A tea picking robot

Abstract

This invention discloses a tea-picking robot, relating to the field of tea-picking equipment technology. It includes a main body box, a walking mechanism, and two tea-picking mechanisms. The main body box houses a controller and a tea-collecting device. The tea-collecting device includes a tea-collecting box and a vacuum pump. Each tea-picking mechanism includes a moving mechanism, a visual recognition mechanism, a picking box, and at least two picking components. The picking box is connected to the main body box via the moving mechanism. Each picking component includes a flexible telescopic tube, a picking tube, a telescoping device, and picking grippers. The flexible telescopic tube is mounted on the picking box and connected to the picking tube. The telescoping device is located inside the picking box, with its telescopic end passing through the flexible telescopic tube and the picking tube, and its telescopic end is fixedly connected to the picking tube. The picking grippers are located within the end opening of the picking tube. The controller is communicatively connected to the walking mechanism, the vacuum pump, and each tea-picking mechanism. This design improves tea-picking efficiency and has a simple structure and low manufacturing cost.

Description

Technical Field

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

[0002] With economic development and the continuous improvement of people's living standards, the tea industry is constantly expanding. Premium teas, possessing high drinking value and economic benefits, are the backbone of the tea industry. Tea picking is highly seasonal, with a short picking cycle and high labor intensity, making it a labor-intensive operation. Premium teas have the most stringent requirements regarding the timing of picking and the quality of new shoots.

[0003] Currently, tea picking in my country is mainly divided into two methods: mechanized picking and manual picking. Compared with manual picking, mechanized picking reduces the intensity of manual labor. However, most of the existing tea picking robots use robotic arms as end effectors, and each robotic arm has only one picking gripper at the end, meaning it can only pick once at a time. This results in low picking efficiency and high production costs. Therefore, there are still areas for improvement in mechanized tea picking. Summary of the Invention

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

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a tea-picking robot, comprising a main body, a walking mechanism, and two tea-picking mechanisms. The main body contains a controller and a tea-collecting device. The tea-collecting device includes a tea-collecting box and a vacuum pump. The suction port of the vacuum pump is connected to the inside of the tea-collecting box. The walking mechanism is located below the main body and is used to move the main body. The two tea-picking mechanisms are respectively located on both sides of the main body in the direction of travel. Each tea-picking mechanism includes a moving mechanism, a visual recognition mechanism, a picking box, and at least two picking components. The moving mechanism is located on the main body, and the picking box is located at the output end of the moving mechanism, which is used to move the picking box in spatial position. The visual recognition mechanism is used to identify tea leaves to be picked. Each picking component is located on the picking box and includes a flexible telescopic tube, a picking tube, and a picking tube. The system includes a telescopic device and a picking gripper. One end of the flexible telescopic tube is fixed relative to the position of the picking box, and the opening at that end of the flexible telescopic tube communicates with the inside of the tea collection box. The flexible telescopic tube is telescopic. The other end of the flexible telescopic tube is connected to and communicates with one end of the picking tube, and each picking tube is located below the picking box. The telescopic device is installed inside the picking box, and the telescopic end of the telescopic device is equipped with the picking gripper, which is used to fix and hold the cut end 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 to the picking tube. The picking gripper is located in the end opening of the picking tube. The controller is communicatively connected to the walking mechanism, the vacuum pump, and the moving mechanism, the visual recognition mechanism, the telescopic device, and the picking gripper in each of the tea picking mechanisms.

[0007] Preferably, a plurality of first support tubes are fixed inside the picking box, and each of the first support tubes corresponds one-to-one with the flexible telescopic tube; one end of the first support tube is closed, and the other end of the first support tube is open and connected to the end of the flexible telescopic tube away from the picking tube; the telescopic device is fixedly installed inside the first support tube; a side opening is provided on the side wall of the first support tube, and the side opening is connected to a branch pipe, which can communicate 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 support tube and is located inside the picking tube.

[0008] Preferably, the telescopic device is an electric push rod; a dividing guide plate is fixed inside the first support tube, and the dividing guide plate is fixed between the outer shell of the electric push rod and the inner wall of the first support tube; and the dividing guide plate divides the inner cavity of the first support tube into an upper cavity and a lower cavity; the axis of the first support tube is vertical, and the upper cavity is located above the lower cavity; the side opening communicates with the highest point inside the lower cavity.

