Automatic tea leaf picking robot

Abstract

The invention belongs to the field of tea leaf picking, and provides an automatic tea leaf picking robot which comprises an adaptation mechanism, the adaptation mechanism comprises a mounting base, a first connecting block and a second connecting block, two crawler-type moving assemblies are arranged on the side edge of the mounting base, and a tilt angle sensor is arranged on the upper surface of the mounting base. A mounting mechanism is arranged above the mounting base, the mounting mechanism comprises a mounting plate, two groups of first connecting blocks and two groups of second connecting blocks are arranged, each group comprises two first connecting blocks and two second connecting blocks, and the two first connecting blocks of each group are fixedly connected with the upper surface of the mounting base. According to the tea picking device, the mounting plate can be always kept at a relatively horizontal position, the practicability of the device is improved, the device is more stable during tea picking work, meanwhile, an adjusting plate can be prevented from extending out of the whole device, and normal movement of the device is prevented from being affected by the adjusting plate.

Description

Technical Field

[0001] The invention belongs to the field of tea picking, in particular to an automatic tea picking robot. Background Art

[0002] Tea, commonly known as tea, generally consists of the leaves and buds of the Camellia sinensis plant. Tea ingredients include catechins, cholestenone, caffeine, inositol, folic acid, and pantothenic acid, which are beneficial to health. With the development of automated tea picking technology, a large number of automated mechanical picking equipment have been developed.

[0003] For example, the Chinese patent with publication number CN202011571905.6 discloses an automated precision tea-picking robot, in which a camera and a fixed bracket are installed on a movable body, and a translation drive mechanism, a push plate correction mechanism, a vertical movement mechanism and a picking and storing mechanism respectively connected to a controller are installed on the fixed bracket. The controller determines the position information and tilt state of the tea tree according to the image information of the tea tree to be picked collected by the camera, thereby outputting corresponding control instructions to the translation drive mechanism, the vertical movement mechanism, the picking and storing mechanism and the push plate correction mechanism; the translation drive mechanism is used to drive the picking and storing mechanism connected to the vertical movement mechanism to move horizontally; the vertical movement mechanism is used to drive the picking and storing mechanism to move vertically; the picking and storing mechanism is used to perform opening and closing shearing actions on the tea buds; the push plate correction mechanism is used to push and straighten the tilted tea tree. Compared with the prior art, the present invention can achieve the purpose of comprehensive, reliable and precise picking, and can reduce picking losses.

[0004] However, although the above application can achieve the purpose of comprehensive, reliable and precise picking, and can reduce picking losses, during the specific working process of the above application, the angle of the working platform will change with the changes in the terrain, resulting in the overall ability of the device to adapt to the terrain being poor, and the overall flexibility being poor. The tea picking mechanism extends beyond the overall outside of the device, resulting in the device being subject to greater limitations when moving. For this reason, technical personnel in this field have proposed an automated tea picking robot to solve the problems raised by the background technology. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides an automated tea picking robot to solve the problem in the prior art that during the specific working process, the angle of the working platform changes with the change of the terrain, resulting in poor ability of the overall device to adapt to the terrain and poor overall flexibility. The tea picking mechanism extends beyond the outside of the entire device, resulting in greater limitations when the device moves.

[0006] An automated tea picking robot comprises an adaption mechanism, the adaption mechanism comprising a mounting base, a first connecting block and a second connecting block, two crawler-type moving assemblies are provided on the side of the mounting base, an inclination sensor is provided on the upper surface of the mounting base, a mounting mechanism is provided above the mounting base, the mounting mechanism comprises a mounting plate, two groups of the first connecting block and the second connecting block are provided, each group of the first connecting block and the second connecting block is provided with two, the two first connecting blocks in each group are fixedly connected to the upper surface of the mounting base, the two second connecting blocks in each group are fixedly connected to the bottom of the mounting plate, the first connecting block and the second connecting block are fixedly connected to the bottom of the mounting plate, and the first connecting block and the second connecting block are fixedly connected to the bottom of the mounting plate. Corresponding to each other, a first mounting rod is provided between the two first connecting blocks in each group, a second mounting rod is provided between the two second connecting blocks in each group, a plurality of first rotating blocks and second rotating blocks are provided between each of the first mounting rod and the second mounting rod, an adaptive adjustment hydraulic push rod is provided between each of the first rotating block and the second rotating block, two movable grooves are provided on the upper surface of the mounting plate, a guide rod is provided inside each of the movable grooves, a movable block is slidably sleeved on the surface of each of the guide rods, an adjustment mechanism is provided on the top of the two movable blocks, the adjustment mechanism includes an adjustment plate, and a picking mechanism is provided on the top of the adjustment plate.

