Mechanical claw for picking tea-oil camellia fruits

Abstract

The application provides a mechanical claw for picking camellia oleifera fruits, which comprises a base, a swallowing pipe, and the base is provided with: two mounting seats; a lower finger pad block hinged to the mounting seat; an upper finger pad block hinged to one end of the lower finger pad block; a deep suction cup installed on one side of the lower finger pad block; a fruit pressing plate movably arranged on one side of the upper finger pad block close to the swallowing pipe; a fruit pressing mechanism arranged on the upper finger pad block and used for driving the fruit pressing plate to move towards the swallowing pipe; a first power mechanism used for driving the lower finger pad block to swing on the mounting seat towards / away from the swallowing pipe; and a second power mechanism used for driving the upper finger pad block to swing on the upper finger pad block towards / away from the swallowing pipe. The camellia oleifera fruits are flexibly fixed by the deep suction cup, and then the camellia oleifera fruits are separated from the branches by pressing the camellia oleifera fruits by the fruit pressing plate, so that the picking efficiency and quality of the camellia oleifera fruits can be improved, and the camellia oleifera fruits and flower buds are not damaged too much.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a mechanical claw for harvesting camellia fruit. Background Technology

[0002] Strengthening the cultivation and management of camellia oleifera forests can significantly increase camellia oil production and effectively alleviate the supply and demand imbalance of oilseeds. However, since camellia oleifera fruits and flowers share the same origin, mechanized harvesting can easily damage flower buds, thus affecting the yield of camellia oleifera fruits.

[0003] Patent application CN219919736U discloses a harvesting device for camellia oleifera fruit, which harvests the fruit by spiral impact, but this method is prone to damaging the fruit.

[0004] Patent application CN220342911U discloses a harvesting device for camellia fruit, which harvests the fruit by rotating a mechanical gripper, which can easily damage the flower buds of the camellia fruit.

[0005] In conclusion, it is crucial for camellia fruit harvesting robots to achieve efficient and damage-free harvesting. Summary of the Invention

[0006] In order to improve the problem of easy damage to camellia fruit or flower buds during the harvesting process, this application provides a mechanical claw for harvesting camellia fruit.

[0007] The mechanical claw for harvesting camellia oleifera fruit provided in this application adopts the following technical solution:

[0008] A mechanical gripper for harvesting camellia oleifera fruits includes a base, a swallowing tube passing through the center of the base, and the following features are provided on the base:

[0009] Two mounting bases are provided and are positioned opposite each other on the outside of the swallowing tube;

[0010] The lower fingertip block is hinged to the mounting base;

[0011] The upper fingertip block is hinged to the end of the lower fingertip block away from the mounting base;

[0012] A deep suction cup is installed on the side of the lower fingertip block near the swallowing tube;

[0013] A fruit-pressing plate is movably positioned on the side of the upper fingertip block near the swallowing tube;

[0014] A pressing mechanism is provided on the upper fingertip block and is used to drive the pressing plate to move toward the direction of the swallowing tube;

[0015] A first power mechanism is used to drive the lower fingertip block to swing on the mounting base in a direction toward / away from the swallowing tube; and

[0016] The second power mechanism is used to drive the upper fingertip block to swing in a direction closer to / away from the swallowing tube.

[0017] Furthermore, the fruit-pressing mechanism includes:

[0018] A sleeve is fixed through and to the upper fingertip block;

[0019] An inner piston is slidably disposed in the sleeve, and an inner connecting rod is fixedly connected between the fruit pressing plate and the inner piston;

[0020] An outer piston is slidably disposed in the sleeve, and an outer connecting rod extending out of the sleeve is fixedly connected to the outer piston.

[0021] A branch support is provided at one end of the sleeve where the outer piston is located. The branch support is fixed to the outer connecting rod and is used to support the branch on which the target camellia fruit is attached.

[0022] An air chamber is formed inside the sleeve between the inner piston and the outer piston, and an air supply pipe is provided on the sleeve with one end connected to the air chamber and the other end connected to an air source.

[0023] Furthermore, both ends of the sleeve are provided with caps, and square holes are provided through the caps. The inner connecting rod and the outer connecting rod are both configured as square rods that slide and adapt to the corresponding square holes.

[0024] Furthermore, the pressing plate is arc-shaped or spherical, and its inner arc side is close to the swallowing tube.

[0025] Furthermore, a buffer layer is provided on the side of the fruit pressing plate near the swallowing tube.

