CN114747364A

CN114747364A - Tea picking manipulator device and method of bionic mantis arm

Info

Publication number: CN114747364A
Application number: CN202210430738.6A
Authority: CN
Inventors: 马伟; 张梅; 徐海东; 赵铖钥
Original assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Current assignee: Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-07-15
Anticipated expiration: 2042-04-22
Also published as: CN114747364B

Abstract

The invention relates to a tea picking manipulator device and method of a bionic mantis arm, and belongs to the technical field of modern gardening. The driver drives the large arm to move up and down relative to the base, so that the small arm, the small claw and the large claw can move up and down. The first wire grip is connected with the first connecting piece, the top end of the small arm is connected with the first connecting piece, and the first wire grip pulls the first connecting piece to rotate so as to realize the action of the small arm. The second wire grip is connected with the second connecting piece, the second connecting piece is rotatably arranged at the bottom end of the small arm, the small claw is arranged on the second connecting piece, the top end of the large claw is fixedly arranged at the bottom end of the small arm, the second wire grip pulls the second connecting piece to rotate, the top of the small claw and the top of the large claw are clamped, the small claw and the top of the large claw are mutually matched, and the effect of pressing and breaking off tea buds is achieved. The shape of the screening device is designed to be V-shaped, the middle of the V-shaped screening device is connected with the bottom of the big claw, and the screening device and the small claw are provided with a set distance, so that the effect of smoothly hooking the tea buds without damaging the appearance of the tea buds is achieved, and the tea buds are completely harvested.

Description

Tea picking manipulator device and method of bionic mantis arm

Technical Field

The invention relates to the technical field of modern gardening, in particular to a tea picking manipulator device and method of a bionic mantis arm.

Background

With the rapid development of computers, automatic control and internet technologies, tea harvesting is gradually changed from a cutting mode to a picking mode, how to accurately clamp tea buds and pick the tea buds, and meanwhile, tea leaves are not damaged, so that the problem of mechanical arm design is solved firstly.

The bud is damaged by traditional cutting or holding, and complete tea buds cannot be obtained.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the invention provides a bionic mantis arm tea leaf picking manipulator device and method. The invention discloses a tea picking mechanical arm special for a robot, which can be used for completely picking new buds of tea and has wide market potential.

The invention provides a tea picking manipulator device and method of a bionic mantis arm, which comprises a base, a large arm, a small arm, a first connecting piece, a second connecting piece, a driver, a small claw, a large claw, a first steel wire and a second steel wire, wherein the large arm is connected with the large arm through the first connecting piece; the driver is arranged in the base and used for driving the large arm to swing relative to the base; the first connecting piece is rotatably arranged at the top end of the large arm, and the top end of the small arm is connected with the first connecting piece; the second connecting piece is rotatably arranged at the bottom end of the small arm; the big claw is arranged at the bottom end of the small arm; the small claw is arranged on the second connecting piece; the base is arranged at the bottom end of the large arm, and a first wire grip and a second wire grip are arranged in the base; a first channel is arranged inside the large arm; a second channel is arranged in the small arm; one end of a first steel wire is connected with the first wire puller, the other end of the first steel wire penetrates through the first channel and is connected with the top side of the first connecting piece, and the first steel wire is used for pulling the first connecting piece to rotate so as to enable the small arm to swing relative to the large arm; one end of a second steel wire is connected with a second wire puller, and the other end of the second steel wire penetrates through the second channel and is connected with one side of a second connecting piece for pulling the second connecting piece to rotate so as to clamp the small claw and the top of the large claw; the shape of the screener is V-shaped, the middle part of the screener V-shaped is connected with the bottom of the big claw, and a set interval is arranged between the screener and the small claw.

Optionally, the driver is an electric push rod, the bottom end of the large arm is rotatably connected with the base, and the electric push rod is vertically arranged in the base and connected to the bottom end of the large arm and used for pushing the large arm to swing along the vertical direction relative to the base.

Optionally, the first connecting piece is a cam; the big arm is provided with a first limiting part, and the first limiting part is in circumferential limiting fit with the protruding part of the first connecting piece.

Optionally, the second connecting member is a cam; the bottom end of the small arm is provided with a second limiting part, and the second limiting part is in circumferential limiting fit with the protruding part of the second connecting piece.

Optionally, first wire grip includes first motor and first roller bearing, and first motor setting is in the base, and first roller bearing is installed on the output shaft of first motor, and first steel wire and first roller bearing coiling cooperation.

