CN-119999450-B - Famous tea end effector picking mechanism based on lifting handle picking

Abstract

The invention discloses a picking mechanism of a famous and excellent tea end effector based on lifting handle picking, which comprises a bionic grabbing mechanism, an arm telescopic mechanism and a wrist overturning mechanism, wherein square grooves and steering gears in the bionic grabbing mechanism are arranged in a moving plate, the steering gears drive sliding blocks to move through connecting rods so as to control clamping or stretching of bionic fingers, the moving plate of the arm telescopic mechanism is fixed on a base frame through matching of ball sliding blocks and guide rails, the movement of the moving plate is transmitted to the bionic clamping mechanism through a ball sliding rail so as to control the telescopic movement of the arm, the base frame of the wrist overturning mechanism is connected with a sleeve in a positioning manner through nuts and is coaxially matched with a motor, and the rotation of the motor drives the base frame to overturn.

Inventors

• YANG HUALIN
• ZHAO WENJU
• Ma Bohui
• WANG ZIHAO
• DENG FANG
• LI SONGMEI

Assignees

• 青岛科技大学

Dates

Publication Date

20260505

Application Date

20250325

Claims (3)

1. 1. The famous tea end effector picking mechanism based on handle picking is characterized by comprising a bionic grabbing mechanism (1), an arm telescopic mechanism (2) and a wrist overturning mechanism (3); The arm telescopic mechanism (2) comprises a moving plate (21), a long-head screw bolt (22), a brushless steering engine (23), a steering engine supporting frame (24), a ball sliding rail (25), a spring clamping tenon (26), a movable crank (27), a hinge pin (28), a straight slot connecting rod (29), a cylindrical guide rod (211), a boss fixed block (212), an arc-shaped moving plate (213), a compression spring (214), a compression spring (24) and a linear guide rod, a ball slider (215); the bottom of the moving plate (21) is fixedly connected with the 4 ball sliding blocks (215) through screws; the ball sliding block (215) is matched with the cylindrical surface center of the ball sliding rail (25), the ball sliding rail (25) slides along to realize the movement of the moving plate (21), the spring clamping tenon (26) is fixedly connected with the steering engine supporting frame (24) through the long head bolt (22), the brushless steering engine (23) is fixedly connected with the steering engine supporting frame (24) through the long head bolt (22), the movable crank (27) and the steering engine are hinged with rocker arms, the rocker arms freely rotate along hinge pins (28), the second positioning holes are connected with the hinge pins (28), the left end of the straight slot connecting rod (29) is provided with a cut notch, the left end of the straight slot connecting rod (29) is hinged with the cylindrical guide rod (211) through the hinge pins (28), the right end of the straight slot connecting rod (29) is provided with a positioning center hole, the cylindrical guide rod (211) is cut with a shaft shoulder, the right end of the straight slot connecting rod (29) is hinged with the hinge pins (28), and the middle part and the compression spring (214) are connected with the cylindrical guide rod (211) through the hinge pins (28), The arc-shaped movable piece (213) is coaxially matched, the arc-shaped movable piece (213) is positioned on the right side of the compression spring (214), a door-shaped groove is formed in the bottom of the arc-shaped movable piece (213), the groove at the bottom of the arc-shaped movable piece (213) is matched with a tenon of the boss fixing block (212) and moves left and right along the tenon, the movable plate (21), the brushless steering engine (23), the spring clamping tenon (26), the movable crank (27), the straight groove connecting rod (29), the cylindrical guide rod (211), the boss fixing block (212), The device comprises a brushless steering engine (23), a movable crank (27), a straight slot connecting rod (29), a movable crank (27) and a compression spring (214), wherein the movable crank (213) and the compression spring (214) form a quick return crank guide rod mechanism, the brushless steering engine (23) rotates, the movable crank (27) is pushed by the hinge pin (28) on the rocker arm to rotate, the straight slot connecting rod (29) connected with the movable crank (27) drives the cylindrical guide rod (211) to slide left and right along a central hole of the movable plate (213), the movable plate is controlled to stretch left and right, the movable plate (21) moves rightwards to drive the compression spring (214) and the movable plate (213) to slide along a tenon of a boss fixed block (212), the movable plate (213) reaches the right end of the tenon of the boss fixed block (212), the movable plate (21) presses the compression spring (214), the compression spring (214) starts to compress, the elastic potential energy is maximum, the movable crank (27) reaches the rightmost end, the spring of the spring clamping tenon (26) is in a loose state, the movable crank (27) is controlled to stretch left and the guide rod (27) continues to press the guide rod (26) to move leftwards, and the initial potential energy of the movable crank (212) returns to the initial position, and the quick return spring (211) is driven to move leftwards, and the initial position of the movable crank (21) returns to the initial position to the elastic potential energy, and the movable rod (26) moves upwards to move upwards to the compression rod (26). The wrist overturning mechanism (3) comprises a base frame (31), flange locking nuts (32), screws (33), a left supporting baffle plate (34) and a right supporting baffle plate (38), tapered roller bearings (35), shaft sleeves (36), a stepping motor (37), a machine body shell (38), a fixed supporting frame (39), LYCA plum blossom shaft couplings (311), stepped transmission shafts (312), guide flat keys (313) and a cross lining (314), wherein the left supporting baffle plate (34) is matched with grooves of the fixed supporting frame (39) and fixedly connected through bolts, the right supporting baffle plate (34) and the machine body shell (38) are fixedly connected through bolts, the stepping motor (37) is fixedly connected with the machine body shell (38) through bolts, the stepping motor (37) is connected with the LYCA plum blossom shaft couplings (311) through keys, the LYCA plum blossom shaft couplings (311) and the stepped transmission shafts (312) are driven to rotate through the LYCA plum blossom shaft couplings (311), the shaft sleeves (36) are coaxially matched with the left supporting baffle plate (34) and are coincident with the left supporting baffle plate (36), the left end face of the shaft sleeve (36) is fixedly connected with the base frame (31) through the screw (33), the outer tenons of the cross lining (314) are fixed in the inner grooves of the shaft sleeve (36) and are connected into a whole, the guide flat key (313) is arranged in the key groove of the stepped transmission shaft (312) and is tightly matched with the inner notch of the cross lining (314), and the stepping motor (37) drives the shaft sleeve (36) to rotate through the guide flat key (313) so as to drive the base frame (31) to rotate; The bionic grabbing mechanism (1) is fixedly connected with the arm telescopic mechanism (2) through a moving plate (21) and a ball sliding block (215), and the arm telescopic mechanism (2) and the wrist overturning mechanism (3) are connected and fastened through a base frame (31).
2. 2. The lifting handle-based famous tea end effector picking mechanism as claimed in claim 1, wherein the bionic grabbing mechanism (1) comprises bionic fingers (11), L-shaped blocks (12), T-shaped sliding blocks (13), square grooves (14), digital steering engines (15), main connecting rods (16), auxiliary connecting rods (17), steering engine rotating shafts (18), nuts (19), hexagon head half-threaded bolts (111), A bolt (112); the bionic finger is in the shape of an index finger in a human finger, a central threaded hole is formed in the bottom of the bionic finger, the surface of the fingertip of the bionic finger is inclined 5-10 degrees with the horizontal plane, rectangular protrusions are formed on the surface of the bionic finger, the bionic finger (11) and the L-shaped block (12) are fixed through the bolts (112); the L-shaped block (12) and the T-shaped sliding block (13) are fixedly connected through the bolt (112); the external tenons of the T-shaped sliding blocks (13) slide reciprocally in the T-shaped grooves in the square grooves (14) so as to enable bionic fingers (11) to move reciprocally in the grooves of the square grooves (14) to realize opening and closing actions, the digital steering engine (15) is concentrically matched with the square grooves (14), the rotation center of the steering engine and the center holes of the square grooves are concentrically matched, the square grooves (14) are structurally characterized by being square, the T-shaped grooves are arranged on the side edges, the center holes in the middle of the square grooves (14) penetrate through round holes in the center of mass positions, the steering engine is concentrically matched with the square grooves, the side edges of the steering engine are tightly attached to the back surfaces of the square grooves, key grooves are formed in the two end faces of a steering engine rotating shaft (18), threaded holes are formed in the cylindrical surface of the left end, the steering engine rotating shaft (18) and a rocker arm carried by the steering engine are connected through rectangular flat keys, the steering engine rotating shaft and the steering engine rotating shafts form a whole, the steering engine rotating shaft is coaxially provided with a stop washer through nuts, involute spline key grooves are formed in the steering engine, the involute key grooves are formed in the steering engine, the involute and the involute gears of the steering engine are matched and connected through spline tooth surfaces, the synchronous rotation of a steering engine rotating shaft (18) is driven by the rotation of a steering engine rocker arm; the main connecting rod (16) is characterized in that the main connecting rod (16) is provided