A tea-picking mechanism and a tea-picking robot

Abstract

This invention discloses a tea-picking mechanism and a tea-picking robot. The tea-picking mechanism includes a support frame, a drive mechanism, a first linkage, a second linkage, and a picking claw. The drive mechanism is mounted on the support frame. The first linkage is connected to one side of the picking claw, and the second linkage is movably engaged with the other side of the picking claw. The drive mechanism drives the first linkage to reciprocate along a first direction to pick the tea leaves. The drive mechanism also drives the second linkage to reciprocate along a second direction, causing the second linkage to move the other side of the picking claw closer to or away from the other side of the picking claw, thus closing or opening the picking claw. This invention can simulate the manual picking method, automatically completing the tea-picking work, ensuring the quality of tea picking, and replacing manual labor.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a tea picking mechanism and a tea picking robot. Background Technology

[0002] my country is a major tea-producing country with a wide variety of teas. Currently, tea harvesting mainly employs two methods: manual picking and mechanized picking. With technological advancements, mechanized picking has become an important part of the tea-harvesting industry. This method is not only highly efficient but also low-cost. However, existing tea-harvesting robots primarily use a cutting method to pick tea leaves. This method produces tea of ​​inconsistent quality and causes significant damage to the leaves, making it impossible to produce high-quality tea. Therefore, high-quality tea still requires traditional manual picking, but manual picking consumes a large amount of manpower and has high costs. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a tea picking mechanism and a tea picking robot that can simulate the way human hands lift and pick tea leaves, automatically completing the tea picking work, ensuring the quality of tea picking, and replacing manual labor.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a tea picking mechanism, including a support, a drive mechanism, a first linkage, a second linkage, and a picking claw. The drive mechanism is mounted on the support. The first linkage is connected to one side of the picking claw, and the second linkage is movably engaged with the other side of the picking claw. The drive mechanism drives the first linkage to reciprocate along a first direction to realize the picking claw picking the tea leaves. The drive mechanism drives the second linkage to reciprocate along a second direction, so that the second linkage moves the other side of the picking claw closer to or away from the other side of the picking claw to realize the closing or opening of the picking claw.

[0005] Furthermore, the first linkage is a first sliding rod, the bracket is provided with a first sliding groove, the first sliding groove extends along the first direction, and the first sliding rod is slidably engaged in the first sliding groove; the second linkage is a second sliding rod, the bracket is provided with a second sliding groove, the second sliding groove extends along the second direction, and the second sliding rod is slidably engaged in the second sliding groove.

[0006] Furthermore, it also includes an arc-shaped component with an arc-shaped groove. One end of the second linkage is connected to one end of the arc-shaped component via a connecting rod. The other end of the picking claw is provided with a movable rod that is movably fitted within the arc-shaped groove. The arc-shaped component, the second linkage, and the picking claw are distributed along the first direction, and the connecting rod and the movable rod extend along the first direction respectively.

[0007] Furthermore, the picking claw is V-shaped and includes a fixed claw and a movable claw. The fixed claw is hinged to the movable claw, the fixed claw forms one side of the picking claw, and the movable claw forms the other side of the picking claw. Each of the fixed claw and the movable claw is provided with a clamping part, the two clamping parts are arranged opposite to each other, and are respectively arc structures that are recessed towards the opposite outer side of the fixed claw and the movable claw.

[0008] Furthermore, the driving mechanism includes a motor, a turntable, a first transmission assembly, and a second transmission assembly; the motor is mounted on the bracket, the turntable is driven to rotate by the motor, the turntable is in transmission cooperation with the first linkage through the first transmission assembly, and in transmission cooperation with the second linkage through the second transmission assembly; the turntable is cam-shaped, one end of the turntable in the circumferential direction cooperates with the first transmission assembly, and the other end of the turntable in the circumferential direction and the outer surface of the turntable cooperate with the second transmission assembly.

