Tea picking robot

Abstract

The invention discloses a tea picking robot, which relates to the technical field of tea picking equipment, and comprises a main body box, a walking mechanism and two tea picking mechanisms, a controller and a tea leaf collecting device are arranged in the main body box; the tea collecting device comprises a tea collecting box and a vacuum pump; the tea picking mechanism comprises a moving mechanism, a visual identification mechanism, a picking box and at least two picking assemblies; the picking box is connected with the main body box through a moving mechanism; the picking assembly comprises a flexible telescopic pipe, a picking pipe, a telescopic device and a picking clamping jaw. The flexible telescopic pipe is arranged on the picking box and is connected with the picking pipe; the telescopic device is arranged in the picking box, the telescopic end of the telescopic device is arranged in the flexible telescopic pipe and the picking pipe in a penetrating mode, the telescopic end of the telescopic device is fixedly connected with the picking pipe, and the picking clamping jaw is located in an opening in the tail end of the picking pipe; the controller is in communication connection with the walking mechanism, the vacuum pump and the tea picking mechanisms. The tea picking efficiency can be improved, the structure is simple, and the manufacturing cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of tea picking equipment, and particularly to a tea picking robot. Background Art

[0002] With the development of the economy, the living standards of the people have been continuously improved, and the scale of the tea industry has been continuously expanded. Famous and high-quality teas have high drinking value and economic benefits and are the pillars of the tea industry. Tea picking is highly seasonal, with a short picking cycle and high labor intensity, belonging to labor-intensive operations. Famous and high-quality teas have the most stringent requirements for picking timing and the quality of new shoots.

[0003] At present, the tea picking methods in China are mainly divided into two types: mechanized picking and manual picking. Compared with manual picking, mechanized picking reduces the labor intensity. However, most of the existing tea picking robots use robotic arms as end effectors, and there is only one picking gripper at the end of a single robotic arm for picking, that is, it can only pick once at a time, with low picking efficiency and high manufacturing cost. Based on this, there are still areas for improvement in mechanized tea picking. Summary of the Invention

[0004] The purpose of the present invention is to provide a tea picking robot to solve the problems existing in the above-mentioned prior art, improve the tea picking efficiency, and have a simple structure and low manufacturing cost.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] The present invention provides a tea-picking robot, which comprises a main body box, a traveling mechanism and two tea-picking mechanisms; a controller and a tea collection device are arranged in the main body box; the tea collection device comprises a tea collection box and a vacuum pump; the suction port of the vacuum pump is communicated with the inside of the tea collection box; the traveling mechanism is arranged below the main body box, and the traveling mechanism is used for driving the main body box to move; the two tea-picking mechanisms are respectively arranged on both sides of the main body box in the traveling direction; each tea-picking mechanism comprises a moving mechanism, a visual recognition mechanism, a picking box and at least two picking components; the moving mechanism is arranged on the main body box, the picking box is arranged at the output end of the moving mechanism, and the output end of the moving mechanism is used for driving the picking box to change its spatial position; the visual recognition mechanism is used for recognizing the tea leaves to be picked; each picking component is arranged on the picking box, and each picking component comprises a flexible telescopic tube, a picking tube, a telescopic device and a picking claw; one end of the flexible telescopic tube can be relatively fixed to the position of the picking box, and the opening at this end of the flexible telescopic tube can be communicated with the inside of the tea collection box, and the flexible telescopic tube can be telescopic; the other end of the flexible telescopic tube is connected and communicated with one end of the picking tube, and each picking tube is located below the picking box; the telescopic device is arranged in the picking box, and the telescopic end of the telescopic device is provided with the picking claw, and the picking claw is used for fixedly clamping the cut-off part of the tea leaves to be picked; the telescopic end of the telescopic device passes through the flexible telescopic tube and the picking tube, and the telescopic end of the telescopic device is fixedly connected with the picking tube, and the picking claw is located in the end opening of the picking tube; the controller is communicatively connected with the traveling mechanism, the vacuum pump, and the moving mechanism, the visual recognition mechanism, the telescopic device and the picking claw in each tea-picking mechanism.

[0007] Preferably, a plurality of first shelving tubes are fixed in the picking box, and the first shelving tubes correspond to the flexible telescopic tubes one by one; one end of the first shelving tube is closed, and the other end opening of the first shelving tube is connected and communicated with the end of the flexible telescopic tube far away from the picking tube; the telescopic device is fixedly arranged in the first shelving tube; a side opening is formed in the side wall of the first shelving tube, and the side opening is connected with a branch tube, and the branch tube can be communicated with the inside of the tea collection box; the telescopic end of the telescopic device passes through the flexible telescopic tube from inside the first shelving tube and is located in the picking tube.

