, the following will elaborate in detail the specific implementation steps of the present invention.

[0030] The present invention is a tendon rope-driven high-quality tea picking machine, and its overall structure is as Figure 1 shown, including a picking end effector 1 and a picking robotic arm moving mechanism 5. The overall structure of the picking end effector 1 is as Figure 2As shown in the figure, it includes a bionic finger bending mechanism 2, a bionic palm support mechanism 3, and a wrist rotation mechanism 4. The bionic finger bending mechanism 2 mainly controls the clamping and relaxation of the fingers. The bionic palm support mechanism 3 provides the power source for the bionic finger bending mechanism through the tension tendon rope. The wrist rotation mechanism 4 controls the overall lifting and picking of the bionic finger bending mechanism 2 and the bionic palm support mechanism 3. The internal structure composition of the picking end effector 1 is as follows Figure 3 As shown in the figure, the bionic finger bending mechanism 2 consists of a distal joint 201, a fingertip gasket 202, a middle joint 203, an "8"-shaped coupling pulley 204, a proximal joint 205, a hexagonal thin nut 206, a fixed finger joint 207, a micro bearing 208, a movable pin shaft 209, a middle joint pulley 210, a convex screw 211, and a rope winding pin shaft 212; the bionic palm support mechanism 3 includes a pre-tightening rope 301, a digital servo motor 302, a spring fixing block 303, a bionic hand cover plate 304, a bionic palm 305, a cross screw 306, a pre-tightening spring 307, a spring sleeve 308, a fixed pulley winding group 309, and a tension tendon rope 310; the wrist rotation mechanism 4 includes a thin wall bearing 401, a bearing retaining ring 402, a micro harmonic reducer 403, a four-phase stepping motor 404, a bionic wrist 405, a motor flange 406, a round head bolt 407, and an SFC micro coupling 408. The specific working process of the picking end effector 1 for "lifting and picking - horizontal picking" is as follows Figure 4 As shown in the figure, in the initial state, the bionic finger bending mechanism 2 of the picking end effector 1 is in a relaxed state. When the camera module 14 captures the tea leaf image and uploads it to the upper computer, the upper computer identifies the tea leaf target to be picked. The picking robotic arm moving mechanism 5 drives the picking end effector 1 close to the tea leaf bud and stops moving. Then, the bionic palm support mechanism 3 controls the bionic finger bending mechanism 2 to clamp the tea root through the tension tendon rope 310. Secondly, the wrist rotation mechanism 4 adjusts the angle, and drives the side rotation of the bionic finger bending mechanism 2 during flipping to successfully pick the tea leaf bud. After picking, the wrist resets, and the wrist rotation mechanism 4 rotates to the initial position to achieve the "lifting and picking - horizontal picking" action of famous and high-quality tea. At the same time, the picking robotic arm moving mechanism returns to the original position to complete the overall picking process of a famous and high-quality tea bud.

