A device for tea picking machine simulating human manual picking

Abstract

The present invention provides a device for simulating human manual picking for a tea plucking machine, and belongs to the technical field of supporting equipment for tea plucking machines. It solves the problem that there is no mechanical claw specifically used to simulate human manual picking of tea leaves in the existing market. The device for simulating human manual picking is characterized by comprising a frame and a vertical limit rod fixedly arranged relative to the frame, a clamping assembly movable on the vertical limit rod, and a drive box fixed on the frame and used to provide operating power for the clamping assembly. Compared with the prior art, the picking device can simulate human hands to pick tea leaves through the principle of a manipulator, making it feasible to simulate human hands picking tea leaves.

Description

Technical Field

[0001] The invention belongs to the technical field of supporting equipment for tea plucking machines, and relates to a human body manual plucking simulation device for tea plucking machines. Background Art

[0002] Tea is the general name for tea buds and tea leaves. It originated in China. As a natural green drink, it has a long cultural tradition in our country. Chinese green tea not only has a wide variety of varieties, but also has excellent quality, unique and beautiful shapes, and great artistic appreciation value. With the development of the times, it is increasingly loved by people all over the world.

[0003] Therefore, the scale of my country's tea planting industry is also very large. With the development of the times, the way of picking tea has also progressed from pure manual operation to the current automated operation using machinery.

[0004] Since the beginning of the industrial age, in order to improve the efficiency of tea picking and reduce people's labor intensity, people have designed shearing-type tea picking machines to assist in picking tea leaves. Shearing-type tea picking machines are divided into portable tea picking machines (such as the Chinese utility model patent with patent number "CN201921552187.0" and the name "A portable electric tea picking mechanical device") and fully automatic tea picking machines (such as the Chinese invention patent with patent number "CN201310057808.9" and the name "Straddle-type self-propelled riding tea picking machine and its working method"). Their core components are all horizontally arranged toothed knives. The portable tea picking machine requires the operator to carry the bracket plate of the tea picking component and then step forward to cut the tea leaves. The fully automatic tea picking machine integrates the tea picking component on the vehicle body and automatically steps forward while completing the cutting of the tea leaves.

[0005] However, the quality and taste of tea picked by shearing tea picking machines are still not as good as those of tea picked manually. This is because the tea leaves need to be cut by two sets of blades in opposite directions during the cutting process. This method easily makes the cut surface of the tea leaves uneven and burred. As the blades become blunt or loose, gaps are likely to exist between the edges of the two blades. The existence of gaps causes the shearing effect on both sides of the tea leaves to be uneven, thereby aggravating the burr degree of the broken surface of the tea leaves, and ultimately leading to a reduction in the quality of the processed tea leaves.

[0006] Therefore, manual picking is still an indispensable way of picking tea, especially for precious tea. In order to preserve the taste, manual picking is still adopted. Although this will be more time-consuming and more labor-intensive, precious tea itself is expensive so the necessary cost is also indispensable.

[0007] However, if human hands can be simulated through robotic arms, the work of manual tea picking can be simulated by freeing up human labor.

[0008] The working process is roughly as follows: the robot arm descends from above to the appropriate position, then clamps the tea leaves with appropriate force, then pulls the tea leaves upwards and breaks them off, and finally uses a suction device to absorb and collect the released tea leaves.

[0009] The right position and right force can be achieved by using visual sensors and pressure sensors. One of the key points is the design of the manipulator. After research, it is found that the manipulator needs to complete four actions: descending, clamping, ascending, and releasing. The descending and ascending can be directly completed by a linear drive structure (such as a cylinder, a hydraulic cylinder, etc.), and the clamping and releasing functions are generally completed by two symmetrically set mechanical claws. The manipulator is a mature technology in the existing technology, but the mechanical claws in various fields generally use cylinders to drive the clamping and releasing functions, and the telescopic process of the cylinder is not accurate. In particular, the object that needs to be clamped in this article is a plant body such as tea, so it is easy to use conventional mechanical claws to complete the force improper control and produce extrusion transition phenomenon.