[0008] Preferably, the expander is an electric push rod; a partition guiding plate is fixed inside the first placing tube, and the partition guiding plate is fixed between the outer shell of the electric push rod and the inner wall of the first placing tube; and the partition guiding plate divides the inner cavity of the first placing tube into an upper cavity and a lower cavity; the axis of the first placing tube is in a vertical posture, the upper cavity is located above the lower cavity; the side opening communicates with the highest position in the lower cavity.

[0009] Preferably, at least one annular connecting bracket is detachably fixed on the telescopic end of the expander, and the annular connecting bracket is located inside the picking tube; the side wall of the picking tube is elastic, and a tightening member is sleeved outside the picking tube corresponding to the position of the annular connecting bracket, and the tightening member can make the inner wall of the picking tube fixedly fit with the outer side wall of the annular connecting bracket; a through circulation hole for the tea leaves to pass through is arranged on the annular connecting bracket.

[0010] Preferably, the bottom of the tea leaf collecting box has a conical channel tube; an electric control valve is arranged at the small-mouth end of the lower end of the conical channel tube; the electric control valve is in communication connection with the controller; a drawer-type tea leaf collecting box is arranged inside the main body box, and the upper opening of the drawer-type tea leaf collecting box corresponds to the position of the small-mouth end of the lower end of the conical channel tube; an opening and closing door is arranged on the main body box, and the drawer-type tea leaf collecting box can be pulled out inside the main body box.

[0011] Preferably, a blocking net is arranged on one side of the tea leaf collecting box close to the suction port of the vacuum pump; the conical channel tube is located on the side of the blocking net away from the suction port of the vacuum pump.

[0012] Preferably, the traveling mechanism includes four bionic multi-joint legs; on the traveling direction, one bionic multi-joint leg is arranged on each side of the front and rear ends of the main body box; each bionic multi-joint leg is in communication connection with the controller, and each bionic multi-joint leg can adapt to the rugged mountain road conditions.

[0013] Preferably, the moving mechanism includes a first linear module and a second linear module; the first linear module is fixedly arranged on the upper end of the main body box, and the axis of the ball screw of the first linear module is parallel to the vertical direction; the second linear module is fixedly arranged on the sliding seat of the first linear module; the axis of the ball screw of the second linear module is perpendicular to both the vertical direction and the traveling direction of the main body box; the picking box can be arranged on the sliding seat of the second linear module.

[0014] Preferably, the moving mechanism further includes a third linear module; the third linear module is fixedly arranged on the sliding seat of the second linear module; the axis of the ball screw of the third linear module is parallel to the vertical direction; a connecting and fixing frame is fixed on the sliding seat of the third linear module, and the connecting and fixing frame is fixedly connected with the picking box.

[0015] Preferably, a adapter is arranged in the picking box, a main output pipe and a plurality of branch inlet pipes are arranged on the adapter, the branch inlet pipes correspond to the branch pipes one by one, and the end of the branch pipe is connected and communicated with the branch inlet pipe; a main conveying pipe is connected to the main output pipe, and the end of the main conveying pipe is communicated with the inside of the tea leaf collecting box.

[0016] The present invention has achieved the following technical effects compared with the prior art:

[0017] The tea picking robot provided by the present invention arranges a picking component on each side of the main body box. When picking tea leaves, the picking components on both sides can pick the tea leaves on the corresponding tea ridge on one side; and a plurality of picking components are arranged on the picking box on one side, which form a plurality of end effectors on one side. Through the arrangement of a plurality of picking components, the tea leaves at multiple picking points can be picked at one time, so as to achieve high picking efficiency; the visual recognition mechanism is used to identify information such as the position and shape of the tea leaves to be picked, and provides an accurate positioning basis for picking. According to the information provided by the visual recognition mechanism, the controller controls the moving mechanism to move the position of the picking box so that it is placed above the area of the tea leaves to be picked. The picking components corresponding to the tea leaves to be picked at different height positions in the area directly below the picking box can be independently lifted and lowered under the control of the controller, so as to realize the one-to-one correspondence between the tea leaves to be picked at each position and the picking components. The picking jaw is arranged at the telescopic end of the telescopic device, and both are located inside the picking pipe. The negative pressure environment inside the picking pipe can make the tea leaves to be picked enter the picking pipe more accurately, so that the picking jaw can fix and clamp. And under the fixed clamping of the picking jaw, by retracting the telescopic end of the telescopic device, a "lifting" type picking of the tea leaves to be picked is formed inside the picking pipe. This method can reduce the interference to the surrounding tea leaves and achieve more accurate picking. The tea leaves picked in this way have complete buds and high tenderness, and are more attractive in appearance. Complete and beautiful tea leaves are often regarded as a symbol of good quality, especially meeting the appearance requirements for high-end tea; the telescopic end of the telescopic device can drive the picking pipe and the picking jaw located inside the picking pipe to descend together, realizing a more accurate picking operation; after the tea leaves to be picked are picked, they can be adsorbed into the tea leaf collecting box under the action of negative pressure for centralized storage; it adopts a relatively simple structure, the overall structure is simpler, the communication connection between the controller and each component is relatively concise, and it does not need to perform complex multi-axis linkage control like a robotic arm, reducing the manufacturing cost. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0019] Figure 1 Schematic diagram of the overall structure of the tea-picking robot provided by the present invention;

[0020] Figure 2 Schematic diagram of the structure of the tea-picking robot provided by the present invention from another perspective;

[0021] Figure 3 Schematic diagram of the structure of the picking component in the tea-picking robot provided by the present invention;

[0022] Figure 4 Schematic diagram of the structure of the tea collection device in the tea-picking robot provided by the present invention.

[0023] In the figure:

[0024] 10 - main body box; 11 - traveling mechanism; 12 - opening and closing door; 13 - slide rail; 14 - pointed structure;

[0025] 20 - first linear module; 21 - second linear module; 22 - third linear module; 23 - connection fixing frame; 24 - ball screw; 25 - sliding seat;

[0026] 30 - picking box; 31 - first shelving pipe; 311 - partition guiding plate; 312 - lower cavity; 32 - flexible telescopic pipe; 33 - picking pipe; 34 - telescopic device; 35 - picking gripper; 36 - branch pipe; 37 - annular connection bracket; 38 - tightening member; 39 - adapter; 391 - branch inlet pipe; 392 - total output pipe; 393 - total conveying pipe;

[0027] 40 - tea collection box; 401 - conical channel pipe; 402 - electric control valve; 403 - interception net; 41 - vacuum pump; 42 - drawer-type tea collection box. Detailed implementation manners

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0029] The object of the present invention is to provide a tea-picking robot to solve the problems existing in the prior art, improve the tea-picking efficiency, and have a simple structure and low manufacturing cost.

[0030] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Embodiment 1

[0032] This embodiment provides a tea-picking robot, mainly but not limited to the picking of high-quality tea in hilly and mountainous areas, such as Figures 1 to 4 As shown, it includes a main body box 10, a traveling mechanism 20 and two tea-picking mechanisms; a controller and a tea collection device are arranged in the main body box 10; the tea collection device includes a tea collection box 40 and a vacuum pump 41; the suction port of the vacuum pump 41 is communicated with the inside of the tea collection box 40; the traveling mechanism 20 is arranged below the main body box 10, and the traveling mechanism 20 is used to drive the main body box 10 to move; the two tea-picking mechanisms are respectively arranged on both sides of the main body box 10 in the traveling direction; the tea-picking mechanism includes a moving mechanism, a visual recognition mechanism, a picking box 30 and at least two picking components; the moving mechanism is arranged on the main body box 10, the picking box 30 is arranged at the output end of the moving mechanism, and the output end of the moving mechanism is used to drive the picking box 30 to change its spatial position; the visual recognition mechanism is used to identify the tea leaves to be picked (the visual recognition mechanism for identifying the tea leaves to be picked is the prior art and will not be elaborated here); each picking component is arranged on the picking box 30, and the picking component includes a flexible telescopic tube 32 (such as a corrugated tube), a picking tube 33, a telescopic device 34 and a picking jaw 35; one end of the flexible telescopic tube 32 can be relatively fixed to the position of the picking box 30, and the opening of this end of the flexible telescopic tube 32 (the opening of the end fixed to the picking box 30) can be communicated with the inside of the tea collection box 40, and the flexible telescopic tube 32 can be telescopic; the other end of the flexible telescopic tube 32 is connected and communicated with one end of the picking tube 33, and each picking tube 33 is located below the picking box 30; the telescopic device 34 is arranged in the picking box 30, and the telescopic end of the telescopic device 34 is provided with a picking jaw 35, and the picking jaw 35 is used to fixedly clamp the cut-off part of the tea leaves to be picked; the telescopic end of the telescopic device 34 passes through the flexible telescopic tube 32 and the picking tube 33, and the telescopic end of the telescopic device 34 is fixedly connected with the picking tube 33, and the picking jaw 35 is located in the end opening of the picking tube 33 (the picking jaw 35 can be arranged in the picking tube 33 and has a certain distance from the end of the picking tube 33 with the end opening, and this distance can be set as needed, such as set according to the length of the cut-off part of the tea leaves to be picked, etc.); the controller is communicatively connected with the traveling mechanism 20, the vacuum pump 41, and the moving mechanism, the visual recognition mechanism, the telescopic device 34 and the picking jaw 35 in each tea-picking mechanism.