[0031] As Figure 5As shown in the figure, the bionic finger bending mechanism of the present invention includes a distal joint 201, a fingertip gasket 202, a middle joint 203, an "8"-shaped coupling winding wheel 204, a proximal joint 205, a hexagon thin nut 206, a fixed finger joint 207, a micro bearing 208, a movable pin shaft 209, a middle joint winding wheel 210, a convex screw 211, and a rope winding pin shaft 212. The fingertip gasket 202 is fastened to the internal card slot of the distal joint 201. The fingertip gasket 202 is made of rubber material, providing protection for tea picking to prevent damage to the roots of tea leaves. There are annular notches and reserved rope winding pin holes inside the distal joint 201. The left and right ends of the rope winding pin shaft 212 each have a rope passing central hole. One end of the tension tendon rope 310 and the pre-tightening rope 301 are connected by a knot, passed through the rope passing hole, and fixed by a knot. The other end is fixed to the spring hook and the fixed pulley winding group 309 through the internal notches of the distal joint 201, the middle joint 203, and the proximal joint 205 respectively by a knot. The "8"-shaped coupling winding wheel 204 is composed of a pair of fixed pulleys and an "8"-shaped rope winding, and its function is to achieve a specific transmission ratio for adjacent joint coupling. A straight notch is machined on the side surface of the middle joint 203, and a threaded hole is reserved in the middle position. The "8"-shaped coupling winding wheel 204 is installed in the straight notch on the outer surface of the middle joint 203. The middle joint 203 and the distal joint 201 are connected by a movable pin shaft 209 and fixed by a convex screw 211 and a hexagon thin nut 206 to realize the rotation between the distal joint 201 and the middle joint 203. There is a threaded hole at the center of the side surface of the proximal joint 205, and through holes at both ends. The proximal joint 205 is connected to the middle joint 203 by a movable pin shaft 209, and a middle joint winding wheel 210 is installed at the hinge. It is fixed at the center of the side surface by a convex screw 211. There is a notch in the middle of the fixed finger joint 207, a threaded hole is milled on the side surface, and a rope passing hole and a positioning hole are left on the bottom surface. The fixed finger joint 207 is connected to the proximal joint 205 by a movable pin shaft 209 and fixed at both ends by a convex screw 211 and a hexagon thin nut 207. A micro bearing 208 is installed at each joint to realize the flexible rotation between the joints of the bionic finger.

[0032] As Figure 6As shown in the figure, the bionic palm support mechanism of the present invention includes a pre-tightening rope 301, a digital servo 302, a spring fixing block 303, a bionic hand cover plate 304, a bionic palm 305, a cross screw 306, a pre-tightening spring 307, a spring sleeve 308, a fixed pulley winding group 309, and a tension tendon rope 310. The bionic palm 305 has the shape of a human palm. Inside, there are notches, a central hole is milled on the inner surface, threaded holes for mating with the bionic palm cover plate 304 are left on the outer surface. There is a cylindrical boss on the right surface, and a rectangular keyway is opened at the boss. Positioning holes and threaded holes for mating with the fixed finger joints are left on the left surface. The bionic finger bending mechanism 2 is concentrically mated with the threaded holes on the left surface of the bionic palm 305 and is connected and fixed using a cross screw 306; there are two threaded holes at the bottom of the spring sleeve 308, which are connected and fixed to the bionic palm 305 through a convex screw 211; the left end of the spring fixing block 303 has a cylindrical pin column, the surface of the cylindrical pin is turned with threads, and the right end has a hook. The spring fixing block 303 is concentrically mated and fixed with the threaded holes on the side of the bionic palm 305; the pre-tightening spring 307 is concentrically mated with the spring sleeve 308. The pre-tightening spring 307 can slide left and right along the central hole of the spring sleeve. There is a circular ring hook at each end of the pre-tightening spring 307. The left hook of the pre-tightening spring 307 is connected and mated with the hook of the spring fixing block. The right hook of the pre-tightening spring 307 is wound and connected and fixed to the pre-tightening rope 301; the fixed pulley winding group 309 consists of two winding wheels. One winding wheel has a rectangular spline groove in the center, and the other winding wheel has a rotating hole in the center. Threading holes are opened on the edges of both winding wheels. The fixed pulley winding group 309 is installed on the inner surface of the bionic palm 305 and is connected through a movable pin 209 and a miniature bearing 208; one end of the tension tendon rope 310 is wound around the fixed pulley winding group 309 through a through hole. The other end of the tension tendon rope 310 passes through the notches inside the fixed finger joint 207, the proximal joint 205, the middle joint 203, and the distal joint 201 in sequence, and finally is fixedly connected to the left threading hole of the rope winding pin 212 through a knot; one end of the pre-tightening rope 301 is fixedly connected to the left threading hole of the rope winding pin 212 through a knot, and the other end passes through the notches of each joint of the bionic finger bending mechanism 2 in sequence, and finally is connected and fixed to the hook of the pre-tightening spring 307; the output shaft of the digital servo 302 has a rectangular spline that meshes with the center of the rectangular spline groove of the fixed pulley winding group 309. The digital servo 302 is connected and fixed to the bionic hand cover plate 304 through bolts. When the digital servo 302 rotates, it drives the fixed pulley winding group 309 to rotate, thereby controlling the clamping and loosening movements of the bionic finger bending mechanism 2.

