Three-dimensional coordinate automatic tea picking robot

Abstract

The invention provides a three-dimensional coordinate automatic tea-picking robot, and belongs to the field of tea-picking robots, the three-dimensional coordinate automatic tea-picking robot comprises: a support, the inner top of which is provided with a driving arm; and the picking assembly comprises a first electric telescopic rod, a lifting plate, a cutting knife, a connecting rod and a cover plate. The five functions of picking, collecting, screening, flattening and cleaning are achieved; tea leaf cutting and picking are achieved through the picking assembly and the transmission assembly, then the tea leaves are sucked into a collecting box through the collecting assembly, meanwhile, the tea leaves are efficiently and stably screened through the screening assembly, meanwhile, it is ensured that the tea leaves are evenly distributed in a collecting disc through the paving assembly, and accumulation is avoided; dust on the second dustproof net is cleaned through the cleaning assembly, and smooth operation of the collecting system is guaranteed; the labor burden is relieved, the picking cost is reduced, the picking operation can be continuously carried out, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of tea picking robots, and in particular to a three-dimensional coordinate automatic tea picking robot. Background Art

[0002] Tea leaves, commonly known as tea, generally include the leaves and buds of the tea tree. It is also known as tea, tea, tea, and tea. The ingredients of tea include catechins, cholesterol, caffeine, inositol, folic acid, and pantothenic acid, which are beneficial to health. Tea beverages made from tea leaves are one of the three major beverages in the world.

[0003] In the current tea industry, tea picking generally relies on the traditional manual picking mode, which involves picking tea leaves one by one by hand. This method is complicated, time-consuming, and labor-intensive, and has high requirements for picking workers. At the same time, the labor cost of manual picking is high. In the context of modern agriculture with high efficiency and large-scale production, traditional manual picking methods are difficult to meet demand. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a three-dimensional coordinate automatic tea picking robot.

[0005] An embodiment of the present invention provides a three-dimensional coordinate automatic tea picking robot, comprising: A bracket, wherein a driving arm is installed on the inner top of the bracket; A picking component, the picking component includes a first electric telescopic rod, a lifting plate, a cutting knife, a connecting rod and a cover plate, the first electric telescopic rod is fixedly arranged on the output end of the driving arm, the lifting plate is fixedly arranged on the output end of the first electric telescopic rod, the lifting plate is connected with a collecting component, a side plate is fixedly arranged on the bottom of the lifting plate, the cutting knife slides through the lower end of the side plate, the cover plate slides through the upper end of the side plate, a supporting block is fixedly arranged on the outer end of the side plate, the connecting rod is hingedly connected to the supporting block, the outer ends of the cutting knife and the cover plate are penetrated by movable holes, the two ends of the connecting rod respectively penetrate the movable holes on the same side and are movably arranged, and the outer end of the cover plate is connected with a transmission component.

[0006] Furthermore, the collecting assembly includes a collecting box, a conveying pipe, a collecting pipe, a guide plate, a collecting plate and an air pump, the collecting box is fixedly arranged on a bracket, a box door is installed on the front side of the collecting box, a baffle is fixedly arranged in the collecting box, one end of the conveying pipe passes through one side of the collecting box and is fixedly arranged, the collecting pipe is fixedly connected to the other end of the conveying pipe, the collecting pipe passes through the lifting plate and is fixedly arranged, one end of the guide plate passes through and is fixedly arranged with an axle, one end of the axle is rotatably arranged on the inner wall of the collecting box, a torsion spring is cooperated with the rotating position of the axle and the collecting box, a limiting column is fixedly arranged on the inner wall of the collecting box, the limiting column is abutted against the bottom of the guide plate, a limiting groove is arranged on the inner bottom of the collecting box, the collecting plate is placed in the limiting groove, the air pump is fixedly installed on one side of the collecting box, and an air inlet pipe of the air pump passes through one side of the collecting box and is fixedly arranged.

