End executing mechanism and tea leaf collecting robot

Abstract

The invention discloses an end executing mechanism and a tea leaf collecting robot, and relates to the technical field of tea leaf collecting, and the end executing mechanism comprises a movable plate and a picking assembly. In the using process, the clamping air cylinder conducts centering clamping on the picking assembly through the linkage assembly, the clamping air cylinder drives the T-shaped arm to rotate on the side, located on the back face of the movable plate, of the T-shaped arm through the driving pin, and the T-shaped arm drives the corresponding sliding block to slide on a transverse rail on the side, located on the front face of the movable plate, of the T-shaped arm through a bottom strip groove; the T-shaped arm is clamped with the U-shaped groove through the transmission pin to drive the L-shaped arm to synchronously rotate on the other side of the back face of the movable plate, and then a strip groove in the bottom of the L-shaped arm drives the other corresponding sliding block to slide on a transverse rail on the other side of the front face of the movable plate, so that synchronous centering clamping of the sliding blocks on the two sides under driving of one air cylinder is achieved. The repeated precision is high, meanwhile, the excellent centering effect is achieved, positioning of the force application point position of the bud head clamping position and pressure equalization are achieved, and the applicability is higher.

Description

Technical Field

[0001] The invention relates to the technical field of tea leaf collection, and in particular to an end-effector and a tea leaf collection robot. Background Art

[0002] Tea picking is not only related to the quality of tea-making raw materials, but also affects the growth and development of tea trees. Reasonable tea picking can promote tea production to a certain extent and has the effect of preventing and controlling diseases and insects. Tea picking is highly seasonal, especially spring tea. If fresh leaves are not picked in time, it will affect the quality of the finished tea. In order to reduce the labor intensity of tea picking and improve the efficiency of tea picking, electric tea picking machines are usually used for tea picking.

[0003] Although the traditional pruning-type tea picking machine has high picking efficiency, it has a high picking breakage rate and poor tea quality, and cannot meet the performance indicators of famous and high-quality tea. In addition, the tea leaves cut by the blades are easily contaminated with the rust smell of the blades, and the original flavor cannot be well preserved. The taste is not as good as the tea leaves picked by hands. Therefore, this type of pruning-type tea picking machine cannot pick whole buds, one bud and one leaf, one bud and two leaves, etc., which has become the biggest constraint on the production and sustainable development of the tea industry.

[0004] Therefore, in view of this, the existing structural deficiencies are studied and improved, and an end-effector mechanism and a tea picking robot are proposed. Summary of the invention

[0005] The object of the present invention is to provide an end-effector and a tea-collecting robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an end actuator, comprising a movable plate and a picking assembly, wherein two cross rails are symmetrically fixed to the bottom of the front side of the movable plate, and the two picking assemblies slide relatively on the outside of the corresponding cross rails, and the picking assembly comprises a slider, a wing plate, a connecting rod, a photoelectric switch, a pressure sensor, a sliding rod, a spring and a picking flap, a wing plate is fixed to the bottom of the slider, and a connecting rod extends from the back of the wing plate, a photoelectric switch is fixed to the top of the slider, and a pressure sensor is fixed to one end of the slider, a sliding rod is slidably provided at the other end of the slider, and a spring is mounted on the outside of the sliding rod, a picking flap is fixedly connected to the end of the sliding rod, and the picking flap is elastically connected to the slider through a spring.

[0007] Furthermore, the light beam emitted by the photoelectric switch transmitter on the top of the slider on one side can pass through the picking flap and correspond to the receiver of the photoelectric switch on the other side, and the picking flap is made of a transparent resin material that imitates a human finger.

[0008] Furthermore, an extension arm is fixed on the front side of one side of the movable plate, and a visual camera is fixedly connected to the end of the extension arm, and two relatively arranged limit blocks are fixed on the middle part of the front side of the movable plate.

[0009] Furthermore, a fixed plate is provided on the top of the movable plate, and the fixed plate is connected with the corresponding female connector through the top connector male head. A telescopic cylinder is fixed on the bottom of the fixed plate, and the telescopic cylinder is transmission-connected to the connector on the back of the movable plate.