[0026] Furthermore, the base is also provided with:

[0027] A gear ring is rotatably mounted on the base, and the mounting base is fixedly connected to the gear ring;

[0028] A drive motor is mounted on the base, and a drive gear that meshes with the gear ring is coaxially fixed to the output end of the drive motor.

[0029] Furthermore, it also includes:

[0030] The identification camera is used to capture and identify the direction of the branches on which the target camellia fruit is attached;

[0031] The controller is electrically connected to the recognition camera and the drive motor, and is configured to control the drive motor to operate according to the branch direction recognized by the recognition camera, so that the gear ring rotates to the two top branches on it corresponding to the branch direction.

[0032] Furthermore, the first power mechanism includes:

[0033] A connecting flange is fixed to the lower finger block and coaxial with the rotation axis of the lower finger block on the mounting base;

[0034] The first servo motor is mounted on the mounting base and its output end is coaxially fixed to the connecting flange.

[0035] Furthermore, the second power mechanism includes:

[0036] The second servo motor has a drive shaft coaxially fixed to its output end;

[0037] One end of the boom connecting rod is fixedly connected to the end of the drive shaft;

[0038] The forearm link is hinged at one end to the free end of the upper arm link and at the other end to the upper fingertip block.

[0039] Furthermore, the upper end of the swallowing tube extends close to the deep suction cup, and the lower end is connected to a flexible tube.

[0040] In summary, this application includes at least one of the following beneficial technical effects:

[0041] 1. The mechanical gripper is moved to the camellia fruit to be harvested. The first power mechanism drives the lower fingertip blocks to rotate on the mounting base towards the swallowing tube, causing the two deep suction cups on the lower fingertip blocks to adhere tightly to the two opposite sidewalls of the camellia fruit. Then, a micro-pump is used to create a vacuum in the deep suction cups, allowing them to adhere to the camellia fruit and achieve flexible fixation. Next, the second power mechanism drives the upper fingertip blocks to swing towards the swallowing tube, causing the fruit-pressing plate to contact the camellia fruit. The upper part of the camellia fruit is pushed downwards, causing it to detach from the branch it is attached to. Then, the micro-pump stops pumping air into the deep suction cup, which loses its suction force on the fruit. The harvested fruit then falls freely into the swallowing tube below, completing the harvesting process. During this process, the pressing mechanism further drives the pressing plate closer to the swallowing tube, ensuring the fruit completely detaches from its branch, thus guaranteeing effective harvesting of camellia fruits of different sizes and stem lengths. Therefore, this method not only improves the efficiency and quality of camellia fruit harvesting but also minimizes damage to the fruit and flower buds.

[0042] 2. During operation, the pressing mechanism supplies air to the air supply pipe through a micro air pump, filling the air chamber with compressed gas. In a free state, the outer piston and the inner piston will move away from each other. When the pressing plate is pressed against the camellia fruit fixed by the deep suction cup, the reaction force of the pressing plate against the camellia fruit causes the outer piston to move away from the pressing plate. This can achieve adaptive adjustment of the pushing force on the camellia fruit, thus further avoiding the pressing plate from causing pushing damage to the camellia fruit during harvesting. When the outer piston moves away from the pressing plate, the top branch frame on the outer piston moves away from the fixed camellia fruit. As long as the two top branch frames are arranged in advance according to the direction of the branch on which the camellia fruit is attached, the two pressing plates on the inner side can push the camellia fruit downward, and the two top branch frames on the outer side can push the branch on which the camellia fruit is attached upward. This can make the camellia fruit and the branch on which the camellia fruit is attached both tend to move away from each other, thereby greatly improving the harvesting efficiency and quality of the camellia fruit and avoiding the situation where the branch moves along with the camellia fruit when it is directly pressed down or pulled down, which would cause the harvesting process to be too long or the harvesting to fail.

[0043] 3. By setting up a recognition camera, the direction of the branch to which the camellia fruit is attached can be automatically identified. The controller controls the drive motor to work. When the drive motor works, it drives the drive gear and the gear ring that meshes with it to rotate until the two top branch frames are aligned with the branches corresponding to the camellia fruit. Then, during the harvesting process, when the air chamber of the sleeve is inflated, the top branch frames can accurately lift the branches to achieve the effect of automatic and efficient harvesting of camellia fruit. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the overall structure from another perspective of an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of the overall structure of a harvesting module according to an embodiment of this application.