[0007] Preferably, the mounting mechanism includes a side panel, which is located on the upper front surface of the mounting plate and is fixedly connected to the mounting plate. Side panels are fixedly connected to the left and right sides of the mounting plate. Collection boxes are provided on the side of the two side panels away from the mounting plate. Fixing bolts are provided between the collection box and the side panel, and the collection box and the side panel are fixedly connected by fixing bolts.

[0008] Preferably, the adjustment mechanism also includes a first mounting block, which is located at the top of the moving block and fixedly connected to the top of the moving block. Several second hydraulic push rods are arranged inside the first mounting block, and a first hydraulic push rod is arranged between the first mounting block and the side plate. The two ends of the first hydraulic push rod are respectively fixedly connected to the side plate and the first mounting block.

[0009] Preferably, a second mounting block is provided on the top of the second hydraulic push rod, a driving motor is provided inside the second mounting block, the top of the output shaft of the driving motor is fixedly connected to the adjustment plate, a through groove is provided in the middle of the adjustment plate, side mounting blocks are provided on both sides of the adjustment plate, and an adjustment groove is provided on the upper surface of each side mounting block.

[0010] Preferably, a threaded rod is provided inside each of the adjusting slots, and an adjusting block is threadedly sleeved on the surface of each of the threaded rods. The adjusting block is threadedly connected to the threaded rod, and one end of the threaded rod is rotatably connected to the inside of the adjusting slot, and the other end of the threaded rod passes through the adjusting slot and extends to the outside of the side mounting block. A rotating motor is provided at one end of the threaded rod located outside the side mounting block, and the output shaft of the rotating motor is fixedly connected to the threaded rod. A motor plate is provided at the bottom of the rotating motor, and the motor plate is fixedly connected to the adjusting plate.

[0011] Preferably, a movable plate is provided on the top of each of the two adjusting blocks, a sliding groove is provided on the side of the movable plate, and a sliding rod is provided inside the sliding groove.

[0012] Preferably, the picking mechanism includes a top plate, which is fixedly connected to the top of the movable plate, a third hydraulic push rod is provided at the bottom of the top plate, a slider is provided at the bottom of the third hydraulic push rod, the slider is sleeved on the surface of the sliding rod, the slider is slidably connected to the sliding rod, a connecting plate is provided at the bottom of the slider, and a picking component is provided at the bottom of the connecting plate.

[0013] Preferably, the picking assembly includes a base plate and an intermediate plate, the base plate is located at the bottom of the movable plate, the intermediate plate is located at the side of the movable plate, a fourth hydraulic push rod is provided at the bottom of the intermediate plate, the lower surface of the base plate is fixedly connected to a mounting frame, the output end of the fourth hydraulic push rod passes through the base plate and extends to the inside of the mounting frame, and a push block is provided at one end of the fourth hydraulic push rod located inside the mounting frame.

