Bionic pulling and picking tail end execution device of tea picking robot

Abstract

The utility model relates to the technical field of robots, in particular to a bionic pulling and picking tail end executive device of a tea picking robot, which comprises a mounting mechanism, the mounting mechanism comprises a sliding sleeve and a U-shaped frame fixedly mounted on the sliding sleeve, a steering engine mounting frame and a base connecting frame fixedly connected to the steering engine mounting frame are arranged in the sliding sleeve, and the U-shaped frame is fixedly connected to the steering engine mounting frame. The movable mechanism comprises sliding grooves formed in the two side faces of the steering engine mounting frame and a U-shaped frame mounted on the sliding sleeves, and sliding blocks are arranged on the two side faces in the U-shaped frame; according to the device, the steering engine is arranged to serve as a core power element, bionic pulling and picking actions are achieved through the elastic characteristics of the stacked elastic pieces and the reset springs, the size of an execution device is greatly reduced, meanwhile, the picking technology of famous and high-quality tea leaves is updated, the quality of the tea leaves is prevented from being damaged in the picking process, and the picking efficiency is improved. Negative pressure suction is used as a collecting mode after tea picking, the automatic collecting and storing function is achieved, and damage to the tea after picking is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a biomimetic end effector for a tea-picking robot. Background Technology

[0002] Premium teas have immense economic value, offering higher returns compared to bulk teas. Furthermore, they benefit from traditional processing techniques and cultural significance, resulting in a promising market outlook and a large consumer base. However, the harvesting process is inefficient, time-consuming, and heavily reliant on manual labor. Existing premium tea harvesting relies heavily on manual labor, consuming significant amounts of labor, labor costs, and time. Moreover, the harvesting workforce is primarily composed of an aging population. Therefore, there is a need to improve production efficiency, reduce labor costs, and address labor shortages. Additionally, tea cultivation is located in high-altitude hilly and mountainous areas, creating complex working environments that necessitate the replacement of manual labor with machinery. Current mechanized harvesting methods are too rough and unsuitable for the production standards of premium teas. Most premium tea harvesting machinery primarily involves cutting, shearing, and pressing, damaging the tea stems and causing oxidation and reddening, which affects subsequent production processes and reduces the quality of premium teas.

[0003] According to patent announcement number CN218941790U, a tea-picking robot suspended upside down on an aerial track is proposed. This addresses the problems of existing tea-picking methods relying on manual labor, which is time-consuming, labor-intensive, and fails to meet market demand; and existing picking machines having limited functionality and inconvenience. The proposed solution includes a mounting base with a storage box fixedly inserted inside, and an inner liner slidably connected inside the storage box; a picking component for picking tea leaves and storing them in the inner liner; a pre-processing component for screening the picked tea leaves; and a guide rail assembly for supporting the movement of the device. This robot can cut tea leaves, vacuum-suction, pick and store tea leaves, pre-screen the picked tea leaves, and provide illumination and observation of the surrounding environment.

[0004] According to patent CN113366972B, a segmented tea-picking robot based on vision positioning has a mechanical structure comprising a walking mechanism, a lifting mechanism, and a moving platform arranged sequentially from bottom to top. A camera mechanism and a picking mechanism are connected to the moving platform. The camera mechanism and the picking mechanism can move horizontally on the moving platform and can also move up and down relative to the moving platform. This invention utilizes a linear lifting slide to adjust the working height of the equipment according to the height of the tea trees. The needle-like bottoms of the ridge-shaped pressing plate and the rear cover prevent damage to the tea trees during picking. The ridge-shaped pressing plate and the rear cover segment the tea leaves, and the camera performs visual recognition. After the camera mechanism acquires the image, the three-degree-of-freedom robotic arm automatically and accurately picks the leaves. The entire process can be completed without human intervention, and the protective cover and baffles allow it to operate in various weather conditions, ensuring high efficiency and high precision in picking.

