End execution assembly of intelligent tea leaf collecting robot

Abstract

The invention relates to the technical field of tea leaf picking robots, in particular to an end execution assembly of an intelligent tea leaf collecting robot, which comprises a transverse transmission frame, a vertical transmission frame, a longitudinal transmission frame and an air cylinder, the execution assembly further comprises a cutting module, a clamping plate, a delay module, a clamping block, a clamping plate, a collecting piece and a pipeline, the cutting module is connected to the lower end of the outer surface of the air cylinder, the clamping plate is connected to the lower end of the cutting module, the delay module is connected to the lower end of the air cylinder, the clamping block is connected to the lower end of the delay module, and the clamping plate is connected with the cutting module. According to the tea leaf picking device, by means of the mode that tea leaves are cut firstly and then picked, after the tea leaves are separated from tea trees, a naturally-torn closing opening is formed through pulling force, stress shaking of branches is effectively reduced, and the quality of the tea leaves is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of tea picking robots, in particular to an end-actuating component of an intelligent tea picking robot. Background Art

[0002] Tea is an economic product made from the fresh leaves of tea trees. The sale of tea is an important economic source in some areas. Therefore, some areas will plant tea trees in large quantities and pick them in the appropriate season. Tea picking is generally divided into manual picking and mechanical picking. Mechanical picking has higher efficiency and therefore develops faster.

[0003] The working principle of mechanical picking is to screen the tea leaves through an intelligent recognition system. When suitable leaves are selected, the mechanical arm drives the blade to move to the underside of the tea leaves. The leaves are cut off through the relative rotation of the blades, and then the leaves are removed through negative pressure adsorption. However, cutting the underside of the leaves through the relative rotation of the two blades will damage the cell walls of the leaf section, leading to water loss and accelerated oxidation, which can easily cause the tea to discolor and affect the taste, and the overall quality of the tea is poor.

[0004] In view of the above problems, the prior art has proposed some solutions, such as a negative pressure adsorption vertical pulling type imitating human hand tea picking device and picking method with publication number CN115280970B, which imitates human hands to lift the tea leaves upward, thereby causing the tea leaves cells to tear naturally, causing the tea leaves to naturally shrink and form a closed mouth, effectively reducing water loss, and the smaller necking mouth slows down the oxidation of the tea leaves. However, when picking tea leaves by lifting, the force on the tea leaves will be transmitted to the branches, causing the branches to shake. When picking tea leaves with large leaves, the connection between the large leaves and the branches is relatively stable, which is easy to affect the stability of the branches during picking, causing the branches to shake. The shaking of the tea tree branches can easily cause the tea leaves to collide with each other, thereby causing damage to the tea leaves and affecting the quality of the tea leaves.

[0005] Therefore, an end-effector assembly of an intelligent tea-picking robot is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide an end-effector assembly of an intelligent tea-picking robot, which solves the problem that the existing picking devices easily cause the tea leaves to collide and be damaged when picking large leaves. By cutting off the leaves first and then picking them, the tea leaves are separated from the tea trees and then pulled to form a natural tearing closure, which effectively reduces the force shaking of the branches and ensures the quality of the tea leaves.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The invention discloses an end-actuator assembly of an intelligent tea-collecting robot, wherein the actuator assembly is applied to the tea-collecting robot, and the tea-collecting robot comprises a power assembly, a support assembly and an actuator assembly, wherein the support assembly comprises a longitudinal support frame and a transverse support frame, wherein the actuator assembly is connected to the transverse support frame, wherein the actuator assembly comprises a transverse transmission frame, a vertical transmission frame, a longitudinal transmission frame and a cylinder, wherein the cylinder is connected to the lower side of the longitudinal transmission frame, wherein the actuator assembly further comprises a cutting module, a clamping plate, a delay module, a clamping block, a card plate, a collecting member and a pipeline, wherein the cutting module is connected to the lower end of the outer surface of the cylinder, the clamping plate is connected to the lower end of the cutting module, the delay module is connected to the lower end of the cylinder, the clamping block is connected to the lower end of the delay module, the card plate is connected to the cutting module, and the collecting member is connected to the rear end of the longitudinal transmission frame, wherein the cylinder drives the clamping plate to close through the cutting module, and after the clamping plate is closed, the delay module drives the clamping block to close and move upward, and when the clamping block moves upward, the card plate limits the clamping block so that the two clamping blocks move in opposite directions to each other.

