Tea leaf bionic picking mechanical hand device

Abstract

The utility model relates to a mechanical hand device technical field, and this device includes: the rotary connecting plate, the claw mechanism, the mechanism and the throwing leaf mechanism of picking, and the mechanism of picking, the throwing leaf mechanism is fixedly connected with the rotary connecting plate respectively, and the claw mechanism is fixedly connected with the mechanism of picking through the connecting piece, the claw mechanism includes claw cylinder and claw, and the claw cylinder and the claw are integrated structure, and the upper end of claw cylinder is equipped with the air inlet end, the mechanism of picking includes first cylinder, pneumatic claw connecting piece and cylinder oblique fixing piece, the throwing leaf mechanism includes second cylinder and tea leaf storehouse, and the second cylinder is fixedly connected with the rotary connecting plate, and the rotary rod of second cylinder is fixedly connected with the tea leaf storehouse through the flange plate, the utility model can pick the famous and excellent tea bud leaf accurately and efficiently through imitating the action of picking tea leaf by hand, and the picking tea leaf range is big, can be adapted to different tea garden planting scene, solves the problem that the precision of existing picking equipment is insufficient, and the problem of low efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a bionic tea-picking robotic arm device. Background Technology

[0002] Premium teas (usually referring to fresh leaves with single buds, one bud and one leaf, or one bud and two leaves) have long relied on manual harvesting due to extremely high standards for picking. However, manual harvesting is not only labor-intensive, inefficient, and costly, but also, with the increasing labor shortage, often leads to a decline in tea quality due to untimely harvesting, severely restricting the large-scale development of the tea industry.

[0003] Existing tea-picking machinery mainly falls into two categories: one is the traditional reciprocating shearing tea-picking machine, commonly available in single-person, double-person, and riding models. While these machines are highly efficient, they cause significant damage to the tea tree's growing point, resulting in a high rate of tea leaf breakage. The picked fresh leaves often contain impurities such as old leaves and tea stems, making them suitable only for bulk tea production and unable to meet the quality requirements of premium teas. The other category is intelligent picking equipment, which primarily uses artificial intelligence recognition, precise spatial positioning, and intelligent picking control programs and modules to selectively pick tender tea buds. However, it still has significant shortcomings. The complexity of the picking equipment leads to insufficient dexterity, and it easily squeezes and scratches tender leaves during picking, making it unsuitable for the requirements of delicate picking. There is a need for a bionic tea-picking robotic hand that mimics the "pinching, lifting, and tossing" movements of human hand picking, enabling precise and efficient tea harvesting. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this utility model provides a biomimetic tea-picking robotic arm device, which achieves precise and efficient tea harvesting by mimicking the "pinching, lifting, and tossing" actions of human hands when picking tea leaves.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A bionic tea-picking robotic arm device includes a rotating connecting plate, a gripper mechanism, a picking mechanism, and a leaf-throwing mechanism. The picking mechanism and the leaf-throwing mechanism are fixedly connected to the rotating connecting plate, and the pneumatic mechanical gripper mechanism is fixedly connected to the pneumatic rotating picking mechanism through a connector. The gripper mechanism, the picking mechanism, and the leaf-throwing mechanism are all pneumatic. The gripper mechanism includes a gripper cylinder and a gripper. The gripper cylinder and the gripper are an integrated structure. The upper end of the gripper cylinder is provided with an air inlet. By controlling the air inlet and outlet, the gripper can perform gripping or releasing actions. The extraction mechanism includes a first cylinder, a pneumatic gripper connector, and a cylinder inclined fixing component. The first cylinder is fixedly connected to the bottom of the rotating connecting plate through the cylinder inclined fixing component. The rotating rod of the first cylinder is fixedly connected to one end of the pneumatic gripper connector through a flange. The other end of the pneumatic gripper connector is fixedly connected to the cylinder of the pneumatic mechanical gripper mechanism. The pneumatic mechanical gripper mechanism is driven by the first cylinder to achieve a 180° rotation swing, placing the bud held by the pneumatic mechanical gripper mechanism into the pneumatic rotating leaf throwing mechanism. The leaf-throwing mechanism includes a second cylinder and a tea container. The second cylinder is fixedly connected to the rotating connecting plate and is located above the cylinder inclined fixing part. The rotating rod of the second cylinder is fixedly connected to the tea container through a flange. The tea container is driven to rotate and swing from 0 to 90° by the second cylinder.

