Tea picking vehicle

Abstract

The application discloses a tea picking vehicle and relates to the technical field of tea picking. The tea picking vehicle is used for solving the problem that the labor intensity of workers is greatly increased because people need to bend down to pick tea leaves. The tea leaf collecting and arranging mechanism is installed at the middle position of the upper end of the walking mechanism, and the tea leaf collecting and arranging mechanism comprises a collecting cabinet and a sieve plate. The sieve plate is installed in the collecting cabinet. A driving swing rod and a driven swing rod are installed on one side of the collecting cabinet, and the driving swing rod and the driven swing rod form a four-rod swing mechanism. The sieve plate is in transmission connection with the driven swing rod and the driving swing rod through a sieve plate shaft. One end of the driving swing rod is provided with a swing rod motor. The lifting platform is arranged on the two sides of the tea leaf collecting and arranging mechanism. The bottom of the lifting platform is provided with a supporting seat. The upper end of the lifting platform is provided with a linear motor. The output end of the linear motor is provided with a ball screw. One end of the ball screw is in rotation connection with the supporting seat.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tea picking, in particular to a tea picking vehicle. BACKGROUND

[0002] Tea culture has always been an indispensable part of food culture in Chinese history. Nowadays, with the increasing improvement of people's living standards, people pay more and more attention to the greenness of food, and tea is becoming more and more popular due to its natural harmlessness and its role in regulating human body and mind. However, tea is usually planted in mountainous and hilly areas, and tea in Yunnan and other places is even planted on trees, which brings great inconvenience to the planting, maintenance and picking of tea.

[0003] Moreover, since tea trees are low shrubs, people need to bend down to pick tea leaves, which greatly increases the labor intensity of workers. Therefore, a tea picking vehicle is provided. SUMMARY

[0004] The purpose of the present application is to provide a tea picking vehicle to solve the problem of the labor intensity of workers being greatly increased due to the need to bend down to pick tea leaves in the prior art.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a tea picking vehicle, comprising a walking mechanism;

[0006] Further comprising:

[0007] A tea leaf collecting and arranging mechanism is installed at the middle position of the upper end of the walking mechanism, the tea leaf collecting and arranging mechanism comprises a collecting cabinet and a sieve plate, the sieve plate is installed inside the collecting cabinet, one side of the collecting cabinet is provided with a driving swing rod and a driven swing rod, and the driving swing rod and the driven swing rod form a four-bar swing mechanism, the sieve plate is drivingly connected with the driven swing rod and the driving swing rod through a sieve plate shaft, and one end of the driving swing rod is provided with a swing rod motor;

[0008] A lifting platform is arranged on both sides of the tea leaf collecting and arranging mechanism, the bottom of the lifting platform is provided with a support seat, the upper end of the lifting platform is provided with a linear motor, the output end of the linear motor is provided with a ball screw, one end of the ball screw is rotatably connected with the support seat, and the ball screw is provided with a sliding table and is drivingly connected with the sliding table;

[0009] A tea picking mechanical arm is installed on the outer wall of the sliding table;

[0010] A control cabinet is installed at the front end of the lifting platform on one side;

[0011] The tea picking vehicle can walk on the rugged terrain of the tea garden, cooperate with the image transmission positioning and control system, realize the automatic management of the tea garden, and collect, store and preliminarily dry and arrange the tea leaves of the tea planting garden, so that the efficiency of tea leaf collection is greatly improved, and the labor cost is saved.

[0012] Preferably, the tea picking mechanical arm comprises a tea picking parallel arm, a tea picking claw and a collection pipeline, a tea picking parallel arm motor is installed at the connection of the tea picking parallel arm and the sliding table, the tea picking claw is installed at the output end of the tea picking parallel arm, a tea picking claw motor is installed in the tea picking claw, a collection pipeline is installed at the upper end of the tea picking claw, and one end of the collection pipeline is connected with the upper part of the inner cavity of the collection cabinet.

[0013] Preferably, the end of the sieve plate is provided with a baffle, the sieve plate is connected with the baffle through a rotating shaft, and a fan motor is installed on the sidewall of the upper part of the sieve plate.

[0014] Preferably, a plurality of drying machines are installed on the inner wall of the lower part of the collection cabinet, the plurality of drying machines are arranged at equal intervals, tea rolling wheels are installed on the inner walls of the two side surfaces of the collection cabinet, one end of the tea rolling wheel is connected with a rotating motor, and a duct group is installed on the bottom surface in the collection cabinet.