[0007] Further, the transmission assembly includes a first piston cylinder, a second electric telescopic rod and a second piston cylinder, the first piston cylinder is fixedly arranged on the inner top of the collection box, a piston one is slidably arranged in the first piston cylinder, a first connecting rod is fixedly arranged on the bottom of the piston one, the second electric telescopic rod is fixedly arranged on the inner top of the collection box, a cross plate is fixedly arranged on the output end of the second electric telescopic rod, the bottom of the first connecting rod is fixedly arranged on the cross plate, a flexible tube is penetrated through the top end of the side of the first piston cylinder, the flexible tube penetrates through the top of the collection box and is fixedly arranged, the second piston cylinder is fixedly arranged on the bottom of the lifting plate, the other end of the flexible tube penetrates through the second piston cylinder and is fixedly arranged, a piston two is fixedly arranged in the second piston cylinder, a second connecting rod is fixedly arranged on the outer end of the piston two, and the outer end of the second connecting rod is fixedly arranged on the cover plate on the same side.

[0008] Furthermore, it also includes a screening component, which includes a vertical rod, a card block, a wedge block and a gear rod, one end of the vertical rod is hingedly connected to the bottom of the horizontal plate, the card block is fixedly set on the bottom end of one side of the vertical rod, the wedge block is fixedly set on one side of the vertical rod, one end of the gear rod is fixedly set on the inner wall of the collection box, the gear rod is set against the vertical rod, the guide plate is penetrated by a screening hole, a screen is fixedly set in the screening hole, and the inner bottom of the collection box is placed on the recovery box.

[0009] Furthermore, it also includes a leveling component, which includes a sleeve, a round rod, a spring, a push plate and a pull rope. One end of the sleeve is rotatably set on the inner top of the collection box, and a clockwork spring is cooperated with the rotating part of the sleeve and the collection box. The round rod is slidably set in the sleeve, and the two ends of the spring are respectively fixed on the top of the round rod and the inner top of the sleeve. The push plate is fixed on the side of the round rod, and the two ends of the pull rope are respectively fixed on the sleeve and the cross plate, and the pull rope is wrapped around the sleeve.

[0010] Furthermore, it also includes a cleaning component, which includes a hose, a second dustproof net and a fixed column, one end of the hose is fixedly connected to the air inlet pipe of the vacuum pump, the second dustproof net is fixedly arranged on the outer end of the hose, and the two ends of the fixed column are respectively fixedly arranged on the hose and the bottom of the guide plate.

[0011] Furthermore, the cover plates are all arranged to abut against the bottom of the collecting pipe, and ventilation holes are penetrated through the cover plates, and a first dustproof net is fixedly arranged in the ventilation holes.

[0012] Furthermore, driving wheels are installed at the four corners of the bottom of the bracket, a plurality of cameras are installed on the inner side of the bracket, and a controller is installed on one side of the bracket.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. A picking assembly is provided, and the transmission assembly can drive the two cover plates to move to both sides and separate from the collecting tube. At the same time, the two cover plates can push the two cutting knives to the middle through the corresponding connecting rods to cut and pick the tea leaves.

[0014] 2. A collection component is provided, and an air pump sucks the picked tea leaves into a collection box through a conveying pipe and a collection pipe, and the tea leaves fall into a collection tray for collection under the guidance of a guide plate.

[0015] 3. A screening component is set up. After the horizontal plate drives the block to move downward, the bottom of the guide plate can be hooked. When the horizontal plate drives the block to rotate upward, the gear lever can push the block of the vertical rod outward through the wedge block, and then separate it from the guide plate. At this time, the guide plate is reset under the action of the torsion spring and hits the limit column to generate shaking, which is repeated in a cycle, thereby improving the screening effect of the screen and avoiding blockage of the screen.

[0016] 4. A flattening component is provided. When the horizontal plate moves downward, the horizontal plate can pull the sleeve to rotate through the pull rope, and the sleeve can drive the two push plates to rotate through the round rod, thereby flattening the tea leaves in the collection tray to prevent tea leaves from piling up.

