Self-balancing climbing picking robot for complex terrain of tea garden

Abstract

The application belongs to the field of picking robots, and discloses a self-balancing climbing picking robot for complex terrains in tea gardens, which comprises a robot body, a picking bin, a shearing and leaf combing mechanism, an airflow vibrating and screening mechanism and a limiting and unloading mechanism; when in use, the leaf combing mechanism, the shearing mechanism and the airflow vibrating and screening mechanism can be synchronously driven by a group of driving sources to operate cooperatively, the L-shaped rotating comb teeth cooperate with the reciprocating cutting knives to pre-regularize the staggered tea shoots, realize the precise picking mode of combing first and cutting later, effectively avoid the situation of pulling tea branches and damaging tea buds, greatly improve the picking completeness of fresh leaves and the quality of finished products, reduce the problem of mixing old leaves and waste leaves, simultaneously utilize the cam piston extrusion airflow linkage mechanical vibration structure to stably and slightly vibrate the collecting box without additional vibration driving components, save the complicated process of manual secondary sorting and screening after traditional picking, and improve the tea picking efficiency.

Description

Technical Field

[0001] This invention relates to the field of harvesting robot technology, and in particular to a self-balancing slope-climbing harvesting robot for complex terrain in tea gardens. Background Technology

[0002] Tea gardens in my country are mostly distributed in complex terrain areas such as hills and mountains. The roads in tea gardens are uneven and have a large slope, and the tea bushes are planted at different heights and with messy branches and leaves.

[0003] Currently, most traditional tea-picking equipment has a single shearing structure. Most of these equipment lacks a pre-positioned leaf combing and stabilizing structure, making it difficult to straighten tangled and fallen tea shoots during operation. This easily leads to situations such as pulling tea branches, missed picking, and mixing in many old leaves, resulting in inconsistent quality of fresh leaves. In addition, traditional tea-picking equipment only has the function of picking, and the fresh leaves after picking are mixed with a large amount of impurities such as mud, dead branches, and broken leaves, requiring secondary sorting and sifting by hand. This process is cumbersome, labor-intensive, and inefficient. Summary of the Invention

[0004] This invention provides a self-balancing slope-climbing harvesting robot for tea gardens with complex terrain, which solves the technical problems of lacking a pre-positioned leaf-sorting function, high impurity content in harvested fresh leaves, and inability to achieve synchronous screening.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a self-balancing slope-climbing harvesting robot for complex tea garden terrain, the harvesting robot comprising: a robot body, a harvesting bin, a leaf-cutting and combing mechanism, an airflow vibration screening mechanism, and a limiting unloading mechanism. The harvesting bin is installed on one side of the robot body; The shearing comb mechanism and the airflow vibrating screen mechanism are both integrated and installed inside the harvesting bin, and the limiting unloading mechanism is assembled on the side wall of the harvesting bin. The shearing comb mechanism includes a drive motor, a reciprocating lead screw, two sets of connecting plates, two sets of cutting blades, and a flexible rubber baffle. The drive motor is fixedly installed on the outer wall of the picking chamber, and the reciprocating screw is installed on the inner wall of the picking chamber by lateral rotation through bearings. The output shaft of the drive motor is coaxially and fixedly connected to one end of the reciprocating screw.

[0006] As a further improvement of the present invention: the reciprocating screw has two spiral grooves with opposite directions of rotation on its surface, the two sets of connecting plates are respectively threaded onto the outside of the two spiral grooves, the two sets of cutting blades are fixedly installed on the top of the two sets of connecting plates one by one, the inner wall of the picking chamber has a groove corresponding to the position of the cutting blade, the two sets of cutting blades are slidably embedded in the groove, the flexible rubber baffle is fixedly embedded on one side of the groove, and the flexible rubber baffle is attached to the side of the connecting plate.