[0010] Furthermore, a transfer bin is fixed at the front end of the movable plate, and travel switches cooperating with two picking petals are symmetrically arranged on both sides of the bottom of the transfer bin.

[0011] Furthermore, longitudinal rails are symmetrically fixed on both sides of the middle of the transfer bin, and the longitudinal rails are slidably matched with the movable plate through limit blocks.

[0012] Furthermore, a negative pressure joint is connected to the top of the transfer bin, and the negative pressure joint is threadedly fixed to the corrugated pipe of the vacuum generator. A suction port is opened at the bottom of the transfer bin, and the suction port is located between two picking petals on both sides.

[0013] Furthermore, a clamping cylinder is provided at the bottom of the other side of the movable plate, and the output end at the bottom of the clamping cylinder is transmission-connected with a linkage assembly, and the linkage assembly includes a T-shaped arm, a rotating shaft and a groove. A rotating shaft is provided in the middle of the T-shaped arm, and the T-shaped arm is rotationally connected to one side of the back side of the movable plate through the rotating shaft. A groove is provided at the bottom of the T-shaped arm, and the groove is transmission-connected to the corresponding slider through a connecting rod.

[0014] Furthermore, the linkage assembly also includes a driving pin and a transmission pin. The driving pin is provided on one side of the T-shaped arm and is connected to the output end of the clamping cylinder. The transmission pin is provided on the other side of the T-shaped arm.

[0015] Furthermore, the linkage assembly also includes an L-shaped arm and a U-shaped groove. An L-shaped arm is arranged on the side of the T-shaped arm, and the L-shaped arm is rotatably connected to the other side of the back of the movable plate through a rotating shaft. A groove is opened at one end of the L-shaped arm, and the other end of the L-shaped arm is engaged with the transmission pin through the U-shaped groove.

[0016] Furthermore, a tea-picking robot is provided with the end effector mechanism described above.

[0017] The present invention provides an end-actuating mechanism and a tea-collecting robot, which have the following beneficial effects: 1. During the use of the present invention, the present application simulates the process of manual tea plucking, that is, relying on the static friction between the plucking petals and the tea leaves, a pair of plucking petals are used to pinch the buds, and the buds are forced to separate from the branches during the pulling process. When in use, the clamping cylinder clamps the plucking assembly in the center through the linkage assembly. The plucking petals are slidably assembled in the corresponding slider through the sliding rod. The sliding rod abuts against the pressure sensor on the inner wall of the slider to limit the clamping force of the plucking petals, which can avoid excessive clamping force from damaging the cross-sectional structure of the buds, and ensure appropriate clamping force to prevent the buds from loosening during the pulling process. In addition, The sliders on both sides are also equipped with photoelectric switches arranged opposite to each other. Thanks to the transparent resin material structure design of the picking petals that imitate human fingers, the light beam emitted by the photoelectric switch transmitter can pass through the picking petals and correspond to the receiver of the photoelectric switch on the other side, so that the bud head can be translated into the gap between a pair of picking petals, blocking the light beam of the photoelectric switch and triggering the operation of the clamping cylinder, which can locate the position of the bud head and perform precise picking. Compared with the pinching operation of the prior art, the tea picking method proposed in this application is relatively gentle during the picking process, will not damage the tea leaves, and does not require cutting with blades, and can also better maintain the original flavor of the tea leaves.

[0018] 2. During the use of the present invention, the picking component is clamped in the center by the clamping cylinder through the linkage component, and the clamping cylinder drives the T-shaped arm on the back side of the movable plate to rotate through the driving pin. While the T-shaped arm drives the corresponding slider on the front side of the movable plate to slide on the cross rail through the bottom groove, the T-shaped arm drives the L-shaped arm on the other side of the back of the movable plate to rotate synchronously through the engagement of the transmission pin and the U-shaped groove, and then drives the corresponding other slider on the other side of the front side of the movable plate to slide on the cross rail through the bottom groove of the L-shaped arm, thereby realizing synchronous centering clamping of the sliders on both sides driven by one cylinder, with high repetition accuracy and excellent centering effect, realizing the positioning of the force application point and equalization of pressure at the bud clamping point, and having stronger applicability.