[0010] Therefore, the applicant wants to develop a mechanical claw specially used for clamping the position of tea leaves and tea stems. It needs to be able to complete the functions of clamping and releasing, and its driving source should avoid the form of cylinders or hydraulic cylinders. It is best to use a motor and a transmission with rotational power input to provide precise and accurate clamping movement. In addition, because the tea bud stems need to be clamped for a period of time to ensure that there is sufficient time to break the tea stems before they can be released, so when it clamps the tea stems to break them, the clamping action is preferably self-locking to ensure the stability of the clamping process and avoid interference from external factors. And because the clamping object of the mechanical claw is a small tea leaf, the size of the mechanical claw will also be very small, and the movement of the mechanical claw needs to be completed by a micro motor, and the micro motor is difficult to set up as a CNC form with forward and reverse capabilities, so the design process is best achieved using an ordinary motor. Summary of the invention

[0011] The purpose of the present invention is to solve the problem that there is no mechanical claw specially used for simulating human manual picking of tea leaves in the existing market, and to propose a device for simulating human manual picking for a tea picking machine.

[0012] The purpose of the present invention can be achieved by the following technical solutions:

[0013] A human hand-picking device for a tea picking machine, characterized in that it comprises a frame, a vertical limit rod fixedly arranged relative to the frame, a clamping assembly movable on the vertical limit rod, and a driving box fixed on the frame and used for providing operating power for the clamping assembly;

[0014] The clamping assembly includes a support plate and two claw bodies arranged opposite to each other, wherein one claw body is fixedly arranged relative to the support plate, and the other claw body is movably arranged relative to the support plate, and a clamping opening is formed between the two claw bodies, and the size of the clamping opening is changed after the claw body moves relative to the support plate;

[0015] The drive box has a drive motor and a transmission inside, and has a first output assembly and a second output assembly. The first output assembly is used to drive the relative movement of the claw body, and the second output assembly is used to drive the lifting movement of the clamping assembly.

[0016] In the above-mentioned simulated human manual picking device for a tea plucking machine, the first output component includes a first output shaft, an output gear fixedly sleeved on the end of the first output shaft, a direction-changing gear arranged on a bracket plate rotated by a direction-changing rotating shaft, and an input gear arranged on the bracket plate rotated by a first input shaft. The two sides of the direction-changing gear are respectively meshed with the input gear and the output gear. The gear of the output gear is larger than the direction-changing gear so that the output gear can always mesh with the direction-changing gear during the lifting process of the clamping assembly. The first input shaft is a direct-connected shaft that provides a power source for the claw body.

[0017] In the above-mentioned device for simulating human manual picking for a tea picking machine, the second output component includes a second output shaft, a crank, and a connecting rod. One end of the crank is fixedly arranged at the end of the second output shaft, and the other end of the crank is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the bracket plate.

[0018] In the above-mentioned human manual picking device for a tea plucking machine, the second output assembly has two groups, which are symmetrically arranged on both sides of the driving box.

[0019] In the above-mentioned human manual picking device for tea plucking machine, four vertical sliding holes are opened on the bracket plate, and there are four vertical limit rods in total. The four vertical sliding holes are slidably mounted on the four vertical limit rods respectively.

[0020] In the above-mentioned human manual picking device for a tea plucking machine, a pressing belt made of a soft material is provided on the claw body.

[0021] In the above-mentioned human manual picking device for tea plucking machine, the claw body realizes the movement of the support plate through a driving structure, and the driving structure includes a limit block fixedly arranged relative to the support plate, a movable plate linearly arranged on the limit block and used to fix the claw body, and a driving block connected to the first output component of the driving box;

[0022] A driving pin is eccentrically arranged on the driving block around its rotation center, a driving slot is opened on the movable plate, and the driving pin is located in the driving slot;

[0023] The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block. The left and right end directions of the driving groove are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving block, the left and right end widths of the driving groove are sufficient to prevent the driving pin from contacting it at any time. The front and rear end lengths of the driving groove will cause the driving pin to sequentially produce four situations during the rotation process within one cycle: contact with the front end face of the driving groove, no contact with any front and rear end faces of the driving groove, contact with the rear end face of the driving groove, and no contact with any front and rear end faces of the driving groove. The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block.