[0006] Specifically, the rotating connecting plate includes a first connecting part, a second connecting part, and a third connecting part. The third connecting part and the second connecting part are connected to form an obtuse angle. The top of the second connecting part is fixedly connected to the three-dimensional spatial movement mechanism, and the third connecting part is fixedly connected to the image acquisition mechanism.

[0007] Specifically, the inner side of the gripper is provided with an anti-slip silicone pad, which is used to stably grip the buds and leaves.

[0008] Specifically, the pneumatic gripper connector includes a first connecting part and a second connecting part, which are connected to form an included angle, wherein the included angle is an acute angle.

[0009] Specifically, the image acquisition mechanism includes a vision camera and a data cable interface module. The data cable interface module is connected to the vision camera, and the vision camera is fixed to the third connecting part of the rotating connecting plate by bolts.

[0010] Specifically, the three-dimensional spatial movement mechanism consists of a gantry frame, a linear motor, and fixed connectors, or adopts a robotic intelligent arm structure, used to drive the picking manipulator to adjust its movement in three-dimensional space.

[0011] Compared with the prior art, this utility model has the following advantages and beneficial effects: This invention provides a biomimetic tea-picking robotic arm device. Firstly, a gripper mechanism stably holds tea buds and leaves without mechanical damage. Then, a rotating cylinder in a rotary lifting mechanism drives the pneumatic gripper mechanism to rotate 180°, bringing the gripped tea buds directly above the tea storage bin. The gripper mechanism then opens, dropping the tea leaves into the bin. Finally, a rotating cylinder in a leaf-throwing mechanism drives the tea storage bin to rotate 90°, throwing the tea buds into a collection bag. This mimics the "pinching, lifting, and throwing" motion of human hand picking, achieving precise and efficient harvesting. Combined with three-dimensional spatial movement control, it effectively solves the problems of insufficient precision, high damage rate, and low efficiency of existing picking equipment while enabling large-scale tea picking. It is adaptable to different tea garden planting scenarios, significantly improving the quality and efficiency of tea picking. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of a bionic tea-picking robotic arm device according to Embodiment 1 of this utility model; Figure 2 This is a left-side view of the structure of a bionic tea-picking robotic arm device according to Embodiment 1 of this utility model; Figure 3 This is a top view of the structure of a bionic tea-picking robotic arm device according to Embodiment 1 of this utility model; In the diagram: 1-Servo mounting plate, 2-Servo, 3-Rotating connecting plate, 31-First connecting part, 32-Second connecting part, 33-Third connecting part, 4-Gripper mechanism, 41-Gripper cylinder, 42-Gripper, 5-Lifting and picking mechanism, 51 First cylinder, 52-Pneumatic gripper connector, 53-Cylinder oblique fixing part, 6-Leaf throwing mechanism, 61-Second cylinder, 62-Tea bin, 7-Image acquisition mechanism, 71-Vision camera, 72-Data cable interface module. Detailed Implementation

[0014] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments, and the implementation of this utility model is not limited thereto. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0015] Example 1 As shown in Figures 1-3, a tea-picking robot includes a rotating connecting plate 3, a gripper mechanism 4, a picking mechanism 5, and a leaf-throwing mechanism 6. The picking mechanism 5 and the leaf-throwing mechanism 6 are fixedly connected to the rotating connecting plate 3 by bolts, and the gripper mechanism 4 is fixedly connected to the rotating picking mechanism 5 by a connector 52. The gripper mechanism, the picking mechanism, and the leaf-throwing mechanism are all pneumatic.

[0016] Specifically, the rotating connecting plate includes a first connecting part 31, a second connecting part 32, and a third connecting part 33. The third connecting part 33 and the second connecting part 32 are connected at an obtuse angle. The first connecting part 31 is fixedly connected to the lifting mechanism 5 and the leaf throwing mechanism 6, respectively. The top of the second connecting part 32 is fixedly connected to the flange on the servo motor output shaft. The third connecting part 33 is fixedly connected to the image acquisition mechanism. The angle between the third connecting part 33 and the second connecting part 32 is preferably 140°, which facilitates the image acquisition mechanism in acquiring image data in the direction of the pneumatic gripper mechanism 4.