[0033] The wrist rotation mechanism is as Figure 7As shown in the figure, the wrist rotation mechanism of the present invention includes a thin-walled bearing 401, a bearing retaining ring 402, a micro harmonic reducer 403, a four-phase stepper motor 404, a bionic wrist 405, a motor flange 406, round head bolts 407, and an SFC micro coupling 408. The bionic wrist 405 has a symmetrical structure similar to a frustum of a cone, is hollow inside and has a thin-walled structure. There are square block protrusions and dovetail grooves on the surface of the bionic wrist 405. Two bionic wrists 405 are concentrically fitted and fixed by round head bolts 407. The bionic palm support mechanism 3 and the bionic wrist 405 are concentrically fitted through the cylindrical boss on the right side of the bionic palm 305. The inner surface of the thin-walled bearing 401 is concentrically fitted with the frustum on the side surface of the bionic palm 305, and the outer surface of the thin-walled bearing 401 is fitted with the central hole of the bionic wrist 405. The bearing retaining ring 402 is made of spring steel and can be elastically deformed and installed. The bearing retaining ring 402 is concentrically fitted with the card slot on the frustum of the side surface of the bionic palm 305 to axially position the thin-walled bearing 401 and prevent the bearing from loosening due to fretting wear. The four-phase stepper motor 404 is installed inside the bionic wrist, and the four-phase stepper motor 404 is centered with the motor flange 406. The SFC micro coupling 403 connects the motor output shaft and the stepped driven shaft 5023 in coaxial fit and is fixed by a thin flat key to transmit torque. The left end of the micro harmonic reducer 403 is fixed to the positioning hole on the frustum of the side surface of the bionic palm 305 by a round head bolt. The right end face of the micro harmonic reducer 403 is in coaxial fit with the SFC micro coupling 403 to convert the high speed of the four-phase stepper motor 404 into low speed and high torque output. When the four-phase stepper motor 404 of the wrist rotation mechanism 4 rotates, it drives the bionic finger bending mechanism 2 and the bionic palm support mechanism 3 to rotate synchronously, thereby realizing the "lifting and horizontal picking" movement of famous and high-quality tea.

[0034] The picking robotic arm moving mechanism is as Figure 8 shown. The picking robotic arm moving mechanism of the present invention includes a spin axis 6, a bearing flange 7, a spin motor 8, a static platform 9, a servo motor 10, a driving rod 11, a universal tenon 12, a moving platform 13, a camera module 14, an L-shaped main rotating rod 45, an L-shaped auxiliary rotating rod 501, a rotating platform 502, hexagon bolts 503, a universal connecting block 501, a driven rod 505, and a motor plate 506. The static platform 9 has a triangular shape, with a through hole at its geometric center and motor connection threaded holes at its three end faces. The static platform 9 is fixed to the positioning hole of the bearing flange 7 by bolts. The servo motor 10 and the static platform are fixed by hexagon flange bolts 5026 through the motor plate 506. One end of the driving rod 11 is in coaxial fit with the motor output shaft of the servo motor 10 and is fixed by a shaft retaining ring 5027. The other end of the driving rod 11 is hinged to the driven rod 505 through a ball chain. The moving platform 13 is as Figure 9As shown, it has a ball bearing 5021 at the center, with a hexagonal shape that concentrically mates with the static platform 13. There are two ball heads on each triangular end face of the moving platform 13, which are hinged with the spherical grooves on the end face of the driven rod 505. The servo motor 10 rotates to drive the active rod 11 to rotate, and the active rod 11 drives the driven rod 505 to rotate accordingly, thereby controlling the left and right movement of the moving platform hinged with the driven rod 505. Through the different rotation angle combinations between the three servo motors 10, the movement of the moving platform 13 in the X-Y-Z axis directions is achieved; the spin motor 8 and the static platform 9 are fixedly connected through the bearing flange 7; there is a groove in the middle of the universal tenon 12, and threaded holes are opened