[0009] Through the above scheme, the tea leaves are cut first and then picked. The lower end of the tea leaves is cut first to avoid the shaking of the tea branches caused by picking. Then, the breaking point of the tea leaves is naturally necked by picking, thereby reducing the loss of tea juice and improving the quality of the tea leaves. At the same time, when picking the tea leaves, the limit of the clamping plate will apply torque to the tea leaves, thereby breaking the tea leaves. On the one hand, it accelerates the breaking speed of the tea leaves, and on the other hand, it can aggravate the necking phenomenon of the breaking point of the tea leaves, thereby improving the quality of the tea leaves.

[0010] When picking tea leaves, since the branches of the tea tree can shake within a certain range, the shaking of the tea tree can easily cause the intelligent recognition system to recalculate the position of the tea leaves that can be picked when picking directly. It can also easily cause the tea leaves to be damaged in the picking process, affecting the quality of the tea leaves.

[0011] Preferably, the cutting module includes a slide, a slider, a hinged rod, a slide plate and a blade, the two slides are respectively connected to the front and rear sides of the lower end of the longitudinal transmission frame, the slider is connected inside the slide, the two ends of the hinged rod are respectively connected to the top of the slider and the lower end of the outer surface of the cylinder, the slide plate is connected to the side of the slider close to the cylinder axis, the blade is connected to the lower end of the slide plate away from the slider, and the blade edge is inclined.

[0012] Through the above scheme, the power of the cylinder can drive the slider to slide in the slide through the hinged rod, so as to achieve the purpose of adjusting the position of the slide. By adjusting the position of the slide, the two blades are brought together and the blade edges are inclined. Therefore, when cutting the tea stems, the tea leaves can be cut towards the lower side, thereby increasing the length of the tea stems, which makes it easier for the splint to fix the tea stems.

[0013] Preferably, the splint is connected to the upper side of the blade, and a flexible pad is connected to the side of the splint close to the cylinder axis. The number of the flexible pads is two, and stripes are connected in an array on the side of the flexible pad close to the cylinder axis. When the cylinder drives the hinged rod to move upward to the extreme position, the two flexible pads fit together and the stripes on the two flexible pads are staggered.

[0014] Through the above scheme, a flexible pad is connected to one side of the clamping plate, which can reduce the clamping pressure on the tea leaves and increase the friction. By connecting stripes on the surface of the flexible pad, the friction of the flexible pad on the lower end of the tea leaves can be effectively increased when the tea leaves are picked, thereby facilitating the picking of the tea leaves.

[0015] Preferably, the delay module includes a tension spring, a chuck, a limit frame, a rectangular groove, a thrust spring, a sliding rod, a torsion spring and a hinge rod, the tension spring is connected to the lower end of the cylinder, the chuck is connected to the lower end of the tension spring, the limit frame is connected between the two slides, the two rectangular grooves are respectively opened on the front and rear sides of the chuck, one end of the thrust spring is connected to the rectangular groove, the other end of the thrust spring is connected to the sliding rod, the sliding rod is connected to the hinge rod, one end of the torsion spring is connected to the sliding rod, the other end of the torsion spring is connected to the hinge rod, a limit groove is opened on the lower side of the chuck, the limit groove is adapted to be clamped with the hinge rod, and the friction force between the chuck and the limit frame gradually decreases from bottom to top.

[0016] Through the above scheme, the friction between the chuck and the limit frame gradually decreases from bottom to top, so when pulling the tea stems, it can be pulled slowly at first, thereby slowing down the speed of the tea stems breaking, facilitating the formation of necking phenomenon at the tea stems, and improving the quality of the tea. After the tea leaves are broken, the friction between the chuck and the limit frame is small, and the chuck moves up faster, thereby improving work efficiency. At the same time, it is relatively slow when starting to pull, so it is convenient to apply torque to the tea stems, thereby increasing the speed of breaking the tea stems and aggravating the necking phenomenon.

[0017] Preferably, a slot is provided on the side of the hinge rod away from the chuck, the limit frame comprises a side plate, a limit plate and a block, the side plate is connected between the two slides, the limit plate is connected between the two side plates, the block is connected to the side of the limit plate close to the chuck, and the longitudinal cross-section of the block is triangular.

[0018] Through the above scheme, when the hinge rod moves upward, the notch will be engaged with the block, thereby giving the hinge rod room to move, so that the hinge rod opens slightly, thereby loosening the grip on the tea leaves, making it easier for the collecting piece to collect the tea leaves through the pipe.

[0019] Preferably, the clamping block includes a clamping body, a slide groove, a guide rod, a return spring, a cushion and a limit block, the clamping body is connected to the lower side of the hinge rod, the slide groove is opened on the upper side of the clamping body, the guide rod is connected in the slide groove, the return spring is wound on the guide rod, the cushion is connected to the side of the clamping body close to the cylinder axis, the limit block is connected to the side of the clamping body away from the cushion, the clamping plate is connected to the side of the slide plate close to the limit frame, the lower end of the clamping plate is inclined, and the limit block contacts the inclined surface of the clamping plate when it moves.

