Mechanical arm based on tea leaf picking

Abstract

The mechanical arm based on tea picking belongs to the technical field of tea picking, in order to solve the problem that after long-term high-frequency friction of tea stems, the clamping surface is worn, the clamping force is uneven, the clamping force is difficult to stabilize and control, and the tender buds are easily clamped and broken, the invention comprises a crawler robot body and a driving part installed on one side of the crawler robot body, a mechanical clamp is installed on one side of the driving part, a visual sensor is installed on the surface of the mechanical clamp, and the visual sensor realizes selective tea picking at a fixed point, reduces the probability of misclamping and missed picking, the invention adopts a double-shaft motor to drive double-sided clamping fingers to automatically rotate and change positions, realizes alternate tea picking of double-sided clamping surfaces, changes the disadvantage that the whole is scrapped after the traditional single-sided clamping jaw is worn, the worn single-sided working surface can be directly switched to the standby intact working surface for continuous operation, without stopping and disassembling to replace the clamping jaw accessory, effectively delaying the wear speed of the clamping fingers, greatly prolonging the service life of the clamping fingers, and improving the material utilization.

Description

Technical Field

[0001] This invention relates to the field of tea picking technology, specifically to a robotic arm for tea picking. Background Technology

[0002] my country has a vast tea-growing industry, and the harvesting of premium green and black teas is highly time-sensitive. The harvesting window for spring tea and pre-Qingming tea is short, and the demand for labor is high. Traditional manual tea picking suffers from labor shortages, rising labor costs, and low efficiency, severely hindering large-scale and standardized tea production. To address this, the industry is gradually promoting robotic arms for tea picking equipped with flexible grippers. These arms use visual recognition to locate tea buds, and then use end grippers to selectively pick one bud and one leaf or one bud and two leaves. This replaces manual labor for continuous tea picking, effectively alleviating the labor shortage. Currently, most mainstream robotic arms for tea picking on the market are equipped with fixed flexible grippers at the end. The gripping surfaces are mostly made of flexible materials such as silicone and rubber, which reduces the crushing rate of tender buds and ensures the quality of the harvested fresh leaves.

[0003] Current robotic arms for tea picking only use one side of the working surface for gripping operations. After long-term high-frequency friction with tea stems, problems such as local dents and wear will appear. After the gripping surface is worn, the gripping force is uneven, and the gripping force is difficult to control stably. This can easily lead to problems such as crushing tender buds and slipping and dropping buds, which cannot meet the high-precision picking standards of famous and high-quality teas.

[0004] To address the above issues, a robotic arm based on tea picking was proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm for tea picking. By using this device, the problems in the background mentioned above, such as uneven clamping force and difficulty in controlling the clamping force after long-term high-frequency friction on tea stems, wear of the clamping surface, and easy crushing of tender buds and slippage of the clamping mechanism, are easily solved.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The robotic arm for tea picking includes a tracked robot body and a drive unit installed on one side of the tracked robot body. A mechanical gripper is installed on one side of the drive unit, and a vision sensor is installed on the surface of the mechanical gripper. The vision sensor enables selective tea picking at fixed points, reducing the probability of mis-gripping and missed picking. Several connecting seats are installed at the end of the mechanical gripper. A dual-axis motor is installed inside the connecting seat. A double-sided gripping finger is rotatably connected to one side of the connecting seat, and one end of the dual-axis motor is connected to the double-sided gripping finger. By driving the double-sided gripping finger to rotate through the dual-axis motor, the spare gripping surface that has not been worn can be turned to the picking operation side. The tea picking work is completed alternately by using the double-sided structure.

[0008] Furthermore, a rotating rod is fixedly installed at one end of the dual-axis motor, the rotating rod is rotatably connected to the connecting seat, and limit blocks are fixedly installed on both sides of the rotating rod, and the limit blocks are slidably connected to the double-sided finger clamp.

[0009] Furthermore, a connecting block is fixedly installed inside one end of the double-sided gripper finger, the limiting block is slidably connected to the connecting block, and a limiting ring is fixedly installed at one end of the double-sided gripper finger, and the limiting ring is rotatably connected to the connecting seat.

[0010] Furthermore, a threaded rod is installed at the other end of the dual-axis motor, and the threaded rod is rotatably connected to the connecting seat.