[0033] By arranging a picking assembly on each side of the main body box 10, when picking tea leaves, the picking assemblies on both sides can pick the tea leaves on the corresponding tea ridge on one side; and a plurality of picking assemblies are arranged on the picking box 30 on one side, which form a plurality of end effectors on one side. Through the arrangement of the plurality of picking assemblies, the picking of tea leaves at multiple picking points can be realized at one time, so as to achieve high picking efficiency; the visual recognition mechanism is used to recognize information such as the position and shape of the tea leaves to be picked, providing an accurate positioning basis for picking. The controller, according to the information provided by the visual recognition mechanism, controls the moving mechanism to move the position of the picking box 30 so that it is placed above the area of the tea leaves to be picked. The picking assemblies corresponding to the tea leaves to be picked at different height positions in the area directly below the picking box 30 can be independently lifted and lowered under the control of the controller, so as to realize the one-to-one correspondence between the tea leaves to be picked at each position and the picking assemblies. The picking jaw 35 is arranged at the telescopic end of the telescopic device 34, and both are located inside the picking tube 33. In the negative pressure environment inside the picking tube 33, the tea leaves to be picked can enter the picking tube 33 more accurately, so that the picking jaw 35 can fix and clamp them; and under the fixed clamping of the picking jaw 35, by retracting the telescopic end of the telescopic device 34, a "lifting" type picking of the tea leaves to be picked is formed inside the picking tube 33. This method can reduce the interference to the surrounding tea leaves and achieve more accurate picking. The tea leaves picked in this way have complete buds and high tenderness, and are more attractive in appearance. The complete and beautiful tea leaves are often regarded as a symbol of good quality, especially meeting the appearance requirements for high-end tea; the telescopic end of the telescopic device 34 can drive the picking tube 33 and the picking jaw 35 located inside the picking tube 33 to descend together, realizing a more accurate picking operation; after the tea leaves to be picked are picked, they can be adsorbed into the tea leaf collection box 40 under the action of negative pressure for centralized storage; it adopts a relatively simple structure, the overall structure is simpler, the communication connection between the controller and each component is relatively concise, and it does not require complex multi-axis linkage control like a robotic arm, reducing the manufacturing cost.

[0034] Among them, the relevant settings of the main body box 10 are described as follows:

[0035] In the optional solution of this embodiment, preferably, such as Figure 4As shown in the figure, the bottom of the tea collection box 40 is provided with a conical channel pipe 401; an electric control valve 402 is arranged at the small-mouth end of the lower end of the conical channel pipe 401; the electric control valve 402 is communicatively connected with the controller; a drawer-type tea collection box 42 is arranged inside the main body box 10, and the upper opening of the drawer-type tea collection box 42 corresponds to the position of the small-mouth end of the lower end of the conical channel pipe 401; an opening and closing door 12 is arranged on the main body box 10, and the drawer-type tea collection box 42 can be pulled out inside the main body box 10. The conical channel pipe 401 at the bottom of the tea collection box 40 can guide the tea to fall centrally, enabling the tea to converge more smoothly into the collection box below, avoiding uneven accumulation or blockage of the suction space of the tea in the collection box, and improving the collection efficiency; in cooperation with the electric control valve 402 and the drawer-type tea collection box 42, classification collection can be carried out according to different picking batches, tea varieties or quality grades, etc., facilitating subsequent sorting and processing; the drawer-type tea collection box 42 can be pulled out from the main body box 10. This design enables the operator to easily take out the collection box for tea transfer or processing during or after picking, without complex operations or disassembly processes, saving time and labor; the setting of the opening and closing door 12 can maintain a relatively closed environment inside the main body box 10 during tea collection and storage, reducing the influence of external factors such as dust and moisture on the tea, and helping to protect the quality and freshness of the tea.