[0020] Through the above scheme, by setting the card plate, the movable track of the limit block contacts the card plate, and then the lower inclined surface of the card plate will limit the limit block, so that in the process of the limit block moving upward, it will move along the inclined surface of the card plate, and then the two soft pads will move alternately, thereby generating torque on the tea leaves, accelerating the breakage of the tea leaves roots, and at the same time the torque generated can increase the necking phenomenon of the tea leaves roots, thereby achieving the purpose of improving the quality of the tea leaves.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention solves the problem that the existing picking device is prone to causing the tea leaves to collide and be damaged when picking tea leaves with large leaves. The closing action of the cutting module cuts off the lower end of the tea leaves and fixes the lower end of the tea leaves through the clamping plate. The delay module drives the clamping block to move upward to pull the tea leaves, so that the tea leaves are naturally torn, and then a necking phenomenon is formed at the broken end of the tea leaves, reducing the area of ​​the broken end of the tea leaves. At the same time, in the process of the clamping block moving upward, the two clamping blocks move in opposite directions, thereby applying a torque to the tea leaves, accelerating the breaking speed of the tea leaves, and improving work efficiency. At the same time, the application of torque can intensify the necking phenomenon of the tea leaves, further reducing the area of ​​the broken end of the tea leaves, and effectively ensuring the quality of the tea leaves.

[0023] 2. By setting a delay module, when the slide plates are close, the hinge connecting rod shrinks into the limit groove, at which time the hinge connecting rod drives the clamping block to close and clamp the tea leaves, and the limit between the chuck and the limit frame is lost, and then the chuck moves up under the action of the tension spring, and the chuck drives the clamping block to move up to realize the picking of the tea leaves, and the friction between the chuck and the limit frame gradually decreases from bottom to top, so that the initial movement speed of the chuck driven by the tension spring is slow, and then gradually accelerates. The slow pulling at the beginning makes it easier to evenly force the tea stems, thereby forming a good necking phenomenon, thereby effectively ensuring the picking quality of the tea leaves.

[0024] 3. By setting a clamping block, when the chuck moves up, the two clamps move in opposite directions under the influence of the inclined surface of the clamping plate, and then apply torque to the upper side of the tea leaves, while the lower end of the tea leaves does not move. The torque is applied between the clamping block and the clamping plate, which can accelerate the breaking of the tea leaves and improve work efficiency. At the same time, the applied torque can increase the necking phenomenon of the tea leaves, thereby ensuring the quality of the tea leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the execution component of the present invention;

[0027] Figure 3 It is a schematic structural diagram of the cutting module part of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the delay module part of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the clamping block part of the present invention;

[0030] Figure 6 It is a structural schematic diagram of the clamping state of the present invention.

[0031] In the figure: a, power assembly; b, support assembly; b1, longitudinal support frame; b2, transverse support frame; c, execution assembly; 1, transverse transmission frame; 2, vertical transmission frame; 3, longitudinal transmission frame; 4, cylinder; 5, cutting module; 501, slide frame; 502, slider; 503, hinged rod; 504, slide plate; 505, blade; 6, clamping plate; 601, flexible pad; 602, stripe; 7, delay module; 701, tension spring; 702, chuck; 7021, limit groove; 703, limit frame; 7031, side plate; 7032, limit plate; 7033, clamping block; 704, rectangular groove; 705, thrust spring; 706, slide bar; 707, torsion spring; 708, hinge connecting rod; 7081, notch; 8, clamping block; 801, clamping body; 802, slide groove; 803, guide rod; 804, return spring; 805, cushion; 806, limit block; 9, clamping plate; 10, collecting piece; 11, pipeline. DETAILED DESCRIPTION

[0032] The following is a clear and complete description of the technical solution of the embodiment of the present invention in conjunction with the drawings of the embodiment of the present invention, so that its working state and structural features are more detailed. Obviously, the described embodiment is only a partial embodiment of the present invention, not a complete embodiment. Based on the embodiment of the present invention, other embodiments obtained by ordinary technicians in this field without making any creativity belong to the protection scope of the present invention.

