Novel crawler-type unmanned tea-leaf picker device for bulk tea

Abstract

A novel crawler-type unmanned tea picking machine device for bulk tea comprises a power chassis, a leaf collecting device, an auger device, an air-assisted material conveying device, a tea picking height recognition device, a cutter and a control box. A stand column is arranged on the power chassis, the cutter is fixed to a stand column sliding block, the air-assisted material conveying device is arranged on the side, close to the power chassis, of the cutter and connected with the cutter through a discharging opening, the tea picking height recognition device is arranged at the front end of the cutter, and a leaf collecting device is arranged on the power chassis and used for collecting tea leaves. The tea leaf picking height recognition device comprises an angle sensor, a scraper and a first sensor support, the angle sensor is fixedly arranged on the first sensor support and is configured to detect the rotating angle of the scraper, the control box controls the cutter to move up and down along the stand column, and high integration of walking, cutting and collecting is achieved in the tea leaf harvesting process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tea picking machines, and particularly relates to a novel caterpillar type mass tea unmanned tea picking machine device. BACKGROUND

[0002] With the continuous development of the tea industry, the tea picking machine as an important equipment for the mechanized operation of tea gardens is gradually widely applied. Most of the traditional tea picking equipment relies on manual cooperation. Especially the single-person tea picking machine and the double-person tea picking machine need multiple operators to work together to achieve better operation effect in actual operation. This cooperative operation mode not only increases the complexity of operation, but also greatly increases the intensity of labor, and the picking efficiency is low.

[0003] Most of the existing tea picking equipment is only suitable for the standardized planting mode in the tea garden, that is, the spacing, shape and arrangement mode of the tea trees have higher unified requirements. However, with the increasing diversification of tea garden planting modes, irregular planting layouts, complex terrains such as hills and mountains gradually become common planting environments, which leads to the relatively poor adaptability of the existing tea picking machine equipment, and cannot meet the working requirements in complex environments. Especially in the tea garden with large slope or rugged terrain, the existing equipment can only work efficiently on flat and regular terrain, and the operation efficiency and stability are greatly reduced in irregular terrain, hills, mountains and other complex geographical conditions, which restricts the promotion and popularization of mechanized operation.

[0004] At the same time, the current tea picking machine equipment is generally low in automation level, and the working process is complicated and the operation is complex. Especially in the variable environmental conditions, the traditional equipment can only perform a single function, and lacks intelligent adaptation ability for different scenes. SUMMARY

[0005] In view of the above situation, in order to overcome the defects of the prior art, the application provides a novel caterpillar type mass tea unmanned tea picking machine device to at least partially solve the above technical problems.

[0006] The technical scheme adopted by the present application is as follows: the present application provides a novel crawler-type large-batch tea unmanned tea picking machine device, which comprises a power chassis, a leaf collecting device, a pneumatic material conveying device, a tea picking height sensor identification device, a cutter and a control box; a stand is arranged on the power chassis, the cutter is slidingly arranged on the stand, the pneumatic material conveying device and the tea picking height sensor identification device are arranged on the two sides of the cutter respectively, the leaf collecting device is arranged on the power chassis, and the leaf collecting device is configured to collect tea leaves; the tea picking height sensor identification device comprises an angle sensor, a scraper and a first sensor support, the angle sensor is fixedly arranged on the first sensor support, the scraper is rotatably arranged on the first sensor support, and the angle sensor is configured to detect the rotation angle of the scraper; the angle sensor, the stand and the control box are electrically connected, and the control box controls the sliding of the cutter on the stand; A blowing device is arranged on the power chassis, the blowing device comprises a fan, a feeding blowing pipe, a tee pipe and a tea conveying pipe, and the control box is configured to control the fan; the inlet end of the tee pipe is connected with the air outlet of the fan, the outlet end of the tee pipe is connected with one end of the feeding blowing pipe, the other end of the feeding blowing pipe is a closed end, a plurality of small openings are formed in the feeding blowing pipe for blowing tea leaves, the tee pipe is in communication with the tea conveying pipe, and the tea conveying pipe is provided with an inlet and a tea outlet.