[0014] Preferably, two connecting parts are provided on the lower surface of the pushing block, and two first movable rods are provided between the two connecting parts. The two first movable rods are staggered and rotatably connected to each other. The bottoms of the two first movable rods are rotatably connected to the second movable rod, and a rotating rod is provided between the first movable rod and the second movable rod. A movable groove is provided on the bottom side of the mounting frame, and the rotating rod is located inside the movable groove and is slidably connected to the movable groove. The two second movable rods are staggered and rotatably connected to each other. A fixed block is provided at the bottom of the two second movable rods, and a picking bucket is provided at the bottom of the two fixed blocks.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention detects the angle of the mounting base through an inclination sensor. When the inclination angle exceeds 5 degrees, a group of adaptive adjustment hydraulic push rods will push the first rotating block to move, and the corresponding other group of adaptive adjustment hydraulic push rods will drop synchronously. At this time, the inclination sensor on the surface of the mounting plate detects the inclination angle of the mounting plate surface. When the inclination angle of the mounting plate surface is less than 5 degrees, the two groups of adaptive adjustment hydraulic push rods maintain the current length and flexibly move the mounting plate according to the data of the inclination sensors on the surface of the mounting plate and the surface of the mounting base in real time, so that the mounting plate is always maintained in a relatively horizontal position, thereby improving the practicality of the device and making the device more stable during tea picking.

[0017] 2. The present invention adopts a crawler-type mobile component design, which enables the device to adapt to the movement of most terrains, and can drive the adjustment plate to rotate through the drive motor arranged inside the second mounting block, so that the adjustment plate is located above the mounting plate, and the second mounting block is driven downward by the second hydraulic push rod inside the first mounting block, thereby preventing the adjustment plate from extending outside the entire device and preventing the adjustment plate from affecting the normal movement of the device.

[0018] 3. The present invention moves the device to the tea picking area, and then drives the second mounting block to move upward through the second hydraulic push rod, so that the height of the adjustment plate exceeds the side plate, and drives the adjustment plate to rotate through the driving motor. At this time, the second mounting block is continued to be pushed to move by the second hydraulic push rod, so that the adjustment plate is located above the tea tree. During picking, the push block is pushed to move by the fourth hydraulic push rod. When the push block moves, it squeezes the two staggered first movable rods, so that the two first movable rods rotate. When the two first movable rods rotate, they will synchronously drive the two second movable rods to rotate, thereby driving the two fixed blocks and the picking bucket away from each other. Then, the slider is pushed to slide on the surface of the sliding rod by the third hydraulic push rod, and the position of the connecting plate and the picking assembly is fine-tuned so that the picking bucket contacts the top of the tea tree. At this time, the fourth hydraulic push rod is set The push block is pushed to move upward. When the push block moves, it will drive the first movable rod and the second movable rod to move upward and rotate, so that the picking bucket can pick the tea leaves. After the tea leaves are picked, the threaded rod is driven to rotate by the rotating motor, thereby moving the adjustment block and the movable plate on the surface of the threaded rod. When the movable plate moves to the top of the collection box, the third hydraulic push rod drives the picking assembly to move downward. When the bottom of the picking bucket is located inside the collection box, the fourth hydraulic push rod controls the picking bucket to open, and the picked tea leaves fall into the collection box for collection. After the tea trees at the same position are picked, the first hydraulic push rod is used to push the movable block to slide on the surface of the guide rod inside the movable groove, thereby changing the position of the adjusting mechanism and the picking mechanism. Repeating the above operations can perform tea picking on tea trees in different positions, making the tea picking work of the device more flexible and improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 Schematic diagram of the structure of the adaptation mechanism in the present invention;

[0021] Figure 3 It is a structural schematic diagram of the installation mechanism in the present invention;

[0022] Figure 4 It is a structural diagram of the adjusting mechanism and the picking mechanism in the present invention;

[0023] Figure 5 Schematic diagram of the structure of the adjustment mechanism of the present invention;

[0024] Figure 6 It is a structural diagram of the picking mechanism in the present invention;

[0025] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle.