[0033] See also Figures 1 to 6 The present invention provides an end-effector assembly of an intelligent tea-collecting robot, and the technical solution is as follows:

[0034] For details, please refer to Figures 1 to 6, an end-actuator of an intelligent tea-collecting robot, the actuator c is applied to the tea-collecting robot, the tea-collecting robot includes a power component a, a support component b and an actuator c, the tea-picking robot judges the tea leaves that can be picked through an intelligent recognition system, adjusts the position of the intelligent tea-picking robot on the ground through the power component a, and picks the tea leaves through the actuator c, the support component b is connected to the upper end of the power component a, the actuator c is connected to the support component b, the power component a can drive the support component b to move, so as to adjust the tea-picking robot The position for picking tea leaves, the support assembly b includes a longitudinal support frame b1 and a transverse support frame b2, the longitudinal support frame b1 is connected to the upper side of the power assembly a, the transverse support frame b2 is connected to the upper side of the longitudinal support frame b1, the execution assembly c is connected to the transverse support frame b2, the execution assembly c includes a transverse transmission frame 1, a vertical transmission frame 2 and a longitudinal transmission frame 3, the transverse transmission frame 1 is connected to the transverse support frame b2, the vertical transmission frame 2 is connected to the transverse transmission frame 1, the transverse transmission frame 1 can drive the vertical transmission frame 2 to move left and right, the longitudinal transmission frame 3 is connected to the vertical transmission frame 2, and the vertical transmission frame 3 is connected to the vertical transmission frame 2. The transmission frame 2 can drive the longitudinal transmission frame 3 to move forward and backward. Through the cooperation of the transverse transmission frame 1 and the vertical transmission frame 2, the longitudinal transmission frame 3 can be moved in the front and back and left and right directions, so as to facilitate the picking of tea leaves. The execution component c also includes a cylinder 4, a cutting module 5, a clamping plate 6, a delay module 7, a clamping block 8, a clamping plate 9, and a collecting member 10. The cylinder 4 is connected to the lower side of the longitudinal transmission frame 3. The longitudinal transmission frame 3 can drive the cylinder 4 to move up and down. The power output end of the cylinder 4 is the lower end. The cutting module 5 is connected to the lower end of the outer surface of the cylinder 4. The clamping plate 6 is connected to the cutting module. The lower end of the block 5, the delay module 7 is connected to the lower end of the cylinder 4, the clamping block 8 is connected to the lower end of the delay module 7, the clamping plate 9 is connected to the cutting module 5, the collecting piece 10 is connected to the rear end of the longitudinal transmission frame 3, and the lower end of the collecting piece 10 is connected with a pipe 11. The cylinder 4 drives the clamping plate 6 to close through the cutting module 5. After the clamping plate 6 is closed, the delay module 7 drives the clamping block 8 to close and move upward. When the clamping block 8 moves upward, the clamping plate 9 limits the clamping block 8 so that the two clamping blocks 8 move in opposite directions to each other. Opposite directions refer to that one clamping block 8 moves toward the left and the other clamping block 8 moves toward the right.

[0035] By setting the cutting module 5 and the delay module 7, the tea leaves are cut first and then picked. The cutting module 5 cuts the lower end of the tea leaves first, and fixes the lower end of the tea leaves through the clamping plate 6 to avoid the shaking of the tea branches caused by picking. At the same time, the lower end of the tea leaves is fixed at this time, and then the tea leaves are picked. The picking efficiency is high and the damage to the tea leaves is small. The picking makes the breaking point of the tea leaves naturally necked, thereby reducing the loss of tea juice to ensure the quality of the tea leaves. When picking the tea leaves, the limit of the clamping plate 9 will make the clamping block 8 apply torque to the tea leaves, thereby twisting the tea leaves while picking. On the one hand, the breaking speed of the tea leaves is accelerated, and on the other hand, the necking phenomenon of the breaking point of the tea leaves can be aggravated, thereby improving the quality of the tea leaves.

[0036] It should be noted here that the side close to the axis of the cylinder 4 is the inner side, and the side away from the axis of the cylinder 4 is the outer side.