[0007] Further, the power chassis comprises a crawler walking device, a handrail and a platform; the handrail is installed on one side of the platform, and the crawler walking device is fixedly installed on the platform; a battery is arranged on the handrail; and the control box is configured to control the crawler walking device.

[0008] Further, a range extender is installed at the front end of the power chassis, and the range extender is provided with a blowing device, a water tank and an oil tank; and the control box is configured to control the range extender.

[0009] Further, the leaf collecting device comprises a leaf collecting box body, a leaf collecting box support and a discharge port bag blocking ring; the leaf collecting box body is arranged in a concave shape, the leaf collecting box support is installed on the leaf collecting box body through bolts, and the discharge port bag blocking ring is fixedly arranged on the tea discharge port.

[0010] Further, the stand comprises a sliding block, a lead screw, a stand mounting plate, a first motor and a stand body; the stand body, the first motor, the lead screw and the sliding block constitute a ball transmission mechanism, the sliding block is slidingly connected to the stand body, and the stand body is fixedly arranged on the stand mounting plate through bolts; and the control box is configured to control the first motor.

[0011] Furthermore, the pneumatic material conveying device includes a second motor, a motor bracket, a coupling, a material barrel, and a screw rod; the material barrel is a hollow cylinder with a rectangular hole and a discharge port on its side, and a tea leaf baffle is provided on the side of the rectangular hole near the column; the diameter of the screw rod matches the inner diameter of the material barrel, and the screw rod is installed inside the material barrel; the coupling is connected to the screw rod on the side of the discharge port, and the second motor is connected to the other end of the coupling; the second motor drives the screw rod to rotate through the coupling to convey the tea leaves to the discharge port; the control box is configured to control the second motor.

[0012] Furthermore, the tea-picking height sensor identification device includes a second sensor bracket and a sensor clamp. The first sensor bracket is fixedly mounted on the second sensor bracket, and the second sensor bracket is provided with a sensor clamp. The tea-picking height sensor identification device is fixed to the cutter through the sensor clamp.

[0013] Furthermore, the cutter includes a third motor, a fixed bracket, a first guard plate, a double cam mechanism, a cutter mounting plate, toothed blades, a feeding air pipe bracket, a second guard plate, a support frame, a reducer, a pull rod, and a belt drive mechanism. The fixed bracket is connected to the first guard plate, the cutter mounting plate, the second guard plate, and the support frame. The two ends of the pull rod are respectively connected to the fixed bracket and the feeding air pipe bracket. The control box is configured to control the third motor. The toothed blades are mounted on the cutter mounting plate and are double-row toothed blades, which are slidably connected to the cutter mounting plate. The third motor is mounted on the fixed bracket and transmits power to the toothed blades through the belt drive mechanism, the reducer, and the double cam mechanism, driving the toothed blades to slide back and forth to cut the tea leaves.

[0014] Furthermore, the control box contains an unmanned vehicle controller and data... Figure One The system includes a signal transceiver and a remote controller. The remote controller communicates wirelessly with the signal transceiver via the 2.4GHz microwave band. The signal transceiver is electrically connected to the unmanned vehicle controller. The unmanned vehicle controller sends control signals and instructions to the various walking and harvesting mechanisms of the tea-picking machine.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The tea picking height sensor recognition device automatically adjusts the depth of tea cutting to ensure precise picking and achieves a high degree of integration of walking, picking and collecting. It has the advantages of simple structure, low cost, high picking efficiency and good cutting effect, thus improving the automation level of tea picking. 2. The cutter uses reciprocating blades for cutting. There is an air inlet at the front end, which blows the cut fresh leaves to the rear of the cutter. The screw rotates and transports the fresh leaves to the discharge port for free fall. The airflow at the discharge port is downward suction to avoid obstruction of the fall and improve the conveying efficiency of the tea leaves. 3. The blower outlet is divided into two paths. One path leads to multiple air outlets at the front end of the cutter, and the other path leads to the tea conveying duct. Fresh leaves falling from the discharge port are blown along the duct to the discharge port of the leaf collection device. The rear end of the outlet is manually bagged to collect the tea leaves, achieving efficient collection of tea leaves and avoiding waste. Attached Figure Description

[0016] Figure 1 This is a perspective view of the novel tracked unmanned tea-harvesting machine device for bulk tea production proposed in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the power chassis and leaf collection device of the novel tracked bulk tea unmanned tea-picking machine proposed in an embodiment of the present invention.