[0007] As a further improvement of the present invention: the shearing comb mechanism further includes a transmission rod, a first sprocket, a chain, a second sprocket, a support rod, a first gear, a second gear, a round shaft, and multiple sets of comb teeth; The transmission rod is coaxially fixedly connected to the end of the reciprocating screw away from the drive motor. The first sprocket is fixedly sleeved on the outer surface of the transmission rod. The support rod is installed on the side wall of the picking bin by lateral rotation through a bearing. The second sprocket is fixed at the top of the support rod. The first sprocket and the second sprocket are connected by chain meshing.

[0008] As a further improvement of the present invention: the first gear is fixedly sleeved on the outer surface of the support rod, the second gear is fixedly sleeved on the outer surface of the round shaft, the first gear and the second gear mesh with each other for transmission, and the round shaft is installed inside the picking chamber and above the cutting blade by lateral rotation through the bearing.

[0009] As a further improvement of the present invention: multiple sets of comb teeth are evenly and fixedly arranged on the outer surface of the round shaft and rotate synchronously with the round shaft. The comb teeth have an L-shaped bending structure, and the lateral bending ends of the comb teeth are set outward.

[0010] As a further improvement of the present invention: the airflow vibrating screening mechanism includes a cam, a cylinder, a circular plate, a connecting rod, a hollow cylinder, a pressure plate, a push rod, a guide tube, an elastic sheet, a rubber plate, and a collection box; The cam is fixedly installed at the end of the transmission rod, the cylinder is fixedly installed on the side wall of the harvesting bin, the circular plate is movably embedded in the inner wall of the cylinder, and the two ends of the connecting rod are respectively hinged to the cam and the circular plate.

[0011] As a further improvement of the present invention: the hollow cylinder is fixedly installed on the inner wall of the harvesting chamber, the two ends of the guide tube are respectively connected to the inner cavity of the cylindrical cavity and the inner cavity of the hollow cylinder, the pressure plate is movably embedded in the hollow cylinder and can slide back and forth along the axial direction of the hollow cylinder, and the abutment is fixedly connected to the outer end of the pressure plate.

[0012] As a further improvement of the present invention: the elastic sheet is fixedly installed on the inner wall of the picking chamber on the side opposite to the hollow cylinder, and rubber plates are fixedly installed on the opposite end faces of the abutment rod and the elastic sheet, with the rubber plates on both sides flexibly abutting against each other.

[0013] As a further improvement of the present invention: the collection box is movably embedded inside the harvesting chamber and located directly below the cutting blade, the side wall of the collection box abuts against the rubber plate, and a screening and separation structure is integrated inside the collection box.

[0014] As a further improvement of the present invention: the limiting unloading mechanism includes a sliding plate, which is laterally inserted into the lower part of the side wall of the picking bin, and the sliding plate is blocked at the bottom of the outer side of the collection box to limit the collection box.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: This invention uses only one drive source to simultaneously drive the combing structure, shearing structure, and pneumatic vibrating screening structure. Compared to traditional multi-motor, electrically controlled drive equipment, it significantly simplifies the overall structure, reduces equipment production costs and maintenance difficulty, and effectively improves the stability of the equipment in the dusty, humid, and complex conditions of tea gardens. It avoids operational disorder caused by asynchronous multi-power transmission. Through the L-shaped rotating comb teeth and the reciprocating cutting blade, it can pre-sort and straighten the fallen and intertwined tea shoots, achieving a precise picking mode of combing before cutting. This effectively avoids pulling tea branches and damaging tea buds, greatly improving the integrity of fresh leaf picking and the quality of finished products, and reducing the problem of old leaves and waste leaves being mixed. At the same time, by using the cam piston to squeeze the airflow and link it with the mechanical vibration structure, it can drive the collection box to vibrate stably with slight amplitude without the need for additional vibration drive components. This eliminates the tedious process of manual secondary sorting and screening after traditional picking, improving the efficiency of tea picking operations. Attached Figure Description

[0016] Figure 1 This invention presents a schematic diagram of a self-balancing hill-climbing harvesting robot for complex tea garden terrain.

[0017] Figure 2 This is a schematic diagram of the side structure of the robot in an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the harvesting bin in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the side structure of the harvesting bin in an embodiment of this application.