[0037] As an embodiment of the present invention, refer to Figure 3 and Figure 6 The cutting module 5 includes a slide 501, a slider 502, a hinge rod 503, a slide plate 504 and a blade 505. The two slides 501 are respectively connected to the front and rear sides of the lower end of the longitudinal transmission frame 3. The slider 502 is connected inside the slide 501. There are two sliders 502, which are respectively connected to the two slides 501. The slider 502 can slide in the slide 501. The two ends of the hinge rod 503 are respectively connected to the top of the slider 502 and the cylinder. 4, the top of the slider 502 is connected to the lower end of the hinge rod 503, the power output end of the cylinder 4 is connected to the upper end of the hinge rod 503, when the power output end of the cylinder 4 moves up and down, the slider 502 can be driven to move in the slide 501 through the hinge rod 503, the slide 504 is connected to the side of the slider 502 close to the axis of the cylinder 4, the movement of the slider 502 can drive the slide 504 to move, the blade 505 is connected to the slide 5 04 is away from the lower end of the slider 502, the edge of the blade 505 is inclined, and the tip of the edge of the blade 505 is located at the lower side of the blade 505 close to the axis of the cylinder 4. There are two splints 6, which are respectively connected to the upper sides of the two blades 505. The edge of the blade 505 is inclined so that there is a gap between the edge of the blade 505 and the lower surface of the splint 6. After cutting the tea stem, there is still a margin of the tea stem between the edge and the splint 6, thereby improving the fixing effect of the tea stem. A flexible pad 601 is connected to the side of the splint 6 close to the axis of the cylinder 4. There are two flexible pads 601, which are respectively connected to the two splints 6. Stripes 602 are connected to the side of the flexible pad 601 close to the axis of the cylinder 4. When the cylinder 4 drives the hinged rod 503 to move up to the extreme position, the two flexible pads 601 fit together, and the stripes 602 on the two flexible pads 601 are staggered. Figure 6 As shown, the stripes 602 are elastic, and when the stripes 602 squeeze the tea stems, a squeezing force is applied alternately back and forth according to the positions of the stripes 602, which effectively improves the fixing effect on the lower end of the tea leaves and facilitates picking.

[0038] By setting the cutting module 5, when the cylinder 4 moves upward, the slider 502 is driven to move in the slide 501 through the hinge rod 503, and the slider 502 is axially approached to the cylinder 4. The slider 502 drives the blade 505 to move axially toward the cylinder 4 through the slide plate 504. The two blades 505 are close together to cut the tea leaves. The movement of the blade 505 will drive the clamping plate 6 to move synchronously, so that the flexible pad 601 is pressed on the lower end of the tea leaves to fix the tea leaves, which is convenient for picking. By setting stripes 602 on the surface of the flexible pad 601, the friction between the flexible pad 601 and the tea leaves is increased, thereby ensuring the stability of the tea leaves when picking.

[0039] As an embodiment of the present invention, refer to Figure 4 and Figure 6The delay module 7 includes a tension spring 701, a chuck 702, a limit frame 703, a rectangular groove 704, a thrust spring 705, a slide bar 706, a torsion spring 707 and a hinge rod 708. The tension spring 701 is connected to the lower end of the cylinder 4, and the tension spring 701 is connected to the power output end of the cylinder 4. The chuck 702 is connected to the lower end of the tension spring 701. When the cylinder 4 drives the tension spring 701 to move, the tension spring 701 can exert power on the chuck 702, thereby driving the chuck 702 to move. The limit frame 703 is connected between the two slides 501, and the limit frame 703 is sleeved on the outer surface of the chuck 702, so that the chuck 702 can only move up and down. The two rectangular grooves 704 are respectively provided on the chuck On the front and rear sides of the disk 702, one end of the thrust spring 705 is connected to the rectangular groove 704, and the other end of the thrust spring 705 is connected to the slide bar 706. Two thrust springs 705 are respectively connected to the two rectangular grooves 704. The slide bar 706 can slide in the rectangular groove 704. In the initial state of the thrust spring 705, one end of the slide bar 706 will be pushed out, and then the upper end of the slide bar 706 can cooperate with the limit frame 703 to limit the chuck 702. The slide bar 706 is squeezed by the slide plate 504 and then is in the rectangular groove 704, so that the contraction action of the tension spring 701 is located after the closing action of the flexible pad 601, thereby achieving the purpose of picking the tea leaves after cutting and fixing them. The slide bar 706 and the hinge rod 708 is connected, the sliding rod 706 is rotatably connected to the hinge rod 708, one end of the torsion spring 707 is connected to the sliding rod 706, and the other end of the torsion spring 707 is connected to the hinge rod 708. In the initial state of the torsion spring 707, the angle between the hinge rod 708 and the sliding rod 706 is an obtuse angle. When the sliding rod 706 slides in the rectangular groove 704, it will drive the hinge rod 708 to move in the front and rear directions. A limiting groove 7021 is provided on the lower side of the chuck 702, and the limiting groove 7021 is adapted to be engaged with the hinge rod 708. The distance value on the left and right sides of the limiting groove 7021 is equal to the distance value on the left and right sides of the hinge rod 708, and then when the hinge rod 708 moves, it can be engaged with the limiting groove 7021. At this time, the two clamping blocks 8 are closed. To facilitate the picking of tea leaves, the friction between the chuck 702 and the limiting frame 703 gradually decreases from bottom to top, and then when the tension spring 701 pulls the chuck 702 to move upward, the upward speed of the clamping plate 9 is slow at the beginning, and then gradually accelerates, so that the tea stems are evenly stressed when picking tea leaves, which is convenient for forming a good necking mouth and reducing juice seepage. A notch 7081 is provided on the side of the hinge rod 708 away from the chuck 702, and the limiting frame 703 includes a side plate 7031, a limiting plate 7032 and a block 7033. The side plate 7031 is connected between the two slides 501, and the limiting plate 7032 is connected between the two side plates 7031. The lower end of the limiting plate 7032 is on the upper side of the lower end of the side plate 7031.The clamping block 7033 is connected to the side of the limit plate 7032 close to the chuck 702. The longitudinal section of the clamping block 7033 is triangular. The clamping block 7033 can be clamped with the notch 7081. At this time, the angle between the hinge rod 708 and the slide rod 706 is widened by the torsion spring 707, so that the two clamping blocks 8 are separated, loosening the clamping of the tea leaves, and facilitating the storage of the tea leaves. The width values ​​of the left and right ends of the limit plate 7032 are consistent with the width values ​​of the left and right ends of the slide plate 504. The slide plate 504 The top end is located at the lower side of the bottom plate of the limiting plate 7032, and the slide plate 504 can be clamped between the two side plates 7031, so that the side plates 7031 of the limiting frame 703 are closed, so as to facilitate the collection piece 10 to absorb the tea leaves. A through hole is opened on the surface of the right side plate 7031, and the left side plate 7031 is connected to the pipeline 11. When the pipeline 11 is evacuated, an airflow can be formed toward the collection piece 10 through the through hole, and the tea leaves are carried into the collection piece 10 by the airflow, thereby effectively reducing the damage to the tea leaves.