[0036] Specifically, necessary slide rails 13 can be arranged at the position corresponding to the drawer-type tea collection box 42 inside the main body box 10, and sliding grooves cooperating with the slide rails 13 can be arranged at the bottom of the drawer-type tea collection box 42; and rolling wheels can be arranged at the positions corresponding to the slide rails 13 inside the sliding grooves to improve the smoothness of pulling and reduce wear; and an induction sensor can be arranged inside the drawer-type tea collection box 42, and an alarm is arranged on the main body box 10. When the tea capacity inside the drawer-type tea collection box 42 reaches the threshold, the induction sensor can be triggered to generate an induction signal (the induction sensor here is an existing sensor, and any sensor that can be used to monitor the tea capacity is acceptable), and the controller is communicatively connected with both the induction sensor and the alarm, and a prompt is made through the alarm.

[0037] In an alternative solution of this embodiment, preferably, as Figure 4 shown, a blocking net 403 is arranged on one side of the tea collection box 40 close to the suction port of the vacuum pump 41; the conical channel pipe 401 is located on the side of the blocking net 403 away from the suction port of the vacuum pump 41. The setting of the blocking net 403 can effectively block the tea from entering the suction port of the vacuum pump 41, ensure the normal operation of the vacuum pump 41, and improve the overall reliability and stability of the tea-picking robot.

[0038] Specifically, when the vacuum pump 41 stops working, the tea adsorbed on the blocking net 403 can automatically fall into the conical channel pipe 401 based on gravity, reducing the influence on suction.

[0039] Among them, the relevant settings of the tea picking mechanism are described as follows:

[0040] Specifically, the picking jaw 35 is an existing device, which can be a mini-jaw of the pneumatic fixture type. A ventilation control device for control can be arranged in the picking box 30. The trachea of the ventilation control device sequentially passes through the first shelving tube 31, the flexible telescopic tube 32 and the picking tube 33 and then is connected to the picking jaw 35 located in the picking tube 33.

[0041] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 3 shown, a plurality of first shelving tubes 31 are fixed in the picking box 30, and the first shelving tubes 31 correspond to the flexible telescopic tubes 32 one by one; one end of the first shelving tube 31 is closed, and the other end opening of the first shelving tube 31 is connected and communicated with the end of the flexible telescopic tube 32 away from the picking tube 33; the telescopic device 34 is fixedly arranged in the first shelving tube 31; a side opening is formed on the side wall of the first shelving tube 31, and the side opening is connected with a branch tube 36, and the branch tube 36 can be communicated with the inside of the tea leaf collection box 40; the telescopic end of the telescopic device 34 passes through the flexible telescopic tube 32 from inside the first shelving tube 31 and is located in the picking tube 33. Fixing the telescopic device 34 in the first shelving tube 31 can provide stable support and protection for the telescopic device 34. The first shelving tube 31 is equivalent to a protective shell, which can prevent the telescopic device 34 from being interfered and damaged by external factors, such as collision, scratching, etc. At the same time, it also helps to reduce the shaking and vibration of the telescopic device 34 during the working process, making its telescopic action more accurate and stable, thereby improving the clamping accuracy of the picking jaw 35 for tea leaves; the setting of the first shelving tube 31 makes full use of the space inside the picking box 30, enabling components such as the telescopic device 34 and the flexible telescopic tube 32 to be reasonably arranged without occupying too much extra space. At the same time, the branch tube 36 connected to the side opening can also skillfully guide the tea leaves into the tea leaf collection box 40, making the structure of the entire picking mechanism more compact and improving the space utilization rate on the premise of ensuring the realization of functions.

[0042] Specifically, the position where the trachea is arranged in the first shelving tube 31 and the partition guiding plate 311 inside the first shelving tube 31 can be set as a sliding and sealing structure in the prior art, so as to ensure the negative pressure environment of the lower cavity 312.