[0009] Furthermore, the first transmission assembly includes a connecting rod, and the bracket has a first rotating shaft on one side facing the connecting rod to be rotatably connected to the connecting rod via the first rotating shaft. One end of the connecting rod has a first elongated hole extending along its length direction, and the turntable has a second rotating shaft at its eccentric position. The second rotating shaft is movably fitted within the first elongated hole, and the other end of the connecting rod has a second elongated hole extending along its length direction. The first linkage has a third rotating shaft, and the third rotating shaft is movably fitted within the second elongated hole.

[0010] Furthermore, the second transmission assembly includes a lever and a reset member. The lever is located on one side of the second linkage in the second direction and is rotatably connected to the bracket. It is driven to rotate by the turntable, and when the lever rotates, it pushes the second linkage to move along the other side of the second direction, thereby pushing the other side of the picking claw to move toward one side of the picking claw, so that the picking claw closes. The reset member is engaged between the bracket and the second linkage to cause the second linkage to reset when the turntable does not touch the lever, thereby causing the picking claw to open.

[0011] The present invention also provides a tea-picking robot, comprising a frame, at least one mobile module and a collection bin, and at least one tea-picking mechanism as described in any of the above-mentioned embodiments. The mobile module and the collection bin are mounted on the frame, and the tea-picking mechanism is connected to the mobile module. The mobile module controls the tea-picking mechanism to move toward the tea leaves to be picked.

[0012] Furthermore, the moving module includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is mounted on the frame, the Y-axis linear module is slidably connected to the X-axis linear module, the Z-axis linear module is slidably connected to the Y-axis linear module, and the bracket of the tea picking mechanism is slidably connected to the Z-axis linear module.

[0013] Furthermore, it also includes at least one 3D camera, which is mounted on the frame to locate the tea leaves to be picked; the frame is also provided with a walking mechanism, which is a tracked wheel; it also includes a tea leaf collecting mechanism, which is mounted on the support via a connector; the tea leaf collecting mechanism includes a blower mechanism and a collection port, which are respectively arranged on both sides of the first direction, and the collection port is connected to the collection chamber via a hose; the collection port is funnel-shaped; the collection chamber is equipped with a fan.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. A tea picking mechanism of the present invention includes a support, a drive mechanism, a first linkage, a second linkage, and a picking claw. The drive mechanism drives the first linkage to reciprocate along a first direction to pick the tea leaves. The drive mechanism also drives the second linkage to reciprocate along a second direction, causing the second linkage to move the other side of the picking claw closer to or further away from the other side of the picking claw, thereby closing or opening the picking claw. Thus, the present invention can simulate the way a human hand lifts and picks tea leaves, automatically completing the tea picking work. This reduces labor consumption and picking costs while avoiding damage to the tea leaves and ensuring the quality of tea picking.

[0016] 2. The tea picking mechanism of the present invention also includes an arc-shaped component. When the second sliding rod moves in the second direction, the arc-shaped component can push the other side of the picking claw through the connecting rod. It can also keep the movement direction of the other side of the picking claw and the force direction of the other side of the picking claw at a small angle, thereby ensuring the smooth movement of the other side of the picking claw and making it less likely to get stuck and unable to be pushed.

[0017] 3. The picking claw of the present invention is V-shaped and includes a fixed claw and a movable claw. Each of the fixed claw and the movable claw is provided with a clamping part. The two clamping parts are arranged opposite to each other and are respectively arc structures that are recessed towards the opposite outer side of the fixed claw and the movable claw. This structure can tightly clamp the tea stem when the picking claw is in the closed state, and the design of the clamping part can ensure that the tea stem is not broken.

[0018] 4. The driving mechanism of the present invention includes a motor, a turntable, a first transmission component and a second transmission component. The motor is mounted on a bracket, and the turntable is driven to rotate by the motor. The turntable is driven to cooperate with the first linkage through the first transmission component and with the second linkage through the second transmission component. This structure of the present invention only requires one motor to realize the tea picking action, and the structure is compact and the manufacturing cost is low.

[0019] 5. The tea-picking robot of the present invention includes at least one 3D camera, which can accurately locate and improve picking efficiency.