[0026] In the picture:

[0027] 1. Adaptation mechanism; 101. Mounting base; 102. Crawler moving assembly; 103. First connecting block; 104. Second connecting block; 105. First mounting rod; 106. Second mounting rod; 107. First rotating block; 108. Second rotating block; 109. Adaptation adjustment hydraulic push rod; 110. Inclination sensor; 2. Mounting mechanism; 201. Mounting plate; 202. Side plate; 203. Side plate; 204. Collection box; 205. Fixing bolt; 206. Moving groove; 207. Moving block; 208. Guide rod; 3. Adjustment mechanism; 301. First mounting block; 302. First hydraulic push rod; 303. Second hydraulic push rod; 304. Second mounting block; 305. Drive 306, adjusting plate; 307, through-groove; 308, movable plate; 309, side mounting block; 310, adjusting groove; 311, threaded rod; 312, rotating motor; 313, motor plate; 314, adjusting block; 315, sliding groove; 316, sliding rod; 4, picking mechanism; 401, top plate; 402, third hydraulic push rod; 403, slider; 404, connecting plate; 405, middle plate; 406, fourth hydraulic push rod; 407, bottom plate; 408, mounting frame; 409, push block; 410, connecting piece; 411, first movable rod; 412, second movable rod; 413, fixed block; 414, picking bucket; 415, movable groove; 416, rotating rod. DETAILED DESCRIPTION

[0028] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0029] As attached Figure 1 To the attached Figure 7 As shown:

[0030] Embodiment 1: The present invention provides an automated tea picking robot, comprising an adaption mechanism 1, the adaption mechanism 1 comprising a mounting base 101, a first connecting block 103 and a second connecting block 104, two crawler-type moving assemblies 102 are provided on the side of the mounting base 101, an inclination sensor 110 is provided on the upper surface of the mounting base 101, a mounting mechanism 2 is provided above the mounting base 101, the mounting mechanism 2 comprises a mounting plate 201, two groups of the first connecting block 103 and the second connecting block 104 are provided, each group of the first connecting block 103 and the second connecting block 104 is provided with two, and the two first connecting blocks 103 of each group are connected to the mounting base The upper surface of the seat 101 is fixedly connected, and the two second connecting blocks 104 of each group are fixedly connected to the bottom of the mounting plate 201. The first connecting block 103 and the second connecting block 104 correspond to each other. A first mounting rod 105 is provided between the two first connecting blocks 103 of each group, and a second mounting rod 106 is provided between the two second connecting blocks 104 of each group. A plurality of first rotating blocks 107 and second rotating blocks 108 are provided between each first mounting rod 105 and the second mounting rod 106, and an adaptive adjustment hydraulic push rod 109 is provided between each first rotating block 107 and the second rotating block 108. The crawler-type moving assembly 102 is used to move the first and second rotating blocks 107 and 108. The design can make the device adapt to the movement of most terrains, and the drive motor 305 set inside the second mounting block 304 can drive the adjustment plate 306 to rotate, so that the adjustment plate 306 is located above the mounting plate 201, and the second hydraulic push rod 303 inside the first mounting block 301 drives the second mounting block 304 to move downward, thereby preventing the adjustment plate 306 from extending outside the entire device and preventing the adjustment plate 306 from affecting the normal movement of the device; two moving grooves 206 are provided on the upper surface of the mounting plate 201, and a guide rod 208 is provided inside each moving groove 206, and a moving block is slidably sleeved on the surface of each guide rod 208. 207, an adjusting mechanism 3 is provided on the top of the two moving blocks 207, the adjusting mechanism 3 includes an adjusting plate 306, a picking mechanism 4 is provided on the top of the adjusting plate 306, the mounting mechanism 2 includes a side panel 202, the side panel 202 is located on the upper surface of the front side of the mounting plate 201, and the side panel 202 is fixedly connected to the mounting plate 201, and the left and right sides of the mounting plate 201 are fixedly connected with side panels 203, and a collecting box 204 is provided on the side of the two side panels 203 away from the mounting plate 201, and a fixing bolt 205 is provided between the collecting box 204 and the side panel 203, and the collecting box 204 and the side panel 203 are fixedly connected by the fixing bolt 205.