[0040] By setting the delay module 7, the tea leaves can be picked after being cut. When the slide plate 504 is close, pressure is applied to the slide bar 706, so that the thrust spring 705 is contracted, and then the hinge rod 708 is contracted into the limit groove 7021. The hinge rod 708 drives the clamping block 8 to close and clamp the tea leaves. At this time, the limit between the chuck 702 and the limit frame 703 is lost, and then it moves upward under the action of the tension spring 701 to realize the picking of the tea leaves. By making the friction between the chuck 702 and the limit frame 703 gradually decrease from bottom to top, The tension spring 701 drives the chuck 702 to move at an initial slow speed, which then gradually accelerates. The slow pulling at the beginning makes it easier to evenly stress the tea stems, thereby forming a good necking phenomenon, reducing juice seepage, and improving the quality of the tea. As the chuck 702 moves upward, the slot 7081 will be engaged with the block 7033, so that the hinge rod 708 is expanded, thereby loosening the clamping of the tea leaves. At this time, the collecting piece 10 forms an airflow through the pipe 11 and the through hole, and the tea leaves are carried into the collecting piece 10 by the airflow, thereby effectively reducing damage to the tea leaves.

[0041] As an embodiment of the present invention, refer to Figure 5 and Figure 6The clamping block 8 includes a clamping body 801, a slide groove 802, a guide rod 803, a return spring 804, a cushion 805 and a limit block 806. The clamping body 801 is connected to the lower side of the hinge rod 708, and the slide groove 802 is provided on the upper side of the clamping body 801. The clamping body 801 can slide at the lower end of the hinge rod 708 through the slide groove 802. The guide rod 803 is connected in the slide groove 802. The return spring 804 is wound around the guide rod 803. The cushion 805 is connected to the side of the clamping body 801 close to the axis of the cylinder 4. The soft pad 805 clamps the tea leaves, effectively preventing the tea leaves from being damaged. The limit block 806 is connected to the side of the clamp 801 away from the soft pad 805, and the card plate 9 is connected to the side of the slide plate 504 close to the limit frame 703. There are two card plates 9. The surfaces of the two slide plates 504 are connected with card plates 9, and the front card plate 9 is located on the left side of the surface of the slide plate 504, and the rear card plate 9 is located on the right side of the surface of the slide plate 504. The lower end of the card plate 9 is inclined, and the limit block 806 contacts the inclined surface of the card plate 9 when it moves.

[0042] By setting the clamping block 8, when the hinge rod 708 is engaged with the limiting groove 7021, the soft pad 805 can clamp the tea leaves. When picking, the limiting block 806 contacts the inclined surface of the clamping plate 9, and then the clamping body 801 is moved under the influence of the inclined surface of the clamping plate 9. The two clamping bodies 801 move in opposite directions to apply torque to the upper side of the tea leaves, while the lower end of the tea leaves does not move, thereby accelerating the breaking of the tea leaves and improving work efficiency. At the same time, the applied torque can increase the necking phenomenon of the tea leaves and reduce the diameter value of the broken end of the tea leaves, thereby ensuring the quality of the tea leaves.