[0020] Figure 5 This is a cross-sectional view of the harvesting bin in an embodiment of this application.

[0021] Figure 6 This is a schematic diagram of the internal structure of the harvesting bin in an embodiment of this application.

[0022] Figure 7 This is a cross-sectional view of the cylindrical and hollow cylinders in the embodiments of this application.

[0023] Figure 8 Examples of embodiments in this application Figure 6 Enlarged view of point A in the middle.

[0024] Legend: 1. Robot body; 2. Harvesting bin; 201. Reciprocating screw; 202. Cutting blade; 203. Connecting plate; 204. Flexible rubber baffle; 205. Drive motor; 3. Transmission rod; 301. First sprocket; 302. Chain; 303. Second sprocket; 304. Support rod; 305. First gear; 306. Second gear; 307. Round shaft; 308. Comb teeth; 4. Cam; 401. Cylinder; 402. Round plate; 403. Connecting rod; 404. Hollow cylinder; 405. Pressure plate; 406. Support rod; 407. Guide tube; 408. Elastic sheet; 409. Rubber plate; 410. Collection box; 411. Slide plate. Detailed Implementation

[0025] 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.

[0026] Please see Figure 1 - Figure 8 This invention provides a self-balancing slope-climbing harvesting robot for tea gardens with complex terrain. The harvesting robot includes: a robot body 1, a harvesting chamber 2, a shearing and combing mechanism, an airflow vibrating screening mechanism, and a limiting unloading mechanism. The harvesting chamber 2 is installed on one side of the robot body 1. The shearing and combing mechanism and the airflow vibrating screening mechanism are both integrated and installed inside the harvesting chamber 2, and the limiting unloading mechanism is assembled on the side wall of the harvesting chamber 2. The shearing and combing mechanism includes a drive motor 205, a reciprocating lead screw 201, two sets of connecting plates 203, two sets of cutting blades 202, and a flexible rubber baffle 204. The drive motor 205 is fixedly installed on the outer side wall of the harvesting chamber 2, and the reciprocating lead screw 201 is installed on the inner wall of the harvesting chamber 2 by lateral rotation through bearings. The output shaft of the drive motor 205 is coaxially and fixedly connected to one end of the reciprocating lead screw 201.

[0027] In use, the robot body 1 serves as the base for movement, and the functions of picking, leaf combing, screening, and unloading are highly integrated inside the picking chamber 2. The structure is compact and has strong integrity, which is suitable for the movement and operation needs of tea garden slopes and complex terrain. At the same time, all mechanisms share a single power source and work together to realize the integrated continuous operation of tea picking, impurity removal, and screening. The drive motor 205 starts to drive the reciprocating screw 201 to rotate, which links the leaf combing and shearing mechanism to complete the tea shoot combing and shearing picking operations. Simultaneously, it drives the airflow vibration screening mechanism to operate, and performs airflow-assisted vibration screening to remove impurities from the sheared fresh leaves. The limiting unloading mechanism limits and fixes the collection box 410, realizing the single-power synchronous linkage operation of the whole machine.

[0028] Furthermore, the reciprocating screw 201 has two helical grooves with opposite directions of rotation on its surface. Two sets of connecting plates 203 are threaded onto the outside of the two helical grooves respectively. Two sets of cutting blades 202 are fixedly installed on the top of the two sets of connecting plates 203 in a corresponding manner. A transverse sliding groove is provided on the inner wall of the harvesting chamber 2 corresponding to the position of the cutting blades 202. Both sets of cutting blades 202 are slidably embedded in the sliding groove. A flexible rubber baffle 204 is fixedly embedded on one side of the sliding groove, and the flexible rubber baffle 204 is attached to the side of the connecting plate 203. The reciprocating screw 201 rotates... During rotation, the two sets of connecting plates 203 are driven to move back and forth in opposite directions by the forward and reverse spiral groove trajectory, which in turn drives the two sets of cutting blades 202 to form a high-speed cutting action, simulating the manual shearing method, to accurately cut the tea shoots and petioles, avoiding pulling the tea branches and damaging the tea buds; at the same time, the flexible rubber baffle 204 can completely seal the gaps in the slide groove, preventing impurities such as tea garden mud, dead branches, and broken tea from entering the slide groove, preventing the connecting plates 203 and reciprocating screws 201 from jamming and wearing, ensuring the long-term stable operation of the cutting mechanism, and adapting to the dusty and complex working conditions of tea gardens.