[0031] The angle of the mounting base 101 is detected by the inclination sensor 110. When the inclination exceeds 5 degrees, a group of adaptive adjustment hydraulic push rods 109 will push the first rotating block 107 to move, and the corresponding other group of adaptive adjustment hydraulic push rods 109 will drop synchronously. At this time, the inclination sensor 110 on the surface of the mounting plate 201 detects the inclination of the surface of the mounting plate 201. When the inclination of the surface of the mounting plate 201 is less than 5 degrees, the two groups of adaptive adjustment hydraulic push rods 109 maintain the current length and flexibly move the mounting plate 201 according to the data of the inclination sensors 110 on the surface of the mounting plate 201 and the surface of the mounting base 101 in real time, so that the mounting plate 201 always maintains a relatively horizontal position, thereby improving the practicality of the device and making the device more stable during tea picking.

[0032] Furthermore, the adjustment mechanism 3 also includes a first mounting block 301, the first mounting block 301 is located at the top of the moving block 207, and is fixedly connected to the top of the moving block 207, a plurality of second hydraulic push rods 303 are arranged inside the first mounting block 301, a first hydraulic push rod 302 is arranged between the first mounting block 301 and the side plate 202, the two ends of the first hydraulic push rod 302 are respectively fixedly connected to the side plate 202 and the first mounting block 301, a second mounting block 304 is arranged on the top of the second hydraulic push rod 303, a driving motor 305 is arranged inside the second mounting block 304, the top of the output shaft of the driving motor 305 is fixedly connected to the adjustment plate 306, a through slot 307 is provided in the middle of the adjustment plate 306, side mounting blocks 309 are provided on both sides of the adjustment plate 306, and the upper surface of each side mounting block 309 is provided with an adjustment Slot 310, a threaded rod 311 is provided inside each adjustment slot 310, and an adjustment block 314 is threadedly sleeved on the surface of each threaded rod 311, and the adjustment block 314 is threadedly connected to the threaded rod 311, one end of the threaded rod 311 is rotatably connected to the inside of the adjustment slot 310, and the other end of the threaded rod 311 passes through the adjustment slot 310 and extends to the outside of the side mounting block 309, and a rotating motor 312 is provided at one end of the threaded rod 311 located outside the side mounting block 309, and the output shaft of the rotating motor 312 is fixedly connected to the threaded rod 311, and a motor plate 313 is provided at the bottom of the rotating motor 312, and the motor plate 313 is fixedly connected to the adjustment plate 306, and a movable plate 308 is provided on the top of the two adjustment blocks 314, and a sliding slot 315 is provided on the side of the movable plate 308, and a sliding rod 316 is provided inside the sliding slot 315.

[0033] As can be seen from the above, by moving the device to the tea picking area, and then driving the second mounting block 304 to move upward by the second hydraulic push rod 303, the height of the adjustment plate 306 exceeds the side plate 203, and the adjustment plate 306 is driven to rotate by the driving motor 305. At this time, the second mounting block 304 is continued to be pushed to move by the second hydraulic push rod 303, so that the adjustment plate 306 is located above the tea trees.

[0034] Embodiment 2: This embodiment is basically the same as the previous embodiment, except that the picking mechanism 4 includes a top plate 401, which is fixedly connected to the top of the moving plate 308, and a third hydraulic push rod 402 is provided at the bottom of the top plate 401. A slider 403 is provided at the bottom of the third hydraulic push rod 402, and the slider 403 is sleeved on the surface of the sliding rod 316. The slider 403 is slidably connected to the sliding rod 316. A connecting plate 404 is provided at the bottom of the slider 403, and a picking component is provided at the bottom of the connecting plate 404. The picking component includes a bottom plate 407 and an intermediate plate 405. The bottom plate 407 is located at the bottom of the moving plate 308, and the intermediate plate 405 is located on the side of the moving plate 308. A fourth hydraulic push rod 406 is provided at the bottom of the intermediate plate 405. The lower surface of the bottom plate 407 is fixedly connected to the mounting frame 408, and the output end of the fourth hydraulic push rod 406 passes through the bottom plate 407 and extends to the inside of the mounting frame 408 The fourth hydraulic push rod 406 is located at one end inside the mounting frame 408 and is provided with a push block 409. Two connecting members 410 are provided on the lower surface of the push block 409. Two first movable rods 411 are provided between the two connecting members 410. The two first movable rods 411 are staggered and rotatably connected to each other. The bottoms of the two first movable rods 411 are both rotatably connected to the second movable rod 412. A rotating rod 416 is provided between the first movable rod 411 and the second movable rod 412. A movable groove 415 is provided on the side of the bottom of the mounting frame 408. The rotating rod 416 is located inside the movable groove 415 and is slidably connected to the movable groove 415. The two second movable rods 412 are staggered and rotatably connected to each other. A fixed block 413 is provided at the bottom of the two second movable rods 412, and a picking bucket 414 is provided at the bottom of the two fixed blocks 413.