[0017] 5. A cleaning component is set up. When the guide plate shakes, the hose can be driven to shake through the fixed column, and then the dust adsorbed on the second dustproof net can be shaken off to avoid blockage and affect the work of the vacuum pump, thereby ensuring the collection effect.

[0018] In summary, the present invention realizes the five functions of picking, collecting, screening, leveling and cleaning; first, the tea leaves are cut and picked through the picking component and the transmission component, and then the tea leaves are sucked into the collection box through the collecting component. At the same time, the tea leaves are efficiently and stably screened through the screening component, and at the same time, the tea leaves in the collection tray are ensured to be evenly distributed through the leveling component to avoid accumulation. At the same time, the dust on the second dustproof net is cleaned through the cleaning component to ensure the smooth operation of the collection system; the labor burden is reduced, the picking cost is reduced, and the picking operation can be carried out continuously, which improves the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a stereoscopic diagram of a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0020] Figure 2 3D coordinate automatic tea picking robot according to an embodiment of the present invention is a stereoscopic image from different viewing angles.

[0021] Figure 3 The figure is an expanded view of a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0022] Figure 4 It is a stereoscopic diagram of a picking component in a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0023] Figure 5 It is a stereoscopic diagram of different viewing angles of a picking component in a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0024] Figure 6 It is a stereoscopic diagram of a screening component in a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0025] Figure 7 It is a stereoscopic diagram of a paving component in a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0026] Figure 8 It is a stereoscopic diagram of a cleaning component in a three-dimensional coordinate automatic tea picking robot described in an embodiment of the present invention.