[0015] Preferably, an isolation net is arranged above the duct group.

[0016] Preferably, a plurality of grooves are formed in the sieve plate, and the groove width is slightly larger than the size of the tea leaves.

[0017] Preferably, the walking mechanism comprises a walking track, a driving wheel and a driven wheel, the driven wheel is arranged at the rear end of the driving wheel, a plurality of driven wheels are arranged side by side, the walking track is in transmission connection with the driving wheel and the driven wheel, and a driving wheel motor is installed on the inner side of the driving wheel.

[0018] Preferably, image transmission cameras are installed on the outer walls of the lifting tables on both sides.

[0019] Preferably, a single-chip microcomputer chip, a wireless data transmission module, a power module and a motor control module are installed in the control cabinet, the single-chip microcomputer chip is bidirectionally connected with a terminal through the wireless data transmission module, the output end of the power module is electrically connected with the input end of the single-chip microcomputer chip, the output end of the single-chip microcomputer chip is electrically connected with the input end of the motor control module, and the output end of the image transmission camera is electrically connected with the input end of the single-chip microcomputer chip.

[0020] Preferably, the output end of the motor control module is electrically connected with the input ends of the driving wheel motor, the linear motor, the fan motor, the swing rod motor, the rotating motor, the duct group motor, the tea picking parallel arm motor and the tea picking claw motor.

[0021] Compared with the prior art, the present application has the beneficial effects that:

[0022] 1、The tea picking vehicle of the present application can walk on the rugged terrain of the tea garden, cooperate with the image transmission positioning and control system, realize the automatic management of the tea garden, and collect, store and preliminarily dry and arrange the tea leaves of the tea planting garden, thereby greatly improving the efficiency of tea leaf collection and saving labor cost.

[0023] 2、The tea picking mechanical arm of the present application is installed on the liftable slide table, because the heights of tea trees in different regions are different, the initial picking height of the slide table needs to be adjusted according to the height of the tea tree, when adjusting, the single-chip microcomputer sends a signal to the motor control module to drive the linear motor to run, drive the ball screw to rotate, drive the slide table to transmit, realize the lifting adjustment of the slide table assembly, and the flexibility is high.

[0024] 3、The tea picking vehicle of the present application is driven by a crawler walking mechanism, when working, the driving wheel rotates under the action of the driving wheel motor, drives the crawler to walk, and adapts to the walking in rugged environment, because the distance between rows of tea trees is very small, therefore the width of the walking crawler is also minimized to the gap between two rows of tea trees, and the driven wheel provides support when walking.

[0025] 4、When picking tea, the image information of the tea tree is obtained by the image transmission camera, and is fed back to the single-chip microcomputer, after algorithm recognition, the tea picking mechanical arm captures the position of the tea leaves, after capturing the position of the tea leaves, the single-chip microcomputer sends a signal to the motor control module to drive the tea picking parallel arm motor and the tea picking claw motor to cooperate and run, and the tea picking parallel arm and the tea picking claw are used to realize the picking of the tea leaves, after picking, the single-chip microcomputer further drives the fan motor to run through the motor control module, and relies on the suction of the fan to send the picked tea leaves along the collection pipeline to the collection cabinet.

[0026] 5、The present application sets up a driving main swing rod reciprocating mechanism driven by a swing rod motor in the collection cabinet, which can drive the sieve plate shaft and sieve plate to reciprocate with the assistance of the driven swing rod, the large leaves mixed in the tea leaves will stay on the sieve plate, and the relatively small tea leaves will fall into the lower part of the collection cabinet through the groove on the sieve plate, in the process, the fan motor is driven at intervals with the tea picking, and the wind is used to stir the tea leaves, so that the tea leaves are more easily separated, and the high-efficiency screening of the tea leaves is realized.