[0018] Figure 3 This is a perspective view of the column of the novel tracked bulk tea unmanned tea-picking machine device proposed in an embodiment of the present invention.

[0019] Figure 4 This is a perspective view of the pneumatic material conveying device of the novel tracked bulk tea unmanned tea-picking machine proposed in an embodiment of the present invention.

[0020] Figure 5 This is a perspective view of the tea-picking height sensor identification device of the novel tracked bulk tea unmanned tea-picking machine proposed in an embodiment of the present invention.

[0021] Figure 6 This is a perspective view of the cutter of the novel tracked bulk tea unmanned tea-picking machine device proposed in an embodiment of the present invention.

[0022] Figure 7 This is a perspective view of the air supply device of the novel tracked bulk tea unmanned tea-picking machine proposed in an embodiment of the present invention.

[0023] Among them, 100 is the power chassis, 101 is the tracked walking device, 102 is the handrail, 103 is the platform, 200 is the battery, 300 is the leaf collecting device, 301 is the leaf collecting box body, 302 is the leaf collecting box bracket, 400 is the column, 401 is the slider, 402 is the lead screw, 403 is the column mounting plate, 404 is the first motor, 405 is the column body, 500 is the pneumatic material conveying device, 501 is the second motor, 502 is the motor bracket, 503 is the coupling, 504 is the material bucket, 5041 is the material discharge port, 5042 is the tea leaf baffle, 5043 is the rectangular hole, 505 is the screw rod, 600 is the tea picking height sensor identification device, 601 is the angle sensor, 602 is the scraper, and 603 is the tea picking height sensor identification device. 604. First sensor bracket; 605. Second sensor bracket; 706. Sensor clamp; 707. Cutter; 708. Third motor; 709. Fixed bracket; 700. First guard plate; 700. Double cam mechanism; 700. Cutter mounting plate; 701. Toothed cutter; 702. Feeding and blowing pipe bracket; 703. Second guard plate; 704. Support frame; 715. Reducer; 716. Tie rod; 717. Belt drive mechanism; 800. Air supply device; 801. Fan; 802. Feeding and blowing pipe; 803. T-pipe; 804. Tea conveying pipe; 8041. Inlet; 8042. Outlet; 900. Control box; 1000. Oil tank; 1100. Water tank; 1200. Range extender.

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] like Figures 1-7As shown, the tea-harvesting machine proposed in this embodiment includes a power chassis 100, a leaf-collecting device 300, a pneumatic material conveying device 500, a tea-harvesting height sensor identification device 600, a cutter 700, and a control box 900. A column 400 is mounted on the power chassis 100, and the cutter 700 is slidably mounted on the column 400. The pneumatic material conveying device 500 and the tea-harvesting height sensor identification device 600 are respectively located on both sides of the cutter 700. The leaf-collecting device 300 is mounted on the power chassis 100 and is configured to collect tea leaves. The tea-picking height sensor identification device 600 includes an angle sensor 601, a scraper 602, and a first sensor bracket 603. The angle sensor 601 is fixedly mounted on the first sensor bracket 603, and the scraper 602 is rotatably mounted on the first sensor bracket 603. The angle sensor 601 is configured to detect the rotation angle of the scraper 602. The angle sensor 601, the column 400, and the control box 900 are electrically connected. The control box 900 controls the sliding of the cutter 700 on the column 400, thereby cutting tea leaves at different heights and positions.

[0028] The power chassis 100 serves as a basic component, ensuring the power source for the tea-picking machine. Equipped with a sufficient drive system, it can adapt to different terrains in the tea garden. Through the setting of the column 400, the cutter 700 can slide smoothly under the guidance of the column, ensuring precise cutting of tea leaves at different heights.