[0048] Figure 4 This is a cross-sectional structural schematic diagram of the pressing mechanism in an embodiment of this application.

[0049] Figure label:

[0050] 1. Base;

[0051] 21. Swallowing tube; 22. Flexible tube;

[0052] 3. Mounting bracket;

[0053] 4. Lower fingertip block; 41. Deep suction cup; 42. Hinge ear;

[0054] 5. Upper fingertip block; 51. Fruit pressing board; 52. Top branch trellis;

[0055] 61. Sleeve; 611. Air chamber; 62. Inner piston; 63. Inner connecting rod; 64. Outer piston; 65. Outer connecting rod; 66. Cover; 661. Square hole;

[0056] 71. Gas supply pipe; 72. Three-way solenoid valve;

[0057] 81. Gear ring; 82. Drive motor; 83. Drive gear; 84. Recognition camera;

[0058] 91. Connecting flange; 92. First servo motor; 93. Second servo motor; 94. Drive shaft; 95. Boom connecting rod; 96. Arm connecting rod. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0060] Reference Figure 1 and Figure 2 This application discloses a mechanical claw for harvesting camellia fruit, which includes a base 1, a swallowing tube 21 passing through the middle of the base 1, and two oppositely arranged harvesting modules on the base 1. Each harvesting module includes:

[0061] Mounting base 3 is fixed to base 1 and located on the outside of swallowing tube 21, and the line connecting the two mounting bases 3 in the two picking modules passes through the axis of swallowing tube 21.

[0062] The lower finger pad 4 is hinged to the mounting base 3;

[0063] The upper fingertip block 5 is hinged to the end of the lower fingertip block 4 away from the mounting base 3, and the hinge axes of the upper fingertip block 5 and the lower fingertip block 4 are set parallel to each other.

[0064] A deep suction cup 41 is installed on the side of the lower fingertip block 4 near the swallowing tube 21 and is connected to an air source, specifically a micro air pump.

[0065] The fruit pressing plate 51 is movably set on the side of the upper fingertip block 5 near the swallowing tube 21;

[0066] The pressing mechanism is located on the upper fingertip block 5 and is used to drive the pressing plate 51 to move toward the direction of the swallowing tube 21.

[0067] The first power mechanism is used to drive the lower fingertip block 4 to swing on the mounting base 3 in a direction toward / away from the swallowing tube 21; and

[0068] The second power mechanism is used to drive the upper finger pad 5 to swing in a direction closer to / away from the swallowing tube 21.

[0069] Among them, reference Figure 3 and Figure 4 The fruit pressing mechanism includes:

[0070] The sleeve 61 is fixed through the upper fingertip block 5, and its extension direction points to the axis of the swallowing tube 21;

[0071] An inner piston 62 is slidably disposed in a sleeve 61 and located at one end of the sleeve 61 near the pressing plate 51. An inner connecting rod 63 is fixedly connected between the pressing plate 51 and the inner piston 62.

[0072] The outer piston 64 is slidably disposed in the sleeve 61 and located at one end of the sleeve 61 away from the pressing plate 51. An outer connecting rod 65 extending out of the sleeve 61 is fixedly connected to the side of the outer piston 64 away from the pressing plate 51. Both the inner piston 62 and the outer piston 64 are airtightly slidably disposed in the sleeve 61.

[0073] The top branch frame 52 is located at one end of the sleeve 61 where the outer piston 64 is located. The top branch frame 52 is fixed to the outer connecting rod 65. The top branch frame 52 is used to lift the branches on which the target camellia fruit is attached. The top branch frame 52 is specifically in the shape of a "V" or "U", and its fork is set away from the outer connecting rod 65.

[0074] An air chamber 611 is formed within the sleeve 61 between the inner piston 62 and the outer piston 64. An air supply pipe 71 is provided on the sleeve 61, with one end connected to the air chamber 61 and the other end connected to an air source. A three-way solenoid valve 72 is installed on the air supply pipe 71. One port of the three-way solenoid valve 72 is connected to an external air source, such as a miniature air pump, while the other port is open. When air needs to be pumped into the air chamber 611, the three-way solenoid valve 72 is activated by the miniature air pump. When resetting is required after harvesting, the three-way solenoid valve 72 is activated by the external atmosphere, connecting the air chamber 611 to the atmospheric environment. Furthermore, in a specific configuration, two limiting rings are fixed inside the sleeve 61 to limit the distance between the inner piston 62 and the outer piston 64, maintaining a minimum space within the air chamber 61 and ensuring that the air chamber 611 is always connected to the air supply pipe 71.

