Multi-degree-of-freedom tea picking robot based on bionic pulling and picking technology
Through the use of a multi-degree-of-freedom tea-picking robot with biomimetic picking technology, high-quality teas can be picked efficiently and precisely, solving the problems of reliance on manual labor and mechanical damage, reducing costs and improving tea quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-10
- Publication Date
- 2026-03-10
AI Technical Summary
The current method of harvesting famous and high-quality teas relies on manual labor, which is inefficient and consumes a lot of labor. Mechanized harvesting damages the tea leaves, and the existing equipment is expensive and cannot be promoted on a large scale.
The multi-degree-of-freedom tea-picking robot, based on biomimetic picking technology, achieves precise picking by using biomimetic gripping and storage through negative pressure hoses, fixed grippers, and movable grippers, combined with the multi-degree-of-freedom motion of rotary motors and multiple servo motors.
It improves harvesting efficiency, reduces labor costs, protects tea quality, adapts to complex environments, and flexibly responds to harvesting needs in different locations.
Smart Images
Figure CN223979172U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology, specifically relating to a multi-degree-of-freedom tea-picking robot based on biomimetic tea-picking technology. 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] The harvesting of premium teas currently relies heavily on manual labor, which consumes a great deal of labor, labor costs, and labor time. Some mechanized harvesting methods are too rough and not suitable for the production standards of premium teas. Most general premium tea harvesting machinery mainly involves cutting, shearing, and pressing, which damages the stems of premium teas, causing oxidation and reddening, affecting subsequent production processes and reducing the quality of premium teas. In addition, the existing tea-harvesting robot equipment is too expensive to be widely used.
[0004] To address the problems raised in the background art, those skilled in the art have proposed a multi-degree-of-freedom tea-picking robot based on biomimetic tea-picking technology.
[0005] 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
[0006] The purpose of this invention is to provide a multi-degree-of-freedom tea-picking robot based on biomimetic tea-picking technology to solve the problems mentioned in the background art.
[0007] To achieve the above objectives, this utility model provides the following technical solution:
[0008] A multi-degree-of-freedom tea-picking robot based on biomimetic tea-picking technology includes:
[0009] The movable mechanism includes a rotating component and a telescopic arm component. The rotating component includes a fixed base and a rotary motor, which is fixedly connected to the fixed base. The telescopic arm component includes a connecting plate, a shoulder servo, an elbow servo, a wrist rotation servo, and a wrist swing servo. The connecting plate is mounted on the output end of the rotary motor, and the shoulder servo is fixedly mounted on the connecting plate. The shoulder servo, elbow servo, wrist rotation servo, and wrist swing servo are all movable and coordinated with each other.
[0010] The harvesting mechanism includes a biomimetic harvesting component, which comprises a harvesting servo, a fixed gripper, a movable gripper, and a negative pressure hose. The fixed gripper and the movable gripper are respectively connected to the body and servo disk of the harvesting servo to form a biomimetic gripping and absorbing storage structure. A U-shaped connecting frame is provided between the harvesting servo and the wrist rotation servo. The harvesting servo is fixed to the wrist rotation servo through the U-shaped connecting frame. The fixed gripper is fixedly installed on the harvesting servo. The movable gripper is movably connected to the output shaft of the harvesting servo. The negative pressure hose is installed inside the fixed gripper.
[0011] Preferably, the fixed base is provided with a U-shaped slot connected to the tail end of the rotary motor to support the installation and fixation of the entire robot. The output shaft of the rotary motor is connected to the connecting plate on the telescopic arm component, allowing the robot to rotate at any angle on the harvesting operation plane.
[0012] Preferably, a first arm connecting plate and a second arm connecting plate are respectively connected to the output shafts at both ends of the shoulder servo. One end of the first arm connecting plate and the second arm connecting plate are symmetrically installed on both sides of the elbow servo to satisfy the reciprocating swing motion of the shoulder joint of the telescopic arm component relative to the fixed base.
[0013] Preferably, both the first arm connecting plate and the second arm connecting plate are provided with connecting cross plates. Both ends of the connecting cross plates are provided with positioning holes for symmetrical installation with the mounting holes in the middle of the first arm connecting plate and the second arm connecting plate to ensure strong connection and synchronous swing movement.
[0014] Preferably, the elbow servo's body and the wrist swing servo's body are symmetrically fixedly connected at their upper and lower ends via a first elbow connecting plate and a second elbow connecting plate, respectively, to form a fixed installation for the reciprocating swing motion of the elbow joint.
[0015] Preferably, a first wrist connecting plate and a second wrist connecting plate are movably connected to the rotating rudder disks on both sides of the wrist swing servo, and one end of the first wrist connecting plate and the second wrist connecting plate are symmetrically fixed to both sides of the first wrist swing servo to support the reciprocating swing motion of the first wrist swing servo.