[0029] Both the pneumatic material conveying device 500 and the tea-picking height sensor identification device 600 are located on both sides of the cutter 700. The former is responsible for conveying the picked tea leaves to the leaf collecting device 300, while the latter, through the cooperation of the angle sensor 601 and the scraper 602, monitors the cutting angle of the cutter 700 and the contact state with the tea leaves in real time, ensuring the accuracy and smoothness of the picking process. The angle sensor 601 can sense the change in the rotation angle of the scraper 602 and transmit the relevant data to the control box 900, thereby adjusting the position and angle of the cutter 700 to adapt to the different growth conditions of tea leaves.

[0030] The tea-picking process is precisely controlled by the control box 900. The control box 900 is electrically connected to the angle sensor 601 and the column 400 to realize the automatic sliding adjustment of the cutter 700 in different working states, ensuring the balanced and accurate picking effect at different heights and positions.

[0031] The tea-picking machine in this embodiment improves picking efficiency while significantly reducing the need for manual intervention. Especially in tea gardens with complex terrain and different planting patterns, it not only has automated operation but can also make intelligent adjustments according to changes in the tea garden environment, thereby achieving a more precise, faster, and more efficient picking process.

[0032] The power chassis 100 proposed in this embodiment includes a tracked walking device 101, a handrail 102, and a platform 103; the handrail 102 is installed on one side of the platform 103, and the tracked walking device 101 is fixedly installed on the platform 103; a battery 200 is provided on the handrail 102; the control box 900 is configured to control the tracked walking device 101.

[0033] In this embodiment, the tracked walking device 101 adopts a tracked structure, which has strong traction and good passability, and can cope with complex terrains such as hills, slopes and slippery areas, ensuring that the tea picking machine can travel smoothly in different tea garden environments. The tracked walking device 101 is fixedly installed with other components through the platform 103, thereby ensuring the stability of the chassis and the safety of operation.

[0034] Handrail 102 is located on one side of platform 103. Its design facilitates support or operation for the operator, providing better comfort and safety. Handrail 102 not only provides support but also enhances stability during operation, especially in environments with significant terrain undulations. The operator can better control the direction of the tea-picking machine using handrail 102.

[0035] Battery 200 is installed on handle 102 to ensure the power supply of the tea picker. The integrated design of battery 200 and handle 102 facilitates battery installation and replacement, while also optimizing the overall structure of the tea picker, making the center of gravity more stable and avoiding excessive space occupation.

[0036] The control box 900 is configured to control the tracked walking device 101. Through the intelligent control system, the control box 900 can adjust the traveling speed and direction of the tracked walking device 101 according to the needs of the actual working environment. The coordinated operation of the control box 900 with other modules ensures that the tea-picking machine can accurately move and position itself in complex terrain, while avoiding loss of control or instability.

[0037] In this embodiment, a range extender 1200 is installed at the front end of the power chassis 100. The range extender 1200 is equipped with an air supply device 800, a water tank 1100, and an oil tank 1000. The control box 900 is configured to control the range extender 1200. In this embodiment, the range extender 1200, as an auxiliary device at the front end of the power chassis 100, mainly functions to provide longer-term power support for the tea-picking machine. Especially during long-term operation or when far from charging facilities, the range extender 1200 can effectively extend the working continuity of the tea-picking machine and ensure its efficient operation.

[0038] The range extender 1200 is also equipped with a water tank 1100 and a fuel tank 1000, which are used to store the water and fuel required for operation, respectively. The water tank 1100 is used to provide cooling water, especially in high-temperature environments, the water tank 1100 can provide the necessary coolant to the engine system of the tea picker to prevent overheating and equipment failure; the fuel tank 1000 is responsible for storing fuel; thus ensuring the long-term operation of the tea picker without adding too much weight.

[0039] The control box 900 can monitor the working status of the range extender 1200 in real time and adjust the output power of the range extender 1200 according to the actual needs of the tea harvester. In addition, the control box 900 is also responsible for monitoring the liquid levels of the water tank 1100 and the oil tank 1000 to ensure that the supply of water and oil is always kept within the normal range, thereby avoiding equipment downtime or operation interruption due to insufficient resources.