[0035] As can be seen from the above, during picking, the push block 409 is pushed to move by the fourth hydraulic push rod 406. When the push block 409 moves, it squeezes the two staggered first movable rods 411, causing the two first movable rods 411 to rotate. When the two first movable rods 411 rotate, they will synchronously drive the two second movable rods 412 to rotate, thereby driving the two fixed blocks 413 and the picking bucket 414 away from each other. Then, the slider 403 is pushed to slide on the surface of the sliding rod (316) by the third hydraulic push rod 402, thereby fine-tuning the position of the connecting plate 404 and the picking assembly, so that the picking bucket 414 contacts the top of the tea tree. At this time, the push block 409 is pushed upward by the fourth hydraulic push rod 406. When the push block 409 moves, it will drive the first movable rod 411 and the second movable rod 412 to move upward and rotate, thereby enabling the picking bucket 414 to pick the tea leaves. The leaves are picked. After the tea leaves are picked, the threaded rod 311 is driven to rotate by the rotating motor 312, thereby moving the adjustment block 314 and the movable plate 308 on the surface of the threaded rod 311. When the movable plate 308 moves to the top of the collecting box 204, the third hydraulic push rod 402 drives the picking assembly to move downward. When the bottom of the picking bucket 414 is located inside the collecting box 204, the fourth hydraulic push rod 406 controls the picking bucket 414 to open, and the picked tea leaves fall into the collecting box 204 for collection. After the tea trees at the same position are picked, the first hydraulic push rod 302 pushes the movable block 207 to slide on the surface of the guide rod 208 inside the moving groove 206, thereby changing the position of the adjusting mechanism 3 and the picking mechanism 4. Repeating the above operations can be used to pick tea leaves for tea trees at different positions, making the tea picking work of the device more flexible and improving the practicality of the device.

[0036] Working principle: The crawler-type moving assembly 102 moves the device to the tea picking area, and then the inclination sensor 110 detects the angle of the mounting base 101. When the inclination exceeds 5 degrees, a set of adaptive adjustment hydraulic push rods 109 will push the first rotating block 107 to move, and the corresponding other set of adaptive adjustment hydraulic push rods 109 will drop synchronously. At this time, the inclination sensor 110 on the surface of the mounting plate 201 detects the inclination of the surface of the mounting plate 201. When the inclination of the surface of the mounting plate 201 is less than 5 degrees, the two sets of adaptive adjustment hydraulic push rods 109 maintain their current length and implement At the same time, the mounting plate 201 is flexibly moved according to the data of the inclination sensor 110 on the surface of the mounting plate 201 and the surface of the mounting base 101, so that the mounting plate 201 is always maintained in a relatively horizontal position. After reaching the tea tree picking area, the second mounting block 304 is driven upward by the second hydraulic push rod 303 to make the height of the adjustment plate 306 exceed the side plate 203, and the adjustment plate 306 is driven to rotate by the drive motor 305. At this time, the second mounting block 304 is continued to be pushed by the second hydraulic push rod 303 to move so that the adjustment plate 306 is located above the tea trees;