[0016] Compared with the prior art, the beneficial effects of this utility model are:
[0017] (1) This utility model, by setting up a bionic picking component with a negative pressure hose, fixed gripper and movable gripper, can perform precise bionic picking and picking actions on famous and high-quality tea, and absorb and store it through the negative pressure hose. It combines traditional picking techniques, improves production efficiency, saves labor costs and improves the picking quality of famous and high-quality tea.
[0018] (2) This utility model is composed of a rotary motor, a shoulder servo motor, an elbow servo motor, a wrist swing servo motor, a wrist rotation servo motor and a picking servo motor to form a robot with multiple degrees of freedom and is installed symmetrically on the same plane. The rotary motor forms an angular rotational motion in the picking working plane. The shoulder servo motor, elbow servo motor, wrist swing servo motor and wrist rotation servo motor form arbitrary multi-degree-of-freedom angle adjustment posture and bionic picking action. The picking servo motor forms a bionic clamping and picking action by rotating the servo disk relative to the body. It can meet the picking needs of different positions and is flexible and convenient to use.
[0019] 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
[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0021] Figure 2 This is a schematic diagram of the exploded structure of this utility model;
[0022] Figure 3 This is a three-dimensional structural diagram of the movable gripper of this utility model;
[0023] Figure 4 This is a schematic diagram of the three-dimensional structure of the fixed gripper of this utility model.
[0024] In the diagram: 1. Connecting plate; 2. Shoulder servo; 3. Connecting cross plate; 4. First arm connecting plate; 5. First elbow connecting plate; 6. Elbow servo; 7. First wrist connecting plate; 8. Wrist rotation servo; 9. Negative pressure hose; 10. Fixed gripper; 11. Movable gripper; 12. Second wrist connecting plate; 13. Second elbow connecting plate; 14. Second arm connecting plate; 15. Wrist swing servo; 16. Harvesting servo; 17. U-shaped connecting frame; 18. Rotary motor; 19. Fixed base. Detailed Implementation
[0025] 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.
[0026] Example 1:
[0027] Please see Figures 1-4 As shown, a multi-degree-of-freedom tea-picking robot based on biomimetic tea-picking technology includes:
[0028] The movable mechanism includes a turnover component and a telescopic arm component. The turnover component includes a fixed base 19 and a rotary motor 18, which is fixedly connected to the fixed base 19. The telescopic arm component includes a connecting plate 1, a shoulder servo 2, an elbow servo 6, a wrist rotation servo 8, and a wrist swing servo 15. The connecting plate 1 is installed on the output end of the rotary motor 18, and the shoulder servo 2 is fixedly installed on the connecting plate 1. The shoulder servo 2, elbow servo 6, wrist rotation servo 8, and wrist swing servo 15 are all movable and coordinated with each other.
[0029] The harvesting mechanism includes a biomimetic harvesting component, which comprises a harvesting servo motor 16, a fixed gripper 10, a movable gripper 11, and a negative pressure hose 9. The fixed gripper 10 and the movable gripper 11 are respectively connected to the body and servo disk of the harvesting servo motor 16 to form a biomimetic gripping and absorbing storage structure. A U-shaped connecting frame 17 is provided between the harvesting servo motor 16 and the wrist rotation servo motor 8. The harvesting servo motor 16 is fixed to the wrist rotation servo motor 8 through the U-shaped connecting frame 17. The fixed gripper 10 is fixedly installed on the harvesting servo motor 16. The movable gripper 11 is movably connected to the output shaft of the harvesting servo motor 16. The negative pressure hose 9 is installed inside the fixed gripper 10.
[0030] As can be seen from the above, this device, by setting up a biomimetic picking component with a negative pressure hose 9, a fixed gripper 10 and a movable gripper 11, can perform precise biomimetic picking and picking actions on famous and high-quality teas, and absorb and store them through the negative pressure hose 9. It combines traditional picking techniques, improves production efficiency, saves labor costs, and improves the picking quality of famous and high-quality teas.
[0031] Example 2:
[0032] Please see Figures 1-4 As shown, a U-shaped slot is provided on the fixed base 19 to connect to the tail end of the rotary motor 18, which is used to support the installation and fixation of the entire robot. The output shaft of the rotary motor 18 is connected to the connecting plate 1 on the telescopic arm component, so as to allow the robot to rotate at any angle on the picking operation plane.
[0033] Specifically, the first arm connecting plate 4 and the second arm connecting plate 14 are respectively connected to the output shafts at both ends of the shoulder servo 2. One end of the first arm connecting plate 4 and the second arm connecting plate 14 are respectively symmetrically installed on both sides of the elbow servo 6 to satisfy the reciprocating swing motion of the shoulder joint of the telescopic arm component relative to the fixed base 19.
[0034] Specifically, both the first arm connecting plate 4 and the second arm connecting plate 14 are provided with connecting horizontal plates 3. Both ends of the connecting horizontal plates 3 are provided with positioning holes for symmetrical installation with the mounting holes in the middle of the first arm connecting plate 4 and the second arm connecting plate 14 to ensure strong connection and synchronous swing movement.