[0029] Please see Figure 1 - Figure 8 In one embodiment, the shearing comb mechanism further includes a transmission rod 3, a first sprocket 301, a chain 302, a second sprocket 303, a support rod 304, a first gear 305, a second gear 306, a round shaft 307, and multiple sets of comb teeth 308. The transmission rod 3 is coaxially fixedly connected to the end of the reciprocating screw 201 away from the drive motor 205. The first sprocket 301 is fixedly sleeved on the outer surface of the transmission rod 3. The support rod 304 is installed on the side wall of the picking chamber 2 by lateral rotation through a bearing. The second sprocket 303 is fixed to the top of the support rod 304. The first sprocket 301 and the second sprocket 303 are connected by meshing transmission through the chain 302. The transmission rod 3 is used to realize power diversion, and the rotational power of the reciprocating screw 201 is stably transmitted through the sprocket and chain mechanism to achieve long-distance, coaxially adapted power transmission, ensuring that the cutting action and the combing action have the same power source and operate synchronously, and eliminating the problem of work disorder caused by asynchronous transmission of multiple power sources.

[0030] Please see Figure 1 - Figure 8 In one embodiment, the first gear 305 is fixedly sleeved on the outer surface of the support rod 304, and the second gear 306 is fixedly sleeved on the outer surface of the round shaft 307. The first gear 305 and the second gear 306 mesh with each other for transmission. The round shaft 307 is installed inside the picking chamber 2 and above the cutting blade 202 through the lateral rotation of the bearing. The high speed of the lead screw is converted into the low speed and high torque rotation of the round shaft 307, which matches the low-speed and stable operation required for tea bud combing, and avoids the comb teeth 308 from breaking the tea buds due to excessive speed. At the same time, the upper and lower position layout can realize the operation sequence of combing before cutting.

[0031] Please see Figure 1 - Figure 8 In one embodiment, multiple sets of comb teeth 308 are evenly and fixedly arranged on the outer surface of the round shaft 307 and rotate synchronously with the round shaft 307. The comb teeth 308 have an L-shaped bending structure, with the lateral bending ends of the comb teeth 308 facing outwards. The L-shaped bending structure of the comb teeth 308 has the functions of scooping leaves, pressing leaves, and straightening leaves. During the rotation, it can automatically straighten and lift up the fallen, intertwined, and tangled tea shoots, and accurately guide qualified tea buds into the cutting area of ​​the cutting blade 202 below, effectively avoiding the problems of missed picking and mixing of old leaves, and greatly improving the integrity and qualification rate of fresh leaf picking.

[0032] Please see Figure 1 - Figure 8 In one embodiment, the airflow vibration screening mechanism includes a cam 4, a cylinder 401, a circular plate 402, a connecting rod 403, a hollow cylinder 404, a pressure plate 405, a push rod 406, a guide tube 407, an elastic sheet 408, a rubber plate 409, and a collection box 410. The cam 4 is fixedly installed at the end of the transmission rod 3, the cylinder 401 is fixedly installed on the side wall of the picking chamber 2, the circular plate 402 is movably embedded in the inner wall of the cylinder 401, and the two ends of the connecting rod 403 are respectively hinged to the cam 4 and the circular plate 402. The transmission rod 3 drives the cam 4 to rotate continuously, and the connecting rod 403 pushes and pulls the circular plate 402 to make a piston-like reciprocating motion inside the cylinder 401, continuously squeezing the air inside the cylinder, and providing stable air pressure power for subsequent airflow-driven vibration.