with two arms which are in central symmetry and are provided with key grooves at the center, a steering engine rotating shaft (18) is coaxially arranged with the main connecting rod (16) and is in hinged fit, and is fixedly connected with the main connecting rod (16) through internal threads of a nut (19), threads are machined on the steering engine rotating shaft (18), a spring gasket is adopted for locking the threaded connection mode, the auxiliary connecting rod (17) is in hinged fit with the main connecting rod (16) through a hexagonal head half-thread bolt (111), the left end of the hexagonal head half-thread bolt (111) is a smooth shaft surface, the right end surface is threaded, the right end surface is fixedly connected with the threaded hole of the main connecting rod, the smooth shaft surface at the left end is hinged with the auxiliary connecting rod, and is prevented from moving by a gasket, the auxiliary connecting rod (17) is characterized in the shape of a straight notch, the left and right are symmetrical, the centers of two ends are respectively provided with a central threaded hole, the auxiliary connecting rod (17) and a threaded hole inside a T-shaped sliding block (13) are in hinged fit through the hexagonal head half-thread bolt (111), the threaded surface at the right end is fixedly connected with the threaded hole of the T-shaped sliding block (13), and the smooth shaft surface at the left end is hinged with the auxiliary sliding block around the auxiliary sliding block (13), namely the auxiliary sliding block is rotated around the central hole (15) of the digital connecting rod (15) A main connecting rod (16), a secondary connecting rod (17), The T-shaped sliding blocks (13) form two sets of positive and negative stroke crank sliding block mechanisms, a main connecting rod (16) is in central symmetry, two end central holes are respectively connected with an auxiliary connecting rod (17), the digital steering engine (15) rotates to drive the main connecting rod (16) to do rotary motion, the main connecting rod (16) is hinged with the auxiliary connecting rods (17), the main connecting rod (16) rotates to drive the two auxiliary connecting rods (17) to swing in opposite directions, the auxiliary connecting rods (17) are hinged with the T-shaped sliding blocks, the auxiliary connecting rods (17) swing to drive the T-shaped sliding blocks (13) to slide back and forth in T-shaped grooves in the square grooves (14), and then two bionic fingers fixedly connected with the T-shaped sliding blocks are driven to do reciprocating motion, and finally the rotary motion of the digital steering engine (15) is converted into linear motion of the bionic fingers (11), and the clamping or loosening state of the bionic fingers is controlled.
3. 3. The famous tea end effector picking mechanism based on lifting handle picking is characterized in that a base frame (31), a stepping motor (37), a LYCA plum blossom coupler (311) and a stepped transmission shaft (312) of the bionic grabbing mechanism (1) and the wrist overturning mechanism (3) form the wrist picking mechanism, the base frame (31) and the stepped transmission shaft (312) form a whole through the flange lock nut (32) and the shaft sleeve (36), the stepped transmission shaft (312) rotationally drives a cross lining (314) and the shaft sleeve (36) to rotate, the distance between the rotation center O point of the stepping motor (37) and the center A point of a steering engine rotation shaft of the bionic grabbing mechanism (1) is R1, the bionic grabbing mechanism (1) is positioned in the base frame (31), the stress direction of a bionic finger (11) is parallel to the initial state plane of the wrist overturning mechanism, when the bionic grabbing mechanism (1) clamps 10-15mm below a two-leaf connection point of a tea bud, the bionic finger (11) is inclined along with the inclination direction of the inclined side edge (5) of the bionic finger (11) and the inclined side edge (37) is the inclined along with the inclination direction of the actual finger (37), the component Fx of the clamping force F in the X axis direction provides a tea clamping force in the horizontal direction and a horizontal shearing force when the tea clamping force rotates at a high speed, the component Fy of the clamping force F in the Y axis direction provides a tea lifting force in the vertical direction, an acting force arm of the clamping force F is d, a stepping motor (37) receives signals, a stepped transmission shaft (312) is driven by the motor to rotate to drive a base frame (31) to rotate for 90 degrees through a guide flat key (313), a bionic finger (11) in the rotation simultaneously decomposes the horizontal shearing force and the vertical lifting force under the action of the clamping force to realize quick picking of tea buds, after picking is finished, the bionic picking mechanism (1) controls the bionic finger (11) to open, the tea buds fall into a recovery box under the action of inertia to finish the whole flow of tea picking, the rotating radius is concentric rotation, and the motion track of the picked tea buds is of an arc shape with the radius of R2.