[0017] The gripper mechanism 4 is located at the bottom of the robotic arm device and includes a gripper cylinder 41 and a gripper 42. The gripper cylinder 41 and the gripper 42 are an integrated structure. The upper end of the gripper cylinder 41 is equipped with an air pipe connector. By controlling the air intake and exhaust, the gripper can perform gripping or releasing actions. When the gripper is controlled by the cylinder to perform a gripping action, it is used to stably grip the buds and leaves. When performing a gripping and releasing action, it is used to release the gripped buds and leaves so that they fall into the tea container of the leaf throwing mechanism. The air pipe connector of the gripper cylinder 41 is a standard air nozzle, which only needs to be connected to a high-pressure air intake pipe to achieve power transmission. The gripper cylinder 41 adopts a sealed structure design to ensure no gas leakage.

[0018] Preferably, the inner side of the gripper 42 is provided with an anti-slip silicone pad, the gripping speed is 0.8s, and the buds and leaves can be stably gripped without mechanical damage within the range of 0.3N of gripping force.

[0019] The lifting mechanism 5 is located between the gripper mechanism 4 and the leaf throwing mechanism 6. The lifting mechanism 5 includes a first cylinder 51, a pneumatic gripper connector 52, and a cylinder inclined fixing member 53. The first cylinder 51 is fixedly connected to the bottom of the rotating connecting plate 3 through the cylinder inclined fixing member 53. One end of the pneumatic gripper connector 52 is fixedly connected to the flange on the rotating shaft of the first cylinder 51, and the other end of the pneumatic gripper connector 52 is fixedly connected to the gripper mechanism 4. The gripper mechanism 4 can be rotated from top to bottom or from bottom to top by the 180° reciprocating rotation of the first cylinder 51.

[0020] Specifically, the pneumatic gripper connector 52 includes a first connecting part 521 and a second connecting part 522. The first connecting part 521 and the second connecting part 522 are connected to form an included angle. Preferably, the included angle formed by the connection of the first connecting part and the second connecting part is an acute angle. The first cylinder 51 is fixedly connected to the bottom of the third connecting part 33 of the rotating connecting plate via the cylinder inclined fixing part 53. The cylinder body of the first cylinder 51 has two air inlet and outlet ports. The rotating shaft of the first cylinder 51 is rigidly connected to the first connecting part 521 of the pneumatic gripper connector 52 via a flange. The second connecting part 522 of the pneumatic gripper connector 52 is fixedly connected to the gripper mechanism 4. After the gripper mechanism 4 grips the buds and leaves, the gripper mechanism 4 is rotated from bottom to top to directly above the tea hopper 62 by rotating the first cylinder 51 by 180°. Then, the gripper mechanism 4 is rotated from top to bottom to its original position by rotating it by 180°.

[0021] The first cylinder 51 can be a vane-type rotary swing cylinder. When compressed air of 0.15-0.7MPa is introduced into the first cylinder 51, its rotating shaft drives the pneumatic mechanical gripper mechanism to achieve a 180° rotation swing through the pneumatic gripper connector 52. The swing angular velocity is 0.03-0.3 s, rotating 90° within a time, ensuring that the gripped buds and leaves are accurately transferred to the working area of ​​the pneumatic rotary leaf throwing mechanism, and the picked buds and leaves are placed in the tea hopper of the pneumatic rotary leaf throwing mechanism.

[0022] The leaf-throwing mechanism 6 includes a second cylinder 61 and a tea hopper 62. The second cylinder 61 is fixedly connected to the rotating connecting plate 3 and is located above the cylinder inclined fixing member 53. The rotating shaft of the second cylinder 61 is fixedly connected to the tea hopper 62 via a flange. The second cylinder drives the tea hopper 62 to achieve a 90° rotational swing. The tea hopper 62 and the gripper mechanism 4 are located on the same side. The rotating shaft of the first cylinder 51 drives the gripper mechanism 4 to achieve a 180° rotational swing via the pneumatic gripper connector 52, that is, the gripper mechanism 4 is rotated from bottom to top to be directly above the tea hopper 62. At this time, the gripper mechanism 4 is controlled to release the buds and leaves and place them into the tea hopper 62. The second cylinder 61 can be a blade-type rotating swing cylinder with a dual inlet and outlet design. Compressed air enters alternately from the dual inlets (two air ports, A and B), driving the blades to rotate and achieve a 90° reciprocating swing of the output shaft. When air enters and exits through ports A and B alternately, it drives the tea hopper 62 to rotate 90°, switching between horizontal and vertical positions. In the horizontal position, it catches the buds and leaves released by the gripper mechanism, rotates 90°, and then throws the tea leaves out. The buds and leaves fall into the tea hopper 62 and are then thrown into the leaf collection bag. Specifically, after the buds and leaves fall into the tea hopper 62, the tea hopper 62 rotates (90 degrees in this embodiment), using inertia or centrifugal force to "throw" the buds and leaves inside into the leaf collection bag, thus completing the transfer and collection of the buds and leaves.