[0040] The leaf collecting device 300 proposed in this embodiment includes a leaf collecting box body 301, a leaf collecting box support 302, and a discharge port bag retainer ring; the leaf collecting box body 301 is concave, the leaf collecting box support 302 is installed on the leaf collecting box body 301 by bolts, and the discharge port bag retainer ring is fixedly installed on the tea discharge port 8042.

[0041] The leaf collecting device 300 provides a large collection space through its concave-designed leaf collecting box body 301, ensuring that more tea leaves can be accommodated during long-term operation and avoiding frequent cleaning. The leaf collecting box bracket 302 stably supports the leaf collecting box body 301, ensuring that it does not shift during operation. The discharge port bag retainer is fixedly installed on the tea discharge port 8042 to collect the tea leaves.

[0042] The column 400 proposed in this embodiment includes a slider 401, a lead screw 402, a column mounting plate 403, a first motor 404, and a column body 405; the column body 405, the first motor 404, the lead screw 402, and the slider 401 form a screw transmission mechanism, the slider 401 is slidably connected to the column body 405, and the column body 405 is fixedly mounted on the column mounting plate 403 by bolts; the control box 900 is configured to control the first motor 404.

[0043] The column 400 employs a screw drive mechanism, where a first motor 404 drives a lead screw 402 to rotate, which in turn causes a slider 401 to slide along the column body 405, thus achieving the lifting and lowering adjustment of the cutter 700. The column body 405 is fixed to the column mounting plate 403 with bolts, ensuring the stability and smooth operation of the system. The control box 900 is connected to the first motor 404 and can intelligently adjust the position of the cutter to accommodate tea picking at different heights.

[0044] The lead screw 402 can be automatically controlled by an angle sensor, or it can be manually controlled by remote control or other means.

[0045] The pneumatic material conveying device 500 proposed in this embodiment includes a second motor 501, a motor bracket 502, a coupling 503, a material bin 504, and a screw rod 505. The material bin 504 is a hollow cylinder with a rectangular hole 5043 and a discharge port 5041 on its side. A tea baffle 5042 is provided on the side of the rectangular hole 5043 near the column 400. The diameter of the screw rod 505 matches the inner diameter of the material bin 504. The screw rod 505 is installed inside the material bin 504. The coupling 503 is connected to the screw rod 505 on the side of the discharge port 5041. The second motor 501 is connected to the other end of the coupling 503. The second motor 501 drives the screw rod 505 to rotate through the coupling 503, conveying the tea leaves to the position of the discharge port 5041. The control box 900 is configured to control the second motor 501.

[0046] The screw 505 is fitted inside the material container 504, matching its inner diameter, and conveys tea leaves by rotation. A coupling 503 connects the screw 505 to a second motor 501, driving the screw 505 to rotate and convey the tea leaves from the material container 504 through the discharge port 5041 to the target location. The control box 900 is configured to control the second motor 501, adjusting the conveying speed and direction according to actual needs to ensure smooth and efficient tea leaf conveying.

[0047] The tea-picking height sensor identification device 600 proposed in this embodiment includes a second sensor bracket 604 and a sensor clamp 605; the first sensor bracket 603 is fixedly mounted on the second sensor bracket 604, and the second sensor bracket 604 is provided with a sensor clamp 605. The tea-picking height sensor identification device 600 is fixed on the cutter 700 through the sensor clamp 605.

[0048] The tea-picking height sensor identification device 600 enables real-time monitoring of the position of the cutter 700 and the condition of the tea leaves. The second sensor bracket 604, combined with the first sensor bracket 603, ensures the stability and accuracy of the sensor. The sensor clamp 605 securely fixes the entire device to the cutter 700, thereby achieving accurate perception and feedback of various data during the tea-picking process.

[0049] The cutter 700 proposed in this embodiment includes a third motor 701, a fixed bracket 702, a first guard plate 703, a double cam mechanism 704, a cutter mounting plate 705, a toothed cutter 706, a feeding air pipe bracket 707, a second guard plate 708, a support frame 709, a reducer 710, a pull rod 711, and a belt drive mechanism 712. The fixed bracket 702 is connected to the first guard plate 703, the cutter mounting plate 705, the second guard plate 708, and the support frame 709. The two ends of the pull rod 711 are respectively connected to the fixed bracket 702 and the feeding air pipe bracket 707. The control box 900 is configured to control the third motor 701.