[0033] Please see Figure 1 - Figure 8 In one embodiment, the hollow cylinder 404 is fixedly installed on the inner wall of the harvesting bin 2. The two ends of the conduit 407 are respectively connected to the inner cavity of the cylinder 401 and the inner cavity of the hollow cylinder 404. The pressure plate 405 is movably embedded in the hollow cylinder 404 and can slide back and forth along the axial direction of the hollow cylinder 404. The push rod 406 is fixedly connected to the outer end of the pressure plate 405. The conduit 407 realizes the directional flow transmission of airflow, introduces the compressed air generated by the cylinder 401 into the hollow cylinder 404, and uses the air pressure difference to push the pressure plate 405 to reciprocate and extend, thereby driving the push rod 406 to perform regular reciprocating pushing action, providing mechanical power for the vibrating screening of the collection box 410.

[0034] Please see Figure 1 - Figure 8 In one embodiment, the elastic sheet 408 is fixedly installed on the inner wall of the picking chamber 2 on the side opposite to the hollow cylinder 404. The opposing end faces of the push rod 406 and the elastic sheet 408 are both fixedly installed with rubber plates 409. The rubber plates 409 on both sides flexibly abut against each other. The flexible contact of the rubber plates 409 on both sides can buffer the pushing impact force, avoid abnormal noise and component wear caused by rigid collision. At the same time, in conjunction with the elastic reset characteristics of the elastic sheet 408, the pushing reset of the push rod 406 is more regular and stable, ensuring uniform and stable vibration frequency and preventing tea leaves from being squeezed and damaged.

[0035] Please see Figure 1 - Figure 8 In one embodiment, the collection box 410 is movably embedded inside the picking chamber 2 and located directly below the cutting blade 202. The side wall of the collection box 410 abuts against the rubber plate 409. The collection box 410 integrates a screening and separation structure. The collection box 410 faces the cutting station and can collect the fresh leaves that fall off during the entire process, avoiding tea leaf scattering and loss. At the same time, with the push of the push rod 406 and the reset of the elastic plate 408, continuous micro-vibration is achieved. The internal screening structure automatically completes the grading of fresh leaves and simultaneously removes impurities such as mud, sand, broken leaves, and dead branches. This achieves simultaneous impurity removal and screening during picking, eliminating the need for subsequent manual sorting and improving work efficiency.

[0036] Please see Figure 1 - Figure 8 In one embodiment, the limiting unloading mechanism includes a sliding plate 411, which is laterally inserted into the lower part of the side wall of the picking bin 2. The sliding plate 411 is positioned at the bottom of the outer side of the collection box 410 to limit the collection box 410. During operation, the sliding plate 411 can reliably limit the collection box 410 to prevent it from shifting or falling off during vibration operation, thus ensuring the stable operation of the screening. After the tea leaves are collected, the limiting mechanism can be released by directly pulling out the sliding plate 411, and the collection box 410 can be quickly removed to complete unloading, cleaning, and replacement.