[0011] Furthermore, the threaded rod surface is threaded with a clamping element;

[0012] The clamping component includes a threaded disc and a horizontal plate fixedly installed on both sides of the threaded disc. The threaded disc is threadedly connected to the threaded rod, and the threaded disc and the horizontal plate are slidably connected to the inside of the connecting seat. A lower pressure plate is fixedly installed on one side of the horizontal plate.

[0013] Furthermore, the connector is internally fitted with a resilient clip for engaging the double-sided finger clip;

[0014] The elastic clamp includes a movable rod and an inclined plate installed at an angle on one side of the movable rod. The movable rod and the inclined plate are slidably connected to the inside of the connecting seat, and the lower pressure plate is in contact with the inclined plate. A spring is sleeved on the surface of the movable rod. One end of the spring is fixedly connected to the inside of the connecting seat. An arc-shaped plate is fixedly connected to one end of the movable rod, and the arc-shaped plate is rotatably engaged with the double-sided finger clamp. The other end of the spring is fixedly connected to the arc-shaped plate.

[0015] Furthermore, a number of ball bearings are installed on one side of the arc-shaped plate.

[0016] Furthermore, a snap ring is fixedly installed at one end of the double-sided clamp finger, the snap ring is rotatably connected to the connecting seat, and the ball is rotatably connected to the snap ring.

[0017] Furthermore, a placement box is fixedly installed on one side of the tracked robot body.

[0018] Furthermore, the drive unit includes a first electric slide rail correspondingly installed on one side of the tracked robot body, a second electric slide rail installed on one side of the first electric slide rail, and a mechanical gripper fixedly connected to the second electric slide rail.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. Visual sensors can capture and intelligently identify images of the tea tree canopy in real time, accurately distinguishing between high-quality tender buds, one-bud-one-leaf shoots and old leaves, tea stems, weeds and field debris, enabling selective tea picking at fixed points.

[0021] 2. The dual-axis motor drives the double-sided gripper fingers to automatically rotate and switch positions, enabling alternating tea picking on both sides of the gripper face. This overcomes the drawback of traditional single-sided grippers becoming unusable after wear. After wear on one side of the working face, the machine can be directly switched to a spare working face for continuous operation without stopping the machine to disassemble and replace gripper parts. This effectively slows down the wear rate of the gripper fingers, greatly extends their service life, and improves material utilization.

[0022] 3. The double-sided clamp can be automatically unlocked and fully released when changing the clamp, enabling quick disassembly and assembly without tools. It balances the rigidity of the locking mechanism, the flexibility of flipping, and the convenience of maintenance. It is highly durable and suitable for long-term, high-frequency operation in tea gardens.

[0023] 4. The dual-axis motor enables the finger rotation and threaded clamping linkage at both ends. Combined with the elastic locking mechanism consisting of a lower pressure plate, inclined plate, spring, arc plate, ball bearings and locking ring, the clamping and limiting mechanism can be used during tea picking to prevent the double-sided finger from shaking, shifting and loosening, thus ensuring clamping stability. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0026] Figure 3 This is a schematic diagram of the drive component structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the connector structure of the present invention;

[0028] Figure 5 This is a schematic diagram of the dual-axis motor structure of the present invention;

[0029] Figure 6 This is a schematic diagram of the clamping component structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the elastic card structure of the present invention.

[0031] In the diagram: 1. Tracked robot body; 11. Placement box; 2. Drive unit; 21. First electric slide rail; 22. Second electric slide rail; 3. Mechanical gripper; 4. Vision sensor; 5. Connecting seat; 6. Dual-axis motor; 61. Rotating rod; 62. Limiting block; 63. Threaded rod; 7. Double-sided gripper finger; 71. Connecting block; 72. Limiting ring; 8. Clamping component; 81. Threaded disc; 82. Horizontal plate; 83. Lower pressure plate; 9. Elastic clamping component; 91. Moving rod; 92. Inclined plate; 93. Spring; 94. Arc plate; 95. Ball bearing; 10. Snap ring. Detailed Implementation

[0032] 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.

[0033] like Figure 1 and Figure 3 As shown, the robotic arm for tea picking includes a tracked robot body 1 and a drive unit 2 installed on one side of the tracked robot body 1. The tracked robot body 1 is used as the walking load base. Unlike traditional wheeled picking equipment, the tracked structure has a large ground contact area and strong passability. It can adapt to the typical soft muddy ground, undulating ridges, mountain slopes and other complex unhardened working terrain in tea gardens. It is not easy to slip, get stuck or tip over during walking. The machine has high stability and effectively improves the equipment's environmental adaptability and all-area operation capability in actual tea garden fields. It ensures the continuity of tea picking operations and avoids problems such as picking interruption and missed picking areas due to terrain limitations.