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

[0010] Preferably, the bottom of the tea collection box has a conical channel tube; an electrically controlled valve is provided at the lower small end of the conical channel tube; the electrically controlled valve is communicatively connected to the controller; a drawer-type tea collection box is provided inside the main body box, and the upper opening of the drawer-type tea collection box corresponds to the lower small end of the conical channel tube; the main body box is provided with an opening and closing door, and the drawer-type tea collection box can be pulled out from inside the main body box.

[0011] Preferably, an intercepting net is provided inside the tea collection box on the side near the suction port of the vacuum pump; the conical channel tube is located on the side of the intercepting net away from the suction port of the vacuum pump.

[0012] Preferably, the walking mechanism includes four bionic multi-joint legs; in the direction of travel, one of the bionic multi-joint legs is provided on each side of the front and rear ends of the main body box; each of the bionic multi-joint legs is communicatively connected to the controller, and each of the bionic multi-joint legs can adapt to uneven mountain road conditions.

[0013] Preferably, the moving mechanism includes a first linear module and a second linear module; the first linear module is fixedly disposed at 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 disposed 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 disposed 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 mounted 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 bracket is fixedly mounted on the sliding seat of the third linear module, and the connecting bracket is fixedly connected to the picking box.

[0015] Preferably, the picking box is equipped with an adapter, which has a main output pipe and multiple branch inlet pipes. Each branch inlet pipe corresponds to a branch pipe, and the end of each branch pipe is connected to and communicates with the branch inlet pipe. The main output pipe is connected to a main conveying pipe, and the end of the main conveying pipe communicates with the interior of the tea collection box.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The tea-picking robot provided by this invention features a picking component arranged on each side of the main body box. During tea picking, these components can pick tea leaves from the corresponding tea ridges on each side. Multiple picking components are installed on each side of the picking box, forming multiple end effectors on one side. This arrangement of multiple picking components allows for the picking of tea leaves from multiple points in a single operation, achieving high efficiency. A visual recognition mechanism identifies the position and shape of the tea leaves to be picked, providing precise positioning information. Based on the information provided by the visual recognition mechanism, the controller moves the picking box above the area to be picked. Picking components located below the picking box, directly opposite the area and corresponding to tea leaves at different heights, can be independently raised and lowered under the controller's control, ensuring a one-to-one correspondence between the tea leaves and the picking components. The picking grippers are located at the telescopic end of the telescopic device, and both are inside the picking tube. The negative pressure environment inside the picking tube allows the tea leaves to enter more precisely for secure gripping by the picking claws. Under this gripping force, the retraction of the telescopic end of the telescoping mechanism creates a "lifting" action within the tube, minimizing interference with surrounding tea leaves and achieving more precise picking. Tea picked in this way has intact buds and leaves, high freshness, and a more attractive appearance. Complete and aesthetically pleasing tea leaves are often considered a symbol of superior quality, especially satisfying the appearance requirements of high-end teas. The telescoping end of the telescoping mechanism lowers the picking tube and the picking claws within it, enabling more precise picking. After being picked, the tea leaves are drawn into a tea collection box under negative pressure for centralized storage. The relatively simple structure and streamlined communication between the controller and components, unlike robotic arms which require complex multi-axis linkage control, reduce manufacturing costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the tea-picking robot provided by the present invention;

[0020] Figure 2 This is a structural schematic diagram of the tea-picking robot provided by the present invention from another perspective;

[0021] Figure 3 This is a schematic diagram of the picking component in the tea-picking robot provided by the present invention;

[0022] Figure 4 This is a schematic diagram of the tea-collecting device in the tea-picking robot provided by the present invention.