[0019] 3. During the use of the present invention, the visual camera fixed by the extension arm on the front side of the movable plate is located at the front end of a pair of picking petals, and follows the tea picking robot to take photos of the tea along the direction of the tea nursery. The taken photos are uploaded to the cloud via the 5G transmission module, and then the collected photos are detected using the deep learning decision model to locate and identify the tender buds. The positioning and identification signals are transmitted to the three-axis truss via 5G to control the movement of the end effector of the present application, so that the bud head can be translated into the gap between a pair of picking petals, blocking the light beam of the photoelectric switch and triggering the operation of the clamping cylinder, so as to locate the position of the bud head for precise picking.

[0020] 4. During the use of the present invention, the end effector of the present application consists of a fixed plate and a movable plate. The fixed plate is quickly connected to the female connector corresponding to the tea picking robot through the male connector. The fixed plate drives the movable plate to rise and fall through the telescopic cylinder at the bottom. After completing the pinching process, the pulling process is continuously performed. During this period, the movable plate slides on the longitudinal rails on both sides of the transfer bin by relying on the limit blocks relatively arranged in the middle of the front side to ensure the stability and accuracy of the lifting stroke. The present application is provided with a transfer bin at the front end of the fixed plate. The transfer bin is externally connected to a vacuum generator through a negative pressure joint at the top, so that negative pressure is generated in the transfer bin, and a pair of buds pinched and lifted by the picking petals are sucked into the transfer bin, and further enter the collector matching the tea picking robot through a corrugated hose, completing the complete tea picking process of tea leaf identification and positioning - pinching and clamping - pulling and separating - adsorption and collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall front structure of the present invention; Figure 2 It is a schematic diagram of the overall rear view structure of the present invention; Figure 3 This is a schematic diagram of the fixing plate structure of the present invention; Figure 4 It is a schematic diagram of the structure of the movable plate of the present invention; Figure 5 It is a schematic diagram of the linkage assembly structure of the present invention; Figure 6 It is a schematic diagram of the structure of the picking component of the present invention.

[0022] In the figure: 1. movable plate; 2. horizontal rail; 3. extension arm; 4. visual camera; 5. limit block; 6. fixed plate; 7. connector male head; 8. telescopic cylinder; 9. transfer bin; 10. travel switch; 11. longitudinal rail; 12. negative pressure joint; 13. suction port; 14. clamping cylinder; 15. linkage assembly; 1501. T-shaped arm; 1502. rotating shaft; 1503. strip groove; 1504. driving pin; 1505. transmission pin; 1506. L-shaped arm; 1507. U-shaped groove; 16. picking assembly; 1601. slider; 1602. wing plate; 1603. connecting rod; 1604. photoelectric switch; 1605. pressure sensor; 1606. sliding rod; 1607. spring; 1608. picking petal. DETAILED DESCRIPTION