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments; however, the tea picking mechanism and tea picking robot of the present invention are not limited to the embodiments. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the tea-picking robot of the present invention;

[0022] Figure 2 This is a three-dimensional structural diagram of the mobile module of the present invention;

[0023] Figure 3 This is a three-dimensional structural diagram of the tea picking mechanism and tea collecting mechanism of the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram (initial state) of the tea picking mechanism of the present invention;

[0025] Figure 5 yes Figure 4 Enlarged view of point A;

[0026] Figure 6 This is a three-dimensional structural diagram of the tea picking mechanism of the present invention (the picking claw descends and closes);

[0027] Figure 7 yes Figure 6 Enlarged view of point B;

[0028] Figure 8 This is a schematic diagram of the picking claw of the present invention. Figure 1 (Open state);

[0029] Figure 9This is a schematic diagram of the picking claw of the present invention. Figure 1 (Closed state);

[0030] Figure 10 This is a schematic diagram of the arc-shaped component of the present invention;

[0031] Figure 11 This is a schematic diagram illustrating the interaction between the picking claw and the arc-shaped component of the present invention. Figure 1 (The picking claws open);

[0032] Figure 12 This is a schematic diagram illustrating the interaction between the picking claw and the arc-shaped component of the present invention. Figure 2 (The picking claws close);

[0033] Figure 13 This is a schematic diagram of the tea collecting mechanism of the present invention;

[0034] Figure 14 This is a schematic diagram of the tea-picking process of the tea-picking mechanism of the present invention. Figure 1 ;

[0035] Figure 15 yes Figure 14 Enlarged view of point C;

[0036] Figure 16 This is a schematic diagram of the tea-picking process of the tea-picking mechanism of the present invention. Figure 2 ;

[0037] Figure 17 yes Figure 16 Enlarged diagram of point D;

[0038] Figure 18 This is a schematic diagram of the tea-picking process of the tea-picking mechanism of the present invention. Figure 3 ;

[0039] Figure 19 yes Figure 18 Enlarged view of point E;

[0040] Figure 20 This is a schematic diagram of the tea-picking process of the tea-picking mechanism of the present invention. Figure 4 ;

[0041] Figure 21 yes Figure 20 Enlarged schematic diagram at point F;

[0042] In the diagram: 1. Bracket; 11. First sliding groove; 12. Second sliding groove; 13. First rotating shaft; 2. Drive mechanism; 21. Motor; 22. Turntable; 221. Second rotating shaft; 23. Connecting rod; 231. First elongated hole; 232. Second elongated hole; 24. Lever; 25. Spring; 3. First sliding rod; 31. Third rotating shaft; 4. Second sliding rod; 41. Limiting part; 5. Picking claw; 51. Fixed claw; 52. Movable claw; 511 / 521. Clamp 522. Holding part; 6. Movable rod; 6. Arc-shaped part; 61. Arc-shaped slide groove; 7. Connecting rod; 10. Frame; 20. Moving module; 201. X-axis linear module; 202. Y-axis linear module; 203. Z-axis linear module; 30. Collection bin; 301. Fan; 40. Tea picking mechanism; 50. 3D camera; 60. Track wheel; 70. Tea collecting mechanism; 701. Blowing mechanism; 702. Storage port; 703. Connector; 704. Hose interface. Detailed Implementation

[0043] In this invention, the terms "first," "second," and "third," etc., are used only to distinguish similar objects, not to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "front," "rear," "inner," "outer," "top," and "bottom" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] Furthermore, in the description of this invention, unless otherwise stated, "at least one" means one or more. In the description of this invention, unless otherwise explicitly specified and limited, terms such as "installed," "equipped with," "provided with," and "connected" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Please see Figures 1-21As shown, a tea-picking robot of the present invention includes a frame 10, at least one mobile module 20, and a collection bin 30, and also includes at least one tea-picking mechanism 40. The mobile module 20 and the collection bin 30 are mounted on the frame 10, and the tea-picking mechanism 40 is connected to the mobile module 20. The mobile module 20 controls the tea-picking mechanism 40 to move towards the tea leaves to be picked. Specifically, there are two mobile modules 20 and two tea-picking mechanisms 40, which can work simultaneously to improve picking efficiency.