[0035] Specifically, the body of the elbow servo 6 and the wrist swing servo 15 are symmetrically fixedly connected at both ends through the upper and lower ends of the first elbow connecting plate 5 and the second elbow connecting plate 13, respectively, to form a fixed installation for the reciprocating swing motion of the elbow joint.
[0036] Specifically, a first wrist connecting plate 7 and a second wrist connecting plate 12 are movably connected to the rotating rudder disks on both sides of the wrist swing servo 15. One end of the first wrist connecting plate 7 and the second wrist connecting plate 12 are symmetrically fixed to both sides of the first wrist rotation servo 8 to support the reciprocating swing motion of the first wrist rotation servo 8.
[0037] As can be seen from the above, this device, by setting up a rotary motor 18, a shoulder servo motor 2, an elbow servo motor 6, a wrist swing servo motor 15, a wrist rotation servo motor 8, and a picking servo motor 16, constitutes the robot's multi-degree-of-freedom motion, and is symmetrically installed on the same plane. The rotary motor 18 forms the angular rotational motion within the picking working plane. The shoulder servo motor 2, the elbow servo motor 6, the wrist swing servo motor 15, and the wrist rotation servo motor 8 form arbitrary multi-degree-of-freedom angle adjustment posture and bionic picking action. The picking servo motor 16 forms bionic clamping and picking action by rotating the servo disk relative to the body. It can meet the picking needs of different positions and is flexible and convenient to use.
[0038] 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.
[0039] 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.
[0040] 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.
[0041] 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.
[0042] 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.
[0043] 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.
[0044] 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 multi-degree of freedom tea picking robot based on bionic plucking technology, characterized in that, It includes: Active mechanism, the active mechanism includes the turnover component and the telescopic arm component, the turnover component includes the fixed base (19) and the rotating motor (18), the rotating motor (18) is fixedly connected on the fixed base (19), the telescopic arm component includes the connecting plate (1), the shoulder servo (2), the elbow servo (6), the wrist rotation servo (8) and the wrist swing servo (15), the connecting plate (1) is installed on the output end of the rotating motor (18), the shoulder servo (2) is fixedly installed on the connecting plate (1), and the shoulder servo (2), the elbow servo (6), the wrist rotation servo (8) and the wrist swing servo (15) are movably connected; The picking mechanism includes a bionic picking component, the bionic picking component includes a picking servo (16), a fixed jaw (10), a movable jaw (11) and a negative pressure hose (9), the fixed jaw (10) and the movable jaw (11) are connected with the body and the rudder disc of the picking servo (16) respectively to form a bionic clamping picking and suction storage structure, a U-shaped connecting frame (17) is arranged between the picking servo (16) and the wrist rotation servo (8), the picking servo (16) is fixed on the wrist rotation servo (8) through the U-shaped connecting frame (17), the fixed jaw (10) is fixedly installed on the picking servo (16), the movable jaw (11) is movably connected to the output shaft of the picking servo (16), and the negative pressure hose (9) is installed in the fixed jaw (10).
2. The multi-DOF tea picking robot based on bionic plucking technology according to claim 1, characterized in that: The fixed base (19) is provided with a U-shaped notch connected to the tail end of the rotating motor (18) to support the installation and fixation of the whole robot, the output shaft of the rotating motor (18) is connected with the connecting plate (1) of the telescopic arm component, and the robot can rotate at any angle on the picking work plane.
3. The multi-DOF tea picking robot based on bionic plucking technology according to claim 1, characterized in that: The first arm connecting plate (4) and the second arm connecting plate (14) are respectively connected to the output shafts at both ends of the shoulder servo (2), one end of the first arm connecting plate (4) and the second arm connecting plate (14) is symmetrically installed on the two sides of the elbow servo (6), so that the shoulder joint of the telescopic arm component can reciprocating swing relative to the fixed base (19).
4. The multi-DOF tea picking robot based on bionic plucking technology according to claim 3, characterized in that: The first arm connecting plate (4) and the second arm connecting plate (14) are both provided with a connecting cross plate (3), and the connecting cross plate (3) is provided with positioning holes at both ends and is symmetrically installed in the middle end mounting holes of the first arm connecting plate (4) and the second arm connecting plate (14) to ensure strength connection and synchronous swing movement.
5. The multi-DOF tea picking robot based on bionic plucking technology according to claim 1, characterized in that: The body of the elbow servo (6) and the body of the wrist swing servo (15) are symmetrically fixedly connected through the upper and lower ends of the first elbow connecting plate (5) and the second elbow connecting plate (13) at both ends, to form the elbow joint reciprocating swing movement.
6. The multi-DOF tea picking robot based on bionic plucking technology according to claim 1, characterized in that: The wrist swing steering engine (15) is movably connected with the first wrist connecting plate (7) and the second wrist connecting plate (12) on the two sides of the rotating steering disc, and the first wrist connecting plate (7) and the second wrist connecting plate (12) are symmetrically fixedly connected at one end to the two sides of the first wrist rotating steering engine (8) to support the reciprocating swing movement of the first wrist rotating steering engine (8).