[0023] Preferably, an image acquisition mechanism 7 is provided on the rotating connecting plate of a bionic tea-picking robotic arm device. The image acquisition mechanism 7 includes a vision camera 71 and a data cable interface 72. The data cable interface 72 is connected to the vision camera 71, and the vision camera 71 is fixed to the third connecting part of the rotating connecting plate L3 by bolts. The vision camera 71 can be a binocular high-pixel high-definition lens to acquire image data of the target buds and leaves within a certain range near the mechanical gripper mechanism. The data cable interface adopts a USB 3.0 standard interface to transmit the acquired image data to a PC or controller in real time. Based on the acquired image data, the buds and leaves can be located.

[0024] Example 2 A bionic tea-picking robotic arm also includes a three-dimensional spatial movement mechanism, which is fixedly connected to a rotating connecting plate. The three-dimensional spatial movement mechanism is used to drive the gripper mechanism of the bionic tea-picking robotic arm to move in three-dimensional space.

[0025] Specifically, the three-dimensional spatial movement mechanism adopts a linear guide slide module or a robotic intelligent arm structure to drive the movement of the picking manipulator in three-dimensional space, thereby moving the gripper mechanism of the tea bionic picking manipulator to the front of the target bud and leaf in three-dimensional space, with a repeatability accuracy of ±0.05mm.

[0026] In this example, when the three-dimensional spatial movement mechanism adopts a linear guide slide module, the linear guide slide module includes a servo motor mounting plate 1 and a servo motor 2. The servo motor 2 is fixed on the servo motor mounting plate 1 and is fixedly connected to the rotating connecting plate. The two can be fixedly connected by bolts. The end of the slide module itself cannot rotate; the rotation of the entire manipulator can be controlled by the servo motor 2. When the three-dimensional spatial movement mechanism adopts a robotic intelligent arm structure, the end of the robotic intelligent arm structure is fixedly connected to the rotating connecting plate of the tea-bionic picking manipulator. The end of the robotic intelligent arm structure itself can rotate, and the rotation of the entire manipulator can be controlled.

[0027] A biomimetic tea-picking robotic arm may further include an overall frame and auxiliary mechanisms. The auxiliary mechanisms include a walking device and a transmission device. The walking device adopts a tracked design and is connected to a drive motor through the transmission device, making it adaptable to tea garden terrain with a slope of ≤15°. The bottom of the overall frame is equipped with adjustable support feet to ensure stable fixation of the equipment on uneven ground.

[0028] The working principle of the biomimetic tea-picking robotic arm device in this embodiment is as follows: A visual camera can capture real-time images of tea buds and leaves, controlling a three-dimensional spatial movement mechanism to drive the tea-picking robot arm to move 3-5 cm directly in front of the target buds and leaves. The pneumatic gripper mechanism's cylinder is vented, and the gripper 42 closes under the drive of the gripper cylinder 41, precisely clamping the bud and leaf stem – a process mimicking manual picking. The first cylinder 51 of the pneumatic rotary picking mechanism is vented, causing the gripper 42 to rotate 180°, completing the bud and leaf lifting action – a process mimicking manual picking. The second cylinder 61 of the pneumatic rotary leaf-throwing mechanism is vented, the tea hopper 62 rotates 90°, and simultaneously, the gripper 42 opens, releasing air, allowing the buds and leaves to fall into the tea hopper 62 and be thrown into the leaf collection bag – a process mimicking manual picking. All mechanisms then reset, ready for the next picking cycle.