on both sides. One end of the universal tenon 12 is mated with the central hole of the universal connection block 501, and the other end of the universal tenon 12 is fixedly connected to the threaded hole reserved on the spin axis 6 through a bolt; the spin axis 6 is as Figure 10 shown, and it consists of a universal shaft 601 and a telescopic shaft 602. The universal shaft 601 is dumbbell-shaped, thick at both ends and thin in the middle. There is a threaded hole on the side of one end, and a telescopic hole and a keyway are opened at the center of the other end for use in cooperation with the universal tenon 12. One end of the telescopic shaft 602 is thick and the other end is thin. There is a threaded hole on the side of the thick end of the telescopic shaft 602 for cooperation with the universal tenon 12. The slender end is centered with the end of the universal shaft 601 with the telescopic hole and is fixedly connected using a common flat key 5022. The telescopic shaft 602 can freely expand and contract along the central hole inside the universal shaft 601. The thick end of the telescopic shaft 602 is fixedly connected to the universal tenon 12 through a hexagonal bolt 503; among them, the rotating platform 502 is as Figure 11As shown in the figure, the rotating platform 502 is composed of a ball bearing 5021, a flat-through flat key 5022, a stepped rotating shaft 5023, a bushing 5024, a trapezoidal turntable 5025, a hexagonal flange bolt 5026, a shaft retaining ring 5027, and a rotating disk 5028. There is a through hole at the center of the rotating disk 5028 and threaded connection holes at the edge. The rotating disk 5028 is fixedly connected to the moving platform 13 by a hexagonal bolt 503. The inner surface of the bushing 5024 is concentrically fitted with the stepped rotating shaft 5023, and the outer surface is coaxially fitted with the ball bearing 5021. Moreover, the lower surface of the bushing 5024 is fixedly connected using a shaft retaining ring 5027 to prevent the sleeve 5024 from slipping off the shaft and avoid axial movement. The ball bearing 5021 installed in the central hole of the trapezoidal turntable 5025 is concentrically fitted with the rotating disk 5028, and the cylindrical lower surface of the trapezoidal turntable 5025 is closely attached to the upper surface of the rotating disk 5028. The lower surface of the trapezoidal turntable 5025 has a rectangular raised block with a notch at both ends and threaded holes. The rectangular raised block of the trapezoidal turntable 5025 is fixedly connected to the L-shaped main rotating rod 15 by a hexagonal bolt 503. One end of the L-shaped auxiliary rotating rod 501 is fixedly connected to the L-shaped main rotating rod 15 by a bolt, and the other end is fixedly connected to the camera module 14 by a bolt. The combination of the L-shaped main rotating rod 15 and the L-shaped auxiliary rotating rod 501 is symmetrically arranged, and the other end is fixedly connected to the picking end effector 1 by a hexagonal bolt 503, realizing the rotation of the rotating platform 502 to drive the rotation of the camera module 14 and the picking end effector 1, thereby achieving the rapid picking of tea buds.

[0035] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the patent of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A tendon rope driven high-quality tea picking machine, characterized in that: The invention comprises a picking end effector (1) and a picking mechanical arm moving mechanism (5); the picking mechanical arm moving mechanism (5) is connected and fixed to the picking end effector (1) by means of a hexagonal bolt (503); the rotation of the spinning motor realizes the rotation of the rotating platform (502), thereby driving the rotation of the camera module (14) and the picking end effector (1), thereby realizing the rapid picking of young tea buds; the picking end effector (1) comprises a bionic finger bending mechanism (2), a bionic palm supporting mechanism (3), and a wrist rotating mechanism (4); the bionic finger bending mechanism (2) is fixedly connected to the bionic palm supporting mechanism (3) by means of a fixed finger joint (207) and a cross screw (306); the bionic palm supporting mechanism (3) and the wrist rotating mechanism (4) are fastened and connected by means of a micro harmonic reducer (403).