[0034] A placement box 11 is fixedly installed on one side of the tracked robot body 1. The placement box 11 can collect the fresh leaves after picking in real time, greatly reducing the loss of picking and scattering, improving the fresh leaf harvesting rate, and ensuring the actual picking yield of the tea garden.

[0035] The drive unit 2 includes a first electric slide rail 21 correspondingly installed on one side of the tracked robot body 1, and a second electric slide rail 22 installed on one side of the first electric slide rail 21. The mechanical gripper 3 is fixedly connected to the second electric slide rail 22. The first electric slide rail 21 and the second electric slide rail 22 form a sliding adjustment structure, which can realize the adjustment of different positions respectively.

[0036] To address the technical problems of uneven clamping force and difficulty in maintaining stable clamping force after long-term high-frequency friction on tea stems, which easily leads to crushing tender buds or slipping and breaking off buds, the following preferred technical solution is provided:

[0037] like Figure 1 and Figure 2As shown, a mechanical gripper 3 is installed on one side of the drive unit 2. The drive unit 2 and the mechanical gripper 3 work together to flexibly adjust according to the height of the tea tree canopy and the distribution of tea buds, effectively expanding the operating coverage of the mechanical gripper 3. A vision sensor 4 is installed on the surface of the mechanical gripper 3. The vision sensor 4 enables selective tea picking at specific points, reducing the probability of mis-grabbing and missed picking. The vision sensor 4 can achieve real-time visual perception and intelligent identification and positioning during the picking process. During operation, the vision sensor 4 can accurately distinguish between pickable tender buds, high-quality shoots with one bud and one leaf, old leaves, woody tea stems, weeds, and field debris, accurately locking onto the target picking point. Combined with the overall machine control system, it achieves precise, selective tea picking, significantly increasing the yield of high-quality tea buds. Several connecting seats 5 are installed at the end of the mechanical gripper 3. A dual-axis motor 6 is installed inside the connecting seat 5. A double-sided gripper finger 7 is rotatably connected to one side of the connecting seat 5, and one end of the dual-axis motor 6 is connected to the double-sided gripper finger 7. Motor 6 drives the double-sided gripper 7 to rotate, allowing the unworn spare gripping surface to be rotated to the picking operation side. The double-sided structure allows for alternating tea picking. The dual-axis motor 6 drives the double-sided gripper 7 to rotate and change positions automatically, enabling the double-sided gripping surfaces of the double-sided gripper 7 to alternately participate in tea picking operations. This overcomes the inherent defects of traditional tea picking grippers that only work on one side and become unusable after wear on one side. After long-term friction and wear, hardening and slippage of the single-sided gripping surface, and a decrease in gripping effect, a new spare working surface can be quickly switched to continue operation without stopping the machine for disassembly or replacing gripper parts. This greatly extends the overall consumable life of the double-sided gripper 7, significantly reduces the frequency of gripper consumable replacement and equipment downtime for maintenance, improves the continuous operation capability of tea picking equipment, reduces the long-term operation and maintenance costs of automated tea picking in tea gardens, and ensures uniform gripping force and stable picking throughout the process, avoiding problems such as broken buds, bud drop, and decreased picking quality caused by gripper wear.

[0038] The mechanical gripper 3 is equipped with a vision sensor 4 on its outer side. During the picking process, the vision sensor 4 collects and intelligently identifies images of the tea tree area in front of it in real time, accurately distinguishes between pickable tender buds and shoots and invalid targets such as old leaves, tea stems, and weeds, and automatically locates the spatial coordinates of high-quality tea buds. Together with the whole machine control system, it completes the fixed-point selective tea picking, effectively avoiding the defects of blind grabbing in traditional mechanical tea picking, greatly reducing the phenomenon of mis-grabbing and missed picking, and ensuring the accuracy and standardization of picking operations.

[0039] During normal tea picking operations, the double-sided clamping finger 7 continuously performs the action of clamping and picking tender buds using a single-sided clamping surface. Long-term high-frequency clamping friction will cause the single-sided working surface to gradually wear down, slip, and reduce clamping performance. When wear is manually detected or after a period of use, the equipment controller will automatically output a control signal to start the dual-axis motor 6. The dual-axis motor 6 drives the double-sided clamping finger 7 to rotate and change direction as a whole, so that the spare new clamping surface that has not been worn can be turned to the outer picking position to replace the worn working surface and continue tea picking operations.