[0005] According to patent CN217884495U, an end effector for a tea-picking robot includes a base chassis and a first sleeve. The base chassis is movably fitted onto the outer wall of the first sleeve. An L-shaped rod is abutting against the outer wall of the first sleeve and the base chassis. The two ends of the L-shaped rod are threadedly locked to the corresponding first sleeve and base chassis by bolts. A second sleeve is fitted inside the first sleeve, and a third sleeve is fitted onto the top of the first sleeve. A vacuum suction shaft is fitted inside the first sleeve. Multiple first hinge seats are fixedly provided on the lower side walls of the first and third sleeves. Multiple second hinge seats are fixedly provided on the lower side walls of the second sleeve and the side walls of the vacuum suction shaft. This invention can perform clamping and shearing actions to pick tea shoots, ensuring the quality of tea picking and improving tea picking efficiency.

[0006] The tea-picking robot mainly uses simple cutting, shearing, and pressing methods, without considering the quality requirements of premium teas, which results in poor appearance and quality of the picked tea leaves.

[0007] To address the problems raised in the background art, those skilled in the art have proposed a biomimetic end effector for a tea-picking robot.

[0008] The information disclosed above in this background section is only intended to enhance the understanding of the background section of this utility model, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0009] The purpose of this invention is to provide a biomimetic end-effector for tea-picking robots to solve the problems mentioned in the background art.

[0010] To achieve the above objectives, this utility model provides the following technical solution:

[0011] A biomimetic end effector for tea-picking robots includes:

[0012] The mounting mechanism includes a sliding sleeve and a U-shaped frame fixedly mounted on the sliding sleeve. The sliding sleeve contains a servo mounting frame and a base connecting frame fixedly connected to the servo mounting frame. A servo is installed inside the servo mounting frame, and a servo support frame is installed on the servo. The servo is fixedly connected to the servo mounting frame through the servo support frame. A first turntable and a second turntable are respectively provided on both sides of the servo. A first micro bearing and a second micro bearing are respectively installed on the first turntable and the second turntable. The first turntable and the second turntable rotate with the servo through the first micro bearing and the second micro bearing, respectively.

[0013] The movable mechanism includes sliding grooves on both sides of the servo mounting bracket and a U-shaped frame mounted on the sliding sleeve. The U-shaped frame has sliders on both sides inside, and the sliders slide in cooperation with the sliding grooves.

[0014] Preferably, a spring sleeve is fixedly installed on the upper surface inside the U-shaped frame, and a hose flange is fixedly installed inside the servo mounting bracket. A negative pressure hose is connected to the hose flange, and one end of the negative pressure hose is connected to the spring sleeve.

[0015] Preferably, a return spring is fitted around the periphery of the spring sleeve, and a mining machine frame is fixedly installed on the lower surface of the servo mounting bracket. A rectangular slot is provided on the mining machine frame, the spring sleeve is located in the rectangular slot, the U-shaped frame passes through the rectangular slot, the hose flange is a hollow tube structure and forms a clearance shaft hole fit with the outside of the spring sleeve, the return spring has compressive strength characteristics and forms an axial-radial clearance fit with the spring sleeve, the return spring and the hose flange form an end-face compression fit, and the spring sleeve is a hollow tube structure and is installed concentrically with the bottom circular hole of the U-shaped frame.

[0016] Preferably, one end of the extraction frame is connected to a rubber port, and a biomimetic extraction component is provided inside the extraction frame and the rubber port. The biomimetic extraction component includes a stacked spring, a clamping rubber pad, and a fixing rubber pad.

[0017] Preferably, the tea-picking frame has a square flange hollow structure. Inside the tea-picking frame, a capillary cylindrical shaft is provided that cooperates with a stacked spring sheet. The end face of the tea-picking frame is provided with positioning holes and bolted to the servo mounting bracket. The external square structure of the tea-picking frame is fitted with a wide-mouth rubber elastic sleeve. The stacked spring sheet has a W-shaped symmetrical tension and compression structure. Clamping rubber pads are symmetrically distributed on the inner side of the stacked spring sheet. The clamping rubber pads are fixedly connected to the fixing rubber pads. The clamping rubber pads and the fixing rubber pads can simulate the touch of hand-picking tea and reduce tea leaf clamping and picking damage.