[0043] In an alternative embodiment of the present embodiment, preferably, as Figure 3As shown, the telescopic device 34 is an electric push rod; a partition guiding plate 311 is fixed inside the first shelving pipe 31, and the partition guiding plate 311 is fixed between the outer shell of the electric push rod and the inner wall of the first shelving pipe 31; and the partition guiding plate 311 divides the inner cavity of the first shelving pipe 31 into an upper cavity and a lower cavity 312; the axis of the first shelving pipe 31 is in a vertical posture, and the upper cavity is located above the lower cavity 312; the side opening communicates with the highest position in the lower cavity 312. The partition guiding plate 311 divides the inner cavity of the first shelving pipe 31 into an upper cavity and a lower cavity 312, and the side opening communicates with the highest position in the lower cavity 312. When the tea leaves enter the first shelving pipe 31 through the flexible telescopic pipe 32, they will enter the lower cavity 312. The partition guiding plate 311 can form a guiding flow path constraint for the tea leaves, making it enter the tea collection box 40 more smoothly.

[0044] Specifically, the fixed connection method between the telescopic end of the telescopic device 34 and the picking pipe 33 can be any existing one, including but not limited to the method of using an annular connection bracket 37 and a tightening member 38 mentioned below.

[0045] In an alternative solution of this embodiment, preferably, as Figure 3 shown, at least one annular connection bracket 37 (multiple can be set according to needs, such as two or three, etc.) is detachably fixed on the telescopic end of the telescopic device 34, and the annular connection bracket 37 is located inside the picking pipe 33; the side wall of the picking pipe 33 has elasticity (such as an existing transparent steel wire reinforced pipe), and a tightening member 38 (such as a zip tie, a stainless steel clamp, etc.) is sleeved outside the picking pipe 33 corresponding to the position of the annular connection bracket 37, and the tightening member 38 can make the inner wall of the picking pipe 33 fixedly fit with the outer side wall of the annular connection bracket 37; a through-flow hole for the tea leaves to pass through is provided on the annular connection bracket 37. The telescopic end of the telescopic device 34 is connected to the picking pipe 33 through the detachable annular connection bracket 37, and the tightening member 38 makes the inner wall of the picking pipe 33 closely fit with the outer side wall of the annular connection bracket 37. This connection method ensures the stable connection between the telescopic device 34 and the picking pipe 33. When the telescopic device 34 drives the picking jaw 35 to perform the picking action, it can effectively prevent the picking pipe 33 from shaking or shifting, ensuring the accuracy of the picking action; when the picking pipe 33 is worn, damaged or needs to be cleaned, it can be replaced or processed separately without replacing the entire telescopic device 34 or the picking assembly, thereby reducing the maintenance cost and downtime and improving the use efficiency of the tea picking robot; the through-flow hole provided on the annular connection bracket 37 provides a smooth flow channel for the picked tea leaves; the side wall of the picking pipe 33 has elasticity, and the tightening member 38 can be adjusted according to the shape and size of the annular connection bracket 37 to make the picking pipe 33 closely fit on the annular connection bracket 37.

[0046] In an alternative solution of this embodiment, preferably, asFigure 1 and Figure 2 As shown in Figure 2 , the moving mechanism includes a first linear module 20 and a second linear module 21. The first linear module 20 is fixedly arranged at the upper end of the main body box 10, and the axis of the ball screw 24 of the first linear module 20 is parallel to the vertical direction. The second linear module 21 is fixedly arranged on the sliding seat 25 of the first linear module 20. The axis of the ball screw 24 of the second linear module 21 is perpendicular to both the vertical direction and the traveling direction of the main body box 10. The picking box 30 can be arranged on the sliding seat 25 of the second linear module 21. The axis of the ball screw 24 of the first linear module 20 being parallel to the vertical direction enables the picking box 30 to make precise position adjustments in the vertical direction to adapt to tea trees of different heights. The axis of the ball screw 24 of the second linear module 21 being perpendicular to both the vertical direction and the traveling direction of the main body box 10, and the picking box 30 being arranged on the sliding seat 25 of the second linear module 21 means that the picking box 30 can move in the horizontal transverse direction, thereby performing reciprocating picking in the horizontal transverse direction.