[0023] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention. See also Figures 1 to 6The present invention provides a technical solution: an end actuator includes a movable plate 1 and a picking assembly 16, two cross rails 2 are symmetrically fixed at the bottom of the front of the movable plate 1, and the two picking assemblies 16 slide relatively on the outside of the corresponding cross rails 2. The picking assembly 16 includes a slider 1601, a wing plate 1602, a connecting rod 1603, a photoelectric switch 1604, a pressure sensor 1605, a sliding rod 1606, a spring 1607 and a picking flap 1608. The wing plate 1602 is fixed at the bottom of the slider 1601, and the connecting rod 1603 extends from the back of the wing plate 1602. The photoelectric switch is fixed on the top of the slider 1601. The slider 1601 has a pressure sensor 1605 fixed at one end thereof, a slide bar 1606 slidingly arranged at the other end thereof, and a spring 1607 is mounted on the outside of the slide bar 1606, a picking flap 1608 is fixedly connected to the end of the slide bar 1606, and the picking flap 1608 is elastically connected to the slider 1601 through the spring 1607, a light beam emitted from a transmitter of a photoelectric switch 1604 at the top of the slider 1601 on one side can pass through the picking flap 1608 and correspond to a receiver of the photoelectric switch 1604 on the other side, and the picking flap 1608 is made of a transparent resin material that imitates a human finger; The specific operation is as follows. The present application simulates the process of manual tea plucking, that is, a pair of plucking petals 1608 are used to pinch the buds by relying on the static friction between the plucking petals 1608 and the tea leaves, and the buds are forced to separate from the branches during the pulling process. The plucking petals 1608 are slidably assembled in the corresponding slider 1601 through the sliding rod 1606. The sliding rod 1606 abuts against the pressure sensor 1605 on the inner wall of the slider 1601 to limit the clamping force of the plucking petals 1608, which can avoid excessive clamping force from damaging the cross-sectional structure of the buds, and ensure appropriate clamping force to prevent the buds from loosening during the pulling process. In addition, the sliders 1601 on both sides are also equipped with relatively The photoelectric switch 1604 is arranged on the top of the tea leaves. Thanks to the transparent resin material structure design of the picking petals 1608 that imitates human fingers, the light beam emitted by the transmitter of the photoelectric switch 1604 can pass through the picking petals 1608 and correspond to the receiver of the photoelectric switch 1604 on the other side, so that the buds can be translated into the gap between the pair of picking petals 1608, blocking the light beam of the photoelectric switch 1604 and triggering the operation of the clamping cylinder 14, so as to locate the position of the buds and perform precise picking. Compared with the pinching picking operation of the prior art, the tea picking method proposed in the present application is relatively gentle during the picking process, does not damage the tea leaves, and does not require cutting with a blade, and can also better maintain the original flavor of the tea leaves. See also Figures 1 to 4 An extension arm 3 is fixed on the front side of the movable plate 1, and a visual camera 4 is fixedly connected to the end of the extension arm 3. Two relatively arranged limit blocks 5 are fixed on the middle part of the front side of the movable plate 1; The specific operation is as follows: the visual camera 4 fixed by the extension arm 3 on the front of the movable plate 1 is located at the front end of a pair of picking petals 1608, and follows the tea picking robot to take photos of tea leaves along the direction of the tea nursery. The photos taken are uploaded to the cloud via the 5G transmission module, and then the collected photos are detected using the deep learning decision model to locate and identify the tender buds, and the positioning and identification signals are transmitted to the three-axis truss through 5G to control the movement of the end effector of the present application, so that the bud head can be translated into the gap between the pair of picking petals 1608, blocking the light beam of the photoelectric switch 1604 and triggering the operation of the clamping cylinder 14, so as to locate the position of the bud head for precise picking; See also Figure 1 to Figure 2 A fixed plate 6 is provided on the top of the movable plate 1, and the fixed plate 6 is connected with the corresponding connector female head through the top connector male head 7, a telescopic cylinder 8 is fixed to the bottom of the fixed plate 6, and the