[0046] The tea-picking mechanism 40 includes a support 1, a drive mechanism 2, a first linkage, a second linkage, and a picking claw 5. The drive mechanism 2 is mounted on the support. The first linkage is connected to one side of the picking claw 5, and the second linkage is movably engaged with the other side of the picking claw 5. The drive mechanism 2 drives the first linkage to reciprocate along a first direction, thereby enabling the picking claw 5 to pick the tea leaves. The drive mechanism 2 also drives the second linkage to reciprocate along a second direction, causing the second linkage to move the other side of the picking claw 5 closer to or further away from the other side of the picking claw 5, thereby enabling the picking claw 5 to close or open.

[0047] Furthermore, the first linkage is slidably connected to the bracket 1 along the first direction, and the second linkage is slidably connected to the bracket 1 along the second direction. The first direction and the second direction are perpendicular, and the second linkage does not obstruct the movement of the picking claw 5 driven by the first linkage along the first direction. In this embodiment, the first direction is the height direction of the bracket 1 (i.e., Figure 3 The second direction is the length direction of bracket 1 (i.e., the z-axis direction). Figure 3 (in the y-axis direction).

[0048] Specifically, the first linkage is a first sliding rod 3, and the bracket 1 is provided with a first sliding groove 11, which extends along a first direction. The first sliding rod 3 is slidably engaged within the first sliding groove 11. The second linkage is a second sliding rod 4, and the bracket 1 is provided with a second sliding groove 12, which extends along a second direction. The second sliding rod 4 is slidably engaged within the second sliding groove 12.

[0049] like Figure 8 , Figure 9 As shown, the picking claw 5 is V-shaped and includes a fixed claw 51 and a movable claw 52. The fixed claw 51 and the movable claw 52 are hinged together. The fixed claw 51 forms one side of the picking claw 5, and the movable claw 52 forms the other side. The fixed claw 51 and the movable claw 52 are respectively provided with a clamping part 511 and 521, which are arranged opposite to each other and are respectively arc-shaped structures recessed towards the opposite outer sides of the fixed claw 51 and the movable claw 52. When the picking claw 5 is in the closed state, its V-shape can tightly clamp the tea stem, and the arc-shaped design of the clamping parts 511 and 521 ensures that the tea stem is not broken.

[0050] The invention also includes an arc-shaped component 6, which has an arc-shaped groove 61. One end of the second sliding rod 4 is connected to one end of the arc-shaped component 6 via a connecting rod 7. A movable rod 522 is provided at the tail end of the movable claw 52, ​​and this movable rod 522 is movably fitted within the arc-shaped groove 61. The arc-shaped component 6, the second sliding rod 4, and the picking claw 5 are distributed along a first direction, and the connecting rod 7 and the movable rod 522 extend along the first direction respectively. Figure 11 , Figure 12 As shown, the connecting rod 7 moves along the second direction under the push of the second sliding rod 4 (i.e., Figure 11 , Figure 12 When moving in the left or right direction, the movable claw 52 can be pushed to move, and the direction of movement of the movable claw 52 can be changed (i.e., the direction of movement of the movable claw 52 is changed). Figure 11 , Figure 12 The direction of force on the thick arrow and the movable claw 52 (i.e., Figure 11 , Figure 12 (The thin arrow) Maintains a small included angle, which ensures smooth movement of the movable claw 52 and prevents it from getting stuck. When the second sliding rod 4 slides to the left, the arc-shaped component 6 moves to the left, the movable rod 522 moves along the arc-shaped groove 61, and the movable claw 52 is pushed towards the fixed claw 51, putting the picking claw in a closed state. When the second sliding rod 4 slides to the right, the arc-shaped component 6 moves to the right, the movable rod 522 moves along the arc-shaped groove 61, the movable claw 52 moves away from the fixed claw 51, and the picking claw 52 is in an open state.

[0051] The drive mechanism 2 includes a motor 21, a turntable 22, a first transmission assembly, and a second transmission assembly. The motor 21 is mounted on the bracket 1. The turntable 22 is driven to rotate by the motor 21. The turntable 22 is in transmission engagement with the first sliding rod 3 through the first transmission assembly, and with the second sliding rod 4 through the second transmission assembly. The turntable 22 is cam-shaped; one circumferential end of the turntable 22 engages with the first transmission assembly, and the other circumferential end of the turntable 22 and its outer outer surface engage with the second transmission assembly.