[0037] During picking, the fourth hydraulic push rod 406 pushes the push block 409 to move. When the push block 409 moves, it squeezes the two staggered first movable rods 411, causing the two first movable rods 411 to rotate. When the two first movable rods 411 rotate, they will synchronously drive the two second movable rods 412 to rotate, thereby driving the two fixed blocks 413 and the picking bucket 414 away from each other. Then, the third hydraulic push rod 402 is used to push the slider 403 to slide on the surface of the sliding rod 316, thereby fine-tuning the position of the connecting plate 404 and the picking assembly, so that the picking bucket 414 contacts the top of the tea tree. At this time, the fourth hydraulic push rod 406 is used to push the push block 409 to move upward. When the push block 409 moves, it will drive the first movable rod 411 and the second movable rod 412 to move upward and rotate, thereby making the picking bucket 414 contact the top of the tea tree. The picking bucket 414 can pick tea leaves. After the tea leaves are picked, the threaded rod 311 is driven to rotate by the rotating motor 312, and then the adjusting block 314 and the movable plate 308 on the surface of the threaded rod 311 are moved. When the movable plate 308 moves to the top of the collecting box 204, the third hydraulic push rod 402 drives the picking assembly to move downward. When the bottom of the picking bucket 414 is located inside the collecting box 204, the fourth hydraulic push rod 406 controls the picking bucket 414 to open, and the picked tea leaves fall into the collecting box 204 for collection. After the tea trees at the same position are picked, the first hydraulic push rod 302 pushes the movable block 207 to slide on the surface of the guide rod 208 inside the movable groove 206, thereby changing the position of the adjusting mechanism 3 and the picking mechanism 4. Repeating the above operations can pick tea leaves for tea trees at different positions.

[0038] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Any changes, modifications, replacements and variations of the above embodiments by ordinary technicians in this field within the scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automated tea picking robot, characterized by: The invention comprises an adaption mechanism (1), wherein the adaption mechanism (1) comprises a mounting base (101), a first connecting block (103) and a second connecting block (104), two crawler-type moving assemblies (102) are arranged on the side of the mounting base (101), an inclination sensor (110) is arranged on the upper surface of the mounting base (101), a mounting mechanism (2) is arranged above the mounting base (101), and the mounting mechanism (2) comprises a mounting plate (201), the first connecting block (103) and the second connecting block (104) are arranged in two groups, each group of the first connecting block (103) and the second connecting block (104) are arranged in two groups, the two first connecting blocks (103) in each group are fixedly connected to the upper surface of the mounting base (101), the two second connecting blocks (104) in each group are fixedly connected to the bottom of the mounting plate (201), the first connecting block (103) and the second connecting block (104) correspond to each other, and each group A first mounting rod (105) is provided between the two first connecting blocks (103), a second mounting rod (106) is provided between each group of the two second connecting blocks (104), a plurality of first rotating blocks (107) and second rotating blocks (108) are provided between each of the first mounting rods (105) and the second mounting rods (106), an adaptive adjustment hydraulic push rod (109) is provided between each of the first rotating blocks (107) and the second rotating blocks (108), two movable grooves (206) are provided on the upper surface of the mounting plate (201), a guide rod (208) is provided inside each of the movable grooves (206), a movable block (207) is slidably sleeved on the surface of each of the guide rods (208), an adjustment mechanism (3) is provided on the top of the two movable blocks (207), the adjustment mechanism (3) includes an adjustment plate (306), and a picking mechanism (4) is provided on the top of the adjustment plate (306).

2. The automated tea picking robot according to claim 1, wherein: The mounting mechanism (2) comprises a side plate (202), the side plate (202) being located on the upper front surface of the mounting plate (201), and the side plate (202) being fixedly connected to the mounting plate (201), the left and right sides of the mounting plate (201) being fixedly connected to side panels (203), the two side panels (203) being provided with a collection box (204) on a side away from the mounting plate (201), a fixing bolt (205) being provided between the collection box (204) and the side panel (203), and the collection box (204) and the side panel (203) being fixedly connected via the fixing bolt (205).