[0037] Working principle: When the harvesting robot is operating, the robot body 1 carries all the working components for movement. After the equipment starts, the drive motor 205, as the sole drive source, outputs power to drive the reciprocating screw 201 installed inside the harvesting chamber 2 to rotate continuously. The surface of the reciprocating screw 201 is provided with two spiral grooves with opposite directions of rotation. Connecting plates 203 are threaded onto the outside of the two spiral grooves respectively. A transverse sliding groove is opened on the inner wall of the harvesting chamber 2 corresponding to the position of the cutting blade 202. The cutting blade 202 is slidably embedded in the sliding groove. When the reciprocating screw 201 rotates, it drives the two sets of spiral grooves through the spiral groove trajectory. The connecting plates 203 move closer or further apart, thereby driving the two sets of cutting blades 202 to perform high-speed reciprocating cutting motion inside the chute, realizing the cutting and picking of tea tree buds and petioles. A flexible rubber baffle 204 is fixedly installed inside the chute. The flexible rubber baffle 204 is closely attached to the sliding side of the connecting plate 203, which can completely seal the gaps in the chute and effectively prevent impurities such as tea garden mud, dead branches, and broken tea leaves from entering the chute. This avoids the reciprocating screw 201 from getting stuck, jammed, or worn, ensuring the long-term stable reciprocating motion of the cutting mechanism and making it suitable for the dusty and complex field operation environment of tea gardens. A reciprocating screw 201 connects to a transmission rod 3. When the reciprocating screw 201 rotates, it synchronously drives the transmission rod 3 to rotate coaxially, realizing single-power multi-path mechanical transmission. A first sprocket 301 is fixedly sleeved on the outer surface of the transmission rod 3. The first sprocket 301 is connected to a second sprocket 303 through a chain 302. A support rod 304 is rotatably mounted on the side wall of the harvesting bin 2 through bearings. The second sprocket 303 is fixed to the end of the support rod 304. A first gear 305 is fixedly sleeved on the outer surface of the support rod 304. The first gear 305 meshes with a second gear 306. The second gear 306 is fixedly sleeved on the outside of a round shaft 307. Under the step-by-step transmission of wheels and gears, the high-speed rotating reciprocating screw 201 is decelerated and torque increased, driving the round shaft 307 to rotate at a low speed and in a stable manner, so that the comb teeth 308 make uniform circular rotation. During the operation, the rotating comb teeth 308 can comb, straighten and lift the fallen, intertwined and tangled tea shoots upward, and accurately guide qualified tea buds into the cutting position of the two sets of cutting blades 202, realizing the pre-positioning leaf stabilization and leaf combing functions. Together with the reciprocating cutting blades 202 below, it completes precise cutting, effectively avoiding the problems of pulling tea branches, missing picking and mixing old leaves in traditional tea picking equipment, and greatly improving the integrity and qualification rate of fresh leaf picking. Meanwhile, a cam 4 is fixedly installed at the end of the transmission rod 3. When the transmission rod 3 rotates, it drives the cam 4 to rotate synchronously. During the continuous rotation of the cam 4, the connecting rod 403 pushes and pulls the circular plate 402, causing the circular plate 402 to perform a piston-like reciprocating motion inside the cylinder 401, continuously squeezing the air inside the cylinder 401. The compressed airflow inside the cylinder 401 is directionally introduced into the hollow cylinder 404 through the conduit 407. The change in airflow pressure can drive the pressure plate 405 to perform a reciprocating extension and retraction motion. Under the reciprocating action of the pressure plate 405, the push rod 406 and the elastic plate 408, the collection box 410 is continuously driven to produce stable micro-vibration. The collection box 410 is equipped with a screening and separation structure. It achieves automatic grading of fresh leaves by relying on mechanical vibration, and at the same time removes impurities such as mud, sand, broken leaves and dead branches. It realizes simultaneous impurity removal and screening during harvesting, eliminating the need for subsequent manual sorting and improving work efficiency. A sliding plate 411 is horizontally inserted into the side wall of the picking chamber 2. The sliding plate 411 is positioned on the outside of the collection box 410 to limit and fix the collection box 410, preventing the collection box 410 from shifting or falling off during operation. When the tea leaves inside the collection box 410 are full, the entire collection box 410 can be removed simply by pulling out the sliding plate 411, which facilitates quick unloading, cleaning and replacement. The operation is simple and convenient.

[0038] All standard parts used in this application can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-balancing slope-climbing harvesting robot for tea gardens with complex terrain, characterized in that, The harvesting robot includes: robot body (1), harvesting bin (2), shearing and combing mechanism, airflow vibration screening mechanism and limiting unloading mechanism; The picking bin (2) is installed on one side of the robot body (1); The shearing comb mechanism and the airflow vibrating screen mechanism are both integrated and installed inside the picking bin (2), and the limiting unloading mechanism is assembled on the side wall of the picking bin (2); The shearing comb mechanism includes a drive motor (205), a reciprocating lead screw (201), two sets of connecting plates (203), two sets of cutting blades (202), and a flexible rubber baffle (204). The drive motor (205) is fixedly installed on the outer wall of the picking bin (2), and the reciprocating screw (201) is installed on the inner wall of the picking bin (2) by rotating laterally through the bearing. The output shaft of the drive motor (205) is coaxially and fixedly connected to one end of the reciprocating screw (201).