[0027] 6、When the tea leaves fall into the lower part of the collection cabinet, the baffle can rotate to block the sieve plate from below, the duct group is started to blow the tea leaves to the tea rolling wheel above, and the rotating motor drives the tea rolling wheel to rotate. Under the friction of the tea rolling wheel, the tea leaves move between multiple tea rolling wheels, the dryer is started to dry the moving tea leaves, and the tea rolling wheel can increase the surface area and time of the baked tea leaves, and realize the high-efficiency drying treatment of the tea leaves. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Figure 1 is a schematic diagram of the overall structure of the tea picking vehicle of the present application;

[0029] Figure 2 Figure 2 is a schematic diagram of the walking mechanism structure of the tea picking vehicle of the present application;

[0030] Figure 3 Figure 3 is a schematic diagram of the lifting platform structure of the tea picking vehicle of the present application;

[0031] Figure 4 Figure 4 is a schematic diagram of the front structure of the tea leaf collecting and arranging mechanism of the tea picking vehicle of the present application;

[0032] Figure 5 Figure 5 is a schematic diagram of the side structure of the tea leaf collecting and arranging mechanism of the tea picking vehicle of the present application

[0033] Figure 6 Figure 6 is a schematic diagram of the internal structure of the tea leaf collecting and arranging mechanism of the tea picking vehicle of the present application;

[0034] Figure 7 Figure 7 is a schematic diagram of the tea picking mechanical arm structure of the tea picking vehicle of the present application;

[0035] Figure 8 Figure 8 is a schematic diagram of the tea picking vehicle of the present application;

[0036] In the figure: 1, walking mechanism; 2, lifting platform; 3, tea leaf collecting and arranging mechanism; 4, tea picking mechanical arm; 5, control cabinet; 11, walking track; 12, driving wheel; 121, driving wheel motor; 13, driven wheel; 21, linear motor; 22, support seat; 23, ball screw; 24, sliding table; 31, collecting cabinet; 32, fan motor; 33, sieve plate; 34, driving swing rod; 341, swing rod motor; 35, driven swing rod; 36, sieve plate shaft; 37, baffle; 38, tea rolling wheel; 381, rotating motor; 39, duct group; 391, duct group motor; 310, dryer; 311, image transmission camera; 312, isolation net; 41, tea picking parallel arm; 411, tea picking parallel arm motor; 42, tea picking claw; 421, tea picking claw motor; 43, collecting pipeline; 51, single-chip microcomputer; 52, wireless data transmission module; 53, power module; 54, motor control module. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0038] Please refer to Figures 1-8 An embodiment provided by the present application: a tea picking vehicle, comprising a walking mechanism 1;

[0039] Also includes:

[0040] The tea leaf collecting and arranging mechanism 3 is installed at the middle position of the upper end of the walking mechanism 1, and the tea leaf collecting and arranging mechanism 3 comprises a collecting cabinet 31 and a sieve plate 33, the sieve plate 33 is installed inside the collecting cabinet 31, the collecting cabinet 31 is installed with a driving swing rod 34 and a driven swing rod 35 on one side, and the driving swing rod 34 and the driven swing rod 35 constitute a four-bar linkage mechanism, the sieve plate 33 is drivingly connected with the driven swing rod 35 and the driving swing rod 34 through a sieve plate shaft 36, and one end of the driving swing rod 34 is installed with a swing rod motor 341;

[0041] The lifting platform 2 is arranged on both sides of the tea leaf collecting and arranging mechanism 3, the bottom of the lifting platform 2 is provided with a support seat 22, the upper end of the lifting platform 2 is installed with a linear motor 21, the output end of the linear motor 21 is installed with a ball screw 23, one end of the ball screw 23 is rotatably connected with the support seat 22, the ball screw 23 is installed with a sliding table 24, and the ball screw 23 is drivingly connected with the sliding table 24;

[0042] The tea picking mechanical arm 4 is installed on the outer wall of the sliding table 24;

[0043] The control cabinet 5 is installed at the front end of one side of the lifting platform 2;

[0044] Because the heights of tea trees in different regions are different, the initial picking height of the sliding table 24 needs to be adjusted according to the height of the tea tree, when adjusting, the single-chip microcomputer chip 51 sends a signal to the motor control module 54 to drive the linear motor 21 to run, drive the ball screw 23 to rotate, make it driving the sliding table 24, realize the lifting adjustment of the sliding table 24 assembly, after adjustment, the tea picking vehicle is arranged between two groups of tea trees, when working, the driving wheel 12 rotates under the action of the driving wheel motor 121, drives the track to walk, because the distance between the rows of tea trees is very small, so the width of the walking track 11 is also reduced to the gap between the two rows of tea trees, the driven wheel 13 provides support when walking, when moving, the image information of the tea tree can be obtained by the camera 311, and fed back to the single-chip microcomputer chip 51, after algorithm recognition, the tea picking mechanical arm 4 can capture the tea leaf position, after capturing the tea leaf position, the single-chip microcomputer chip 51 sends a signal to the motor control module 54 to drive the tea picking parallel arm motor 411 and the tea picking claw motor 421 to cooperate and run, and the tea picking parallel arm 41 and the tea picking claw 42 are used to pick tea leaves, after picking, the single-chip microcomputer chip 51 further drives the fan motor 32 to run through the motor control module 54, relies on the suction of the fan to make the picked tea leaves along the collecting pipeline 43 to the collecting cabinet 31, realizes subsequent screening, drying and arranging storage.

