采摘机械手是采茶机的重要组成部分，提高采摘速率的主要措施之一就是优化机

The picking manipulator is an important part of the tea picking machine. One of the main measures to improve the picking rate is to optimize the structure of the manipulator. Because the mechanical arm is too long, the stability of the mechanism will be deteriorated. The supporting device of the tea picking manipulator adopts a frame type. The bracket is made of stainless steel square tube. It has light weight, strong rigidity, and good bending strength. It can fully support the operation of mechanical equipment. In order to improve the picking efficiency, a stepping motor is used for each direction drive, a double picking manipulator is arranged, a double circular shaft guide is used in each direction, and an appropriate parallelism error is given to reduce the occurrence of mechanism motion jamming. The improvement of the vibration problem of the manipulator in motion is mainly by increasing the fitting length of the slider. In this paper, the working mode of the tea picking machine is to pick the next area after finishing one area. Therefore, in order to improve work efficiency, the two robots are assigned the same workload, and the two robots are designed to have 1/3 overlapping working areas to ensure that when the tea is unevenly distributed, the picking time is reduced. The end effector of the manipulator is a crank-slider mechanism, and the opening and closing movement of the tea leaf is pneumatically controlled, which has the characteristics of small size and low cost. The tea collecting device follows the movement of the picking manipulator to collect the fresh leaves that have been picked by means of suction and blowing. It is mainly composed of vacuum generator, pipeline, solenoid valve and fresh leaf storage box. The fresh leaf storage box is fixed on the high ground clearance power chassis.

Picking robot is an important part of tea picker, one of the main measures to improve the picking rate is to optimize the structure of the robot. Because the mechanical arm is too long will lead to the stability of the mechanism, the support device of the tea-picker adopts the frame type, the bracket selects the stainless steel square pipe, the light mass, the stiffness, the anti-bend ingeststrength is good, can fully support the operation of the mechanical equipment. In order to improve the picking efficiency of each direction drive using stepper motor, arrangement of double picking robot, each direction using a double circular shaft guide, and give appropriate parallelity error, reduce the occurrence of organ motion card death. Improving the vibrate of the robot in motion is mainly done by increasing the fit length of the slider. The working mode of the tea picker in this paper is to complete the picking of a piece of area, and the next area can be picked. So in order to improve work efficiency, assigned to 2 robots the same workload, design 2 robots have 1/3 of the overlapping work area, to ensure that when the distribution of tea is uneven, reduce picking time. The robot end actuator is a crank slider mechanism, he cuts tea opening and closing action using pneumatic control, with small size, low cost characteristics. The tea collection device follows the movement of the picker ingress to collect fresh leaves that have been picked by inhaling and blowing. Mainly composed of vacuum generator, pipeline, solenoid valve, fresh leaf to accommodate the box. The fresh leaf compartment box is fixed to the Highland Gap Power Chassis.

Picking manipulator is an important part of tea picking machine. One of the main measures to improve picking speed is to optimize the structure of manipulator. Because the long arm will lead to the poor stability of the mechanism, the support device of the tea picking manipulator adopts the frame type, and the support adopts the stainless steel square tube, which is light in weight, strong in rigidity and good in bending strength, and can completely support the operation of the mechanical equipment. In order to improve the picking efficiency, the step motor is used to drive in all directions, the double picking manipulator is arranged, the double circular axis guide rail is used in all directions, and the appropriate parallelism error is given, so as to reduce the occurrence of mechanism motion jamming. The main way to improve the vibration of manipulator is to increase the matching length of slider. In this paper, the working mode of tea picker is that after one area picking, it can pick the next area. Therefore, in order to improve the work efficiency, two manipulators are assigned the same workload, and two manipulators are designed with 1 / 3 overlapping work area, so as to reduce the picking time when the tea distribution is uneven. The manipulator end actuator is a crank slider mechanism. Its opening and closing action of cutting tea adopts pneumatic control, which has the characteristics of small volume and low cost. The tea collecting device follows the movement of the picking manipulator to collect the picked fresh leaves by means of suction and blowing. It is mainly composed of vacuum generator, pipeline, solenoid valve and fresh leaf holding box. The fresh leaf holding box is fixed on the high clearance power chassis.