[0023] In the picture:

[0024] 10-Main body box; 11-Walking 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-Connecting bracket; 24-Ball screw; 25-Sliding seat;

[0026] 30-Picking box; 31-First shelving tube; 311-Divider guide plate; 312-Lower cavity; 32-Flexible telescopic tube; 33-Picking tube; 34-Telescopic device; 35-Picking gripper; 36-Branch tube; 37-Annular connecting bracket; 38-Securing element; 39-Adapter; 391-Branch inlet tube; 392-Main output tube; 393-Main conveying tube;

[0027] 40-Tea collection box; 401-Conical channel pipe; 402-Electrically controlled valve; 403-Interception net; 41-Vacuum pump; 42-Drawer-type tea collection box. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

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

[0031] Example 1

[0032] This embodiment provides a tea-picking robot, primarily but not limited to the picking of premium teas from hilly and mountainous areas, such as... Figures 1-4 As shown, the system includes a main body box 10, a walking mechanism 20, and two tea-picking mechanisms. The main body box 10 contains a controller and a tea-collecting device. The tea-collecting device includes a tea-collecting box 40 and a vacuum pump 41. The suction port of the vacuum pump 41 is connected to the inside of the tea-collecting box 40. The walking mechanism 20 is located below the main body box 10 and is used to move the main body box 10. The two tea-picking mechanisms are respectively located on both sides of the main body box 10 in the direction of travel. Each tea-picking mechanism includes a moving mechanism, a visual recognition mechanism, a picking box 30, and at least two picking mechanisms. The picking components include: a moving mechanism mounted on the main body box 10, and a picking box 30 mounted on the output end of the moving mechanism, which drives the picking box 30 to change its spatial position; a visual recognition mechanism for identifying tea leaves to be picked (the visual recognition mechanism for identifying tea leaves to be picked is existing technology and will not be described in detail here); each picking component is mounted on the picking box 30, and the picking components include a flexible telescopic tube 32 (such as a corrugated pipe), a picking tube 33, a telescopic device 34, and a picking gripper 35; one end of the flexible telescopic tube 32 can connect with the picking box 30. The position is relatively fixed, and the opening at one end of the flexible telescopic tube 32 (the opening at the end fixed to the picking box 30) can communicate with the inside of the tea collection box 40, and the flexible telescopic tube 32 can extend and retract; the other end of the flexible telescopic tube 32 is connected to one end of the picking tube 33, and each picking tube 33 is located below the picking box 30; the telescopic device 34 is set inside the picking box 30, and the telescopic end of the telescopic device 34 is provided with a picking claw 35, which is used to fix and hold the cut end of the tea leaves to be picked; the telescopic end of the telescopic device 34 passes through the flexible telescopic tube. The telescopic end of the telescopic device 34 is fixedly connected to the picking tube 33, and the picking gripper 35 is located in the end opening of the picking tube 33 (the picking gripper 35 can be set in the picking tube 33 and at 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 according to the length of the cut-off part of the tea leaves to be picked, etc.); the controller is communicatively connected to the walking mechanism 20, the vacuum pump 41, and the moving mechanism, visual recognition mechanism, telescopic device 34 and picking gripper 35 in each tea picking mechanism.

[0033] By arranging a picking component on each side of the main body box 10, the picking components on both sides can pick tea leaves on the corresponding tea ridges during tea picking. Multiple picking components are installed on each side of the picking box 30, forming multiple end effectors on one side. The arrangement of multiple picking components allows for tea picking from multiple points at a time, achieving high picking efficiency. A visual recognition mechanism identifies the position and shape of the tea leaves to be picked, providing precise positioning information. Based on the information provided by the visual recognition mechanism, the controller moves the picking box 30 by controlling the moving mechanism, placing it above the area of ​​tea leaves to be picked. Picking components located below the picking box 30 and corresponding to tea leaves at different heights can be independently raised and lowered under the control of the controller, ensuring a one-to-one correspondence between the tea leaves and the picking components. The picking gripper 35 is located at the telescopic end of the telescopic device 34, and both are located inside the picking tube 33. A negative pressure ring inside the picking tube 33... Under negative pressure, the tea leaves can be more accurately inserted into the picking tube 33 for secure gripping by the picking claws 35. With the claws 35 in place, the retraction of the telescopic end of the telescoping device 34 creates a "lifting" action within the picking tube 33, reducing interference with surrounding tea leaves and achieving more precise picking. Tea leaves picked in this way have intact buds and leaves, high freshness, and are more visually appealing. Complete and aesthetically pleasing tea leaves are often considered a symbol of superior quality, especially satisfying the appearance requirements of high-end teas. The telescopic end of the telescoping device 34 can lower the picking tube 33 and the picking claws 35 within it together, achieving more precise picking. After being picked, the tea leaves can be drawn into the tea collection box 40 for centralized storage under negative pressure. The device employs a relatively simple structure, resulting in a simpler overall design and a more streamlined communication connection between the controller and various components. Unlike robotic arms, it does not require complex multi-axis linkage control, reducing manufacturing costs.