2. A tendon rope driven high-quality tea picking machine according to claim 1, characterized in that: One end of the tension tendon rope (310) of the bionic palm support mechanism (3) is wound around the fixed pulley winding group (309) through the threading hole, and the other end passes through the notches inside the fixed finger joint (207), the proximal joint (205), the middle joint (203), and the distal joint (201) in sequence, and is finally fixedly connected to the left end threading hole of the rope winding pin shaft (212) through a knot; one end of the pre-tightening rope (301) of the bionic palm support mechanism (3) is fixedly connected to the left end threading hole of the rope winding pin shaft (212) through a knot, and the other end passes through the notches of each joint of the bionic finger bending mechanism (2) in sequence, and is finally connected and fixed to the hook of the pre-tightening spring (307); the bionic palm (305) forms a double-rope independent drive system through the tension tendon rope (310) and the pre-tightening rope (301), and the digital steering engine (302) is used to precisely control the real The coordinated movement between the three joints is realized, and the "handle picking" action is accurately simulated; the closed-loop control of the pre-tightening spring (307) and the fixed pulley winding group (309) is used, and the pre-tightening spring (307) is connected to the pre-tightening rope (301) through a hook to compensate for the relaxation of the tension tendon rope (310) caused by long-term use in real time, so as to ensure that the bending strength of the bionic finger joints is consistent, and avoid the picking failure (such as missing picking and pinching buds and leaves) caused by the relaxation of the rope in traditional machinery; the fixed pulley winding group (309) adopts a double winding wheel design (spline groove and rotating hole structure), and cooperates with the digital steering gear (302) to realize bidirectional precise rope retraction and release, thereby improving the picking strength; the elastic coefficient of the pre-tightening spring (307) is dynamically adjusted according to the hardness of the tea stem, such as a low elastic coefficient spring is used for tender buds and a high elastic coefficient is used for old stems, so that the bionic finger can automatically adjust the clamping force when encountering different resistances.

3. The tendon rope driven high-quality tea picking machine according to claim 1, characterized in that: The bionic finger bending mechanism (2) comprises a distal joint (201), a fingertip gasket (202), a middle joint (203), an "8"-shaped coupling winding wheel (204), a proximal joint (205), a hexagonal thin nut (206), a fixed finger joint (207), a micro bearing (208), a movable pin (209), a middle joint winding wheel (210), a convex screw (211), and a rope winding pin (212); the distal joint (201), the middle joint (203), the proximal joint (205) ) is shaped like the phalanx of the index finger of a human finger; the fingertip gasket (202) is an arc-shaped rubber soft gasket with a crescent-shaped pattern on the surface to simulate a human fingerprint, and the fingertip gasket (202) is fastened to the slot inside the distal joint (201); the distal joint (201) has an annular notch and a reserved rope winding pin hole inside, and the rope winding pin shaft (212) has a rope threading center hole at both ends, the left end rope threading hole is connected and fixed to the tension tendon rope (310) through a rope knot, and the other end is connected to the pretension rope (30 1) connected and fixed by a knot; a straight notch is machined on the side surface of the middle joint (203), and a threaded hole is reserved in the middle position; the middle joint (203) is connected to the distal joint (201) by a movable pin (209); the "8"-shaped coupling wheel (204) is installed in the straight notch on the outer surface of the middle joint (203), and is connected and fixed by a convex screw (211) and a hexagonal thin nut (206), so as to realize the coupling of adjacent joints between the distal joint (201) and the middle joint (203) The invention discloses a bionic finger finger with a specific transmission ratio; the middle joint (203) and the proximal joint (205) are connected by a movable pin (209), and a middle joint winding wheel (210) is installed at the connection; the proximal joint (205) is installed in the groove of the fixed finger joint (207) and connected by the movable pin (209), and the two ends are connected and fixed by a convex screw (211) and a hexagonal thin nut (206), and each joint is installed with a micro shaft (208), so as to realize flexible and rapid rotation between the joints of the bionic finger.