telescopic cylinder 8 is transmission-connected to the back connector of the movable plate 1, a transfer bin 9 is fixed to the front end of the movable plate 1, and travel switches 10 matching the two picking petals 1608 are symmetrically provided on both sides of the bottom of the transfer bin 9, longitudinal rails 11 are symmetrically fixed on both sides of the middle part of the transfer bin 9, and the longitudinal rails 11 are slidably matched with the movable plate 1 through the limit block 5, a negative pressure joint 12 is connected to the top of the transfer bin 9, and the negative pressure joint 12 is threadedly fixed to the corrugated pipe of the vacuum generator, and a suction port 13 is provided at the bottom of the transfer bin 9, and the suction port 13 is located between the two picking petals 1608 on both sides; The specific operation is as follows: the end effector of the present application consists of a fixed plate 6 and a movable plate 1. The fixed plate 6 is quickly connected to the female connector corresponding to the tea picking robot through the male connector 7. The fixed plate 6 drives the movable plate 1 to rise and fall through the telescopic cylinder 8 at the bottom. After completing the pinching process, the pulling process is continuously performed. During this period, the movable plate 1 slides on the longitudinal rails 11 on both sides of the transfer bin 9 by means of the relatively arranged limit blocks 5 in the middle of the front side, so as to ensure the stability and accuracy of the lifting stroke. The present application is provided with a transfer bin 9 at the front end of the fixed plate 6. The transfer bin 9 is externally connected to a vacuum generator through the negative pressure joint 12 at the top, so that negative pressure is generated in the transfer bin 9, and the buds pinched and lifted by a pair of picking petals 1608 are sucked into the transfer bin 9, and further enter the collector of the tea picking robot through the corrugated hose, so as to complete the complete tea picking process of identification and positioning of tea leaves - pinching and clamping - pulling and separating - adsorption and collection; See also Figure 6A clamping cylinder 14 is provided at the bottom of the other side of the movable plate 1. The output end at the bottom of the clamping cylinder 14 is connected to a linkage assembly 15. The linkage assembly 15 includes a T-shaped arm 1501, a rotating shaft 1502 and a slot 1503. A rotating shaft 1502 is provided in the middle of the T-shaped arm 1501, and the T-shaped arm 1501 is rotatably connected to one side of the back of the movable plate 1 through the rotating shaft 1502. A slot 1503 is provided at the bottom of the T-shaped arm 1501, and the slot 1503 is connected to the corresponding slider 1601 through a connecting rod 1603. The linkage assembly 15 also includes a driving pin 1504 and a transmission pin 1503. 05, a driving pin 1504 is provided on one side of the T-shaped arm 1501, and the driving pin 1504 is connected to the output end of the clamping cylinder 14, a transmission pin 1505 is provided on the other side of the T-shaped arm 1501, and the linkage assembly 15 also includes an L-shaped arm 1506 and a U-shaped groove 1507, an L-shaped arm 1506 is provided on the side of the T-shaped arm 1501, and the L-shaped arm 1506 is rotatably connected to the other side of the back of the movable plate 1 through the rotating shaft 1502, a strip groove 1503 is provided at one end of the L-shaped arm 1506, and the other end of the L-shaped arm 1506 is engaged with the transmission pin 1505 through the U-shaped groove 1507; The specific operation is as follows. When in use, the clamping cylinder 14 clamps the picking component 16 in the center through the linkage component 15. The clamping cylinder 14 drives the T-shaped arm 1501 on the back side of the movable plate 1 to rotate through the driving pin 1504. When the T-shaped arm 1501 drives the corresponding slider 1601 on the front side of the movable plate 1 to slide on the cross rail 2 through the bottom groove 1503, the T-shaped arm 1501 drives the L-shaped arm 1506 on the other side of the back side of the movable plate 1 to rotate synchronously through the engagement of the transmission pin 1505 and the U-shaped groove 1507, and then drives the corresponding other slider 1601 on the other side of the front side of the movable plate 1 to slide on the cross rail 2 through the bottom groove 1503 of the L-shaped arm 1506, so as to realize the synchronous centering clamping of the sliders 1601 on both sides driven by one cylinder, with high repetition accuracy and excellent centering effect, so as to realize the positioning of the force application point position and the equalization of pressure at the bud clamping point, and has stronger applicability.