[0052] The first transmission assembly includes a connecting rod 23. A first rotating shaft 13 is provided on the side of the bracket 1 facing the connecting rod 23, allowing for rotatable connection between the bracket 1 and the connecting rod 23. One end of the connecting rod 23 has a first elongated hole 231 extending along its length. A second rotating shaft 221 is provided at the circumferential end of the turntable 22, located eccentrically on the turntable 22. The second rotating shaft 221 is movably fitted within the first elongated hole 231. The other end of the connecting rod 23 has a second elongated hole 232 extending along its length. A third rotating shaft 31 is provided on the first sliding rod 3, movably fitted within the second elongated hole 232. This structure can convert rotary motion into linear motion, and the motor 21 only needs to rotate in one direction to achieve the reciprocating linear motion of the first sliding rod 3.

[0053] The second transmission assembly includes a lever 24 and a reset component. The lever 24 is located on one side of the second sliding rod 4 in the second direction and is rotatably connected to the bracket 1. It is pushed to rotate by the other end of the turntable 22 in the circumferential direction and the outer surface of the turntable 22. When the lever 24 rotates, it pushes the second sliding rod 4 to move along the other side of the second direction, thereby pushing the movable claw 52 towards the fixed claw 51, so that the picking claw 5 closes. The reset component is fitted between the bracket 1 and the second sliding rod 4 to cause the second sliding rod 4 to reset when the turntable 22 does not touch the lever 24, thereby causing the picking claw 5 to open. Specifically, the reset component is a spring 25. The other end of the second sliding rod 4 is provided with a limiting part 41, and the spring 25 is fitted between the limiting part 41 and the second sliding groove 12.

[0054] The moving module 20 includes an X-axis linear module 201, a Y-axis linear module 202, and a Z-axis linear module 203. The X-axis linear module 201 is mounted on the frame 10. The Y-axis linear module 202 is slidably connected to the X-axis linear module 201, and the Z-axis linear module 203 is slidably connected to the Y-axis linear module 202. The support 1 of the tea picking mechanism 40 is slidably connected to the Z-axis linear module 203. Figure 2 As shown, the X-axis linear module 201 can provide the tea picking mechanism 40 with movement in the X-axis direction, the Y-axis linear module 202 can provide the tea picking mechanism 40 with movement in the Y-axis direction, and the Z-axis linear module 203 can provide the tea picking mechanism 40 with movement in the Z-axis direction, so that the tea picking mechanism 40 has three degrees of freedom in the X, Y, and Z axes.

[0055] The invention also includes two 3D cameras 50, which are mounted on the frame 10 to position the tea leaves to be picked. The two 3D cameras 50 are respectively connected to two tea picking mechanisms 40. The frame 10 is also equipped with a walking mechanism, which consists of four triangular tracked wheels 60.

[0056] The invention also includes a tea leaf collecting mechanism 70, which is mounted on a bracket 1 via a connector 703. The tea leaf collecting mechanism 70 includes a blower mechanism 701 and a collection port 702. The blower mechanism 701 and the collection port 702 are correspondingly arranged on both sides in a first direction. The blower mechanism 701 extends along... Figure 13 The arrow indicates the direction of airflow. The collection port 702 is funnel-shaped, and a flexible hose interface 704 is located behind the collection port 702. The flexible hose interface 704 is connected to the collection chamber 30 via a flexible hose. The collection chamber 30 is equipped with a fan 301. When tea leaves are picked, the blower mechanism 701 starts blowing air, and the fan 301 on the collection chamber 30 also works simultaneously, creating a negative pressure inside the collection chamber 30. The tea leaves will enter from the collection port 702 and then flow into the collection chamber 30 along the flexible hose.

[0057] The present invention discloses a tea-picking mechanism and a tea-picking robot, the workflow of which is as follows:

[0058] 1. Staff remotely control the tea-picking robot to move it above the tea leaves to be picked, and then start the picking function.