[0018] Preferably, the base connecting frame is provided with a reserved external installation hole, and the extended end of the negative pressure hose is provided with a suction power source and is connected to the port of the negative pressure hose.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] (1) This utility model sets a servo motor as the core power element and combines the movement conversion mode of the sliding sleeve and the first and second turntables. It realizes the bionic picking action by relying on the elastic characteristics of the stacked spring and the return spring, which greatly reduces the volume of the actuator. At the same time, it updates the picking process of famous and high-quality tea, avoids damage to the quality of tea during the picking process, and uses negative pressure suction as the collection method after picking tea. With the help of a negative pressure hose that can be bent at multiple angles, it realizes the automatic collection and storage function and reduces the damage to tea after picking, providing quality assurance for the subsequent production process of famous and high-quality tea.

[0021] (2) This utility model compares and analyzes the ways to improve the quality of picking famous and high-quality tea and combines the traditional manual picking process. It innovatively adopts a biomimetic picking method. By setting a W-shaped symmetrical tension and compression structure on the stacked elastic sheet, the inner inclined surface is symmetrically distributed with clamping rubber pads and fixing rubber pads and fixed connection, thereby simulating the touch of manual tea picking, reducing tea leaf clamping and picking damage, improving the quality of famous and high-quality tea and continuing the traditional process requirements.

[0022] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the exploded structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0026] Figure 4 This is a schematic diagram of the internal structure of the sliding sleeve of this utility model.

[0027] In the diagram: 1. Sliding sleeve; 2. Base connecting frame; 3. Servo mounting frame; 4. Servo support frame; 5. Servo; 6. Slide groove; 7. Slider; 8. Extraction machine frame; 9. Rubber wide opening; 11. First miniature bearing; 10. First turntable; 12. Second turntable; 13. Second miniature bearing; 14. Negative pressure hose; 15. Hose flange; 16. Return spring; 17. Spring sliding sleeve; 18. U-shaped frame; 19. Clamping rubber pad; 20. Fixing rubber pad; 21. Stacked spring piece. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1:

[0030] Please see Figures 1-4 As shown, a biomimetic end effector for tea-picking robots includes:

[0031] The mounting mechanism includes a sliding sleeve 1 and a U-shaped frame 18 fixedly mounted on the sliding sleeve 1. The sliding sleeve 1 contains a servo mounting frame 3 and a base connecting frame 2 fixedly connected to the servo mounting frame 3. A servo 5 is installed inside the servo mounting frame 3. A servo support frame 4 is installed on the servo 5. The servo 5 is fixedly connected to the servo mounting frame 3 through the servo support frame 4. A first turntable 10 and a second turntable 12 are respectively provided on both sides of the servo 5. A first micro bearing 11 and a second micro bearing 13 are respectively installed on the first turntable 10 and the second turntable 12. The first turntable 10 and the second turntable 12 are rotatably engaged with the servo 5 through the first micro bearing 11 and the second micro bearing 13. The first turntable 10 and the second turntable 12 are provided with a central stepped hole and an eccentric threaded positioning hole. The central stepped hole is fastened to the servo 5 and fixedly connected by screws. The first micro bearing 11 and the second micro bearing 13 are designed to extend screws to engage with the eccentric threaded positioning holes of the first turntable 10 and the second turntable 12 to form an eccentric turntable.

[0032] The movable mechanism includes sliding grooves 6 on both sides of the servo mounting bracket 3 and a U-shaped frame 18 mounted on the sliding sleeve 1. Slider 7 is provided on both sides of the U-shaped frame 18, and the slider 7 slides in cooperation with the sliding groove 6.

[0033] Specifically, a spring sleeve 17 is fixedly installed on the upper surface inside the U-shaped frame 18, and a hose flange 15 is fixedly installed inside the servo mounting bracket 3. A negative pressure hose 14 is connected to the hose flange 15, and one end of the negative pressure hose 14 is connected to the spring sleeve 17. The sleeve 1 is set as a square shell structure with threaded positioning holes and groove-shaped mating holes designed symmetrically on both sides. The two sides of the sleeve 1 are symmetrically installed with two sets of sliders 7 and the U-shaped frame 18. The groove-shaped holes on the other two sides of the sleeve 1 are used to connect with the first micro bearing 11 and the second micro bearing 13 to convert the rotational motion into linear motion.