4. The tendon rope driven high-quality tea picking machine according to claim 1, characterized in that: The bionic palm support mechanism (3) comprises a pre-tightening rope (301), a digital steering gear (302), a spring fixing block (303), a bionic hand cover plate (304), a bionic palm (305), a cross screw (306), a pre-tightening spring (307), a spring sleeve (308), a fixed pulley winding group (309), and a tension tendon rope (310); the bionic palm (305) has a humanoid palm shape, a notch is turned inside, a center hole is milled on the inner surface, a threaded hole is left on the outer surface to match the bionic palm cover plate (304), a cylindrical boss is provided on the right side surface, a rectangular keyway is opened on the boss, a positioning hole and a threaded hole are left on the left side surface to match the fixed knuckle (207), and the bionic palm (305) has a cylindrical boss on the right side surface, a rectangular keyway is opened on the boss, and a positioning hole and a threaded hole are left on the left side surface to match the fixed knuckle (207). The bionic finger bending mechanism (2) is concentrically matched with the threaded hole on the left side surface of the bionic palm (305), and is connected and fixed by a cross screw (306), thereby fixing the bionic finger bending mechanism (2) and the bionic palm supporting mechanism (3) into one body; the bottom of the spring sleeve (308) has two threaded holes connected and fixed to the bionic palm (305) by a convex screw (211); the left end of the spring fixing block (303) has a cylindrical pin, the surface of the cylindrical pin is turned with threads, and the right end has a hook, and the spring fixing block (303) is concentrically matched and fixed with the threaded hole on the side of the bionic palm (305); the two ends of the preload spring (307) each have a circular hook, and the preload spring The hook at the left end of (307) is connected and matched with the hook of the spring fixing block (303), and the hook at the right end of the pre-tightening spring (307) is wound and connected and fixed with the pre-tightening rope (301). The pre-tightening spring (307) is concentrically matched with the through hole of the spring sleeve (308) to achieve left and right sliding along the central hole of the spring sleeve (308), so as to adjust the installation position of the pre-tightening spring according to the weight of the bionic finger bending mechanism (2); the fixed pulley winding group (309) is composed of two winding wheels, one winding wheel has a rectangular spline groove at the center, and the other winding wheel has a rotating hole at the center. The edges of the two winding wheels are slotted with threading holes. The fixed pulley winding group (309) is installed on the bionic palm ( 305), connected by a movable pin (209) and a micro bearing (208); one end of the tension tendon rope (310) is wound with the fixed pulley winding group (309) through the threading hole, and the other end passes through the notches inside the fixed finger joint (207), the proximal joint (205), the middle joint (203), and the distal joint (201) in sequence, and is finally fixedly connected to the left end threading hole of the rope winding pin (212) through a knot; one end of the pre-tightening rope (301) is fixedly connected to the left end threading hole of the rope winding pin (212) through a knot, and the other end passes through the notches of each joint of the bionic finger bending mechanism (2) in sequence, and is finally connected and fixed to the hook of the pre-tightening spring (307);The output shaft of the digital servo (302) is provided with a rectangular spline that meshes with the center of the rectangular spline notch of the fixed pulley winding assembly (309); the digital servo (302) is fixed to the bionic hand cover plate (304) by bolt connection; the digital servo (302) rotates, driving the tension rope (310) to rotate along the fixed pulley winding assembly (309), thereby controlling the clamping and loosening movement of the bionic finger bending mechanism (2); 5. The tendon rope driven high-quality tea picking machine according to claim 1, characterized in that: The wrist rotation mechanism (4) comprises a thin-walled bearing (401), a bearing retaining ring (402), a micro harmonic reducer (403), a four-phase stepping motor (404), a bionic wrist (405), a motor flange (406), a round head bolt (407), and an SFC micro coupling (408); the bionic wrist (405) is a symmetrical structure similar to a