[0024] Compared with the prior art, the picking device can simulate human hands to pick tea leaves through the principle of a robot, making it feasible to simulate human hands picking tea leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structural principle of the picking device after the frame is hidden and the clamping assembly is at the highest position;

[0026] Figure 2 This is a schematic diagram of the structural principle of the picking device after the frame is hidden and the clamping assembly is at the lowest position;

[0027] Figure 3 This is a schematic diagram of the back structure principle of the picking device after the frame is hidden;

[0028] Figure 4 Schematic diagram of the structural principle of the clamping assembly;

[0029] Figure 5 It is a structural schematic diagram of the driving structure when the movable plate is in an unlocked state;

[0030] Figure 6 It is a structural schematic diagram of the driving structure when the movable plate is in a self-locking state;

[0031] Figure 7 It is a perspective structural diagram of the first stage of the cycle after the driving structure hides the part and the fixed body;

[0032] Figure 8It is a perspective structural diagram of the second stage of the cycle after the driving structure hides the part and the fixed body;

[0033] Fig. 9 It is a perspective structural diagram of the third stage of the cycle after the driving structure hides the part and the fixed body;

[0034] Fig.10 It is a perspective structural diagram of the fourth stage of the cycle after the driving structure hides the part and the fixed body;

[0035] Fig.11 is a perspective structural diagram of the fifth stage of the cycle after the driving structure hides the part and the fixed body;

[0036] Fig.12 is a perspective structural diagram of the sixth stage of the cycle after the driving structure hides the part and the fixed body;

[0037] In the figure, 1. vertical limit rod; 2. drive box; 3. bracket plate; 4. claw body; 5. output gear; 6. change gear; 7. input gear; 8. second output shaft; 9. crank; 10. connecting rod; 11. extrusion belt; 12. limit block; 13. movable plate; 14. drive block; 15. drive pin; 16. drive groove; 17. step groove; 18. fixed body; 19. card; 20. spring; 21. inner groove; 22. outer groove; 23. arc segment; 24. cam arc segment; 25. straight line segment. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0039] like Figures 1 to 4 As shown, the human manual picking device for tea plucking machine comprises a frame and a vertical limit rod 1 fixedly arranged relative to the frame, a clamping assembly movablely arranged on the vertical limit rod 1, and a driving box 2 fixed on the frame and used for providing operating power for the clamping assembly;

[0040] The clamping assembly includes a support plate 3 and two claw bodies 4 arranged opposite to each other, wherein one claw body 4 is fixedly arranged relative to the support plate 3, and the other claw body 4 is movably arranged relative to the support plate 3, and a clamping opening is formed between the two claw bodies 4, and the claw body 4 moves relative to the support plate 3 to change the size of the clamping opening;

[0041] The drive box 2 has a drive motor and a transmission inside, and the drive box 2 has a first output assembly and a second output assembly. The first output assembly is used to drive the relative movement of the claw body 4, and the second output assembly is used to drive the lifting movement of the clamping assembly.

[0042] The present invention adopts two claw bodies 4, one of which is stationary and the other is movable, so as to reduce the clamping opening and realize the clamping function.

[0043] The present invention also adopts the same driving box 2, and after outputting two kinds of power, respectively completes the clamping work of the clamping assembly and the lifting work of the clamping assembly.

[0044] like Figures 1 to 3 As shown, the first output assembly includes a first output shaft, an output gear 5 fixedly sleeved on the end of the first output shaft, a direction-changing gear 6 rotatably arranged on the bracket plate 3 through a direction-changing rotating shaft, and an input gear 7 rotatably arranged on the bracket plate 3 through a first input shaft. The two sides of the direction-changing gear 6 are respectively meshed with the input gear 7 and the output gear 5. The gear of the output gear 5 is larger than the direction-changing gear 6 so that the output gear 5 can always mesh with the direction-changing gear 6 during the lifting process of the clamping assembly. The first input shaft is a direct-connected shaft that provides a power source for the claw body 4.