[0027] In the above drawings: 1 bracket, 11 driving wheel, 12 camera, 13 driving arm, 14 controller, 2 picking component, 21 first electric telescopic rod, 22 lifting plate, 23 side plate, 24 cutting knife, 25 support block, 26 connecting rod, 27 cover plate, 28 movable hole, 29 vent, 3 collection component, 31 collection box, 32 conveying pipe, 33 collection pipe, 34 guide plate, 35 shaft rod, 36 collection tray, 37 vacuum pump, 38 baffle, 39 box door, 310 limit Position column, 4 transmission assembly, 41 first piston cylinder, 42 first connecting rod, 43 second electric telescopic rod, 44 horizontal plate, 45 flexible tube, 46 second piston cylinder, 47 second connecting rod, 5 screening assembly, 51 vertical rod, 52 block, 53 wedge block, 54 gear lever, 55 screen, 56 recovery box, 6 flattening assembly, 61 sleeve, 62 round rod, 63 spring, 64 push plate, 65 pull rope, 7 cleaning assembly, 71 hose, 72 second dustproof net, 73 fixed column. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1-Figure 8 As shown, the embodiment of the present invention proposes a three-dimensional coordinate automatic tea picking robot, comprising: The bracket 1 is provided with a driving wheel 11 at each of the four corners of the bottom of the bracket 1. The driving wheel 11 has a built-in driving motor, which is used to drive the bracket 1 to move. A plurality of cameras 12 are installed on the inner side of the bracket 1. The cameras 12 are prior art and are used to detect the position of the tea leaves, so as to achieve accurate picking. A driving arm 13 is installed on the inner top of the bracket 1. The driving arm 13 is prior art and is used to drive the picking component 2 to move. The working principle is similar to the moving structure of the claw of a claw machine. A controller 14 is installed on one side of the bracket 1. The controller 14 is electrically connected to the multiple driving wheels 11, the multiple cameras 12, the driving arm 13, the first electric telescopic rod 21, the second electric telescopic rod 43 and the air pump 37. The controller 14 is a prior art and is used to control the multiple driving wheels 11, the multiple cameras 12, the driving arm 13, the first electric telescopic rod 21, the second electric telescopic rod 43 and the air pump 37. The picking assembly 2 includes a first electric telescopic rod 21, a lifting plate 22, two cutting knives 24, two connecting rods 26 and two cover plates 27. The first electric telescopic rod 21 is fixedly arranged at the output end of the driving arm 13, so that the driving arm 13 can drive the first electric telescopic rod 21 to move. The lifting plate 22 is fixedly arranged at the output end of the first electric telescopic rod 21. The lifting plate 22 is connected with a collecting assembly 3. The collecting assembly 3 includes a collecting box 31, a conveying pipe 32, a collecting pipe 33, a guide plate 34, a collecting tray 36 and an air pump 37. The collecting box 31 is fixedly arranged on the bracket 1. A box door 39 is installed on the front side of the collecting box 31. A baffle 38 is fixedly arranged in the collecting box 31. The baffle 38 is inclined. The upper end of the conveying pipe 32 is arranged below the baffle 38. The baffle 38 can block the tea leaves delivered by the conveying pipe 32 and drop them onto the guide plate 34 to prevent the tea leaves from flying. One end of the conveying pipe 32 passes through one side of the collecting box 31 and is fixedly arranged, and the collecting pipe 33 is fixedly connected to the other end of the conveying pipe 32. The collecting pipe 33 passes through the lifting plate 22 and is fixedly arranged. One end of the guide plate 34 passes through and is fixedly arranged with a shaft rod 35. One end of the shaft rod 35 is rotatably arranged on the inner wall of the collecting box 31. A torsion spring is arranged at the rotation point of the shaft rod 35 and the collecting box 31, so that after the guide plate 34 drives the shaft rod 35 to rotate, the torsion spring can drive the shaft rod 35 and the guide plate 34 to reverse and reset. A limiting column 310 is fixedly arranged on the inner wall of the collecting box 31. The limiting column 310 is arranged to abut against the bottom of the guide plate 34, and the limiting column 310 plays a role in limiting the guide plate 34. A limiting groove is provided at the inner bottom of the collecting box 31, and the collecting tray 36 is placed in the limiting groove. The collecting tray 36 is arranged in cooperation with the guide plate 34, so that the guide plate 34 can guide the tea leaves into the collecting tray 36. The air pump 37 is fixedly installed on one side of the collecting box 31, and the air inlet pipe of the air pump 37 passes through one side of the collecting box 31 and is fixedly arranged, and the air inlet pipe of the air pump 37 is arranged below the guide plate 34; The air pump 37 can extract the air in the collection box 31 to the outside, so that negative pressure is generated in the collection box 31, and then the picked tea leaves are sucked into the collection box 31 through the conveying pipe 32 and the collection pipe 33, and fall onto the guide plate 34, and then fall into the collection tray 36 under the guidance of the guide plate 34 for collection; Two side plates 23 are fixedly arranged in parallel at the bottom of the lifting plate 22, and two cutting knives 24 are respectively inserted through the lower ends of the two side plates 23 and are slidably arranged. The two cutting knives 24 are arranged opposite to each other and are used for picking tea leaves. Two cover plates 27 are respectively inserted through the upper ends of the two side plates 23 and are slidably arranged. The two cover plates 27 are both set against the bottom of the collecting pipe 33, thereby blocking the collecting pipe 33. Ventilation holes 29 are inserted through the two cover plates 27, and a first dustproof net is fixedly arranged in the ventilation hole 29 to ensure that air can enter without damaging the vacuum pump 37, and can also prevent excessive dust in the air in the tea garden from entering the collecting box 31, thereby improving the quality of tea leaves; The outer ends of the two side plates 23 are fixed with support blocks 25, and the two connecting rods 26 are as shown in FIG. Figure 4 , Figure 5 As shown, the two cutting knives 24 and the two cover plates 27 are respectively hingedly connected to the two support blocks 25, and the outer ends of the two cutting knives 24 and the two cover plates 27 are penetrated with movable holes 28. Figure 4 , Figure 5 As shown, the movable holes 28 respectively penetrating the same side are movably arranged; The outer ends of the two cover plates 27 are connected with a transmission assembly 4, which includes a first piston cylinder 41, a second electric telescopic rod 43 and two second piston cylinders 46. The first piston cylinder 41 is fixedly arranged on the inner top of the collection box 31, a piston 1 is slidably arranged in the first piston cylinder 41, a first connecting rod 42 is fixedly arranged at the bottom of the piston 1, the second electric telescopic rod 43 is fixedly arranged on the inner top of the collection box 31, a cross plate 44 is fixedly arranged on the output end of the second electric telescopic rod 43, the bottom of the first connecting rod 42 is fixedly arranged on the cross plate 44, two flexible tubes 45 are penetrated through the top of the side of the first piston cylinder 41, and the two flexible tubes 45 are fixedly arranged through the top of the collection box 31, the two second piston cylinders 46 are respectively fixedly arranged at the two ends of the bottom of the lifting plate 22, the other ends of the two flexible tubes 45 are respectively penetrated through the two second piston cylinders 46 and fixedly arranged, the two second piston cylinders 46 are fixedly arranged with piston 2, the outer ends of the two pistons 2 are fixedly arranged with second connecting rods 47, and the outer ends of the two second connecting rods 47 are respectively fixedly arranged on the cover plate 27 on the same side; During picking, the driving arm 13 drives the two cutting knives 24 to move above the tea leaves to be picked, and then the first electric telescopic rod 21 drives the two cutting knives 24 to move to the two sides of the tea leaves to be picked, and then the second electric telescopic rod 43 drives the cross plate 44 to move downward, and the cross plate 44 drives the first connecting rod 42 and the piston 1 to move downward, and the piston 1 sucks the air in the two second piston cylinders 46 into the first piston cylinder 41 through the two flexible tubes 45, and then drives the corresponding second connecting rods 47 to move to both sides through the two pistons 2, and the two second connecting rods 47 can drive the cover plate 27 to move to both sides and separate from the collecting tube 33, and at the same time, the two cover plates 27 can push the two cutting knives 24 to the middle through the corresponding connecting rods 26, so as to cut and pick the tea leaves, and the cut tea leaves will be sucked into the collecting tube 33 for collection; The sieve assembly 5 also includes a vertical rod 51, a block 52, a wedge block 53 and a lever 54. One end of the vertical rod 51 is hingedly connected to the bottom of the horizontal plate 44. The block 52 is fixedly arranged at the bottom end of one side of the vertical rod 51. The bottom of the block 52 is arranged in an inclined surface, so that the inclined surface of the block 52 can be squeezed to push the block 52 to move. The wedge block 53 is fixedly arranged on one side of the vertical rod 51. One end of the lever 54 is fixedly arranged on the inner wall of the collection box 31. The lever 54 is arranged against the vertical rod 51. A sieve hole is penetrated on the guide plate 34. A sieve 55 is fixedly arranged in the sieve hole. A recovery box 56 is placed on the inner bottom of the collection box 31 for collecting dust and impurities after sieving. The tea leaves falling into the guide plate 34 will fall onto the screen 55, thereby screening the dust and impurities in the tea leaves. When the cross plate 44 moves downward, the guide plate 34 can squeeze the inclined surface of the block 52, push the block 52 to one side, and then drive the vertical rod 51 to rotate. When the block 52 moves to the bottom of the guide plate 34, the block 52 can hook the bottom of the guide plate 34. When the cross plate 44 moves upward, the block 52 can drive the guide plate 34 to rotate upward. Subsequently, the gear rod 54 will squeeze the inclined surface of the wedge block 53, push the wedge block 53 and the vertical rod 51 to one side, and then drive the block 52 to move and separate from the guide plate 34. At this time, the guide plate 34 is quickly rotated downward and reset under the action of the torsion spring, and hits the limit column 310, so that the guide plate 34 is shaken, and the cycle is repeated to improve the screening effect of the screen 55 and avoid clogging of the screen 55. The paving assembly 6 is also included. The paving assembly 6 includes a sleeve 61, a round rod 62, a spring 63, two push plates 64 and a pull rope 65. One end of the sleeve 61 is rotatably set on the inner top of the collection box 31. The sleeve 61 and the rotating part of the collection box 31 are matched with a spring, so that after the sleeve 61 rotates, the spring can drive the sleeve 61 to reverse and reset. The round rod 62 is slidably set in the sleeve 61, and the two ends of the spring 63 are respectively fixed on the top of the round rod 62 and the inner top of the sleeve 61. The two push plates 64 are both fixed on the side of the round rod 62. The two ends of the pull rope 65 are respectively fixed on the sleeve 61 and the cross plate 44. The pull rope 65 is as shown in FIG. Figure 7 shown wound around the sleeve 61; Lift the round rod 62 upwards, squeeze the spring 63, and make the two push plates 64 higher than the collection tray 36, so that the collection tray 36 can be taken and placed; When the horizontal plate 44 moves downward, the horizontal plate 44 can pull the pull rope 65 downward, so that the pull rope 65 can pull the sleeve 61 to rotate, and the sleeve 61 can drive the two push plates 64 to rotate through the round rod 62, thereby flattening the tea leaves in the collection tray 36 to prevent the tea leaves from piling up; The cleaning assembly 7 further includes a hose 71, a second dustproof net 72 and a fixing column 73. One end of the hose 71 is fixedly connected to the air inlet pipe of the air pump 37. The second dustproof net 72 is fixedly arranged at the outer end of the hose 71. The second dustproof net 72 can prevent dust from being sucked out. The two ends of the fixing column 73 are respectively fixedly arranged on the hose 71 and the bottom of the guide plate 34. When the guide plate 34 is shaking, the fixed column 73 can drive the hose 71 to shake, thereby shaking off the dust adsorbed on the second dustproof net 72, avoiding blockage and affecting the operation of the vacuum pump 37, thereby ensuring the collection effect.