[0075] During operation, the mechanical gripper is moved to the camellia fruit to be harvested. The first power mechanism drives the lower fingertip blocks 4 to rotate on the mounting base 3 towards the swallowing tube 21, causing the two deep suction cups 41 on the lower fingertip blocks 4 to adhere tightly to the two opposite sidewalls of the camellia fruit. Then, a micro-pump evacuates the deep suction cups 41, allowing them to adhere to the camellia fruit and achieve flexible fixation. Next, the second power mechanism drives the upper fingertip blocks 5 to swing towards the swallowing tube 21, causing the fruit-pressing plate 51 to... The pressure plate presses against the upper part of the camellia fruit, creating a downward pushing effect that detaches the fruit from the branch it is attached to. Then, the micro-pump stops pumping air into the deep suction cup 41, causing it to lose its suction force. The harvested fruit then falls freely into the swallowing tube 21 below, completing the harvesting process. During this process, the pressing mechanism further drives the pressing plate 51 towards the swallowing tube 21, ensuring the fruit completely detaches from its attachment to the branch, thus guaranteeing effective harvesting of camellia fruits of different sizes and stem lengths. Therefore, this method not only improves the efficiency and quality of camellia fruit harvesting but also avoids excessive damage to the fruit and flower buds.

[0076] In operation, the pressing mechanism supplies air to the air supply pipe 71 through a micro air pump, so that the air chamber 611 is filled with compressed gas. In the free state, the outer piston 64 and the inner piston 62 will move away from each other. When the pressing plate 51 is pressed against the camellia fruit fixed by the deep suction cup 41, the reaction force of the pressing plate 51 pushing against the camellia fruit causes the outer piston 64 to move away from the pressing plate 51. This can achieve adaptive adjustment of the pushing force of the camellia fruit, thus further avoiding the pressing plate 51 from causing pushing damage to the camellia fruit during harvesting. When the outer piston 64 moves away from the pressing plate 51, the top branch frame 52 on the outer piston 64 moves away from the fixed camellia fruit. As long as the two top branch frames 52 are arranged in advance according to the direction of the branch on which the camellia fruit is attached, the two pressing plates 51 on the inner side can push the camellia fruit downward, and the two top branch frames 52 on the outer side can push the branch on which the camellia fruit is attached upward. This can make the camellia fruit and the branch on which the fruit is attached both tend to move away from each other, thereby greatly improving the harvesting efficiency and quality of the camellia fruit and avoiding the situation where the branch moves along with the fruit when it is directly pressed down or pulled down, resulting in an excessively long harvesting journey or harvesting failure.

[0077] And as some adaptive settings, refer to Figure 3 and Figure 4Both ends of the sleeve 61 are provided with caps 66, and square holes 661 are provided through the caps 66. The inner connecting rod 63 and the outer connecting rod 65 are both square rods that slide and adapt to the corresponding square holes 661. Return springs are provided between the caps 66 and the outer piston 64 and the inner piston 62, so that the outer piston 64 and the inner piston 62 are reset after the air chamber 611 is inflated and deflated. In addition, the pressing plate 51 is arc-shaped or spherical, and its inner arc side is close to the swallowing tube 21. A buffer layer is provided on the side of the pressing plate 51 close to the swallowing tube 21. The buffer layer can be rubber, sponge, air bag, etc.

[0078] This prevents the top branch frame 52 from rotating during the harvesting process after being aligned with the branch, thus avoiding affecting the separation of the branch and the camellia fruit; and the buffer layer on the fruit pressing plate 51 can further reduce direct damage to the camellia fruit.

[0079] Additionally, refer to Figure 1 and Figure 2 The base 1 is also equipped with:

[0080] Gear ring 81 is rotatably mounted on base 1, and mounting seat 3 is fixedly connected to gear ring 81;

[0081] A drive motor 82 is mounted on a base 1, and a drive gear 83 that meshes with a gear ring 81 is coaxially fixed to the output end of the drive motor 82.

[0082] The identification camera 84 is used to capture and identify the direction of the branch on which the target camellia fruit is attached. In this embodiment, the identification camera 84 is mounted on the gear ring 81.

[0083] The controller, electrically connected to the identification camera 84 and the drive motor 82, is configured to control the drive motor 82 to operate according to the branch direction identified by the identification camera 84, so that the gear ring 81 rotates to the two top branch brackets 52 on it corresponding to the branch direction.