2. The self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 1, characterized in that: The reciprocating screw (201) has two spiral grooves with opposite directions of rotation on its surface. The two sets of connecting plates (203) are respectively threaded onto the outside of the two spiral grooves. The two sets of cutting blades (202) are fixedly installed on the top of the two sets of connecting plates (203) in a corresponding manner. The inner wall of the picking chamber (2) has a groove corresponding to the position of the cutting blade (202). The two sets of cutting blades (202) are slidably embedded in the groove. The flexible rubber baffle (204) is fixedly embedded on one side of the groove and fits against the side of the connecting plate (203).

3. The self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 2, characterized in that: The shearing comb mechanism also includes a transmission rod (3), a first sprocket (301), a chain (302), a second sprocket (303), a support rod (304), a first gear (305), a second gear (306), a round shaft (307), and multiple sets of comb teeth (308). The transmission rod (3) is coaxially fixedly connected to the end of the reciprocating screw (201) away from the drive motor (205). The first sprocket (301) is fixedly sleeved on the outer surface of the transmission rod (3). The support rod (304) is installed on the side wall of the picking bin (2) by lateral rotation through the bearing. The second sprocket (303) is fixed on the top of the support rod (304). The first sprocket (301) and the second sprocket (303) are connected by meshing transmission through the chain (302).

4. The self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 3, characterized in that: The first gear (305) is fixedly sleeved on the outer surface of the support rod (304), and the second gear (306) is fixedly sleeved on the outer surface of the round shaft (307). The first gear (305) and the second gear (306) mesh with each other for transmission. The round shaft (307) is installed inside the picking bin (2) and above the cutting blade (202) by rotating laterally through the bearing.

5. The self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 4, characterized in that: Multiple sets of the comb teeth (308) are evenly and fixedly arranged on the outer surface of the round shaft (307) and rotate synchronously with the round shaft (307). The comb teeth (308) have an L-shaped bending structure, and the lateral bending end of the comb teeth (308) is set outward.

6. The self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 3, characterized in that: The airflow vibrating screening mechanism includes a cam (4), a cylinder (401), a circular plate (402), a connecting rod (403), a hollow cylinder (404), a pressure plate (405), a push rod (406), a guide tube (407), an elastic sheet (408), a rubber plate (409), and a collection box (410). The cam (4) is fixedly installed at the end of the transmission rod (3), the cylinder (401) is fixedly installed on the side wall of the picking bin (2), the circular plate (402) is movably embedded in the inner wall of the cylinder (401), and the two ends of the connecting rod (403) are respectively hinged to the cam (4) and the circular plate (402).

7. A self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 6, characterized in that: The hollow cylinder (404) is fixedly installed on the inner wall of the harvesting bin (2). The two ends of the guide tube (407) are respectively connected to the inner cavity of the cylindrical tube (401) and the inner cavity of the hollow cylinder (404). The pressure plate (405) is movably embedded in the hollow cylinder (404) and can slide back and forth along the axial direction of the hollow cylinder (404). The push rod (406) is fixedly connected to the outer end of the pressure plate (405).

8. A self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 7, characterized in that: The elastic sheet (408) is fixedly installed on the inner wall of the picking bin (2) on the side opposite to the hollow cylinder (404). The rubber plate (409) is fixedly installed on the opposite end face of the abutment rod (406) and the elastic sheet (408), and the rubber plates (409) on both sides are flexibly abutted together.

9. A self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 8, characterized in that: The collection box (410) is movably embedded inside the picking bin (2) and located directly below the cutting blade (202). The side wall of the collection box (410) abuts against the rubber plate (409). The collection box (410) is equipped with an integrated screening and separation structure.

10. A self-balancing slope-climbing harvesting robot for complex tea garden terrain according to claim 1, characterized in that: The limiting unloading mechanism includes a sliding plate (411), which is horizontally inserted into the lower part of the side wall of the picking bin (2). The sliding plate (411) is blocked on the bottom of the outer side of the collection box (410) to limit the collection box (410).

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