[0045] Please refer to Figure 7 and Figure 8The tea picking robot arm 4 comprises a tea picking parallel arm 41, a tea picking claw 42 and a collection pipeline 43. The tea picking parallel arm 41 is provided with a tea picking parallel arm motor 411 at the connection with the sliding table 24. The tea picking claw 42 is installed at the output end of the tea picking parallel arm 41. The tea picking claw 42 is internally provided with a tea picking claw motor 421. The collection pipeline 43 is installed at the upper end of the tea picking claw 42 and is in communication with the upper part of the inner cavity of the collection cabinet 31. The tea picking parallel arm motor 411 and the tea picking claw motor 421 are cooperatively driven to pick tea leaves by the tea picking parallel arm 41 and the tea picking claw 42 and separate the tea leaves from the branches.

[0046] Please refer to Figure 4 and Figure 5 The end of the sieve plate 33 is provided with a baffle 37, and the sieve plate 33 is connected with the baffle 37 through a rotating shaft. A fan motor 32 is installed on the sidewall of the upper part of the sieve plate 33. After the tea leaves are picked by the tea picking claw 42, the tea leaves can be sent to the upper space of the collection cabinet 31 along the collection pipeline 43 under the action of the fan motor 32. The space is closed during work. The driving swing rod 34 is driven by the swing rod motor 341 to reciprocate, and under the assistance of the driven swing rod 35, the sieve plate shaft 36 and the sieve plate 33 are reciprocally sieved. Large leaves mixed in the tea leaves will be stopped on the sieve plate, and the relatively small tea leaves will fall into the lower part of the collection cabinet 31 through the sieve plate 33. The fan motor 32 is driven by the tea picking interval, and the wind is used to stir the tea leaves, so that the tea leaves are more easily separated.

[0047] Please refer to Figure 4 and Figure 6 A plurality of drying machines 310 are installed on the inner wall of the lower part of the collection cabinet 31 and are arranged at equal intervals. Rotary motors 381 are connected to one end of the tea rolling wheels 38 installed on the inner walls of the two sides of the collection cabinet 31. A duct group 39 is installed on the bottom surface in the collection cabinet 31. After the tea leaves are completely dropped, the baffle 37 is rotated to block the sieve plate 33 from below. The duct group 39 is started to blow the tea leaves to the rotary tea rolling wheels 38 above. The rotary tea rolling wheels 38 are rotated by the motor. Under the friction of the rotary tea rolling wheels 38, the tea leaves move between the plurality of rotary tea rolling wheels 38. The drying machines 310 are started to dry the moving tea leaves. The rotary tea rolling wheels 38 can increase the surface area and time of the roasted tea leaves.

[0048] Please refer to Figure 6 An isolation net 312 is arranged above the duct group 39 to avoid the tea leaves being lower than the height of the duct group 39, so that the tea leaves are always in the wind range of the duct group 39.

[0049] Please refer to Figure 4 A plurality of grooves are opened on the sieve plate 33, and the groove width is slightly larger than the specification of the tea leaves, so that the picked tea leaves can fall along the grooves.

[0050] Please refer toFigure 1 And Figure 2 The walking mechanism 1 comprises a walking track 11, a driving wheel 12 and a driven wheel 13, the driven wheel 13 is arranged at the rear end of the driving wheel 12, the driven wheel 13 is provided in plurality, and the plurality of driven wheels 13 are arranged side by side, the walking track 11 is in transmission connection with the driving wheel 12 and the driven wheel 13, the inner side of the driving wheel 12 is installed with a driving wheel motor 121, and in working, the driving wheel 12 rotates under the action of the driving wheel motor 121 to drive the track to walk, since the spacing between the rows of tea trees is very small, the width of the walking track 11 is also minimized to the gap between the two rows of tea trees, and the driven wheel 13 provides support during walking.