[0024] In summary, when the end effector and the tea picking robot are in use, the visual camera 4 fixed by the extension arm 3 on the front of the movable plate 1 is located at the front end of a pair of picking petals 1608, and follows the tea picking robot to take photos of the tea leaves along the direction of the tea nursery. The taken photos are uploaded to the cloud via the 5G transmission module, and then the collected photos are detected using the deep learning decision model to locate and identify the tender buds, and the positioning and identification signals are transmitted to the three-axis truss via 5G to control the movement of the end effector of the present application. It is worth noting that the present application adopts an operating mode in which the recognition module equipped with the collection robot first identifies and locates the position of the tender buds and then controls the end effector to pick them. That is, it undergoes first identification, then the three-axis truss controls the movement of the end effector, and finally the picking petals. The picking operation process of 1608 can avoid the wrong picking of the end effector due to the accidental contact of the messy leaves during the movement of the picking petals 1608, so that the bud can be translated into the gap between a pair of picking petals 1608, blocking the light beam of the photoelectric switch 1604 and triggering the operation of the clamping cylinder 14, so as to locate the position of the bud for precise picking. The present application simulates the process of manual tea picking, that is, relying on the static friction between the picking petals 1608 and the tea leaves, a pair of picking petals 1608 are used to pinch the bud, and the bud is forced to separate from the branch during the pulling process. When in use, the clamping cylinder 14 clamps the picking assembly 16 in the center through the linkage assembly 15, and the clamping cylinder 14 drives the T-shaped arm 1501 located on the back side of the movable plate 1 to rotate through the driving pin 1504. When the T-shaped arm 1501 drives the corresponding slider 1601 to slide on the horizontal rail 2 on one side of the front of the movable plate 1 through the bottom groove 1503, the T-shaped arm 1501 drives the L-shaped arm 1506 on the other side of the back of the movable plate 1 to rotate synchronously through the engagement of the transmission pin 1505 with the U-shaped groove 1507, and then drives the corresponding other slider 1601 on the other side of the front of the movable plate 1 to slide on the horizontal rail 2 through the bottom groove 1503 of the L-shaped arm 1506, so as to realize synchronous centering and clamping of the sliders 1601 on both sides driven by a cylinder, with high repetition accuracy and excellent centering effect, so as to realize the positioning of the force application point position and equal pressure at the bud clamping place, and has stronger applicability, and the picking petal 1608 is slidably assembled on the corresponding In the slider 1601, the slide bar 1606 abuts against the pressure sensor 1605 on the inner wall of the slider 1601 to limit the clamping force of the picking petals 1608, which can avoid excessive clamping force from damaging the cross-sectional structure of the bud, and ensure appropriate clamping force to prevent the bud from loosening during the pulling process. In addition, the sliders 1601 on both sides are also equipped with relatively arranged photoelectric switches 1604. Thanks to the transparent resin material design of the picking petals 1608 that imitates human fingers, the light beam emitted by the transmitter of the photoelectric switch 1604 can pass through the picking petals 1608 and correspond to the receiver of the photoelectric switch 1604 on the other side, so that the bud can be translated into the gap between a pair of picking petals 1608, blocking the light beam of the photoelectric switch 1604 and triggering the operation of the clamping cylinder 14.The buds can be located and picked accurately. Compared with the pinching operation of the prior art, the tea picking method proposed in this application is relatively gentle during the picking process, will not damage the tea leaves, and does not rely on blade cutting, which can also better maintain the original flavor of the tea leaves. The end effector of this application consists of a fixed plate 6 and a movable plate 1. The fixed plate 6 is quickly connected to the female connector corresponding to the tea picking robot through the male connector 7. The fixed plate 6 drives the movable plate 1 to rise and fall through the telescopic cylinder 8 at the bottom. After completing the pinching process, the pulling process is continuously performed. During this period, The movable plate 1 slides on the longitudinal rails 11 on both sides of the transfer bin 9 by means of the limit blocks 5 relatively arranged in the middle of the front side, ensuring the stability and accuracy of the lifting stroke. The present application sets a transfer bin 9 at the front end of the fixed plate 6. The transfer bin 9 is connected to an external vacuum generator through the negative pressure joint 12 at the top, so that negative pressure is generated in the transfer bin 9, and the buds pinched and lifted by a pair of picking petals 1608 are sucked into the transfer bin 9, and further enter the collector of the tea picking robot through the corrugated hose, completing the complete tea picking process of identification and positioning of tea leaves - pinching and clamping - lifting and separation - adsorption and collection.