3. The automated tea picking robot according to claim 1, wherein: The adjustment mechanism (3) further comprises a first mounting block (301), the first mounting block (301) being located on the top of the moving block (207) and fixedly connected to the top of the moving block (207), a plurality of second hydraulic push rods (303) being arranged inside the first mounting block (301), a first hydraulic push rod (302) being arranged between the first mounting block (301) and the side plate (202), and two ends of the first hydraulic push rod (302) being fixedly connected to the side plate (202) and the first mounting block (301), respectively.

4. The automated tea picking robot according to claim 3, wherein: A second mounting block (304) is provided on the top of the second hydraulic push rod (303), a driving motor (305) is provided inside the second mounting block (304), the top of the output shaft of the driving motor (305) is fixedly connected to the adjustment plate (306), a through slot (307) is provided in the middle of the adjustment plate (306), side mounting blocks (309) are provided on both sides of the adjustment plate (306), and an adjustment slot (310) is provided on the upper surface of each side mounting block (309).

5. The automated tea picking robot according to claim 4, characterized in that: A threaded rod (311) is provided inside each adjustment slot (310), and an adjustment block (314) is threadedly sleeved on the surface of each threaded rod (311). The adjustment block (314) is threadedly connected to the threaded rod (311). One end of the threaded rod (311) is rotatably connected to the inside of the adjustment slot (310), and the other end of the threaded rod (311) passes through the adjustment slot (310) and extends to the outside of the side mounting block (309). A rotating motor (312) is provided at one end of the threaded rod (311) located outside the side mounting block (309). The output shaft of the rotating motor (312) is fixedly connected to the threaded rod (311). A motor plate (313) is provided at the bottom of the rotating motor (312), and the motor plate (313) is fixedly connected to the adjustment plate (306).

6. The automated tea picking robot according to claim 5, characterized in that: A movable plate (308) is provided on the top of each of the two adjusting blocks (314), a sliding groove (315) is provided on the side of the movable plate (308), and a sliding rod (316) is provided inside the sliding groove (315).

7. The automated tea picking robot according to claim 1, wherein: The picking mechanism (4) comprises a top plate (401), the top plate (401) is fixedly connected to the top of the movable plate (308), a third hydraulic push rod (402) is provided at the bottom of the top plate (401), a slider (403) is provided at the bottom of the third hydraulic push rod (402), the slider (403) is sleeved on the surface of the sliding rod (316), the slider (403) is slidably connected to the sliding rod (316), a connecting plate (404) is provided at the bottom of the slider (403), and a picking assembly is provided at the bottom of the connecting plate (404).

8. The automated tea-picking robot according to claim 7, characterized in that: The picking assembly includes a bottom plate (407) and an intermediate plate (405), wherein the bottom plate (407) is located at the bottom of the movable plate (308), and the intermediate plate (405) is located at the side of the movable plate (308). A fourth hydraulic push rod (406) is provided at the bottom of the intermediate plate (405), and a mounting frame (408) is fixedly connected to the lower surface of the bottom plate (407). The output end of the fourth hydraulic push rod (406) passes through the bottom plate (407) and extends to the inside of the mounting frame (408), and a push block (409) is provided at one end of the fourth hydraulic push rod (406) located inside the mounting frame (408).

9. The automated tea-picking robot according to claim 8, characterized in that: Two connecting members (410) are provided on the lower surface of the push block (409), and two first movable rods (411) are provided between the two connecting members (410). The two first movable rods (411) are arranged alternately and are rotatably connected to each other. The bottoms of the two first movable rods (411) are both rotatably connected to the second movable rod (412). A rotating rod (416) is provided between the first movable rod (411) and the second movable rod (412). A movable groove (415) is provided on the side of the bottom of the mounting frame (408). The rotating rod (416) is located inside the movable groove (415) and is slidably connected to the movable groove (415). The two second movable rods (412) are arranged alternately and are rotatably connected to each other. A fixed block (413) is provided at the bottom of each of the two second movable rods (412), and a picking bucket (414) is provided at the bottom of each of the two fixed blocks (413).

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