[0051] Please refer to Figure 1 And Figure 6 The outer wall of the lifting platform 2 on both sides is installed with a video transmission camera 311, the video transmission camera 311 can obtain image information of tea trees, and after algorithm recognition, the tea leaf position can be captured by the tea picking mechanical arm 4 to realize automatic picking.

[0052] Please refer to Figure 1 And Figure 8 The inside of the control cabinet 5 is installed with a single-chip microcomputer chip 51, a wireless data transmission module 52, a power module 53 and a motor control module 54, the single-chip microcomputer chip 51 is bidirectionally connected with a terminal through the wireless data transmission module 52, the output end of the power module 53 is electrically connected with the input end of the single-chip microcomputer chip 51, the output end of the single-chip microcomputer chip 51 is electrically connected with the input end of the motor control module 54, and the output end of the video transmission camera 311 is electrically connected with the input end of the single-chip microcomputer chip 51, and the power module 53 can provide electric energy for the operation of the vehicle.

[0053] Please refer to Figure 8 The output end of the motor control module 54 is electrically connected with the input end of the driving wheel motor 121, the linear motor 21, the fan motor 32, the swing rod motor 341, the rotating motor 381, the duct group motor 391, the tea picking parallel arm motor 411 and the tea picking claw motor 421, and the single-chip microcomputer chip 51 can control the motor elements of the vehicle to operate through the motor control module 54.

[0054] Working principle: during initialization, because the height of tea trees in different regions is different, the initial picking height of the sliding table 24 needs to be adjusted according to the height of the tea trees, during adjustment, the single-chip microcomputer chip 51 sends a signal to the motor control module 54 to drive the linear motor 21 to run, drive the ball screw 23 to rotate, make it drive the sliding table 24, realize the lifting adjustment of the sliding table 24 assembly, after adjustment, the tea picking vehicle is arranged between two groups of tea trees, during work, the driving wheel 12 rotates under the action of the driving wheel motor 121, drives the track to walk, because the distance between the rows of tea trees is very small, so the width of the walking track 11 is also minimized to the gap between the two rows of tea trees, the driven wheel 13 provides support during walking, during movement, the camera 311 can obtain the image information of the tea trees and feed it back to the single-chip microcomputer chip 51, after algorithm recognition, the tea picking mechanical arm 4 can capture the tea leaf position, after capturing the tea leaf position, the single-chip microcomputer chip 51 sends a signal to the motor control module 54 to drive the tea picking parallel arm motor 411 and the tea picking claw motor 421 to cooperate and run, and use the tea picking parallel arm 41 and the tea picking claw 42 to realize the picking of tea leaves, after picking, the single-chip microcomputer chip 51 further drives the fan motor 32 to run through the motor control module 54, relies on the suction of the fan to make the picked tea leaves along the collection pipeline 43 to the upper space of the collection cabinet 31, during work, the space is closed, the swing rod motor 341 drives the driving swing rod 34 to reciprocate, under the assistance of the driven swing rod 35, drives the sieve shaft 36 and the sieve plate 33 to reciprocate and sieve, the large leaves mixed in the tea leaves will stay on the sieve plate, and the relatively small tea leaves will fall into the lower part of the collection cabinet 31 through the groove on the sieve plate 33, the fan motor 32 is driven by the tea picking interval, uses the wind power to stir the tea leaves, so that they are more easily separated, after the tea leaves completely fall off, the baffle 37 rotates to block the sieve plate 33 from below, the duct group 39 starts to blow the tea leaves to the tea rolling wheel 38 above, the rotating motor 381 drives the tea rolling wheel 38 to rotate. Under the friction of the tea rolling wheel 38, the tea leaves move between multiple tea rolling wheels 38, the dryer 310 starts to dry the moving tea leaves, the tea rolling wheel 38 can increase the surface area and time of the baked tea leaves, the above-mentioned mechanisms cooperate to realize the picking, screening, drying and arranging and storing of tea leaves.