truncated cone, with a hollow interior and a thin-walled structure. The surface of the bionic wrist (405) has square block protrusions and dovetail grooves. The two bionic wrists (405) are concentrically matched and connected and fixed by a round head bolt (407), which is an internal transmission device. The installation provides positioning; the bionic palm support mechanism (3) and the bionic wrist (405) are concentrically matched through the cylindrical boss on the right side of the bionic palm (305), so that the bionic palm support mechanism (3) and the bionic wrist (405) are connected into a whole; the thin-walled bearing (401) adopts precision balls, which are flexible in rotation and have low friction resistance; the inner surface of the thin-walled bearing (401) is concentrically matched with the round cone on the side surface of the bionic palm (305); the outer surface of the thin-walled bearing (401) is matched with the center hole of the bionic wrist (405) to reduce vibration, ensure smooth movement, and avoid joint loosening; the bearing retaining ring (4 02) Spring steel is used to achieve elastic deformation installation. The bearing retaining ring (402) is coaxially matched with the truncated cone groove on the side surface of the bionic palm (305) to axially position the thin-walled bearing (401) to prevent the bearing from loosening due to micro-motion wear; the four-phase stepper motor (404) is installed inside the bionic wrist, and the four-phase stepper motor (404) is centrally matched with the motor flange (406) to provide power for wrist flipping; the SFC micro coupling (403) connects the motor output shaft and the stepped driven shaft (5022) for coaxial matching, and is fixed with a thin flat key to transmit the output torque The left end of the micro harmonic reducer (403) is connected and fixed to the positioning hole of the truncated cone on the side surface of the bionic palm (305) by a round head bolt, and the right end face of the micro harmonic reducer (403) is coaxially matched with the SFC micro coupling (403), so as to realize the high speed and low torque conversion of the four-phase stepper motor (404) into low speed and high torque output; the four-phase stepper motor (404) of the wrist rotation mechanism (4) rotates, driving the overall synchronous rotation of the bionic finger bending mechanism (2) and the bionic palm support mechanism (3), thereby realizing the "hand-lifting picking-horizontal picking" movement of the end effector (1) for picking high-quality tea.

6. The tendon rope driven high-quality tea picking machine according to claim 1, characterized in that: The picking robot arm moving mechanism (5) comprises a spinning shaft (6), a bearing flange (7), a spinning motor (8), a static platform (9), a servo motor (10), an active rod (11), a universal tenon (12), a dynamic platform (13), a camera module (14), an L-shaped main rotating rod (15), an L-shaped secondary rotating rod (501), a rotating platform (502), a hexagonal bolt (503), a universal connecting block (504), a driven rod (505), and a motor plate (506); the static platform (9) is triangular in shape, with a through hole at the geometric center and motor connection threaded holes at the three end faces; the static platform (9) is connected to the dynamic platform The moving platform (13) is coaxially matched with the moving platform (13), and the entire mechanism is supported by two rigid frames, namely the active rod (11) and the driven rod (505), to ensure that the moving platform (13) can remain relatively stable when the famous tea picking machine is working at high speed, and to avoid vibration or deviation of the rotating platform (502), which affects the picking accuracy; the servo motor (10) and the static platform (9) are connected and fixed by hexagonal flange bolts (5025) through the motor plate (506); one end of the active rod (11) is coaxially matched with the motor output shaft of the servo motor (10) and is fixed by a shaft retaining ring (5026); the other end of the active rod (11) is hinged with the driven rod (505) through a ball chain The movable platform (13) is hexagonal in shape, with a ball bearing (5021) in the center and threaded connection holes at the edges. The six corner edges of the movable platform (13) are all provided with ball heads. The movable platform (13) is arranged in parallel with the static platform (13). The triangular end faces of the movable platform (13) each have two ball heads that are hingedly matched with the spherical grooves