[0034] The following are the settings instructions for the main body box 10:

[0035] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 4As shown, the bottom of the tea collection box 40 has a conical channel tube 401; an electrically controlled valve 402 is provided on the lower small end of the conical channel tube 401; the electrically controlled valve 402 is communicatively connected to the controller; a drawer-type tea collection box 42 is provided inside the main body box 10, and the upper opening of the drawer-type tea collection box 42 corresponds to the position of the lower small end of the conical channel tube 401; an opening and closing door 12 is provided on the main body box 10, and the drawer-type tea collection box 42 can be pulled out from inside the main body box 10. The tapered channel tube 401 at the bottom of the tea collection box 40 guides the tea leaves to fall in a concentrated manner, allowing them to gather more smoothly into the collection box below. This prevents uneven accumulation of tea leaves in the collection box or blockage of the suction space, thus improving collection efficiency. Combined with the electrically controlled valve 402 and the drawer-type tea collection box 42, tea leaves can be collected in categories according to different harvesting batches, tea varieties, or quality grades, facilitating subsequent sorting and processing. The drawer-type tea collection box 42 can be pulled out from the main box 10. This design allows operators to easily remove the collection box for tea transfer or processing during or after harvesting, eliminating the need for complex operations or disassembly, saving time and manpower. The opening and closing door 12 maintains a relatively closed environment inside the main box 10 during tea collection and storage, reducing the impact of external factors such as dust and moisture on the tea leaves, thus helping to protect the quality and freshness of the tea.

[0036] Specifically, a necessary slide rail 13 can be provided inside the main body box 10 at the position corresponding to the drawer-type tea collection box 42, and a sliding groove can be provided at the bottom of the drawer-type tea collection box 42 to cooperate with the slide rail 13; and a rolling wheel can also be provided in the sliding groove at the position corresponding to the slide rail 13 to improve the smoothness of pulling out and reduce wear; and a sensor can be provided inside the drawer-type tea collection box 42, and an alarm is provided on the main body box 10. When the tea volume in the drawer-type tea collection box 42 reaches a threshold, the sensor can be triggered to generate a sensing signal (the sensor here is an existing sensor, which can be any sensor used to monitor the tea volume). The controller is communicatively connected to the sensor and the alarm, and the alarm will provide a prompt.

[0037] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 4 As shown, an intercepting net 403 is installed inside the tea collection box 40 near the suction port of the vacuum pump 41; a tapered channel tube 401 is located on the side of the intercepting net 403 away from the suction port of the vacuum pump 41. The intercepting net 403 can effectively prevent tea leaves from entering the suction port of the vacuum pump 41, ensuring the normal operation of the vacuum pump 41 and improving the overall reliability and stability of the tea-picking robot.

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

[0039] The following are the relevant instructions regarding the setup of tea-picking organizations:

[0040] Specifically, the picking gripper 35 is an existing device, which can be a mini clamp of the pneumatic clamp type. A ventilation control device for control can be set in the picking box 30. The air pipe of the ventilation control device passes through the first support pipe 31, the flexible telescopic pipe 32 and the picking pipe 33 in sequence and is connected to the picking gripper 35 located in the picking pipe 33.