[0034] Specifically, a return spring 16 is fitted around the periphery of the spring sleeve 17, and a mining machine frame 8 is fixedly installed on the lower surface of the servo mounting bracket 3. A rectangular slot is opened on the mining machine frame 8, and the spring sleeve 17 is located in the rectangular slot. The U-shaped frame 18 passes through the rectangular slot. The hose flange 15 is a hollow tube structure and forms a clearance shaft hole fit with the outside of the spring sleeve 17. The return spring 16 has compressive strength and forms an axial-radial clearance fit with the spring sleeve 17. The return spring 16 and the hose flange 15 form an end face compression fit. The spring sleeve 17 is a hollow tube structure and is installed concentrically with the bottom round hole of the U-shaped frame 18.

[0035] Specifically, one end of the extraction frame 8 is connected to a rubber port 9, and a biomimetic extraction component is installed inside the extraction frame 8 and the rubber port 9. The biomimetic extraction component includes a stacked spring sheet 21, a clamping rubber pad 19, and a fixing rubber pad 20.

[0036] As can be seen from the above, this device uses a servo motor 5 as the core power element and combines the movement conversion between the sliding sleeve 1 and the first turntable 10 and the second turntable 12. It achieves the biomimetic picking action by relying on the elastic characteristics of the stacked spring 21 and the return spring 16, which greatly reduces the size of the actuator. At the same time, it updates the picking process of famous and high-quality tea, avoids damage to the quality of tea during the picking process, and uses negative pressure suction as the collection method after picking tea. With the help of the negative pressure hose 14 that can be bent at multiple angles, it realizes the automatic collection and storage function and reduces the damage to tea after picking, providing quality assurance for the subsequent production process of famous and high-quality tea.

[0037] Example 2:

[0038] Please see Figures 1-4As shown, the mounting mechanism includes a sliding sleeve 1 and a U-shaped frame 18 fixedly mounted on the sliding sleeve 1. The sliding sleeve 1 includes a servo mounting frame 3 and a base connecting frame 2 fixedly connected to the servo mounting frame 3. A servo 5 is installed inside the servo mounting frame 3. A servo support frame 4 is installed on the servo 5. The servo 5 is fixedly connected to the servo mounting frame 3 through the servo support frame 4. A first turntable 10 and a second turntable 12 are respectively installed on the two sides of the servo 5. A first micro bearing 11 and a second micro bearing 13 are respectively installed on the first turntable 10 and the second turntable 12. The first turntable 10 and the second turntable 12 are rotatably engaged with the servo 5 through the first micro bearing 11 and the second micro bearing 13 respectively.

[0039] The movable mechanism includes sliding grooves 6 on both sides of the servo mounting bracket 3 and a U-shaped frame 18 mounted on the sliding sleeve 1. Slider 7 is provided on both sides of the U-shaped frame 18, and the slider 7 slides in cooperation with the sliding groove 6.

[0040] Specifically, the extraction frame 8 has a square flange hollow structure. Inside the extraction frame 8, there is a capillary cylindrical shaft that mates with the stacked spring sheet 21. The end face of the extraction frame 8 has a positioning hole for bolt connection with the servo mounting bracket 3. The external square structure of the extraction frame 8 is elastically fitted with a rubber wide-mouth 9. The stacked spring sheet 21 has a W-shaped symmetrical tension and compression structure. The inner side of the stacked spring sheet 21 has symmetrically distributed clamping rubber pads 19, which are fixedly connected to the fixing rubber pad 20.

[0041] Specifically, the base connecting frame 2 is provided with a reserved external installation hole, and the extended end of the negative pressure hose 14 is provided with a suction power source and is connected to the port of the negative pressure hose 14.

[0042] As can be seen from the above, this device compares and analyzes the ways to improve the quality of picking famous and high-quality teas and combines traditional manual picking techniques. It innovatively adopts a biomimetic picking method. By setting a W-shaped symmetrical tension and compression structure on the stacked spring sheet 21, the inner inclined surfaces are symmetrically distributed with clamping pads 19 and fixing pads 20 and fixedly connected. This simulates the touch of manual tea picking, reduces tea leaf clamping and picking damage, improves the quality of famous and high-quality teas, and continues the traditional process requirements.