[0040] Meanwhile, during the intervals between each tea-picking operation, the equipment can control several double-sided gripper fingers 7 to rotate and change positions synchronously, so that the two sides of the gripper fingers 7 alternate and participate in the picking work in a balanced manner, avoiding long-term overload wear of a single working surface, and continuously ensuring the gripping stability and picking accuracy of the mechanical gripper 3 through the double-sided rotation working mode.

[0041] Therefore, by using the visual sensor 4 on the surface of the mechanical gripper 3 to achieve intelligent visual recognition and selective tea picking, high-quality tender buds can be accurately selected and old leaves, weeds and other impurities can be removed, effectively reducing the probability of mis-picking and missed picking. This not only increases the effective tea picking rate and fresh leaf harvesting yield, but also ensures the purity and consistency of the picked fresh leaves, significantly improving the quality of tea picking and meeting the standardized picking and production needs of famous and high-quality teas.

[0042] By integrating a dual-axis motor 6 inside the connecting seat 5 and driving the dual-sided gripper 7, the working surface of the dual-sided gripper 7 can be switched automatically by electric control. This changes the structural drawbacks of traditional tea-picking grippers that can only operate on one side and are scrapped after wear. When one side of the gripping surface is worn and fails, there is no need to disassemble and replace the mechanical gripper 3. The working surface can be switched to a good spare surface simply by rotating the dual-axis motor 6. This enables tea picking with alternating dual-sided structure, greatly improves the material utilization rate of the dual-sided gripper 7, and avoids waste of consumables.

[0043] Furthermore, by controlling the synchronous rotation and repositioning of multiple double-sided gripper fingers 7 during tea picking intervals, the wear and tear on both sides of the gripping surface can be evenly distributed during picking, avoiding long-term concentrated wear on one side, further slowing down the aging and wear rate of the gripper fingers, effectively extending the overall consumable service life of the double-sided gripper fingers 7, significantly reducing the frequency of replacement of gripper accessories, and reducing the daily maintenance material costs of the equipment.

[0044] like Figure 5 and Figure 6 As shown, a rotating rod 61 is fixedly installed at one end of the dual-axis motor 6. The rotating rod 61 is rotatably connected to the connecting seat 5. Limiting blocks 62 are fixedly installed on both sides of the rotating rod 61, and the limiting blocks 62 are slidably connected to the double-sided gripper 7. The limiting blocks 62 on both sides of the rotating rod 61 slide with the double-sided gripper 7, which can accurately guide and limit the rotation of the double-sided gripper 7, effectively preventing overtravel, skew, and offset during the rotation of the double-sided gripper 7, ensuring that each rotation and position change can accurately switch to the standard working position, and improving the stability and consistency of the double-sided gripper 7 flipping operation.

[0045] A connecting block 71 is fixedly installed inside one end of the double-sided finger clamp 7. The limiting block 62 is slidably connected to the connecting block 71. A limiting ring 72 is fixedly installed at one end of the double-sided finger clamp 7, and the limiting ring 72 is rotatably connected to the connecting seat 5. Through the precise sliding cooperation between the limiting block 62 and the connecting block 71, the rotational movement trajectory of the double-sided finger clamp 7 can be further constrained, and the rotation angle and sliding stroke of the finger clamp can be precisely guided and limited. This prevents problems such as skewing, offset, jamming and overtravel during the rotation and flipping process of the double-sided finger clamp 7. It ensures that the double-sided finger clamp 7 can be accurately positioned to the standard working position every time the dual-axis motor 6 drives the flipping, which greatly improves the accuracy, stability and consistency of the finger clamp working surface switching, and ensures uniform tea picking posture and stable picking accuracy.