[0045] The bracket plate 3 is a part of the clamping assembly, which needs to lead the entire clamping assembly to rise, so that the tea leaves can be pulled out after the clamping assembly clamps the tea leaves, and the claw body 4 inside the clamping assembly needs to be active, and the claw body 4 needs to move relative to the bracket plate 3. Generally speaking, the driving member used to drive the claw body 4 to move will also be fixed on the bracket plate 3, but the present invention avoids this situation. The present invention intends to use the frame as a reference and directly fix the drive box 2 relative to the frame. Then, the drive box 2 is the only driving source. It is very simple to realize the bracket plate 3 that needs to move relative to the frame. However, it is necessary to find another design idea to realize the claw body 4 that moves relative to the bracket plate 3. Therefore, the present invention adopts a thickened output gear 5. When the direction-changing gear 6 is lifted and lowered with the clamping assembly, the output gear 5 is always engaged with the direction-changing gear 6. Then, this drive can achieve movement across a reference system.

[0046] like Figures 1 to 3 As shown, the second output assembly includes a second output shaft 8, a crank 9, and a connecting rod 10. One end of the crank 9 is fixedly arranged at the end of the second output shaft 8, the other end of the crank 9 is rotatably connected to one end of the connecting rod 10, and the other end of the connecting rod 10 is rotatably connected to the bracket plate 3.

[0047] The lifting and lowering movement of the clamping mechanism adopts a crank 9 slider structure (the bracket plate 3 in the present invention is the slider mentioned here). This structure is a very perfect form in the present invention. If an independent screw, rack, and cylinder are used to complete the lifting drive, then an additional power source is required. However, the crank 9 slider structure can also achieve linear motion, and only a second input power needs to be drawn from the drive box 2.

[0048] In addition, the crank 9 slider structure has another feature, that is, in the process of approaching the two extreme values, the efficiency is different, the extreme point on one side will pass quickly, and the extreme point on the other side will pass slowly. For the present invention, the functions that need to be realized are: clamping the tea leaves (clamping is a process that consumes a certain amount of time, so the reserved time should be long enough, so the speed should be slowed down as much as possible at the lowest point), rising to break the tea leaves (this process can be directly pulled out, there is no requirement for fast or slow), loosening the tea leaves to allow the suction fan to collect the tea leaves (just loosen it, there is no need to stay for a long time), and descending to the same level as the tea leaves. Height to return to the original position (the faster the descending process, the better). It can be seen that the time consumed for clamping the tea leaves is relatively long, so the speed should be slowed down as much as possible at this extreme position, because the clamping movement of the clamping assembly also takes a certain amount of time, and there is no need to linger for a long time when releasing the tea leaves at this extreme position. It is even advisable to release it directly after pulling out the tea leaves and rising to the midway position. It is not like the clamping process must lower the clamping device to a position basically at the same height as the tea leaves to complete the work. Therefore, the working process of the present invention requires different times at the highest point and the lowest point, which is very suitable for the crank 9 slider structure.

[0049] The second output assembly has two groups, which are symmetrically arranged on both sides of the drive box 2. This can effectively ensure the reliability of the driving process.

[0050] In addition, from Figures 1 to 3 It can be seen that the first output shaft and the second output shaft 8 are perpendicular to each other, and two perpendicular rotational forces can be outputted between them through a structure such as a bevel gear. Therefore, the present invention only needs one drive motor to achieve the clamping and loosening of the claw body 4 and the lifting and lowering movement of the entire clamping mechanism.

[0051] Four vertical sliding holes are provided on the bracket plate 3 , and there are four vertical limiting rods 1 in total. The four vertical sliding holes are slidably sleeved on the four vertical limiting rods 1 respectively.