[0059] 2. The tea-picking robot scans the tea-picking area with a 3D camera 50, generating 3D point cloud images and 2D images. It identifies all tea tips through the 2D images, and finds the point cloud representing the tea tips in the 3D point cloud data based on the correspondence between the pixel coordinates on the 2D images and the point cloud data in the 3D images. Then, based on the characteristics of the tea tips, it expands the range of the point cloud of interest and records the point cloud of the tea stalks corresponding to the tea tips in the region of interest. Finally, it extracts the three-dimensional coordinates of the suitable picking position of the tea stalks.

[0060] 3. The X-axis linear module 201, Y-axis linear module 202, and Z-axis linear module 203 begin to move, causing the picking claw 5 of the tea picking mechanism 40 to move to a position directly above the tea tip. At this time, the tea picking mechanism 40 is in its initial state, as shown below. Figure 3 As shown.

[0061] 4. The motor 21 of the tea-picking mechanism 40 starts to rotate, such as... Figure 14 , Figure 15 As shown, the picking claw 5 moves to its lowest position under the drive of the turntable 22, which is exactly where the tea stem is located. At this time, since the turntable 22 has not yet contacted the lever 24, the spring 25 has not yet been compressed, the second sliding rod 4 is in the right position, and the picking claw 5 is still in the open state.

[0062] 5. The motor 21 of the tea-picking mechanism 40 continues to rotate, such as... Figure 16 , Figure 17 As shown, the picking claw 5 is about to start moving upward under the drive of the turntable 22. At this time, the turntable 22 just contacts the lever 24 and pushes the lever 24 to tend to be horizontal, pushing the second sliding rod 4 to slide to the left as a whole, and compressing the spring 25, so that the movable claw 52 is pushed towards the fixed claw 51, thereby making the picking claw 5 clamp and hold the tea stem.

[0063] 6. The motor 21 of the tea-picking mechanism 40 continues to rotate, as... Figure 18 , Figure 19 As shown, the picking claw 5 moves upward under the drive of the turntable 22 and reaches the tea collecting mechanism 70. At this time, the turntable 22 is still in contact with the lever 24, the lever 24 is still in a nearly horizontal state, the second sliding rod 4 is still located on the left side, and the picking claw 5 is still in a clamped state.

[0064] 7. The motor 21 of the tea-picking mechanism 40 continues to rotate, such as... Figure 20 , Figure 21 As shown, the picking claw 5 moves upward to its highest position under the drive of the turntable 22, at which point it is in the optimal position of the tea collecting mechanism 70. At this time, the turntable 22 and the lever 24 are not in contact, and the second sliding rod 4 moves to the right under the action of the spring 25, causing the lever 24 to approach a vertical position, and the picking claw 5 opens. Simultaneously, the tea collecting mechanism 70 works, the blower mechanism 701 starts blowing air, and the fan 301 also starts working. The tea leaves enter through the collection port 702, pass through the hose, and enter the collection chamber 30, thus completing one tea picking action.

[0065] The present invention discloses a tea picking mechanism and a tea picking robot that can simulate the way a human hand lifts and picks tea leaves, automatically completing the tea picking work. The tea picking mechanism 40 only requires one motor 21 to realize the tea picking action, and has a compact structure and low manufacturing cost. At the same time, the present invention first uses 2D images to screen out the tea leaves to be picked, and then uses a 3D camera 50 for precise positioning, which can effectively reduce the amount of point cloud calculation, improve the algorithm running efficiency, and thus improve the picking efficiency.

[0066] The tea picking mechanism and tea picking robot of the present invention are identical to or can be implemented using existing technologies for the parts not covered herein.