[0043] By cutting the whole tea leaf first and then performing a secondary treatment on the cut edge, the cut edge of the tea leaf is shrunk to reduce the rate of oxidation and water loss at the cut edge of the tea leaf.

[0044] When picking larger tea leaves, the horizontal transmission frame 1 and the vertical transmission frame 2 first drive the longitudinal transmission frame 3 to move above the tea leaves, and the longitudinal transmission frame 3 drives the cylinder 4 to move downward for picking. In order to avoid the shaking of the tea tree when picking the tea leaves, the tea leaves will be cut first by closing the cutting module 5, and then the cut part will be clamped by the clamping plate 6. In order to improve the quality of the tea leaves, it is necessary to achieve the natural rupture of the cell wall of the tea stalk. Therefore, the tea stalk will be pulled by the delay module 7 in cooperation with the clamping block 8, so that the tea leaves are naturally torn in the area between the clamping block 8 and the clamping plate 6.

[0045] In order to prevent the shaking of the tea tree from affecting the judgment of the intelligent recognition system on the position suitable for picking tea leaves, the cutting module 5 is first driven to cut the tea leaves by moving the cylinder 4 upward. At this time, the tea tree is less stressed and the shaking amplitude is small. Specifically, the cylinder 4 moves upward to pull the hinge rod 503 upward, and the hinge rod 503 moves upward to drive the slider 502 to slide in the slide 501. The slide 501 drives the blade 505 and the clamping plate 6 to close through the slide 504, so as to cut and fix the tea leaves.

[0046] In order to improve the quality of tea leaves, it is necessary to make the broken part of the tea leaves tear naturally, and then a delay module 7 is set. After the clamping plate 6 is closed, the clamping block 8 is driven to move upward. The clamping block 8 fixes the lower end of the tea leaves, and the fixed position of the clamping block 8 is located on the upper side of the clamping plate 6. The clamping block 8 applies force upward, so that the tea leaves are naturally broken in the area between the clamping block 8 and the clamping plate 6. Specifically, when the slide plate 504 moves, pressure is applied to the limit block 806, so that the limit block 806 moves along the slide plate 504 and the clamping plate The surface of the plate 9 slides down, and when the side of the limit block 806 is in contact with the slide plate 504, the slide bar 706 is pushed to move, so that the slide bar 706 shrinks into the rectangular groove 704. At this time, the top of the slide bar 706 is separated from the lower end of the limit frame 703, and the two clamping blocks 8 are in contact with each other to clamp the tea leaves. Then, in the process of the tension spring 701 driving the chuck 702 to move up, the chuck 702 drives the soft pad 805 to move up through the clamp body 801 to generate tension on the tea leaves, so that the tea leaves can be picked;

[0047] In order to collect the tea leaves, the negative pressure generated by the collecting member 10 is used to extract the tea leaves. At this time, in order to prevent the tea leaves from being damaged by the negative pressure during the extraction process, it is necessary to slightly loosen the clamping of the leaves. Specifically, by setting the notch 7081, the notch 7081 will be engaged with the clamping block 7033 during the upward movement of the hinge rod 708. At this time, the cylinder 4 moves down slightly. Since the downward movement distance of the cylinder 4 is short, the tension spring 701 is still in an open state, and the tension spring 701 can maintain the tension on the chuck 702. The cylinder 4 drives the slide plate 504 to reset through the hinge rod 503 and the slider 502, so that the limit block 806 loses the squeeze, and the hinge rod 708 can be slightly reset, and the cushion 805 releases the tea leaves. At this time, the collecting member 10 forms an airflow through the pipe 11 and the through hole, and the tea leaves are carried into the collecting member 10 by the airflow, thereby effectively reducing the damage to the tea leaves.

[0048] In order to reduce the cleaning work after picking tea leaves, a faster torque is applied to the tea leaves before air is pumped out after picking, so that the stains on the surface of the tea leaves are thrown out by centrifugal force. Specifically, after the limit block 806 loses the extrusion limit, the reset spring 804 pushes the clamp 801 to reset, and the two clamps 801 move alternately to drive the tea leaves to rotate quickly, so as to achieve the purpose of throwing out the stains on the surface of the tea leaves. At the same time, when the limit block 806 moves down along the surface of the slide plate 504 and the card plate 9, the surface of the slide plate 504 can be processed to reduce the accumulation of stains.

[0049] After picking is completed, the cylinder 4 pushes the tension spring 701 and the hinge rod 503 downward, and the hinge rod 503 moves downward so that the slider 502 drives the slide plate 504 and the blade 505 to open, and the tension spring 701 drives the chuck 702 downward, and the slide rod 706 is opened by the thrust spring 705, and the hinge rod 708 is affected by the torsion spring 707 to form an obtuse angle with the slide rod 706.