[0084] In this way, after the mechanical claw of this application locks onto the camellia fruit to be harvested, the identification camera 84 identifies the direction of the branch to which the camellia fruit is attached, and controls the drive motor 82 to work through the controller. When the drive motor 82 works, it drives the drive gear 83 and the gear ring 81 meshing with it to rotate until the two top branch frames 52 correspond to the branches corresponding to the camellia fruit. Then, during the harvesting process, when the air chamber 611 of the sleeve 61 is inflated, the top branch frame 52 can accurately lift the branch to achieve the effect of automatic and efficient harvesting of camellia fruit.

[0085] Additionally, refer to Figure 2 and Figure 3 The aforementioned first power mechanism includes:

[0086] The connecting flange 91 is fixed to the lower finger block 4 and is coaxial with the rotation axis of the lower finger block 4 on the mounting base 3;

[0087] The first servo motor 92 is mounted on the mounting base 3 and its output end is coaxially fixed to the connecting flange 91.

[0088] The second power mechanism includes:

[0089] The second servo motor 93 has a drive shaft 94 coaxially fixed to its output end. The first servo motor 92 and the second servo motor 93 are both servo motors with reducers. Specifically, two hinge ears 42 are fixed to the two opposite sides of the lower finger block 4. Both hinge ears 42 are hinged to the mounting base 3. The aforementioned connecting flange 91 is fixed to one of the hinge ears 42. The other hinge ear 42 has a through hole for the drive shaft 94 to pass through, so that the rotation of the drive shaft 94 does not interfere with the hinge ear 42.

[0090] One end of the boom connecting rod 95 is fixedly connected to the end of the drive shaft 94;

[0091] The forearm link 96 is hinged at one end to the free end of the upper arm link 95 and at the other end to the upper fingertip block 5.

[0092] Thus, when the lower fingertip block 4 needs to be swung, the connecting flange 91 is rotated by the first servo motor 92, which can drive the lower fingertip block 4 to swing; when the upper fingertip block 5 needs to be swung, the transmission shaft 94 is rotated by the second servo motor 93. When the transmission shaft 94 swings, it can pull or push the forearm link 96 with the help of the upper arm link 95, thereby achieving the pushing or pulling effect on the upper fingertip block 5, so as to achieve the swinging effect of the upper fingertip block 5 on the lower fingertip block 4.

[0093] Additionally, refer to Figure 1 and Figure 2 The swallowing tube 21 extends to near the deep suction cup 41 at its upper end and is connected to a flexible tube 22 at its lower end to facilitate the convenient transfer of harvested camellia fruits to the collection box.

[0094] The implementation principle of a mechanical claw for harvesting camellia fruit in this application embodiment is as follows:

[0095] The mechanical claw is moved to the camellia fruit to be harvested, and the gear ring 81 is driven to rotate so that the two top branch frames 52 are aligned with the branches on which the camellia fruit is attached. Then, the lower finger pad block 4 is driven to flip on the mounting base 3 towards the direction of the swallowing tube 21, so that the two deep suction cups 41 on the two lower finger pad blocks 4 are respectively pressed against the two opposite side walls of the camellia fruit. Then, the two deep suction cups 41 are driven to adsorb the camellia fruit to achieve flexible fixation of the camellia fruit. Then, the upper finger pad block 5 is driven to swing towards the direction of the swallowing tube 21, so that the fruit pressing plate 51 abuts against the upper part of the camellia fruit and forms a downward pushing effect on the camellia fruit, so that the camellia fruit detaches from the branch it is attached to. Then, the micro air pump stops pumping air from the deep suction cups 41, and the deep suction cups 41 lose their suction force on the camellia fruit. At this time, the harvested camellia fruit falls freely into the swallowing tube 21 below, completing the harvesting.