[0030] The detailed working process of the present invention is as follows: 1. When in use, the bracket 1 is moved into the tea garden through the four driving wheels 11, the two cutting knives 24 are driven to move above the tea leaves to be picked through the driving arm 13, and then the two cutting knives 24 are driven to move to the two sides of the tea leaves to be picked through the first electric telescopic rod 21; 2. Subsequently, the second electric telescopic rod 43 drives the horizontal plate 44, the first connecting rod 42 and the piston 1 to move downward, and the piston 1 sucks the air in the two second piston cylinders 46 into the first piston cylinder 41 through the two flexible tubes 45, thereby driving the two pistons 2 and the corresponding second connecting rods 47 to move to both sides, and the two second connecting rods 47 can drive the cover plate 27 to move to both sides and separate from the collecting tube 33. At the same time, the two cover plates 27 can push the two cutting knives 24 inward through the corresponding connecting rods 26 to cut and pick the tea leaves; 3. At the same time, the air pump 37 can extract the air in the collection box 31 to the outside, so that negative pressure is generated in the collection box 31, and then the picked tea leaves are sucked into the collection box 31 through the conveying pipe 32 and the collection pipe 33, and fall onto the guide plate 34, and then fall into the collection tray 36 under the guidance of the guide plate 34 for collection; 4. Subsequently, the second electric telescopic rod 43 drives the piston 1 to move upward, thereby driving the two pistons 2 to move toward the middle. The two pistons 2 drive the two cover plates 27 to move toward the middle to cover the collection tube 33. The two cover plates 27 drive the two cutting knives 24 to expand to both sides through the corresponding connecting rods 26, and then the picking work can continue; 5. During the picking process, when the horizontal plate 44 moves downward, the guide plate 34 can squeeze the inclined surface of the block 52, push the block 52 and the vertical rod 51 outward and rotate. When the block 52 moves to the bottom of the guide plate 34, the block 52 can hook the bottom of the guide plate 34. When the horizontal plate 44 moves upward, the block 52 can drive the guide plate 34 to rotate upward. Subsequently, the gear lever 54 will squeeze the inclined surface of the wedge block 53, push the wedge block 53 and the vertical rod 51 outward and rotate, thereby driving the block 52 to move and separate from the guide plate 34. At this time, the guide plate 34 is quickly rotated downward and reset under the action of the torsion spring, and hits the limit column 310, so that the guide plate 34 shakes, and the cycle is repeated, and the screen 55 cooperates with the screen 55 to efficiently screen the tea leaves and dust impurities, while avoiding the blockage of the screen 55. 6. During the picking process, when the horizontal plate 44 moves downward, the horizontal plate 44 can stretch the pull rope 65 downward, thereby pulling the sleeve 61 to rotate, and the sleeve 61 can drive the two push plates 64 to rotate through the round rod 62. When the horizontal plate 44 moves upward, the pull rope 65 can be loosened, and the spring can drive the sleeve 61 to reverse and reset, tightening the pull rope 65, and repeating the cycle to flatten the tea leaves in the collection tray 36 to prevent the tea leaves from piling up; 7. When the guide plate 34 is shaking, the fixed column 73 can drive the hose 71 to shake, thereby shaking off the dust adsorbed on the second dustproof net 72, avoiding the dust from clogging and affecting the operation of the vacuum pump 37, thereby ensuring the collection effect.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A three-dimensional coordinate automatic tea picking robot, characterized in that: include: A bracket (1), wherein a driving arm (13) is mounted on the inner top of the bracket (1); A picking assembly (2), the picking assembly (2) comprising a first electric telescopic rod (21), a lifting plate (22), a cutting knife (24), a connecting rod (26) and a cover plate (27), the first electric telescopic rod (21) being fixedly arranged at the output end of a driving arm (13), the lifting plate (22) being fixedly arranged at the output end of the first electric telescopic rod (21), the lifting plate (22) being connected to a collecting assembly (3), a side plate (23) being fixedly arranged at the bottom of the lifting plate (22), the cutting knife (24) being fixedly arranged at the bottom of the lifting plate (22), and the connecting rod (26) being connected to the collecting assembly (3). 4) penetrating the lower end of the side plate (23) and slidingly arranged, the cover plate (27) penetrating the upper end of the side plate (23) and slidingly arranged, the outer end of the side plate (23) is fixedly provided with a support block (25), the connecting rod (26) is hingedly connected to the support block (25), the outer ends of the cutting knife (24) and the cover plate (27) are both penetrated by movable holes (28), the two ends of the connecting rod (26) are respectively penetrated by the movable holes (28) on the same side and are movably arranged, and the outer end of the cover plate (27) is connected to a transmission assembly (4).