[0047] In an alternative embodiment of the present embodiment, preferably, as Figure 1 and Figure 2 shown in Figure 2 , the moving mechanism further includes a third linear module 22. The third linear module 22 is fixedly arranged on the sliding seat 25 of the second linear module 21. The axis of the ball screw 24 of the third linear module 22 is parallel to the vertical direction. A connecting and fixing frame 23 is fixed on the sliding seat 25 of the third linear module 22, and the connecting and fixing frame 23 is fixedly connected to the picking box 30. Assigning the height adjustment function of the picking box 30 to the third linear module 22 can make the motion control more flexible and precise. Different linear modules can respectively undertake motion tasks in different directions and with different precisions, reducing the load and control complexity of a single module. For example, the first linear module 20 is responsible for large-range vertical height adjustment, and the third linear module 22 is responsible for fine height adjustment. In this way, each module can be optimized in design and control according to actual requirements, improving the performance and reliability of the entire moving mechanism and extending the service life of the equipment.

[0048] Specifically, the cooperation between the third linear module 22 and the first linear module 20 can achieve a larger range of adjustment in the height direction, and the overall height can be reduced.

[0049] Among them, the relevant settings of the traveling mechanism 20 are described as follows:

[0050] In an alternative embodiment of the present embodiment, preferably, as Figure 1 and Figure 2As shown, the walking mechanism 20 includes four bionic multi-joint legs; on both sides of the front and rear ends of the main body box 10 in the traveling direction, one bionic multi-joint leg is provided respectively; each bionic multi-joint leg is communicatively connected to the controller, and each bionic multi-joint leg can adapt to the rough mountain road conditions.

[0051] Specifically, the bionic multi-joint leg here is a prior art, which refers to a mechanism that can still travel smoothly under rough mountain road conditions, such as the leg structure and its corresponding control settings applied on existing mechanical dogs that meet the conditions, and will not be elaborated here too much; and in addition to the above types of the walking mechanism 20, it can also be existing caterpillar type, wheel type, etc., which can be adaptively set according to the actual application scenario.

[0052] Among them, regarding other relevant settings:

[0053] In an alternative solution of this embodiment, preferably, as Figures 1 to 3 shown, an adapter 39 is provided in the picking box 30. A main output pipe 392 and a plurality of branch inlet pipes 391 are provided on the adapter 39. The branch inlet pipes 391 correspond to the branch pipes 36 one by one. The end of the branch pipe 36 is connected and communicated with the branch inlet pipe 391; a main delivery pipe 393 is connected to the main output pipe 392, and the end of the main delivery pipe 393 is communicated with the inside of the tea collection box 40. This modular pipe connection method is convenient for inspecting, maintaining and cleaning each part.

[0054] Specifically, necessary power supply equipment, such as a storage battery, is also provided in the main body box 10; to fully realize energy utilization, a solar panel can also be provided at the vacant position on the top of the main body box 10 to make reasonable use of solar energy.

[0055] Specifically, a pointed structure 14 is formed at the front end of the main body box 10 in the traveling direction, which is convenient for guiding obstacles to both sides on the traveling path and reducing the movement obstacle of the whole device in the traveling direction caused by the obstacles.

[0056] Specifically, to ensure the negative pressure effect, existing sealing settings for the joints can be provided at the joints of each pipeline to reduce the gas leakage at the joints.

[0057] Specific examples are used in the present invention to elaborate the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A tea-picking robot, characterized in that: It includes a main body box, a traveling mechanism and two tea picking mechanisms; A controller and a tea collection device are arranged inside the main body box; the tea collection device includes a tea collection box and a vacuum pump; the suction port of the vacuum pump is communicated with the inside of the tea collection box; The traveling mechanism is arranged below the main body box, and the traveling mechanism is used to drive the main body box to move; The two tea picking mechanisms are respectively arranged on both sides of the main body box in the traveling direction; the tea picking mechanism includes a moving mechanism, a visual recognition mechanism, a picking box and at least two picking components; the moving mechanism is arranged on the main body box, the picking box is arranged at the output end of the moving mechanism, and the output end of the moving mechanism is used to drive the picking box to change its spatial position; the visual recognition mechanism is used to identify the tea leaves to be picked; each picking component is arranged on the picking box, and the picking component includes a flexible telescopic tube, a picking tube, a telescopic device and a picking claw; one end of the flexible telescopic tube can be relatively fixed to the position of the picking box, and the opening of this end of the flexible telescopic tube can be communicated with the inside of the tea collection box, and the flexible telescopic tube can be telescopic; the other end of the flexible telescopic tube is connected and communicated with one end of the picking tube, and each picking tube is located below the picking box; the telescopic device is arranged inside the picking box, and the telescopic end of the telescopic device is provided with the picking claw, and the picking claw is used to fixedly clamp the cut-off part of the tea leaves to be picked; the telescopic end of the telescopic device passes through the flexible telescopic tube and the picking tube, and the telescopic end of the telescopic device is fixedly connected with the picking tube, and the picking claw is located inside the end opening of the picking tube; The controller is communicatively connected with the traveling mechanism, the vacuum pump, and the moving mechanism, the visual recognition mechanism, the telescopic device and the picking claw in each tea picking mechanism.