[0025] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various implementations with various modifications suitable for specific uses.

Claims

1. An end effector, characterized in that: The invention comprises a movable plate (1) and a picking assembly (16), wherein two transverse rails (2) are symmetrically fixed at the bottom of the front side of the movable plate (1), and the two picking assemblies (16) slide relatively on the outside of the corresponding transverse rails (2). The picking assembly (16) comprises a slider (1601), a wing plate (1602), a connecting rod (1603), a photoelectric switch (1604), a pressure sensor (1605), a sliding rod (1606), a spring (1607) and a picking flap (1608). The slider (1601) has a wing plate (1602) fixed at the bottom, and the wing plate (1602) is connected to the connecting rod (1603). A connecting rod (1603) extends from the back of the plate (1602); a photoelectric switch (1604) is fixed on the top of the slider (1601); a pressure sensor (1605) is fixed at one end inside the slider (1601); a sliding rod (1606) slides at the other end inside the slider (1601); a spring (1607) is sleeved on the outside of the sliding rod (1606); a picking flap (1608) is fixedly connected to the end of the sliding rod (1606); and the picking flap (1608) is elastically connected to the slider (1601) via the spring (1607).

2. The end effector according to claim 1, characterized in that: The light beam emitted by the transmitter of the photoelectric switch (1604) on the top of the slider (1601) on one side can pass through the picking flap (1608) and correspond to the receiver of the photoelectric switch (1604) on the other side, and the picking flap (1608) is made of a transparent resin material that imitates a human finger.

3. The end effector according to claim 1, characterized in that: An extension arm (3) is fixed to the front side of one side of the movable plate (1), and a visual camera (4) is fixedly connected to the end of the extension arm (3). Two limiting blocks (5) arranged opposite to each other are fixed to the middle of the front side of the movable plate (1).

4. The end effector according to claim 1, characterized in that: A fixed plate (6) is arranged on the top of the movable plate (1), and the fixed plate (6) is butted with a corresponding female connector via a top connector male head (7). A telescopic cylinder (8) is fixed on the bottom of the fixed plate (6), and the telescopic cylinder (8) is transmission-connected to a rear connecting piece of the movable plate (1).

5. The end effector according to claim 1, characterized in that: A transfer bin (9) is fixed to the front end of the movable plate (1), and travel switches (10) cooperating with two picking petals (1608) are symmetrically arranged on both sides of the bottom of the transfer bin (9).

6. The end effector according to claim 5, characterized in that: Longitudinal rails (11) are symmetrically fixed on both sides of the middle of the transfer bin (9), and the longitudinal rails (11) are slidably matched with the movable plate (1) through a limit block (5).

7. The end effector according to claim 5, characterized in that: The top of the transfer bin (9) is connected to a negative pressure joint (12), and the negative pressure joint (12) is threadedly fixed to the corrugated pipe of the vacuum generator. The bottom of the transfer bin (9) is provided with a suction port (13), and the suction port (13) is located between two picking petals (1608) at two sides.

8. The end effector according to claim 1, characterized in that: A clamping cylinder (14) is provided at the bottom of the other side of the movable plate (1), and a linkage assembly (15) is connected to the output end of the bottom of the clamping cylinder (14) in a transmission manner. The linkage assembly (15) comprises a T-shaped arm (1501), a rotating shaft (1502) and a slot (1503). A rotating shaft (1502) is provided in the middle of the T-shaped arm (1501), and the T-shaped arm (1501) is rotatably connected to one side of the back side of the movable plate (1) via the rotating shaft (1502). A slot (1503) is provided at the bottom of the T-shaped arm (1501), and the slot (1503) is connected to the corresponding slider (1601) in a transmission manner via a connecting rod (1603). The linkage assembly (15) further comprises a driving pin (1504) and a transmission pin ( 1505), a driving pin (1504) is provided on one side of the T-shaped arm (1501), and the driving pin (1504) is connected to the output end of the clamping cylinder (14), a transmission pin (1505) is provided on the other side of the T-shaped arm (1501), and the linkage assembly (15) further comprises an L-shaped arm (1506) and a U-shaped groove (1507), an L-shaped arm (1506) is provided on the side of the T-shaped arm (1501), and the L-shaped arm (1506) is rotatably connected to the other side of the back side of the movable plate (1) through a rotating shaft (1502), a strip groove (1503) is provided on one end of the L-shaped arm (1506), and the other end of the L-shaped arm (1506) is engaged with the transmission pin (1505) through the U-shaped groove (1507).

9. A tea leaf collecting robot, characterized in that: An end effector mechanism according to any one of claims 1 to 8 is installed.

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