2. A three-dimensional coordinate automatic tea picking robot according to claim 1, characterized in that: in: The collecting assembly (3) comprises a collecting box (31), a conveying pipe (32), a collecting pipe (33), a guide plate (34), a collecting tray (36) and an air pump (37); the collecting box (31) is fixedly arranged on the bracket (1); a box door (39) is installed on the front side of the collecting box (31); a baffle (38) is fixedly arranged inside the collecting box (31); one end of the conveying pipe (32) passes through one side of the collecting box (31) and is fixedly arranged; the collecting pipe (33) is fixedly connected to the other end of the conveying pipe (32); the collecting pipe (33) passes through the lifting plate (22) and is fixedly arranged; one end of the guide plate (34) passes through the lifting plate (22) and is fixedly arranged; A shaft rod (35) is passed through and fixedly arranged thereon, one end of the shaft rod (35) being rotatably arranged on the inner wall of the collection box (31), a torsion spring being arranged in cooperation with the rotation point of the shaft rod (35) and the collection box (31), a limiting column (310) being fixedly arranged on the inner wall of the collection box (31), the limiting column (310) being arranged to abut against the bottom of the guide plate (34), a limiting groove being arranged at the inner bottom of the collection box (31), the collection plate (36) being placed in the limiting groove, the air extraction pump (37) being fixedly mounted on one side of the collection box (31), and an air inlet pipe of the air extraction pump (37) being fixedly arranged thereon while passing through one side of the collection box (31).