[0067] The above embodiments are only used to further illustrate a tea picking mechanism and a tea picking robot of the present invention. However, the present invention is not limited to the embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A tea-picking mechanism, characterized in that: It includes a support, a drive mechanism, a first linkage, a second linkage, and a picking claw. The drive mechanism is mounted on the support. The first linkage is connected to one side of the picking claw, and the second linkage is movably engaged with the other side of the picking claw. The drive mechanism drives the first linkage to reciprocate along the first direction, so as to enable the picking claw to pick the tea leaves; The driving mechanism drives the second linkage to reciprocate along a second direction, causing the second linkage to move the other side of the picking claw closer to or away from the other side of the picking claw, thereby closing or opening the picking claw. The driving mechanism includes a motor, a turntable, a first transmission assembly, and a second transmission assembly. The motor is mounted on the bracket, and the turntable is driven to rotate by the motor. The turntable is in transmission cooperation with the first linkage through the first transmission assembly and with the second linkage through the second transmission assembly. The turntable is cam-shaped, with one circumferential end of the turntable cooperating with the first transmission assembly, and the other circumferential end of the turntable and the outer surface of the turntable cooperating with the second transmission assembly. The first transmission assembly includes a connecting rod, and the bracket has a first [missing information - likely a connecting rod or ... A rotating shaft is rotatably connected to the connecting rod via a first rotating shaft. One end of the connecting rod is provided with a first elongated hole extending along its length direction. A second rotating shaft is provided at the eccentric part of the turntable, and the second rotating shaft is movably fitted into the first elongated hole. The other end of the connecting rod is provided with a second elongated hole extending along its length direction. A third rotating shaft is provided on the first linkage, and the third rotating shaft is movably fitted into the second elongated hole. The second transmission assembly includes a lever and a reset member. The lever is located on one side of the second linkage in the second direction and is rotatably connected to the bracket. It is driven to rotate by the turntable. When the lever rotates, it pushes the second linkage to move along the other side of the second direction, so as to push the other side of the picking claw towards one side of the picking claw, so that the picking claw closes. The reset member engages between the bracket and the second linkage member to cause the second linkage member to reset when the turntable does not touch the lever, thereby causing the picking claw to open.

2. The tea picking mechanism according to claim 1, characterized in that: The first linkage is a first sliding rod, and the bracket is provided with a first sliding groove. The first sliding groove extends along the first direction, and the first sliding rod is slidably engaged in the first sliding groove. The second linkage is a second sliding rod, and the bracket is provided with a second sliding groove. The second sliding groove extends along the second direction, and the second sliding rod is slidably engaged in the second sliding groove.

3. The tea-picking mechanism according to claim 1, characterized in that: It also includes an arc-shaped component with an arc-shaped groove. One end of the second linkage is connected to one end of the arc-shaped component via a connecting rod. The other end of the picking claw is provided with a movable rod that is movably fitted within the arc-shaped groove. The arc-shaped component, the second linkage, and the picking claw are distributed along the first direction, and the connecting rod and the movable rod extend along the first direction respectively.

4. The tea-picking mechanism according to any one of claims 1-3, characterized in that: The picking claw is V-shaped and includes a fixed claw and a movable claw. The fixed claw is hinged to the movable claw. The fixed claw forms one side of the picking claw, and the movable claw forms the other side. Each of the fixed claw and the movable claw is provided with a clamping part. The two clamping parts are arranged opposite to each other and are respectively arc structures that are recessed towards the opposite outer side of the fixed claw and the movable claw.

5. A tea-picking robot, comprising a frame, at least one mobile module, and a collection bin, characterized in that: It also includes at least one tea picking mechanism as described in any one of claims 1-4, wherein the mobile module and the collection bin are mounted on the frame, the tea picking mechanism is connected to the mobile module, and the mobile module controls the tea picking mechanism to move toward the tea leaves to be picked.

6. The tea-picking robot according to claim 5, characterized in that: The moving module includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is mounted on the frame. The Y-axis linear module is slidably connected to the X-axis linear module. The Z-axis linear module is slidably connected to the Y-axis linear module. The support of the tea picking mechanism is slidably connected to the Z-axis linear module.

7. The tea-picking robot according to claim 5, characterized in that: It also includes at least one 3D camera, which is mounted on the frame to locate the tea leaves to be picked; the frame is also provided with a walking mechanism, which is a tracked wheel; it also includes a tea leaf collecting mechanism, which is mounted on the bracket via a connector; the tea leaf collecting mechanism includes a blower mechanism and a collection port, which are respectively arranged on both sides of the first direction, and the collection port is connected to the collection chamber via a hose; the collection port is funnel-shaped; the collection chamber is equipped with a fan.

Images