on the end face of the driven rod (505). The servo motor (10) rotates to drive the active rod (11) to rotate, and the active rod (11) drives the driven rod (505) to rotate accordingly, thereby controlling the movable platform (13) hinged to the driven rod (505) to move left and right. The three servo motors (10) By cooperating with each other at different rotation angles, the moving platform (13) is finally moved in all directions of the XYZ axis; the spinning motor (8) is connected to the static platform (9) through a bearing flange (7) and fixed with a hexagonal bolt (503); the universal clamp (12) has a groove in the middle and threaded holes on both sides; one end of the universal clamp (12) cooperates with the center hole of the universal connecting block (504), and the other end of the universal clamp (12) is connected and fixed with a threaded hole reserved on the spinning shaft (6) through a hexagonal bolt (503), so that in the case of angle deviation, power can still be stably transmitted to avoid stress concentration or structural damage caused by rigid connection;The spin axis (6) is composed of a universal shaft (601) and a telescopic shaft (602). The universal shaft (601) is dumbbell-shaped, thick at both ends and thin in the middle. A threaded hole is opened on the side of one end, and a telescopic hole and a keyway are opened at the center of the other end to cooperate with the universal clamp (12). The telescopic shaft (602) is thick at one end and thin at the other end. The thick end of the telescopic shaft (602) is opened on the side of the threaded hole to cooperate with the universal clamp (12), and the slender end is matched with the center of the end of the universal shaft (601) with the telescopic hole, and is connected and fixed by a common flat key (5022). The telescopic shaft (602) can be freely extended and retracted inside the universal shaft along the center hole. The thick end of the telescopic shaft (602) and the universal clamp (12) are connected by a hexagonal bolt (5022). 03) is connected and fixed, and the bottom of the spin axis (6) is fixedly connected to the rotating platform (502) by a cross screw (306); wherein the rotating platform (502) is composed of a ball bearing (5021), a common flat key (5022), a stepped rotating shaft (5023), a bushing (5024), a trapezoidal turntable (5025), a hexagonal flange bolt (5026), a shaft retaining ring (5027), and a rotating disk (5028), wherein the rotating disk (5028) has a through hole at the center and a threaded connection hole at the edge, and the outer side of the rotating disk (5028) is concentrically matched with the moving platform and fixedly connected with the hexagonal flange bolt (5026), and the rotating disk (5028) is connected to the trapezoidal turntable. The disc (5025) is coaxially matched; the inner surface of the shaft sleeve (5024) is coaxially matched with the stepped rotating shaft (5023), and the outer surface is coaxially matched with the ball bearing (5021), and the lower surface of the shaft sleeve (5024) is fixedly connected using a shaft retaining ring (5027) to prevent the sleeve (5024) from slipping off the shaft and avoiding axial movement; the center hole of the trapezoidal turntable (5025) is installed with a ball bearing (5021) and is coaxially matched with the rotating disc (5028), and the cylindrical lower surface of the trapezoidal turntable (5025) is tightly fitted with the upper surface of the rotating disc (5028), and the lower surface of the trapezoidal turntable (5025) has a rectangular protrusion, and the rectangular protrusion has a notch and threaded holes at both ends. The rectangular protrusion of the trapezoidal turntable (5025) is connected and fixed to the L-shaped main rotating rod (15) by a hexagonal bolt (503); one end of the L-shaped secondary rotating rod (501) is connected and fixed to the L-shaped main rotating rod (15) by a bolt, and the other end is connected and fixed to the camera module (14) by a hexagonal bolt (503); the combination of the L-shaped main rotating rod (15) and the L-shaped secondary rotating rod (501) is symmetrically arranged, and the other end is connected and fixed to the picking end effector (1) by a hexagonal bolt (503); the rotation of the self-spinning motor realizes the rotation of the rotating platform (502), thereby driving the rotation of the camera module (14) and the picking end effector (1), thereby realizing the rapid and accurate picking of tea buds. ;

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