[0055] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A tea picking vehicle, comprising a walking mechanism (1); characterized in that Further comprising: a tea leaf collecting and arranging mechanism (3) installed at the middle of the upper end of the walking mechanism (1), the tea leaf collecting and arranging mechanism (3) comprising a collecting cabinet (31) and a sieve plate (33), the sieve plate (33) being installed inside the collecting cabinet (31), one side of the collecting cabinet (31) being provided with a driving swing rod (34) and a driven swing rod (35), the driving swing rod (34) and the driven swing rod (35) forming a four-rod swing mechanism, the sieve plate (33) being in transmission connection with the driven swing rod (35) and the driving swing rod (34) through a sieve plate shaft (36), one end of the driving swing rod (34) being provided with a swing rod motor (341); a lifting platform (2) arranged on both sides of the tea leaf collecting and arranging mechanism (3), the bottom of the lifting platform (2) being provided with a support seat (22), the upper end of the lifting platform (2) being provided with a linear motor (21), the output end of the linear motor (21) being provided with a ball screw (23), one end of the ball screw (23) being in rotational connection with the support seat (22), the ball screw (23) being provided with a sliding table (24) and being in transmission connection with the sliding table (24); a tea picking mechanical arm (4) installed on the outer wall of the sliding table (24); a control cabinet (5) installed at the front end of the lifting platform (2) on one side; a plurality of drying machines (310) are arranged on the inner wall of the lower part of the collecting cabinet (31), the drying machines (310) are arranged at equal intervals, tea rolling wheels (38) are arranged on the inner walls of the two side surfaces of the collecting cabinet (31), one end of the tea rolling wheel (38) is connected with a rotating motor (381), and a duct group (39) is arranged on the bottom surface in the collecting cabinet (31).

2. A tea plucking vehicle as claimed in claim 1 wherein: The tea picking mechanical arm (4) comprises a tea picking parallel arm (41), a tea picking claw (42) and a collecting pipeline (43), a tea picking parallel arm motor (411) is arranged at the connection between the tea picking parallel arm (41) and the sliding table (24), the tea picking claw (42) is arranged at the output end of the tea picking parallel arm (41), a tea picking claw motor (421) is arranged in the tea picking claw (42), the collecting pipeline (43) is arranged at the upper end of the tea picking claw (42) and is in communication with the upper part of the inner cavity of the collecting cabinet (31).

3. A tea plucking vehicle as claimed in claim 2 wherein: A baffle (37) is arranged at the end of the sieve plate (33), the sieve plate (33) is connected with the baffle (37) through a rotating shaft, and a fan motor (32) is arranged on the sidewall of the upper part of the sieve plate (33).

4. A tea plucking vehicle as claimed in claim 3 wherein: An isolation net (312) is arranged above the duct group (39).

5. A tea plucking vehicle as claimed in claim 4 wherein: A plurality of grooves are arranged on the sieve plate (33), and the groove width is slightly larger than the specification of tea leaves.

6. A tea plucking vehicle as claimed in claim 5 wherein: The walking mechanism (1) comprises a walking track (11), a driving wheel (12) and a driven wheel (13), the driven wheel (13) is arranged at the rear end of the driving wheel (12), the driven wheel (13) is provided in plurality, and the plurality of driven wheels (13) are arranged side by side, the walking track (11) is in transmission connection with the driving wheel (12) and the driven wheel (13), and the inner side of the driving wheel (12) is provided with a driving wheel motor (121).

7. A tea plucking vehicle as claimed in claim 6 wherein: The outer wall of the lifting platform (2) on both sides is provided with a video transmission camera (311).

8. A tea plucking vehicle as claimed in claim 7, wherein: The control cabinet (5) is internally provided with a single-chip microcomputer chip (51), a wireless data transmission module (52), a power module (53) and a motor control module (54), the single-chip microcomputer chip (51) is bidirectionally connected with a terminal through the wireless data transmission module (52), the output end of the power module (53) is electrically connected with the input end of the single-chip microcomputer chip (51), the output end of the single-chip microcomputer chip (51) is electrically connected with the input end of the motor control module (54), and the output end of the video transmission camera (311) is electrically connected with the input end of the single-chip microcomputer chip (51).

9. A tea plucking vehicle as claimed in claim 8, wherein: The output end of the motor control module (54) is electrically connected with the input end of the driving wheel motor (121), the linear motor (21), the fan motor (32), the swing rod motor (341), the rotating motor (381), the duct group motor (391), the tea picking parallel arm motor (411) and the tea picking claw motor (421).

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