3. A three-dimensional coordinate automatic tea picking robot according to claim 2, characterized in that: in: The transmission assembly (4) comprises a first piston cylinder (41), a second electric telescopic rod (43) and a second piston cylinder (46); the first piston cylinder (41) is fixedly arranged at the inner top of the collection box (31); a piston 1 is slidably arranged in the first piston cylinder (41); a first connecting rod (42) is fixedly arranged at the bottom of the piston 1; the second electric telescopic rod (43) is fixedly arranged at the inner top of the collection box (31); a cross plate (44) is fixedly arranged at the output end of the second electric telescopic rod (43); and the bottom of the first connecting rod (42) is fixedly arranged at the bottom of the first connecting rod (42). On the transverse plate (44), a flexible tube (45) is provided through the top end of the side of the first piston cylinder (41), and the flexible tube (45) passes through the top of the collecting box (31) and is fixedly provided. The second piston cylinder (46) is fixedly provided at the bottom of the lifting plate (22), and the other end of the flexible tube (45) passes through the second piston cylinder (46) and is fixedly provided. A second piston is fixedly provided in the second piston cylinder (46), and a second connecting rod (47) is fixedly provided at the outer end of the second piston, and the outer end of the second connecting rod (47) is fixedly provided on the cover plate (27) on the same side.

