The invention discloses a tea harvesting
robot based on a 3-RRRU parallel mechanism. The tea harvesting
robot comprises a tea harvesting and transmitting unit, a tea collecting unit and a flight carrying unit. The
tea leaf picking and conveying unit adopts a 3-RRRU parallel mechanism to drive a picking clamping jaw, and has the characteristics of large
working space, high rigidity and weak
coupling of movement; the
tea leaf collecting unit is of a positive-pressure pneumatic instantaneous blowing type structure, and at the moment when the clamping jaw cuts the tea leaves, a side air
nozzle generates directional high-speed air flow to blow the fresh leaves into a collecting box along a preset channel. Air blowing is started instantly only after
cutting,
high energy consumption caused by
continuous operation of a traditional negative pressure suction mode is avoided, and the operation cost of the
system is effectively reduced. Meanwhile, the
robot is carried on an aircraft, has the capacity of crossing over complex terrains, can adapt to the unstructured environment of tea gardens in hills and mountainous regions, achieves autonomous picking with full-
area coverage, and breaks through the limitation of the terrains on ground walking type equipment.