末端执行器直接接触到鲜叶部分，它的结构会影响鲜叶的质量和鲜叶的收集方式

The end effector directly touches the fresh leaves, its structure will affect the quality of the fresh leaves and the way the fresh leaves are collected, and the way of pinching off the fresh leaves will affect the regrowth of the tea tree to some extent. This article compares various schemes of the end effector mechanism: 1) The double-crank mechanism cuts tea leaves. The principle is shown in Figure 3-1. The driving part AB moves, and the follower CD moves through the connecting rod. The ends of AB and CD are blades. The state shown in the figure is when the blade is opened, when AB rotates clockwise, the relative motion of the 2 blades is driven to reach the closed state, and the fresh leaves are cut, but the 2 blades enter from the same side when cutting the tea leaves, which has the disadvantage of pulling the tea leaves apart. If this structure is improved to a regular parallelogram mechanism, the 2 blades will be moved relatively. When cutting fresh leaves, the position of the fresh leaves may be changed by force, without external force clamping, the cutting effect is not good.

The end actuator comes into direct contact with the fresh leaf part, its structure will affect the quality of the fresh leaves and the way the fresh leaves are collected, and the way of cutting off the fresh leaves will affect the regrowth of the tea tree to some extent. In this paper, a variety of schemes are compared to the mechanism of the end actuator: 1) double crank mechanism shearing tea, the principle is shown in Figure 3-1, the active part AB motion, through the linkage to drive the driven CD motion. Where ab, CD end is the blade. The illustration status is that when the blade is open, when AB rotates clockwise, the drive 2 blade relative motion reaches the closed state to complete the fresh leaf cut, but when cutting tea, 2 blades enter from the same side, there is a disadvantage in turning the tea away. If this structure is improved to a positive parallel olater mechanism, so that 2 blades relative lying motion, cutting fresh leaves, fresh leaves force the role, the position may change, no external force clamping, shearing effect is not good.

The structure of the end actuator will affect the quality of the fresh leaves and the way of collecting the fresh leaves, while the way of cutting the fresh leaves will affect the regeneration of the tea tree to some extent. In this paper, the mechanism of the end actuator has been compared in a variety of schemes: 1) the mechanism of double crank shear tea, the principle is shown in Figure 3-1, the driving part AB moves, and the driven part CD moves through the connecting rod. The ends of AB and CD are blades. As shown in the figure, when the blade is open, when AB rotates clockwise, the relative movement of the two blades is driven to the closed state to complete the fresh leaf cutting, but when cutting the tea leaves, the two blades enter from the same side, which has the disadvantage of pulling the tea leaves apart. If this structure is improved to a positive parallelogram mechanism, the two blades will move relative to each other. When cutting the fresh leaves, the position of the fresh leaves may be changed under the action of force, and there is no external force clamping, so the shear effect is not good.<br>