[0052] The claw body 4 is provided with a squeezing belt 11 made of a soft material. This is quite necessary in the process of clamping tea leaves, and only after having a certain soft deformation ability can the phenomenon of clamping tea leaves be avoided.

[0053] like Figure 5 and Figure 6 As shown, the claw body 4 realizes the movement of the bracket plate 3 through a driving structure, and the driving structure includes a limit block 12 fixedly arranged relative to the bracket plate 3, a movable plate 13 linearly movable on the limit block 12 and used to fix the claw body 4, and a driving block 14 connected to the first output component of the driving box 2;

[0054] A driving pin 15 is eccentrically arranged on the driving block 14 around its rotation center, and a driving groove 16 is opened on the movable plate 13, and the driving pin 15 is located in the driving groove 16;

[0055] The front and rear end directions of the driving groove 16 are the directions in which the movable plate 13 moves linearly on the limit block 12. The left and right end directions of the driving groove 16 are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving block 14, the left and right end widths of the driving groove 16 are sufficient to prevent the driving pin 15 from contacting it at any time, and the front and rear end lengths of the driving groove 16 will allow the driving pin 15 to sequentially produce four situations in the process of rotation within one cycle: contact with the front end face of the driving groove 16, no contact with any front and rear end faces of the driving groove 16, contact with the rear end face of the driving groove 16, and no contact with any front and rear end faces of the driving groove 16 again. The front and rear end directions of the driving groove 16 are the directions in which the movable plate 13 moves linearly on the limit block 12.

[0056] The driving structure also includes a self-locking mechanism, which performs a limit locking function on the movable plate 13 from the moment the driving pin 15 ends contacting with the front end surface of the driving groove 16, and performs a stop limit locking function on the movable plate 13 from the moment the driving pin 15 starts contacting with the rear end surface of the driving groove 16.

[0057] During a cycle of motion:

[0058] Depend on Figure 7 to Figure 8 During the process (in the figure, the driving block 14 rotates counterclockwise, the side at the lower left of the driving slot 16 is the front end surface, and the side at the upper right of the driving slot 16 is the rear end surface, and in order to clearly see the positional relationship of the movable plate 13, reference objects are placed at the four corners of the movable plate 13 when drawing the attached figure, and the reference objects are objects that are fixed relative to the bracket plate 3), the process in which the driving pin 15 contacts the front end surface of the driving slot 16 and drives the driving slot 16 to move forward is a gradual clamping process, during which the mechanical claw is lowered to a position at the same height as the tea leaves, and then the two claw bodies 4 are relatively close to clamp the tea leaves;

[0059] Depend on Figure 8 to Figure 9 The process in which the driving pin 15 is separated from the front end surface of the driving groove 16 and does not contact any front and rear end surfaces of the driving groove 16 is a continuous clamping process when the clamping gap is the smallest. In this process, the self-locking mechanism completes the locking of the movable plate 13 (that is, the position relationship of the two claw bodies 4 is locked), and it needs to last for a period of time, because at this time the two claw bodies 4 have clamped the tea leaves, and the entire mechanical claw needs to be lifted to pull the tea leaves off;

[0060] Depend on Figure 9 to Figure 10 Then Fig.11The process in which the driving pin 15 contacts the rear end surface of the driving slot 16 and moves the driving slot 16 backward is a gradual loosening process. In this process, the mechanical claw has already pulled the tea leaves upwards and then the tea leaves are loosened and the pulled tea leaves are collected under the action of the suction device.

[0061] Depend on Figure 11 to Figure 12 Back to Figure 7 , the driving pin 15 gradually breaks away from the contact with the rear end face of the driving groove 16, and enters the state of not contacting any front or rear end face of the driving groove 16 again. At this time, the two claw bodies 4 are in a fully open state. After a certain period of time, the mechanical claws are lowered back to the position at the same height as the tea leaves, waiting to enter the next cycle.