[0041] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-3 As shown, a plurality of first support tubes 31 are fixed inside the picking box 30, and the first support tubes 31 correspond one-to-one with the flexible telescopic tubes 32; one end of the first support tube 31 is closed, and the other end of the first support tube 31 is open and connected to the end of the flexible telescopic tube 32 away from the picking tube 33; the telescopic device 34 is fixedly installed inside the first support tube 31; a side opening is provided on the side wall of the first support tube 31, and a branch tube 36 is connected to the side opening, which can communicate with the inside of the tea collection box 40; the telescopic end of the telescopic device 34 passes through the flexible telescopic tube 32 from inside the first support tube 31 and is located inside the picking tube 33. The telescopic device 34 is fixedly installed inside the first support tube 31, which provides stable support and protection for the telescopic device 34. The first support tube 31 is like a protective shell, which can prevent the telescopic device 34 from being interfered with or damaged by external factors, such as collisions and scratches. At the same time, it also helps to reduce the shaking and vibration of the telescopic device 34 during operation, making its telescopic movement more precise and stable, thereby improving the clamping accuracy of the picking claw 35 on the tea leaves. The setting of the first support tube 31 makes full use of the space inside the picking box 30, so that components such as the telescopic device 34 and the flexible telescopic tube 32 can be reasonably arranged without occupying too much extra space. At the same time, the branch tube 36 connected by the side opening can also cleverly guide the tea leaves into the tea collection box 40. While ensuring the realization of functions, the structure of the entire picking mechanism is more compact and the space utilization rate is improved.

[0042] Specifically, the position of the trachea passing through the first support tube 31 and the partition guide plate 311 inside the first support tube 31 can be set to a sliding and sealed structure as in the prior art, thereby ensuring the negative pressure environment of the lower cavity 312.

[0043] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3As shown, the telescopic device 34 is an electric push rod; a dividing guide plate 311 is fixed inside the first shelf tube 31, and the dividing guide plate 311 is fixed between the outer shell of the electric push rod and the inner wall of the first shelf tube 31; the dividing guide plate 311 divides the inner cavity of the first shelf tube 31 into an upper cavity and a lower cavity 312; the axis of the first shelf tube 31 is vertical, and the upper cavity is located above the lower cavity 312; the side opening is connected to the highest point inside the lower cavity 312. The dividing guide plate 311 divides the inner cavity of the first shelf tube 31 into an upper cavity and a lower cavity 312, and the side opening is connected to the highest point inside the lower cavity 312. When tea leaves enter the first shelf tube 31 through the flexible telescopic tube 32, they will enter the lower cavity 312. The dividing guide plate 311 can form a guiding flow path constraint for the tea leaves, allowing them to enter the tea collection box 40 more smoothly.

[0044] Specifically, the telescopic end of the telescopic device 34 can be fixedly connected to the harvesting tube 33 in any existing way, including but not limited to the method mentioned below, which uses a ring-shaped connecting bracket 37 and a tightening member 38.

[0045] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3 As shown, at least one annular connecting bracket 37 (multiple brackets can be provided as needed, such as two or three) is detachably fixed to the telescopic end of the telescopic device 34. The annular connecting bracket 37 is located inside the picking tube 33. The side wall of the picking tube 33 is elastic (such as an existing transparent steel wire reinforced tube), and a fastening member 38 (such as a cable tie, stainless steel clamp, etc.) is sleeved on the outside of the picking tube 33 at the position corresponding to the annular connecting bracket 37. The fastening member 38 can make the inner wall of the picking tube 33 fixedly fit against the outer wall of the annular connecting bracket 37. The annular connecting bracket 37 is provided with a through flow hole for tea leaves to pass through. The telescopic end of the telescopic device 34 is connected to the picking tube 33 via a detachable annular connecting bracket 37, and the tightening member 38 ensures that the inner wall of the picking tube 33 is tightly fitted to the outer wall of the annular connecting bracket 37. This connection method ensures a stable connection between the telescopic device 34 and the picking tube 33. When the telescopic device 34 drives the picking gripper 35 to perform the picking action, it can effectively prevent the picking tube 33 from shaking or shifting, ensuring the accuracy of the picking action. When the picking tube 33 is worn, damaged, or needs cleaning, it can be replaced or treated separately without replacing the entire telescopic device 34 or the picking assembly, thereby reducing maintenance costs and downtime and improving the efficiency of the tea picking robot. The through-flow hole provided on the annular connecting bracket 37 provides a smooth flow channel for the picked tea leaves. The side wall of the picking tube 33 is elastic, and the tightening member 38 can be adjusted according to the shape and size of the annular connecting bracket 37, so that the picking tube 33 fits tightly against the annular connecting bracket 37.