[0046] To address the technical challenge of requiring tools for disassembly and replacement of the double-sided clip finger 7, the following preferred technical solution is provided:

[0047] like Figure 5 and Figure 6 As shown, a threaded rod 63 is installed at the other end of the dual-axis motor 6, and the threaded rod 63 is rotatably connected to the connecting seat 5. A clamping member 8 is threadedly connected to the surface of the threaded rod 63. The clamping member 8 includes a threaded disc 81 and a horizontal plate 82 fixedly installed on both sides of the threaded disc 81. The threaded disc 81 is threadedly connected to the threaded rod 63, and the threaded disc 81 and the horizontal plate 82 are respectively slidably connected to the inside of the connecting seat 5. A lower pressure plate 83 is fixedly installed on one side of the horizontal plate 82. The threaded disc 81 and the threaded rod 63 form a precision threaded transmission fit. At the same time, the threaded disc 81 and the horizontal plate 82 are slidably limited and assembled inside the connecting seat 5, so that the threaded disc 81 and the horizontal plate 82 can only make linear translational movement along the axial direction of the threaded rod 63, and cannot rotate synchronously with the threaded rod 63, realizing the conversion of threaded rotation into linear push-pull movement.

[0048] like Figure 4 , Figure 5 and Figure 7As shown, the connecting seat 5 has a corresponding elastic locking element 9 for engaging the double-sided finger clamp 7. The elastic locking element 9 includes a moving rod 91 and an inclined plate 92 installed on one side of the moving rod 91. The moving rod 91 and the inclined plate 92 are slidably connected to the inside of the connecting seat 5, and the lower pressure plate 83 is in contact with the inclined plate 92. A spring 93 is sleeved on the surface of the moving rod 91. One end of the spring 93 is fixedly connected to the inside of the connecting seat 5, and an arc-shaped plate 94 is fixedly connected to one end of the moving rod 91. The arc-shaped plate 94 is rotatably engaged with the double-sided finger clamp 7. The other end of the spring 93 is fixedly connected to the arc-shaped plate 94. During normal tea picking operation, the double-sided finger clamp 7... In the locked and fixed state, the dual-axis motor 6 drives the threaded rod 63 to rotate in the forward direction, causing the threaded disc 81, the horizontal plate 82 and the lower pressure plate 83 to move downward. The lower pressure plate 83 continuously presses the inclined plate 92. Since the inclined plate 92 is an inclined structure, the vertical pressing force is converted into a horizontal component force, which pushes the moving rod 91 to slide inward, stretching the spring 93 sleeved on the outside of the moving rod 91, so that the spring 93 is in a stretched and stored state. At this time, the arc plate 94 at the end of the moving rod 91 is tightly engaged with the outside of the double-sided finger clamp 7, and cooperates with the axial pressing limit of the lower pressure plate 83 to ensure that the tea picking posture of the double-sided finger clamp 7 is stable, while not affecting the position conversion of the double-sided finger clamp 7.

[0049] When the double-sided finger clip 7 needs to be replaced, the dual-axis motor 6 drives the threaded rod 63 to rotate in the opposite direction, causing the threaded disc 81 and the horizontal plate 82 to retract upwards, so that the lower pressure plate 83 moves upwards and gradually separates from the inclined plate 92. The inclined plate 92 loses its vertical compression constraint. At this time, the stretched spring 93 releases its elastic potential energy and retracts to reset, pulling the moving rod 91 to slide outwards, causing the end arc plate 94 to exit the snap-fit ​​position simultaneously, releasing the snap-fit ​​limit between the arc plate 94 and the double-sided finger clip 7. The double-sided finger clip 7 is completely unlocked and free, and can be replaced.

[0050] Therefore, when the double-sided clip 7 needs to be replaced, the clamping constraint can be completely released as the lower pressure plate 83 is raised, with no residual limit interference. Disassembly and replacement can be completed quickly without the assistance of tools, which greatly reduces the difficulty of field operation and maintenance and equipment downtime losses, reduces manual maintenance costs, and is suitable for long-term continuous automated picking operations in large-scale tea gardens.

[0051] Several ball bearings 95 are installed on one side of the arc-shaped plate 94. A retaining ring 10 is fixedly installed at one end of the double-sided gripper finger 7. The retaining ring 10 is rotatably connected to the connecting seat 5, and the ball bearings 95 are in rolling contact with the retaining ring 10. The addition of the rolling engagement structure between the retaining ring 10 and the ball bearings 95 greatly reduces the frictional resistance when the gripper finger 7 is flipped and rotated, while ensuring the locking and limiting accuracy of the double-sided gripper finger 7. The arc-shaped plate 94 replaces the traditional sliding friction structure by forming a rolling contact between the ball bearings 95 and the retaining ring 10 of the double-sided gripper finger 7. In the locked state, the arc plate 94 is locked and does not loosen, ensuring clamping stability. When it is necessary to rotate and switch working surfaces, the ball 95 can smoothly roll along the surface of the snap ring 10, so that the double-sided clamping finger 7 rotates smoothly without jamming or sticking. This solves the problems of high flipping resistance, high wear and rotational deviation of traditional rigid snap-fit ​​structures, and significantly improves the smoothness and accuracy of the clamping finger rotation and switching. When the arc plate 94 is separated from the snap ring 10, the double-sided clamping finger 7 can be directly removed and replaced.