[0062] Therefore, the movement of the movable plate 13 is a complete cycle of forward, stop (self-locking at the same time), backward (unlocking at the same time), and stop, which corresponds to the gradual tightening (clamping process), clamping (locking for ascending and pulling out materials), gradual loosening (releasing the pulled-off materials), and continuous loosening (to lower the materials back to the height) of the claw body 4.

[0063] The design of the self-locking structure is also one of the important core elements of the present invention.

[0064] like Figures 5 to 12 As shown, the self-locking structure includes a stepped groove 17 opened on the side of the movable plate 13, a fixed body 18 fixedly arranged relative to the bracket plate 3, and a card 19 linearly slidably connected to the fixed body 18 through a limiting square rod and a limiting round rod;

[0065] The stepped groove 17 includes an inner groove 21 and an outer groove 22. The width of the outer groove 22 is greater than that of the inner groove 21. The inner groove 21 is a groove shape that is continued on the basis of the outer groove 22. The inner groove 21 and the outer groove 22 are combined to form a stepped shape.

[0066] The card 19 is located in the stepped groove 17, and the width of the card 19 is consistent with the inner groove 21. When the card 19 is embedded in the inner groove 21, the inner groove 21 of the movable plate 13 will be limited by the card 19 and cannot move, forming a locking effect;

[0067] A spring 20 is sleeved on the limiting round rod, and the two ends of the spring 20 are respectively connected to the fixed body 18 and the card 19. The spring 20 has a tendency to push the card 19 to the inner end of the stepped groove 17. When the card 19 is aligned with the inner groove 21, the spring 20 will push the card 19 into the inner groove 21.

[0068] The outer ring of the driving block 14 is in a three-segment shape, the upper end of the card 19 is higher than the movable plate 13, and the outer ring of the driving block 14 can contact the card 19 during the rotation process;

[0069] The three-segment shape is specifically the following shapes that are connected in sequence: the first segment is an arc segment 23 with a constant radius, the second segment is a cam arc segment 24 with a gradually increasing radius, and the third segment is a straight line segment 25. The arc segment 23 of the outer ring of the driving block 14 will not push the card 19 in the inner groove 21 outward during the rotation process. The cam arc segment 24 of the outer ring of the driving block 14 will contact the card 19 in the inner groove 21 and squeeze the card 19 outward during continuous rotation until the card 19 moves to the outer groove 22. The straight line segment 25 of the outer ring of the driving block 14 can disengage the squeezing effect of the cam arc segment 24 on the card 19 at the moment of docking with the card 19.

[0070] The self-locking structure of the present invention is a very clever design. Figure 7 The analysis begins. The drive block 14 rotates counterclockwise, and the drive pin 15 contacts the front end surface of the drive slot 16, moving the movable plate 13 forward and first entering the Figure 8 In the state, because the front and rear positions of the card 19 are unchanged during this process, and the front and rear positions of the movable plate 13 are moved, the stepped groove 17 on the movable plate 13 will also move forward and backward. Figure 7 Gradually Figure 8 During the process of entering the outer groove 22, the card 19 is always in the outer groove 22, and does not limit the forward and backward movement of the movable plate 13. Figure 8 When the card 19 is aligned with the inner groove 21, the card 19 is pushed into the inner groove 21 by the elastic force of the spring 20, and Figure 8 Not yet Fig. 9 In the case (the movable plate 13 is always in the self-locking state in these figures), the arc segment 23 of the outer ring of the driving block 14 is always aligned with one side of the card 19, so the arc segment 23 will not squeeze the card 19 outward until Fig. 9 In the case where the arc segment 23 is no longer aligned with the card 19, but the cam arc segment 24 is aligned with the card 19, because the radius of the cam arc segment 24 is gradually increasing, the driving block 14 continues to rotate, and the card 19 is squeezed by the cam arc segment 24 and pushed toward the outer groove 22. Fig.10 In this case, the card 19 has been completely pushed into the outer groove 22, and the driving pin 15 is in contact with the rear end surface of the driving groove 16. That is, the driving pin 15 rotates slightly counterclockwise to make the movable plate 13 move back. At this time, the inner groove 21 is offset from the card 19. When the cam arc segment 24 stops contacting the card 19, the straight segment 25 is aligned with the card 19, and the cam arc segment 24 stops contacting the card 19. Fig.11 In the case of the straight line segment 25, although the straight line segment 25 no longer has the ability to push the card 19 out of the inner groove 21, the inner groove 21 has been offset from the card 19, so the inner groove 21 will no longer restrict the movable plate 13. Fig.12 After the situation, we return to Figure 7 state, completing a cycle.