Description

Famous tea end effector picking mechanism based on lifting handle picking Technical Field The invention relates to the technical field of famous tea picking, in particular to a famous tea end effector picking mechanism based on lifting handle picking. Background The picking of the famous tea has obvious seasonality, the picking standard is strict, only one bud and two leaves or terminal buds are usually picked, the tea leaves are required to be complete and fresh and tender, the existing tea picking machinery generally adopts a one-knife cutting mode, old leaves and tender buds cannot be distinguished, the shape and quality of the tea leaves are damaged, and the famous tea picking machine is not suitable for picking the famous tea. The current famous tea picking mainly depends on manpower, the manpower cost of the picking link accounts for more than 60% of the whole tea production cost, the manual picking speed is limited, and the picking speed is influenced by external factors such as weather, topography and the like, so that the labor intensity is high, and the cost is high. The problem of the labor waste faced by the picking of the famous and high-quality tea is more and more remarkable, most of the famous and high-quality tea picking machines used in the market at present are large-volume tea picking machines, few of the famous and high-quality tea picking machines are not mature, the famous and high-quality tea picking machines are used at present and almost all of the famous and high-quality tea picking machines are used for picking in a shearing mode, the prior art has a certain limitation on the solution of low picking efficiency and poor picking quality, for example, patent 2023115987570 discloses a feedback famous and high-quality tea picking device based on synchronous belt transmission, the method brings tea into a conveying device through a synchronous belt, then a steering engine controls blades to polymerize and shear the tea, rapid picking is achieved, but the defects that the shearing mode principle is used, mechanical damage of the tea is easy to occur, the section of the tea is easy to be infected by fungi, the regrowth of the tea is affected, and the breakage of the tea is possibly caused in the shearing process, especially if the operation is improper, the tea is possibly damaged or the edge of the tea is torn, and the tea is affected. Aiming at the problems, through careful observation of the manual picking process and accumulation of a large amount of experimental data, a famous-brand tea tail end picking mechanism which truly simulates manual 'handle picking' is developed, the famous-brand tea tail end picking mechanism can be integrated on serial or parallel robot arms and used for picking various famous-brand teas, the adaptability of the famous-brand tea picking is improved, the handle picking principle is adopted to simulate manual picking, the damage to tea buds can be reduced by accurately picking single famous-brand tea buds, the manual labor intensity is reduced on the premise of meeting the famous-brand tea picking standard, the picking continuity and picking efficiency are improved, the requirement on manpower resources is greatly reduced, the standardization and the high efficiency of picking actions are ensured, and an innovative method is provided for tea picking. Disclosure of Invention The invention aims to provide a novel famous and excellent tea picking mechanism which has the characteristics of accurate picking and no damage in picking, so as to solve the problems of poor selectivity and low tea quality of the existing mechanical picking in the technical background. In order to achieve the above purpose, the present invention provides the following technical solutions: The invention relates to a famous tea end effector picking mechanism based on lifting handle picking, which comprises an arm telescopic mechanism, a bionic grabbing mechanism and a wrist overturning mechanism. The arm telescopic mechanism comprises a moving plate, a long head bolt, a brushless steering engine, a steering engine supporting frame, a ball sliding rail, a movable crank, a hinge pin, a straight groove connecting rod, a boss fixing block, an arc-shaped moving plate, a compression spring, a cylindrical guide rod and a ball sliding rail, wherein the bottom of the moving plate is fixedly connected with 4 ball sliding blocks through bolts, the ball sliding blocks are matched with the cylindrical centers of the ball sliding blocks and the ball sliding rail, the left end and the right end of the cylindrical guide rod slide left and right along the ball sliding rail to realize the movement of the moving plate, the spring clamping tenons are fixedly connected with the steering engine supporting frame through the long head bolt, the brushless steering engine is fixedly connected with the steering engine supporting frame through the long head bolt, the movable crank and the steering engine are hinged