[0052] 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.

[0053] 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 robotic arm for tea picking, comprising a tracked robot body (1) and a drive unit (2) mounted on one side of the tracked robot body (1), characterized in that: The drive unit (2) is equipped with a mechanical gripper (3) on one side. A vision sensor (4) is installed on the surface of the mechanical gripper (3). The vision sensor (4) enables selective tea picking at fixed points, reducing the probability of mis-gripping and missed picking. Several connecting seats (5) are installed at the end of the mechanical gripper (3). A dual-axis motor (6) is installed inside the connecting seat (5). A double-sided gripper (7) is rotatably connected to one side of the connecting seat (5). One end of the dual-axis motor (6) is connected to the double-sided gripper (7). The double-sided gripper (7) is rotated by the dual-axis motor (6). The spare gripping surface that has not been worn can be turned to the picking operation side. The tea picking work is completed alternately by using the double-sided structure.

2. The robotic arm based on tea picking according to claim 1, characterized in that: The dual-axis motor (6) has a rotating rod (61) fixedly installed at one end. The rotating rod (61) is rotatably connected to the connecting seat (5). Limiting blocks (62) are fixedly installed on both sides of the rotating rod (61), and the limiting blocks (62) are slidably connected to the double-sided finger clamp (7).

3. The robotic arm based on tea picking according to claim 2, characterized in that: A connecting block (71) is fixedly installed inside one end of the double-sided finger clamp (7), and the limiting block (62) is slidably connected to the connecting block (71). A limiting ring (72) is fixedly installed at one end of the double-sided finger clamp (7), and the limiting ring (72) is rotatably connected to the connecting seat (5).

4. The robotic arm based on tea picking according to claim 1, characterized in that: The other end of the dual-axis motor (6) is equipped with a threaded rod (63), and the threaded rod (63) is rotatably connected to the connecting seat (5).

5. The robotic arm based on tea picking according to claim 4, characterized in that: The threaded rod (63) has a threaded connection to a clamping element (8) on its surface. The clamping member (8) includes a threaded disc (81) and a horizontal plate (82) fixedly installed on both sides of the threaded disc (81). The threaded disc (81) is threadedly connected to the threaded rod (63), and the threaded disc (81) and the horizontal plate (82) are slidably connected to the inside of the connecting seat (5). A lower pressure plate (83) is fixedly installed on one side of the horizontal plate (82).

6. The robotic arm based on tea picking according to claim 5, characterized in that: The connecting seat (5) is equipped with an elastic clip (9) for engaging the double-sided finger clip (7); The elastic clamp (9) includes a moving rod (91) and an inclined plate (92) installed on one side of the moving rod (91). The moving rod (91) and the inclined plate (92) are slidably connected to the inside of the connecting seat (5), and the lower pressure plate (83) is in contact with the inclined plate (92). A spring (93) is sleeved on the surface of the moving rod (91). One end of the spring (93) is fixedly connected to the inside of the connecting seat (5). An arc plate (94) is fixedly connected to one end of the moving rod (91), and the arc plate (94) is rotatably engaged with the double-sided clamping finger (7). The other end of the spring (93) is fixedly connected to the arc plate (94).

7. The robotic arm based on tea leaf picking according to claim 6, characterized in that: A number of ball bearings (95) are installed on one side of the arc plate (94).

8. The robotic arm based on tea picking according to claim 7, characterized in that: One end of the double-sided clamp finger (7) is fixedly installed with a snap ring (10), the snap ring (10) is rotatably connected to the connecting seat (5), and the ball (95) is rotatably connected to the snap ring (10).

9. The robotic arm based on tea picking according to claim 1, characterized in that: A placement box (11) is fixedly installed on one side of the tracked robot body (1).

10. The robotic arm based on tea picking according to claim 1, characterized in that: The drive unit (2) includes a first electric slide rail (21) correspondingly installed on one side of the tracked robot body (1), a second electric slide rail (22) installed on one side of the first electric slide rail (21), and a mechanical gripper (3) fixedly connected to the second electric slide rail (22).

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