[0029] This embodiment provides a biomimetic tea-picking robotic arm device. Through the coordinated operation of a gripper mechanism, a picking mechanism, a leaf-throwing mechanism, an image acquisition mechanism, and a three-dimensional spatial movement mechanism, it achieves the following: positioning of buds and leaves → non-destructive gripping by the gripper → transfer by the picking mechanism → throwing of leaves to the leaf collection bag by the leaf-throwing mechanism. It stably transports the picked buds and leaves to the leaf collection bag, mimicking the "pinching, lifting, and throwing" actions of human hand picking. The gripper mechanism, picking mechanism, and leaf-throwing mechanism are pneumatically driven to achieve precise movements of each actuator. Combined with three-dimensional spatial movement control, it can achieve non-destructive and efficient picking of high-quality tea buds and leaves. While enabling large-scale tea picking, it effectively solves the problems of insufficient precision, high damage rate, and low efficiency of existing picking equipment. It is adaptable to different tea garden planting scenarios and significantly improves the quality and efficiency of tea picking.

[0030] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A biomimetic tea-picking robotic arm device, characterized in that, include: The rotating connecting plate, gripper mechanism, lifting mechanism, and leaf throwing mechanism are all pneumatic. The lifting mechanism and leaf throwing mechanism are fixedly connected to the rotating connecting plate, and the gripper mechanism is fixedly connected to the lifting mechanism through a connecting piece. The gripper mechanism includes a gripper cylinder and a gripper. The gripper cylinder and the gripper are an integrated structure. The upper end of the gripper cylinder is provided with an air inlet. The gripper clamping or releasing action is achieved by controlling the air inlet and the air outlet. The extraction mechanism includes a first cylinder, a pneumatic gripper connector, and a cylinder inclined fixing component. The first cylinder is fixedly connected to the bottom of the rotating connecting plate through the cylinder inclined fixing component. The rotating rod of the first cylinder is fixedly connected to one end of the pneumatic gripper connector through a flange. The other end of the pneumatic gripper connector is fixedly connected to the cylinder of the pneumatic mechanical gripper mechanism. The pneumatic mechanical gripper mechanism is driven by the first cylinder to achieve rotation and swing within the range of 0-180°, placing the bud held by the pneumatic mechanical gripper mechanism into the pneumatic rotary leaf throwing mechanism. The leaf-throwing mechanism includes a second cylinder and a tea container. The second cylinder is fixedly connected to the rotating connecting plate and is located above the cylinder inclined fixing part. The rotating rod of the second cylinder is fixedly connected to the tea container through a flange. The tea container is driven to rotate and swing by the second cylinder, and the buds and leaves are thrown to the leaf collection bag by inertia.

2. The biomimetic tea-picking robotic arm device according to claim 1, characterized in that, The rotating connecting plate includes a first connecting part, a second connecting part, and a third connecting part. The third connecting part and the second connecting part are connected to form an obtuse angle. The top of the second connecting part is fixedly connected to the three-dimensional spatial movement mechanism, and the third connecting part is fixedly connected to the image acquisition mechanism.

3. The biomimetic tea-picking robotic arm device according to claim 1, characterized in that, The inner side of the gripper is provided with an anti-slip silicone pad, which is used to stably hold the buds and leaves.

4. The biomimetic tea-picking robotic arm device according to claim 1, characterized in that, The pneumatic gripper connector includes a first connecting part and a second connecting part, which are connected to form an included angle, which is an acute angle, and transmits rotational torque through a rigid connection.

5. The biomimetic tea-picking robotic arm device according to claim 1, characterized in that, The rotating connecting plate is equipped with an image acquisition mechanism, which includes a vision camera and a data cable interface module. The data cable interface module is connected to the vision camera, and the vision camera is fixed to the third connecting part of the rotating connecting plate by bolts.

6. The biomimetic tea-picking robotic arm device according to claim 1, characterized in that, It also includes a three-dimensional spatial movement mechanism, which is fixedly connected to a rotating connecting plate. The three-dimensional spatial movement mechanism is used to drive the gripper mechanism of the tea-bionic picking robot to move in three-dimensional space.

7. The biomimetic tea-picking robotic arm device according to claim 6, characterized in that, The three-dimensional spatial movement mechanism adopts a linear guide slide module or a robotic intelligent arm structure. The linear guide slide module includes a servo motor mounting plate and a servo motor. The servo motor is fixed on the servo motor mounting plate and is fixedly connected to the rotating connecting plate. The end of the robotic intelligent arm structure is fixedly connected to the rotating connecting plate of the tea-bionic picking manipulator.

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