[0043] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0044] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0045] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0049] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bionic plucking end effector of a tea plucking robot, characterized in that, Include: The mounting mechanism includes a sliding sleeve (1) and a U-shaped frame (18) fixedly installed on the sliding sleeve (1), the sliding sleeve (1) includes a rudder installation frame (3) and a base connecting frame (2) fixedly connected to the rudder installation frame (3) inside, the rudder installation frame (3) is provided with a rudder (5) inside, the rudder (5) is provided with a rudder support frame (4), the rudder (5) is fixedly connected to the rudder installation frame (3) through the rudder support frame (4), the rudder (5) is provided with a first rotating disc (10) and a second rotating disc (12) on both sides, respectively, the first rotating disc (10) and the second rotating disc (12) are respectively provided with a first micro bearing (11) and a second micro bearing (13), the first rotating disc (10) and the second rotating disc (12) are respectively rotatably connected with the rudder (5) through the first micro bearing (11) and the second micro bearing (13); The moving mechanism includes a sliding groove (6) arranged on both sides of the rudder installation frame (3) and a U-shaped frame (18) installed on the sliding sleeve (1), the U-shaped frame (18) is provided with a sliding block (7) on both sides inside, and the sliding block (7) is slidably connected with the sliding groove (6).

2. The bionic plucking end effector of the tea plucking robot according to claim 1, characterized in that: The U-shaped frame (18) is fixedly installed with a spring sliding sleeve (17) on the upper surface inside, a hose flange (15) is fixedly installed in the rudder installation frame (3), the hose flange (15) is connected with a negative pressure hose (14), and one end of the negative pressure hose (14) is communicated with the spring sliding sleeve (17).

3. The bionic plucking end effector of a tea plucking robot according to claim 2, characterized in that: The spring sliding sleeve (17) is sleeved with a reset spring (16) on the side surface, the rudder installation frame (3) is fixedly installed with a pulling machine frame (8) on the lower surface, the pulling machine frame (8) is provided with a rectangular notch, the spring sliding sleeve (17) is located in the rectangular notch, the U-shaped frame (18) passes through the rectangular notch, the hose flange (15) is a hollow pipe structure and is matched with the gap shaft hole outside the spring sliding sleeve (17), the reset spring (16) is of compression resistance and is matched with the spring sliding sleeve (17) in the axial radial gap, the reset spring (16) is matched with the hose flange (15) in the end face compression, and the spring sliding sleeve (17) is a hollow pipe structure and is concentrically installed with the bottom circular hole of the U-shaped frame (18).

4. The bionic plucking end effector of a tea plucking robot according to claim 3, characterized in that: One end of the pulling machine frame (8) is connected with a rubber wide mouth (9), and the pulling machine frame (8) and the rubber wide mouth (9) are provided with a bionic pulling assembly, the bionic pulling assembly includes a stacked spring (21), a clamping rubber pad (19) and a fixed rubber pad (20).

5. A bionic plucking end effector of a tea plucking robot according to claim 4, characterized in that: The pulling machine frame (8) is a square flange hollow structure, the pulling machine frame (8) is provided with a capillary cylindrical shaft matched with the stacked spring (21) inside, the pulling machine frame (8) is provided with a positioning hole on the end face for bolt connection with the rudder installation frame (3), the external square structure of the pulling machine frame (8) is elastically sleeved with the rubber wide mouth (9), the stacked spring (21) is a W-shaped symmetrical tension and compression structure, the clamping rubber pad (19) is symmetrically distributed on the inner inclined surface of the stacked spring (21), and the clamping rubber pad (19) is fixedly connected with the fixed rubber pad (20).

6. The bionic plucking end effector of a tea plucking robot according to claim 2, characterized in that: The base connecting frame (2) is provided with a reserved external mounting hole, and the extending end of the negative pressure hose (14) is provided with a gas suction power source and is sleeved with the port of the negative pressure hose (14).

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