Optionally, the second wire grip includes second motor and second roller bearing, and the second motor setting is in the base, and the second roller bearing is installed on the output shaft of second motor, and the second steel wire is convoluteed the cooperation with the second roller bearing.

Optionally, a steel wire sleeve fixer is arranged in the first channel, a first pipe sleeve and a second pipe sleeve are arranged in the steel wire sleeve fixer, and the first steel wire and the second steel wire respectively correspondingly penetrate through the first pipe sleeve and the second pipe sleeve.

Optionally, the big claw is E-shaped, the top end of the big claw is rotatably connected with the bottom end of the small arm, and a spherical iron block is arranged in the middle of the big claw.

Optionally, the shape of the screen is a round tube.

Optionally, the driver drives the large arm and the first wire grip and the second wire grip to control the first steel wire and the second steel wire to move, so as to complete the picking process.

Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages: the driver in the base drives the large arm to move up and down relative to the base, so that the small arm, the small claw and the large claw can move up and down, and the effect that the whole picking device moves in the vertical direction is achieved. The first wire grip in the base is connected with the first connecting piece, the top end of the small arm is connected with the first connecting piece, the first wire grip pulls the first connecting piece to rotate, the action of the small arm is realized, and the effect of rotating the small arm is achieved. The second wire stretcher in the base is connected with the second connecting piece, the second connecting piece is rotatably arranged at the bottom end of the small arm, the small claw is arranged on the second connecting piece, the top end of the large claw is fixedly arranged at the bottom end of the small arm, the second wire stretcher pulls the second connecting piece to rotate, the small arm moves, the small claw and the large claw are clamped at the top, the large claw and the small claw are matched with each other, and the effect of pressing and breaking tea buds is achieved. The shape of the screener is designed to be V-shaped, the middle of the V-shaped screener is connected with the bottom of the big claw, a set distance is arranged between the screener and the small claw, and the effects of smoothly hooking the tea small buds and not damaging the shapes of the tea small buds are achieved by utilizing the difference of the thicknesses of the small buds and the big bud branches and the distance from the small bud branches to the small buds. Through the arrangement, the tea buds can be harvested completely.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a schematic view of a tea leaf picking manipulator device of a bionic mantis arm according to an embodiment of the invention;

FIG. 2 is a schematic diagram of coordinated movement between a plurality of robotic arms in an embodiment of the invention;

wherein, 1, a first connecting piece; 2. a large claw; 3. a small claw; 4. a screener; 5. a base; 6. a large arm; 7. a small arm; 8. a second connecting member; 9. a first steel wire; 10. a second steel wire; 111. a steel wire sleeve fixer.

Detailed Description

In order that the above objects, features and advantages of the present invention may be more clearly understood, a solution of the present invention will be further described below. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the invention may be practiced otherwise than as described herein; it is to be understood that the embodiments described in this specification are only some embodiments of the invention, and not all embodiments.

Referring to fig. 1 and 2, the tea leaf picking manipulator device and method of the bionic mantis arm provided by the invention comprise a base 5, a large arm 6, a small arm 7, a first connecting piece 1, a second connecting piece 8, a driver, a large claw 2, a small claw 3, a first steel wire 9 and a second steel wire 10; the lower end of the large arm 6 is pinned to a drive, which is located in the base 5 for driving the large arm 6 in a vertical direction relative to the base 5. Thereby realizing the up-and-down movement of the small arm, the small claw and the big claw and achieving the effect that the whole picking device moves in the vertical direction. The vertical height adjustment of the picked tea leaves is completed by the device.

The formula is as follows: Δ H ═ α H_d+0.3L

Wherein, delta h is the vertical height change of the large arm in one picking period; h_dThe vertical distance for moving the center of gravity point of the actually picked paw; alpha is an empirical coefficient, different structures are different, and the value is 0.2-0.4 according to earlier experimental study; l is the length of the large arm.