[0046] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2 As shown, the moving mechanism includes a first linear module 20 and a second linear module 21. The first linear module 20 is fixedly mounted on 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 mounted 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 mounted on the sliding seat 25 of the second linear module 21. The fact that the axis of the ball screw 24 of the first linear module 20 is parallel to the vertical direction allows the picking box 30 to be precisely adjusted in the vertical direction to accommodate tea trees of different heights. The fact that 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, and that the picking box 30 is mounted on the sliding seat 25 of the second linear module 21, means that the picking box 30 can move in the horizontal direction, thereby performing reciprocating picking in the horizontal direction.

[0047] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2 As shown, the moving mechanism also includes a third linear module 22; the third linear module 22 is fixedly mounted 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 bracket 23 is fixedly mounted on the sliding seat 25 of the third linear module 22, and the connecting bracket 23 is fixedly connected to the picking box 30. Distributing the height adjustment function of the picking box 30 to the third linear module 22 makes motion control more flexible and precise. Different linear modules can undertake motion tasks of different directions and precision, reducing the load and control complexity of individual modules. For example, the first linear module 20 is responsible for a larger range of vertical height adjustment, while the third linear module 22 is responsible for fine height adjustments. This allows for optimized design and control of each module according to actual needs, 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 enables a wider range of adjustments in the height direction, and the overall height can be reduced.

[0049] The following are the relevant settings for the walking mechanism 20:

[0050] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2As shown, the walking mechanism 20 includes four bionic multi-joint legs; in the direction of travel, there is a bionic multi-joint leg on each side of the front and rear ends of the main body box 10; each bionic multi-joint leg is connected to the controller and can adapt to uneven mountain road conditions.

[0051] Specifically, the bionic multi-joint leg mentioned here refers to existing technology, specifically a mechanism that can adapt to uneven mountain roads and move smoothly, such as the leg structure and corresponding control settings used in existing mechanical dogs that meet the requirements, which will not be elaborated on here. In addition to the above 20 types of walking mechanisms, it can also be existing tracked, wheeled, and other types, which can be adapted according to the actual application scenario.

[0052] Regarding other related settings:

[0053] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-3 As shown, the picking box 30 is equipped with an adapter 39, which has a main output pipe 392 and multiple branch inlet pipes 391. Each branch inlet pipe 391 corresponds to a branch pipe 36, and the end of each branch pipe 36 is connected to and communicates with the branch inlet pipe 391. The main output pipe 392 is connected to a main conveying pipe 393, and the end of the main conveying pipe 393 communicates with the interior of the tea collection box 40. This modular pipe connection method facilitates the inspection, maintenance, and cleaning of each part.

[0054] Specifically, the main body box 10 is also equipped with necessary power supply equipment, such as a storage battery; in order to make full use of energy, a solar panel can also be installed in the empty space on the top of the main body box 10 to make reasonable use of solar energy.

[0055] Specifically, the main body box 10 forms a pointed structure 14 at the front end in the direction of travel, which facilitates guiding obstacles to both sides in the travel path and reduces the obstruction of the entire device in the direction of travel.

[0056] Specifically, to ensure the negative pressure effect, existing sealing devices can be installed at the connection points of each pipeline to reduce gas leakage at the connection points.