[0071] It should be understood that in the claims and description of the present invention, all "including..." should be understood as an open-ended meaning, that is, its meaning is equivalent to "at least contains...", and should not be understood as a closed meaning, that is, its meaning should not be understood as "only includes...".

[0072] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A human hand-picking device for a tea picking machine, characterized in that: It includes a frame body, a vertical limit rod fixedly arranged relative to the frame body, a clamping assembly movable and arranged on the vertical limit rod, and a driving box fixed on the frame body and used for providing operating power for the clamping assembly; The clamping assembly includes a support plate and two claw bodies arranged opposite to each other, wherein one claw body is fixedly arranged relative to the support plate, and the other claw body is movably arranged relative to the support plate, and a clamping opening is formed between the two claw bodies, and the size of the clamping opening is changed after the claw body moves relative to the support plate; The drive box has a drive motor and a transmission inside, and the drive box has a first output assembly and a second output assembly, the first output assembly is used to drive the relative movement of the claw body, and the second output assembly is used to drive the lifting movement of the clamping assembly; The first output assembly includes a first output shaft, an output gear fixedly sleeved on the end of the first output shaft, a direction-changing gear rotatably arranged on the bracket plate through a direction-changing rotating shaft, and an input gear rotatably arranged on the bracket plate through a first input shaft. The two sides of the direction-changing gear are respectively meshed with the input gear and the output gear. The gear thickness of the output gear is greater than that of the direction-changing gear so that the output gear can always mesh with the direction-changing gear during the lifting process of the clamping assembly. The first input shaft is a direct-connected shaft that provides a power source for the claw body.

2. The device for simulating human manual picking for a tea picking machine according to claim 1, characterized in that: The second output assembly includes a second output shaft, a crank, and a connecting rod. One end of the crank is fixedly arranged at the end of the second output shaft, the other end of the crank is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the bracket plate.

3. The device for simulating human manual picking for a tea picking machine according to claim 1, characterized in that: The second output assembly has two groups, which are symmetrically arranged on both sides of the drive box.

4. The device for simulating human manual picking for a tea picking machine according to claim 1, characterized in that: The bracket plate is provided with four vertical sliding holes, and there are four vertical limiting rods in total. The four vertical sliding holes are respectively slidably sleeved on the four vertical limiting rods.

5. The device for simulating human manual picking for a tea picking machine according to claim 1, characterized in that: The claw body is provided with an extrusion belt made of soft material.

6. A human hand-picking device for tea plucking machines according to any one of claims 1 to 5, characterized in that: The claw body realizes the movement of the bracket plate through a driving structure, and the driving structure includes a limit block fixedly arranged relative to the bracket plate, a movable plate linearly arranged on the limit block and used to fix the claw body, and a driving block connected to the first output component of the driving box; A driving pin is eccentrically arranged on the driving block around its rotation center, a driving slot is opened on the movable plate, and the driving pin is located in the driving slot; The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block. The left and right end directions of the driving groove are perpendicular to the same plane as the front and rear end directions. During the rotation of the driving block, the left and right end widths of the driving groove are sufficient to prevent the driving pin from contacting it at any time. The front and rear end lengths of the driving groove will cause the driving pin to sequentially produce four situations during the rotation process within one cycle: contact with the front end face of the driving groove, no contact with any front and rear end faces of the driving groove, contact with the rear end face of the driving groove, and no contact with any front and rear end faces of the driving groove. The front and rear end directions of the driving groove are the directions in which the movable plate moves linearly on the limit block.

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