The first connecting piece 1 is rotatably arranged at the top end of the large arm 6, the top end of the small arm 7 is connected with the first connecting piece 1, and the shape of the first connecting piece 1 can be circular, square, oval and the like. The second connecting piece 8 is rotatably arranged at the bottom end of the small arm 7, and the large claw 2 is arranged at the bottom end of the small arm 7; the small claws 3 are arranged on the second connecting piece 8, and the shape of the second connecting piece 2 can also be round, square, oval and the like. A first wire grip and a second wire grip are arranged in the base 5; one end of a first steel wire 9 is connected with a first wire puller, the other end of the first steel wire passes through a first channel in the large arm 6 and is connected with the top side of the first connecting piece 1, and when the first wire puller pulls the first connecting piece 1 to rotate, the small arm 7 correspondingly swings relative to the large arm 6; one end of a second steel wire 10 is connected with a second wire puller, the other end of the second steel wire firstly penetrates through a first channel in the large arm 6 and then penetrates through a second channel in the small arm 7 and is connected with one side of a second connecting piece 8, and when the second wire puller pulls the second connecting piece 8 to rotate, the small claw 3 and the top of the large claw 2 are clamped; the small claw 3 and the big claw 2 are mutually matched, so that the tea buds can be pressed and broken. The diameters of the branches of the tea buds and the branches of the tea buds are different, and the size of the screener 4 is designed to be small by utilizing the different diameters of the branches of the buds and the branches of the tea buds, so that the branches of the buds can be screened conveniently. 4 shapes of screener are the V-arrangement, and the middle part of screener 4V-arrangement is connected with the bottom of paws 2, helps screening the branch and trunk of tealeaves bud, and the branch and trunk of sprout have certain distance to between the sprout, consequently is equipped with certain interval between screener 4 and the paws 3, and the sprout body of being convenient for is arranged in between 2 tops of paws and paws 3, reduces the damage to the sprout body as far as, accomplishes the harvesting of sprout simultaneously. Therefore, the tea buds can be completely harvested.

In some embodiments, the driver shown in fig. 1 is an electric push rod, the bottom end of the large arm 6 is rotatably connected to the base 5, and the electric push rod is vertically disposed in the base 5 and connected to the bottom end of the large arm 6 for pushing the large arm 6 to swing in a vertical direction relative to the base 5. Specifically, electric putter vertically sets up in base 5 and is connected in the bottom of big arm 6, under the effect of motor, promotes the push rod and makes the bottom of big arm 6 along the vertical direction of base 5, and big arm 6 corresponding motion this moment, forearm 7, big claw 2 and the corresponding action of little claw 3. The electric push rod drives the turbine to drive the screw to form linear motion, so that the speed and the rotating direction are easy to control, the output power with higher braking capacity is better, the efficiency is more excellent, the voltage is lower, and the safety is higher; the torque is relatively higher and the pushing force is also higher. In the present embodiment, the driver is not limited to the electric push rod, but may be a spring, a roller, or the like.

In some embodiments, the first link 1 shown in fig. 1 is a cam; the large arm 6 is provided with a first limiting piece which is in circumferential limiting fit with the protruding part of the first connecting piece 1. When the cam rotates under the action of the first wire grip, the small arm 7 is connected to the first connecting piece, the acting force of the first wire grip can be increased due to the fact that the cam has certain weight, and the rotating angle of the cam cannot be too large due to the circumferential limiting matching of the first limiting part and the protruding part of the first connecting piece 1, and meanwhile, the acting force of a part of the first wire grip is offset.

In some embodiments, the second link 8 is a cam; the bottom end of the small arm 2 is provided with a second limiting part, and the second limiting part is circumferentially limited and matched with the protruding part of the second connecting piece 8. When the cam rotates under the action of the second wire grip, the horizontal radius of the cam is larger than the vertical radius due to the fact that the limiting piece is in circumferential limiting fit with the protruding portion of the second connecting piece 1; the horizontal radius of the cam is greater than the width of the small arm 7; the second wire grip pulls the second steel wire 10 to drive the cam to rotate, and then drives the small claw 2 to rotate. The movement amplitude of the small claw 2 can be limited by the structural size of the cam and the size of the small arm 2, and the force which is caused by the weight of the small claw 2 on part of the cam to rotate the cam can be counteracted.

In some embodiments, as shown in connection with fig. 1, the first wire puller comprises a first motor disposed within the base and a first roller mounted on an output shaft of the first motor, the first steel wire 9 being in winding engagement with the first roller. The first roller is arranged to assist rotation by the first motor. The first wire grip is arranged in the base 5, the first steel wire 9 is matched with the first rolling shaft in a winding mode, when picking work starts, the first rolling shaft is driven to rotate by the first motor, the first steel wire 9 is tensioned, and the first connecting piece is driven to rotate. Of course, the first wire puller is not limited to the cooperation of the first roller and the first motor, and any component capable of realizing the action of the first steel wire 9 and the second steel wire 10 may be used, such as a cam, a ring, etc. and the cooperation of the motor.