2. The tea-picking robot according to claim 1, wherein: A plurality of first placing tubes are fixed inside the picking box, and the first placing tubes correspond to the flexible telescopic tubes one by one; One end of the first placing tube is closed, and the other end opening of the first placing tube is connected and communicated with the end of the flexible telescopic tube far from the picking tube; the telescopic device is fixedly arranged inside the first placing tube; a side opening is formed on the side wall of the first placing tube, and the side opening is connected with a branch tube, and the branch tube can be communicated with the inside of the tea collection box; The telescopic end of the telescopic device passes through the flexible telescopic tube from inside the first placing tube and is located inside the picking tube.

3. The tea-picking robot according to claim 2, characterized in that: The telescopic device is an electric push rod; A partition guiding plate is fixed inside the first placing tube, and the partition guiding plate is fixed between the outer shell of the electric push rod and the inner wall of the first placing tube; and the partition guiding plate divides the inner cavity of the first placing tube into an upper cavity and a lower cavity; The axis of the first placing tube is in a vertical posture, the upper cavity is located above the lower cavity; the side opening is communicated with the highest position inside the lower cavity.

4. The tea-picking robot according to claim 1, wherein: At least one annular connection bracket is detachably fixed on the telescopic end of the expander, and the annular connection bracket is located inside the picking pipe; the side wall of the picking pipe is elastic, and a tightening member is sleeved outside the picking pipe at a position corresponding to the annular connection bracket, and the tightening member can make the inner wall of the picking pipe fixedly fit with the outer side wall of the annular connection bracket; A through circulation hole for the tea leaves to pass through is provided on the annular connection bracket.

5. The tea-picking robot according to claim 1, wherein: The bottom of the tea leaf collection box has a conical channel pipe; an electric control valve is provided at the small-mouth end of the lower end of the conical channel pipe; the electric control valve is communicatively connected with the controller; A drawer-type tea leaf collection box is arranged inside the main body box, and the upper opening of the drawer-type tea leaf collection box corresponds to the position of the small-mouth end of the lower end of the conical channel pipe; An opening and closing door is provided on the main body box, and the drawer-type tea leaf collection box can be pulled out inside the main body box.

6. The tea-picking robot according to claim 5, wherein: A blocking net is arranged on one side of the tea leaf collection box close to the suction port of the vacuum pump; the conical channel pipe is located on the side of the blocking net away from the suction port of the vacuum pump.

7. The tea-picking robot according to claim 1, wherein: The traveling mechanism includes four bionic multi-joint legs; On the traveling direction, one bionic multi-joint leg is provided on each side of the front and rear ends of the main body box; each bionic multi-joint leg is communicatively connected with the controller, and each bionic multi-joint leg can adapt to the rugged mountain road conditions.

8. The tea-picking robot according to claim 1, wherein: The moving mechanism includes a first linear module and a second linear module; The first linear module is fixedly arranged on the upper end of the main body box, and the axis of the ball screw of the first linear module is parallel to the vertical direction; The second linear module is fixedly arranged on the sliding seat of the first linear module; the axis of the ball screw of the second linear module is perpendicular to both the vertical direction and the traveling direction of the main body box; The picking box can be arranged on the sliding seat of the second linear module.

9. The tea-picking robot according to claim 8, wherein: The moving mechanism further includes a third linear module; the third linear module is fixedly arranged on the sliding seat of the second linear module; the axis of the ball screw of the third linear module is parallel to the vertical direction; A connection fixing frame is fixed on the sliding seat of the third linear module, and the connection fixing frame is fixedly connected with the picking box.

10. The tea-picking robot according to claim 2, wherein: A adapter is arranged inside the picking box, and a main output pipe and a plurality of branch inlet pipes are arranged on the adapter. The branch inlet pipes correspond to the branch pipes one by one, and the end of the branch pipe is connected and communicated with the branch inlet pipe; a main conveying pipe is connected to the main output pipe, and the end of the main conveying pipe is communicated with the inside of the tea leaf collection box.

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