[0050] Although the embodiments of the present invention have been described, it will be apparent to those skilled in the art that changes and modifications may be made to the embodiments to obtain other effects with an understanding of the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An end-effector assembly of an intelligent tea-collecting robot, wherein the execution assembly (c) is applied to the tea-collecting robot, wherein the tea-collecting robot comprises a power assembly (a), a support assembly (b) and an execution assembly (c), wherein the execution assembly (c) comprises a transverse transmission frame (1), a vertical transmission frame (2), a longitudinal transmission frame (3) and a cylinder (4), and wherein: The execution assembly (c) further comprises a cutting module (5), a clamping plate (6), a delay module (7), a clamping block (8), a card plate (9) and a collecting member (10); the cutting module (5) is connected to the circumferential surface of the cylinder (4); the clamping plate (6) is connected to the lower end of the cutting module (5); the delay module (7) is connected to the lower end of the cylinder (4); the clamping block (8) is connected to the lower end of the delay module (7); the card plate (9) is connected to the cutting module (5); and the collecting member (10) is connected to the rear end of the longitudinal transmission frame (3); the cylinder (4) drives the clamping plate (6) to close through the cutting module (5); after the clamping plate (6) is closed, the delay module (7) drives the clamping block (8) to close and move upward; when the clamping block (8) moves upward, the card plate (9) limits the clamping block (8) so that the two clamping blocks (8) move in opposite directions to each other.

2. The end effector assembly of the intelligent tea-collecting robot according to claim 1, characterized in that: The cutting module (5) comprises a slide (501), a slider (502), a hinged rod (503), a slide plate (504) and a blade (505); the two slides (501) are respectively connected to the front and rear sides of the lower end of the longitudinal transmission frame (3); the slider (502) is connected to the inside of the slide (501); the two ends of the hinged rod (503) are respectively connected to the slider (502) and the cylinder (4); the slide plate (504) is connected to the inner side of the slider (502); the blade (505) is connected to the lower end of the inner side of the slide plate (504); and the blade (505) has an inclined cutting edge.

3. The end effector assembly of the intelligent tea-collecting robot according to claim 2, characterized in that: The clamping plate (6) is connected to the upper side of the blade (505), a flexible pad (601) is connected to the inner side of the clamping plate (6), and stripes (602) are connected to the inner side of the flexible pad (601) in an array, and when the cylinder (4) drives the hinge rod (503) to move upward to the extreme position, the two flexible pads (601) are in contact with each other and the stripes (602) on the two flexible pads (601) are arranged in a staggered manner.

4. The end effector assembly of the intelligent tea-collecting robot according to claim 2, characterized in that: The delay module (7) comprises a tension spring (701), a chuck (702), a limit frame (703), a rectangular groove (704), a thrust spring (705), a slide bar (706), a torsion spring (707) and a hinge rod (708), wherein the tension spring (701) is connected to the lower end of the cylinder (4), the chuck (702) is connected to the lower end of the tension spring (701), the limit frame (703) is connected between the two slide frames (501), the two rectangular grooves (704) are respectively arranged at the front and rear sides of the chuck (702), the two ends of the thrust spring (705) are respectively connected to the rectangular groove (704) and the slide bar (706), the slide bar (706) and the hinge rod (708) are connected via the torsion spring (707), and the friction force between the chuck (702) and the limit frame (703) gradually decreases from bottom to top.

5. The end effector assembly of the intelligent tea-collecting robot according to claim 4, characterized in that: A notch (7081) is provided on the outer side of the hinge rod (708); the limit frame (703) comprises a side plate (7031), a limit plate (7032) and a clamping block (7033); the side plate (7031) is connected between the two slide frames (501); the limit plate (7032) is connected between the two side plates (7031); the clamping block (7033) is connected to the inner side of the limit plate (7032); and the longitudinal cross section of the clamping block (7033) is triangular.

6. The end effector assembly of the intelligent tea-collecting robot according to claim 5, characterized in that: The clamping block (8) comprises a clamping body (801), a slide groove (802), a guide rod (803), a return spring (804), a cushion (805) and a limit block (806); the clamping body (801) is connected to the lower side of the hinge rod (708); the slide groove (802) is provided on the clamping body (801); the guide rod (803) is connected in the slide groove (802); the return spring (804) is wound on the guide rod (803); the cushion (805) is connected to the inner side of the clamping body (801); the limit block (806) is connected to the outer side of the clamping body (801); the clamping plate (9) is connected to the inner side of the slide plate (504); the lower end of the clamping plate (9) is inclined; and the limit block (806) contacts the inclined surface of the clamping plate (9) when it moves.

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