4. A three-dimensional coordinate automatic tea picking robot according to claim 3, characterized in that: in: The invention also comprises a screening assembly (5), the screening assembly (5) comprising a vertical rod (51), a block (52), a wedge block (53) and a stopper rod (54), one end of the vertical rod (51) being hingedly connected to the bottom of the horizontal plate (44), the block (52) being fixedly arranged at the bottom end of one side of the vertical rod (51), the wedge block (53) being fixedly arranged at one side of the vertical rod (51), one end of the stopper rod (54) being fixedly arranged on the inner wall of the collection box (31), the stopper rod (54) being arranged to abut against the vertical rod (51), a screening hole being penetrated through the guide plate (34), a screen (55) being fixedly arranged in the screening hole, and a recovery box (56) being placed at the inner bottom of the collection box (31).

5. The three-dimensional coordinate automatic tea picking robot according to claim 3, characterized in that: in: The utility model also comprises a paving assembly (6), wherein the paving assembly (6) comprises a sleeve (61), a round rod (62), a spring (63), a push plate (64) and a pull rope (65); one end of the sleeve (61) is rotatably arranged on the inner top of the collection box (31); a spring is arranged in cooperation with the rotation point of the sleeve (61) and the collection box (31); the round rod (62) is slidably arranged in the sleeve (61); the two ends of the spring (63) are respectively fixedly arranged on the top of the round rod (62) and the inner top of the sleeve (61); the push plate (64) is fixedly arranged on the side of the round rod (62); the two ends of the pull rope (65) are respectively fixedly arranged on the sleeve (61) and the cross plate (44); and the pull rope (65) is wound around the sleeve (61).

6. A three-dimensional coordinate automatic tea picking robot according to claim 2, characterized in that: in: It also includes a cleaning component (7), the cleaning component (7) including a hose (71), a second dustproof net (72) and a fixing column (73), one end of the hose (71) is fixedly connected to the air inlet pipe of the air pump (37), the second dustproof net (72) is fixedly arranged on the outer end of the hose (71), and the two ends of the fixing column (73) are respectively fixedly arranged on the hose (71) and the bottom of the guide plate (34).

7. The three-dimensional coordinate automatic tea picking robot according to claim 2, characterized in that: in: The cover plate (27) is arranged to abut against the bottom of the collecting pipe (33), and a vent (29) is provided through the cover plate (27), and a first dustproof net is fixedly provided in the vent (29).

8. The three-dimensional coordinate automatic tea picking robot according to claim 3, characterized in that: in: Driving wheels (11) are installed at the four corners of the bottom of the bracket (1), a plurality of cameras (12) are installed on the inner side of the bracket (1), and a controller (14) is installed on one side of the bracket (1).

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