[0050] The fixed bracket 702 serves as the overall support structure and connects with other components such as the first guard plate 703, the cutter mounting plate 705, and the second guard plate 708 to ensure the stability of the cutter 700 during operation. The pull rod 711 connects the fixed bracket 702 to the feeding air pipe bracket 707. By adjusting the length of the pull rod, different operating angles or positions can be controlled to optimize the harvesting process.

[0051] The toothed blade 706 is mounted on the tool mounting plate 705 and features a double-row toothed blade design, providing higher cutting efficiency and precision. A sliding connection structure exists between the toothed blade 706 and the tool mounting plate 705, ensuring free sliding of the toothed blade and improving the smoothness of the cutting process. The third motor 701 is mounted on a fixed bracket 702 and transmits power through a belt drive mechanism 712, a reducer 710, and a double cam mechanism 704, driving the toothed blade 706 to high-speed reciprocating motion to achieve efficient cutting of tea leaves.

[0052] The control box 900 is connected to the third motor 701, which can precisely control the motor's start, stop and running speed, ensuring that the toothed cutter 706 can move at a predetermined speed and direction to complete the tea cutting operation.

[0053] The toothed cutter 706 can be equipped with either a horizontal or curved cutting head depending on the actual usage requirements.

[0054] The air supply device 800 proposed in this embodiment includes a blower 801, a feeding air pipe 802, a three-way pipe 803, and a tea conveying pipe 804. The control box 900 is configured to control the blower 801. The inlet end of the three-way pipe 803 is connected to the air outlet of the blower 801, and the outlet end of the three-way pipe 803 is connected to one end of the feeding air pipe 802. The other end of the feeding air pipe 802 is a closed end, and the feeding air pipe 802 has multiple small openings for blowing tea leaves. The three-way pipe 803 is connected to the tea conveying pipe 804, and the tea conveying pipe 804 is provided with an inlet 8041 and a tea outlet 8042.

[0055] The air supply device 800 is mainly used for the transmission and cleaning of tea leaves. It generates a strong airflow through the fan 801 to ensure the smooth flow of tea leaves in the transmission pipeline. The fan 801 is connected to the feeding air pipe 802 through the three-way pipe 803. The inlet end of the three-way pipe 803 is connected to the air outlet of the fan, which introduces the airflow into the feeding air pipe 802. The feeding air pipe 802 is equipped with multiple small openings, which can accurately blow the airflow onto the tea leaves to ensure that the tea leaves are unobstructed and clean during the flow.

[0056] The other end of the feeding air pipe 802 is designed as a closed end, which effectively controls the direction and intensity of the airflow and avoids excessive external force affecting the tea during transportation. The tea conveying pipe 804 is connected to the three-way pipe 803. By setting the inlet 8041 and the tea outlet 8042, the tea can be smoothly fed in and out. In the whole process, the air supply device 800 ensures that the tea is quickly and effectively transported to the next operation stage after picking through airflow power. The control box 900 is responsible for the on / off switch and wind speed adjustment of the fan 801, and adjusts the airflow intensity as needed to ensure that the air supply device 800 can operate efficiently under different operating conditions.

[0057] The control box 900 proposed in this embodiment is equipped with an unmanned vehicle controller and data... Figure One The system includes a signal transceiver and a remote controller. The remote controller communicates wirelessly with the signal transceiver via a 2.4GHz microwave band. The signal transceiver is electrically connected to the unmanned vehicle controller. The unmanned vehicle controller sends control signals and instructions to the various walking and harvesting actuators of the tea-picking machine. The remote controller is not only used to start and stop the entire machine and control the operation of the motor, but also has a variety of intelligent control and safety management functions: the remote controller has a mode switching unit that can freely switch between single-person operation mode and automatic cruise mode to adapt to different operating scenarios; it also integrates speed adjustment and steering control functions, which can precisely control the travel speed and direction of the power chassis 100, the lifting position of the cutter 700, the action of the cutter 700, the action of the fan, the up and down adjustment of the lead screw 402, the start and stop of the range extender 1200, and the switch of the battery 200, thereby achieving high-precision harvesting.