In some embodiments, as shown in connection with fig. 1, the second wire puller comprises a second motor disposed within the base and a second roller mounted on the output shaft of the first motor, the second wire 10 being in wound engagement with the second roller. The second roller is arranged to assist in rotation by the second motor. The second wire grip sets up in base 5, and second steel wire 10 and second roller bearing coiling cooperation, when picking work when beginning, second motor drive second roller bearing is rotatory, and shrink second steel wire 10 for it is rotatory to drive the second connecting piece. Of course, the second wire puller is not limited to the cooperation of the second roller and the second motor, and any component capable of realizing the action of the second wire 10 and the second wire 10 may be used, such as a cam, a ring, etc. cooperating with the motor.

In the above embodiment, the first wire puller and the second wire puller are vertically arranged at intervals in the base 5.

In some embodiments, as shown in fig. 1 and 2, it is preferable that a wire sleeve holder 11 is disposed in the first channel, a first pipe sleeve and a second pipe sleeve are disposed in the wire sleeve holder 11, and the first steel wire 9 and the second steel wire 10 respectively pass through the first pipe sleeve and the second pipe sleeve; the first pipe sleeve and the second pipe sleeve are in limit fit with the first steel wire 9 and the second steel wire 10. The first wire grip and the second wire grip act on the first steel wire 9 and the second steel wire 10 respectively, and act on the first connecting piece 1 and the second connecting piece 8 respectively, and are used for driving the small arm 2 and the small claw 3 to move. However, in the picking process, the two connectors are possibly not simultaneously pulled to drive the corresponding connecting pieces to rotate, and at the moment, the steel wire which is not stressed in the channel is possibly wound around the other steel wire, so that one wire puller is stressed too much, and the force of the wire puller is increased. Therefore, the steel wire sleeve fixer 11 arranged in the first channel can restrain the steel wires and simultaneously can ensure that different steel wires do not influence each other when working.

In some embodiments, as shown in fig. 1, the big claw 2 is shaped like an E, the top end of the big claw 2 is rotatably connected with the bottom end of the small arm 7, and a spherical iron block is arranged in the middle. The shape of the big claw 2 is E, the distance from the branch of the picked bud to the bud is a certain distance, and the bud is arranged on the upper part of the branch at the lower part of the big claw 2, so that the bud can be picked conveniently. Although the big claw 2 is fixedly arranged at the bottom end of the small arm 7, the big claw 2 may swing and deviate from a designed position due to the abrasion of tea branches and trunks to the big claw 2 when being touched in the actual harvesting process, so that the picking is invalid, the spherical iron block is arranged in the middle of the big claw 2 and can limit the swing of the small claw, and the small claw can basically keep a plumbum state under the action of the spherical iron block no matter what angle the small arm swings to, so that the small claw is suitable for the growth characteristics of the small buds and the branches and trunks thereof from bottom to top; in addition, compared with the rigid connection with the small arm, the large claw with the spherical iron block can ensure that the screener 4 has certain holding force and can not apply overlarge force to the branches, thereby avoiding causing damage to plants. Specifically, the material of the screen 4 is aluminum. The edge of the screener 4 continuously contacts and rubs with the branches and trunks of the tea leaves in the actual picking process, in order to reduce the matcha in the picking process, the screener 4 is made of the preferred aluminum material, and the aluminum material is a material which is popular in the market, because the aluminum material is light in weight, convenient to use and construct, and the flexibility of the aluminum material is more suitable for being used in home decoration. The wear resistance of the aluminum material is an important technical means for ensuring the quality of the section. In some embodiments, the aluminum material is coated with a protective film, and the protective film has high wear resistance, which is mainly used to resist some friction force, so that the hardness and cohesion of the coating are combined to form a combined effect, and the friction force has a great influence on the use of the aluminum material.

In some embodiments, as shown in connection with fig. 1, the screen 4 is in the shape of a circular tube. The screener 4 is used for screening the plumule, and in the actual picking process, the height of the distance between the different plumule and the ground is probably inconsistent, for the damage that the plumule caused by the contact of the screener 4 to the plumule of the reduction of bigger degree, the screener 4 is set to be in a circular tubular shape, the branch of the plumule is convenient to screen by a circular pipe, the contact area is not easy to wear and tear, and the plumule can be prevented from being touched carelessly and damaged.

In some embodiments, as shown in fig. 1 and 2, the driver drives the large arm 6 and the first and second wire pullers for controlling the motion of the first and

second steel wires

9 and 10 to complete the picking process.

The specific picking method of the bionic mantis arm tea leaf picking manipulator device is as follows:

firstly, acquiring position information of the positioned tea leaves by machine vision, and then obtaining a descending distance according to an empirical formula;

second, the machine vision is again fine calibrated.