[0096] During this process, a micro air pump supplies air to the air supply pipe 71, filling the air chamber 611 with compressed gas. The reaction force of the pressing plate 51 pushing against the camellia fruit causes the outer piston 64 to move away from the pressing plate 51. This allows the pressing plate 51 to adaptively adjust the pushing force on the camellia fruit, thus further preventing damage to the camellia fruit during harvesting. When the outer piston 64 moves away from the pressing plate 51, the top branch frame 52 on the outer piston 64 moves away from the fixed camellia fruit, thereby achieving... The two inner pressing plates 51 push the camellia fruit downwards, while the two outer branch-supporting frames 52 push the branches to which the camellia fruit is attached upwards. This causes the camellia fruit and the branches to move away from each other simultaneously, greatly improving the harvesting efficiency and quality. It avoids the problem of excessively long harvesting distances or harvesting failures caused by branches moving when directly pressing or pulling down the fruit, ensuring the camellia fruit completely detaches from its attachment. This also guarantees effective harvesting of camellia fruits of different sizes and stem lengths. Therefore, this method not only improves the harvesting efficiency and quality of camellia fruit but also minimizes damage to the fruit and flower buds.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical claw for picking tea-oil camellia fruit, comprising a base, a swallowing pipe is arranged in the middle of the base, characterized in that, The base is provided with: mounting seat, provided with two and arranged opposite outside the swallowing tube; lower finger pulp block, hinged to the mounting seat; upper finger pulp block, hinged to one end of the lower finger pulp block away from the mounting seat; deep suction cup, mounted on one side of the lower finger pulp block close to the swallowing tube; fruit pressing plate, movably arranged on one side of the upper finger pulp block close to the swallowing tube; fruit pressing mechanism, provided on the upper finger pulp block and used to drive the fruit pressing plate to move towards the swallowing tube; first power mechanism, used to drive the lower finger pulp block to swing on the mounting seat towards / away from the swallowing tube; and second power mechanism, used to drive the upper finger pulp block to swing on the upper finger pulp block towards / away from the swallowing tube; The fruit pressing mechanism comprises: sleeve, fixedly arranged through the upper finger pulp block; inner piston, slidably arranged in the sleeve, and an inner connecting rod is fixedly connected between the fruit pressing plate and the inner piston; outer piston, slidably arranged in the sleeve, and an outer connecting rod extending out of the sleeve is fixedly connected to the outer piston; top branch frame, provided on one end of the sleeve provided with the outer piston, and the top branch frame is fixedly connected to the outer connecting rod, and the top branch frame is used to lift the target camellia oleifera fruit attached to the branch; The sleeve forms an air cavity between the inner piston and the outer piston, and a gas supply pipe is provided on the sleeve, one end of which is communicated with the air cavity and the other end is communicated with a gas source.

2. The mechanical claw for picking tea-oil camellia fruit according to claim 1, characterized in that, Both ends of the sleeve are provided with a cover, a square hole is formed through the cover, and the inner connecting rod and the outer connecting rod are both provided as square rods which are slidably matched with the corresponding square holes.

3. The mechanical claw for picking tea-oil camellia fruit according to claim 1, characterized in that, The fruit pressing plate is arc-shaped or spherical arc-shaped, and the inner arc side thereof is close to the swallowing tube.

4. The mechanical claw for picking tea fruits according to claim 3, characterized in that, The side of the fruit pressing plate close to the swallowing tube is provided with a buffer layer.

5. The mechanical claw for picking tea fruits according to any one of claims 1-4, characterized in that, The base is further provided with: gear ring, rotatably mounted on the base, and the mounting seat is fixedly connected to the gear ring; drive motor, mounted on the base, and a drive gear coaxially fixedly connected with the gear ring is fixedly connected to the output end of the drive motor.

6. The mechanical claw for picking tea fruits according to claim 5, characterized in that, Further provided are: recognition camera, used to take and recognize the direction of the target camellia oleifera fruit attached to the branch; controller, electrically connected with the recognition camera and the drive motor, and configured to control the drive motor to work to make the gear ring rotate to the two top branch frames thereon corresponding to the direction of the branch according to the direction of the branch recognized by the recognition camera.

7. The mechanical claw for picking tea fruits according to claim 1, characterized in that, The first power mechanism comprises: connecting flange, fixedly connected to the lower finger pulp block and coaxial with the rotation shaft of the lower finger pulp block on the mounting seat; first servo motor, mounted on the mounting seat and having an output end coaxially fixedly connected with the connecting flange.

8. The mechanical claw for picking tea fruits according to claim 1, characterized in that, The second power mechanism comprises: second servo motor, having a transmission shaft coaxially fixedly connected to the output end thereof; large arm connecting rod, one end of which is fixedly connected with the end of the transmission shaft; small arm connecting rod, one end of which is hingedly connected with the free end of the large arm connecting rod and the other end of which is hingedly connected with the upper finger pulp block.

9. The mechanical claw for picking tea fruits according to claim 1, characterized in that, The upper end of the swallowing tube extends close to the deep suction cup, and a hose is connected to the lower end.

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