[0058] In addition, the remote control has a built-in emergency safety control circuit and a one-button emergency stop, which can quickly cut off the motor's power output in case of obstacles or emergencies to ensure the safety of personnel and equipment. For convenient long-term outdoor operation, the remote control uses a low-power communication module and a rechargeable power unit, and supports connection to the charging interface of a foldable solar panel for self-powering in the field. The remote control can achieve multi-mode precise control, remote safety management, and long-term stable operation, significantly improving the tea-picking machine's operational flexibility and reliability in complex terrain and changing working environments. The working process of this embodiment is as follows: Start the battery 200 and drive the tea-picking machine to one end of the tea bushes in the tea garden. Adjust the height of the cutter 700 to bring it close to the upper part of the tea bushes. At this time, the scraper 602 is in the lower threshold state. Start the power of the first motor 404 to move the cutter 700 to a suitable tea-picking position via the spiral movement mechanism, bringing the scraper 602 close to the tea bushes. The movement of the scraper 602 will drive the angle sensor 601 to rotate. When the angle sensor 601 rotates within the threshold, the first motor 404 stops. When the scraper 602 is at the upper threshold, the first motor 404 starts, and the cutter 700 moves upward to within the threshold of the angle sensor 601, and the picking process begins. Turn on the power of the third motor 701 to make the toothed blade 706 start cutting the tea leaves back and forth. The power chassis 100 continues to move forward, and the tea leaves cut by the toothed blade 706 will gather on the blade. On the mounting plate 705, the air supply device 800 starts operating, sending air from the blower 801 through the three-way pipe 803 to the small opening of the feeding air blowing pipe 802, blowing the tea leaves gathered on the cutter mounting plate 705 through the rectangular hole 5043 into the material bucket 504 of the air-conveyed material conveying device 500. Then, the second motor 501 starts operating, driving the rotation of the screw rod 505 through the coupling 503, conveying the tea leaves to the discharge port 5041 so that the tea leaves fall down. The tea leaves falling from the discharge port 5041 will enter the tea conveying pipe 804 through the feed port 8041, and then be conveyed to the highest point of the leaf collection box body 301 through another air outlet of the three-way pipe 803, and finally fall into the leaf collection box body 301 from the discharge port 8042. This completes the entire workflow, realizing an integrated harvesting process of walking, picking, and collecting.

[0059] 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.

[0060] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A novel tracked unmanned tea-harvesting machine for bulk tea production, characterized in that: The device includes a power chassis (100), a leaf collection device (300), a pneumatic material conveying device (500), a tea picking height sensor identification device (600), a cutter (700), and a control box (900). The power chassis (100) is equipped with a column (400), the cutter (700) is slidably mounted on the column (400), the pneumatic material conveying device (500) and the tea picking height sensor identification device (600) are respectively located on both sides of the cutter (700), and the power chassis (100) is equipped with a leaf collection device (300), which is configured to collect tea leaves. The tea-picking height sensor identification device (600) includes an angle sensor (601), a scraper (602), and a first sensor bracket (603). The angle sensor (601) is fixedly mounted on the first sensor bracket (603), and the scraper (602) is rotatably mounted on the first sensor bracket (603). The angle sensor (601) is configured to detect the rotation angle of the scraper (602). The angle sensor (601), the column (400), and the control box (900) are electrically connected. The control box (900) controls the sliding of the cutter (700) on the column (400). The power chassis (100) is equipped with an air supply device (800), which includes a blower (801), a feeding air pipe (802), a three-way pipe (803), and a tea conveying pipe (804). The control box (900) is configured to control the blower (801). The inlet end of the three-way pipe (803) is connected to the outlet of the blower (801), and the outlet end of the three-way pipe (803) is connected to one end of the feeding air pipe (802). The other end of the feeding air pipe (802) is a closed end, and a small opening is provided on the feeding air pipe (802) for blowing the tea leaves. The three-way pipe (803) is connected to the tea conveying pipe (804), and the tea conveying pipe (804) is provided with an inlet (8041) and a tea outlet (8042).

2. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The power chassis (100) includes a tracked walking device (101), a handrail (102), and a platform (103); the handrail (102) is installed on one side of the platform (103), and the tracked walking device (101) is fixedly installed on the platform (103); a battery (200) is provided on the handrail (102). The control box (900) is configured to control the tracked walking device (101).

3. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The front end of the power chassis (100) is equipped with a range extender (1200), and the range extender (1200) is provided with a water tank (1100) and a fuel tank (1000). The control box (900) is configured to control the range extender (1200).

4. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The leaf collecting device (300) includes a leaf collecting box body (301), a leaf collecting box support (302), and a discharge port bag retaining ring; The leaf collection box body (301) is concave, the leaf collection box bracket (302) is bolted to the leaf collection box body (301), and the outlet bag retainer is fixedly installed on the tea outlet (8042).

5. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The column (400) includes a slider (401), a lead screw (402), a column mounting plate (403), a first motor (404), and a column body (405); the column body (405), the first motor (404), the lead screw (402), and the slider (401) form a ball transmission mechanism, the slider (401) is slidably connected to the column body (405), and the column body (405) is fixedly mounted on the column mounting plate (403) by bolts; The control box (900) is configured to control the first motor (404).

6. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The pneumatic material conveying device (500) includes a second motor (501), a motor bracket (502), a coupling (503), a material bucket (504), and a screw rod (505). The material bucket (504) is a hollow cylinder. A rectangular hole (5043) and a material discharge port (5041) are opened on the side of the material bucket (504). A tea baffle (5042) is provided on the side of the rectangular hole (5043) near the column (400). The diameter of the screw rod (505) matches the inner diameter of the material barrel (504). The screw rod (505) is installed inside the material barrel (504). The coupling (503) is connected to the screw rod (505) on one side of the discharge port (5041). The second motor (501) is connected to the other end of the coupling (503). The second motor (501) drives the screw rod (505) to rotate through the coupling (503) to transport the tea leaves to the position of the discharge port (5041). The control box (900) is configured to control the second motor (501).

7. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The tea-picking height sensor identification device (600) includes a second sensor bracket (604) and a sensor clamp (605). The first sensor bracket (603) is fixedly mounted on the second sensor bracket (604), and the second sensor bracket (604) is provided with a sensor clamp (605). The tea-picking height sensor identification device (600) is fixed on the cutter (700) by the sensor clamp (605).

8. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The cutter (700) includes a third motor (701), a fixed bracket (702), a first guard plate (703), a double cam mechanism (704), a cutter mounting plate (705), a toothed cutter (706), a feeding air pipe bracket (707), a second guard plate (708), a support frame (709), a reducer (710), a pull rod (711), and a belt drive mechanism (712). The fixed bracket (702) is connected to the first guard plate (703), the cutter mounting plate (705), the second guard plate (708), and the support frame (709). The two ends of the pull rod (711) are connected to the fixed bracket (702) and the feeding blower bracket (707) respectively. The control box (900) is configured to control the third motor (701). The toothed cutter (706) is mounted on the cutter mounting plate (705). The toothed cutter (706) is a double-row toothed cutter. The toothed cutter (706) is slidably connected to the cutter mounting plate (705). The third motor (701) is mounted on the fixed bracket (702). The third motor (701) transmits power to the toothed cutter (706) through the belt drive mechanism (712), the reducer (710), and the double cam mechanism (704) to drive the toothed cutter (706) to slide back and forth to cut the tea leaves.

9. The novel tracked unmanned tea-harvesting machine for bulk tea production according to claim 1, characterized in that: The control box (900) is equipped with an unmanned vehicle controller, a digital-graphic signal transceiver device and a remote controller. The remote controller and the signal transceiver device communicate wirelessly via the 2.4GHz microwave band. The signal transceiver device is electrically connected to the unmanned vehicle controller. The unmanned vehicle controller sends control signals and instructions to the various walking and harvesting actuators of the tea-picking machine.

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