[0057] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A tea-picking robot, characterized in that: It includes the main body box, the walking mechanism, and two tea-picking mechanisms; The main body is equipped with a controller and a tea collection device; the tea collection device includes a tea collection box and a vacuum pump; the suction port of the vacuum pump is connected to the inside of the tea collection box; The walking mechanism is located below the main body box, and the walking mechanism is used to drive the main body box to move; Two tea-picking mechanisms are respectively arranged on both sides of the main body box in the direction of travel; each 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, and the picking box is arranged at the output end of the moving mechanism, 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 gripper; one end of the flexible telescopic tube can be positioned relative to the picking box. The flexible telescopic tube is fixed, and its opening at one end can communicate with the inside of the tea collection box. The flexible telescopic tube is telescopic. The other end of the flexible telescopic tube is connected and communicates with one end of the picking tube. Each picking tube is located below the picking box. The telescopic device is installed inside the picking box, and the telescopic end of the telescopic device is provided with the picking claw. The picking claw is used to fix and hold the cut end 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 to the picking tube. The picking claw is located inside the opening at the end of the picking tube. The controller is communicatively connected to the walking mechanism, the vacuum pump, and the moving mechanism, the visual recognition mechanism, the telescopic device, and the picking gripper in each of the tea picking mechanisms; The picking box is equipped with multiple first support tubes, and each first support tube corresponds to a flexible telescopic tube. One end of the first support tube is closed, and the other end of the first support tube is open and connected to the end of the flexible telescopic tube away from the picking tube; the telescopic device is fixedly installed inside the first support tube; a side opening is provided on the side wall of the first support tube, and a branch pipe is connected to the side opening, which can communicate with the inside of the tea collection box. The telescopic end of the telescopic device passes through the flexible telescopic tube from the first support tube and is located inside the harvesting tube.

2. The tea-picking robot according to claim 1, characterized in that: The telescopic device is an electric push rod; A dividing guide plate is fixed inside the first shelf tube. The dividing guide plate is fixed between the outer shell of the electric push rod and the inner wall of the first shelf tube; and the dividing guide plate divides the inner cavity of the first shelf tube into an upper cavity and a lower cavity. The axis of the first support tube is vertical, and the upper cavity is located above the lower cavity; the side opening is connected to the highest point inside the lower cavity.

3. The tea-picking robot according to claim 1, characterized in that: At least one annular connecting bracket is detachably fixed to the telescopic end of the telescopic device, and the annular connecting bracket is located inside the harvesting tube; the side wall of the harvesting tube is elastic, and a fastening member is sleeved on the outside of the harvesting tube at the position corresponding to the annular connecting bracket, and the fastening member can make the inner wall of the harvesting tube and the outer wall of the annular connecting bracket fit together in a fixed manner. The annular connecting bracket is provided with a through flow hole for tea leaves to pass through.

4. The tea-picking robot according to claim 1, characterized in that: The bottom of the tea collection box has a tapered channel tube; an electrically controlled valve is installed at the lower small end of the tapered channel tube; the electrically controlled valve is communicatively connected to the controller; A drawer-type tea collection box is provided inside the main body box, and the upper opening of the drawer-type tea collection box corresponds to the lower small opening of the tapered channel tube. The main body box is equipped with an opening and closing door, and the drawer-type tea collection box can be pulled out from inside the main body box.

5. The tea-picking robot according to claim 4, characterized in that: An intercepting net is installed inside the tea collection box on the side near the suction port of the vacuum pump; the conical channel tube is located on the side of the intercepting net away from the suction port of the vacuum pump.

6. The tea-picking robot according to claim 1, characterized in that: The walking mechanism includes four bionic multi-joint legs; In the direction of travel, each of the two sides of the front and rear ends of the main body box is provided with a bionic multi-joint leg; each of the bionic multi-joint legs is communicatively connected to the controller, and each of the bionic multi-joint legs can adapt to uneven mountain road conditions.

7. The tea-picking robot according to claim 1, characterized in that: The moving mechanism includes a first linear module and a second linear module; The first linear module is fixedly installed at 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 mounted 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 mounted on the sliding seat of the second linear module.

8. The tea-picking robot according to claim 7, characterized in that: The moving mechanism further includes a third linear module; the third linear module is fixedly mounted 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 bracket is fixed on the sliding seat of the third linear module, and the connecting bracket is fixedly connected to the picking box.

9. The tea-picking robot according to claim 1, characterized in that: The picking box is equipped with an adapter, which has a main output pipe and multiple branch inlet pipes. Each branch inlet pipe corresponds to a branch pipe, and the end of each branch pipe is connected to and communicates with the branch inlet pipe. The main output pipe is connected to a main conveying pipe, and the end of the main conveying pipe is connected to the inside of the tea collection box.

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