And thirdly, driving the controller to pull the wire to finish a standard picking process. If the picking is unsuccessful.

Fourthly, the vehicle walks for 5cm forwards and backwards, and the picking positioning and the picking actions are completed again.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is merely illustrative of particular embodiments of the invention that enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tea picking manipulator device of a bionic mantis arm is characterized by comprising a base (5), a large arm (6), a small arm (7), a first connecting piece (1), a second connecting piece (8), a driver, a large claw (2), a small claw (3), a first steel wire (9) and a second steel wire (10);

the driver is arranged in the base (5) and used for driving the large arm (6) to swing relative to the base (5); the first connecting piece (1) is rotatably arranged at the top end of the large arm (6), and the top end of the small arm (7) is connected with the first connecting piece (1); the second connecting piece (8) is rotatably arranged at the bottom end of the small arm (7); the big claw (2) is arranged at the bottom end of the small arm (7); the small claw (3) is arranged on the second connecting piece (8); the base (5) is arranged at the bottom end of the large arm (6), and a first wire grip and a second wire grip are arranged in the base (5); a first channel is arranged inside the large arm (6); a second channel is arranged in the small arm (7); one end of the first steel wire (9) is connected with the first wire puller, the other end of the first steel wire (9) penetrates through the first passage and is connected with the top side of the first connecting piece (1), and the first steel wire (9) is used for pulling the first connecting piece (1) to rotate so as to enable the small arm (7) to swing relative to the large arm (6); one end of the second steel wire (10) is connected with the second wire puller, and the other end of the second steel wire (10) penetrates through the second channel and is connected with one side of the second connecting piece (8) and used for pulling the second connecting piece (8) to rotate so as to clamp the small claw (3) with the top of the large claw (2); the shape of the screener (4) is V-shaped, the middle of the V-shaped screener (4) is connected with the bottom of the large claw (2), and a set distance is arranged between the screener (4) and the small claw (3).

2. The mechanical hand device for picking tea leaves of bionic mantis arm as claimed in claim 1, wherein the driver is an electric push rod, the bottom end of the large arm (6) is rotatably connected with the base (5), and the electric push rod is vertically arranged in the base (5) and connected with the bottom end of the large arm (6) and used for pushing the large arm (6) to swing in a vertical direction relative to the base (5).

3. The tea picking manipulator device of a bionic mantis arm as claimed in claim 1, wherein the first connector (1) is a cam; the large arm (6) is provided with a first limiting part, and the first limiting part is circumferentially limited and matched with the protruding part of the first connecting piece (1).

4. The tea picking manipulator device of the bionic mantis arm as claimed in claim 1, wherein the second connecting member (8) is a cam; and a second limiting part is arranged at the bottom end of the small arm (2), and the second limiting part is in circumferential limiting fit with the protruding part of the second connecting piece (8).

5. The tea picking manipulator device of the bionic mantis arm as claimed in claim 1, wherein the first wire puller comprises a first motor and a first roller, the first motor is arranged in the base, the first roller is mounted on an output shaft of the first motor, and the first steel wire (9) is in winding fit with the first roller.

6. The tea leaf picking manipulator device with bionic mantis arm as claimed in claim 1, wherein the second wire puller comprises a second motor and a second roller, the second motor is arranged in the base, the second roller is installed on an output shaft of the second motor, and the second steel wire (10) is matched with the second roller in a winding mode.

7. The tea leaf picking manipulator device of the bionic mantis arm as claimed in claim 1, wherein a steel wire sleeve fixer (11) is arranged in the first channel, a first pipe sleeve and a second pipe sleeve are arranged in the steel wire sleeve fixer (11), and the first steel wire (9) and the second steel wire (10) respectively and correspondingly penetrate through the first pipe sleeve and the second pipe sleeve.

8. The bionic mantis arm tea leaf picking manipulator device as claimed in claim 1, wherein the big claw (2) is E-shaped, the top end of the big claw (2) is rotatably connected with the bottom end of the small arm (7), and a spherical iron block is arranged in the middle of the big claw.

9. The tea leaf picking manipulator device of the bionic mantis arm as claimed in claim 1, wherein the shape of the screener (4) is a circular tube.

10. A picking method for a tea leaf picking manipulator arrangement as claimed in any one of claims 1 to 9 characterised in that the drive drives the large arm (6) and the first and second wire tensioners for controlling the movement of the first and second wires (9, 10) to complete the picking process.