Detachable overhead rail type double-arm cooperative high-quality tea picking device and method thereof

Abstract

The application discloses a detachable overhead rail type double-arm cooperative famous tea picking device and a tea picking method thereof. The support device of the branch rail device is provided with multiple equidistant arrangements, two track assemblies are arranged on the adjacent two support devices; the main rail device is provided with two symmetrical arrangements with a spacing; the driving wheel, the driven wheel one, the driven wheel two and the driven wheel three in the branch rail trolley and the corresponding square track one or the receiving track form a rolling friction pair; the driving gear and the driven gear in the main rail trolley and the corresponding rack form a gear pair, the driven wheel two and the driven wheel three and the corresponding square track three form a rolling friction pair; the cooperative picking device is arranged on the branch rail trolley. The main rail device and the branch rail device are arranged to replace the ground paving type rail, the tea picking rail is optimized, the land occupation area is small, and the damage rate of the tea garden land is small; the two terminal picking actuators are arranged to perform the picking work, and the tea picking efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically relating to a detachable, rail-mounted, double-arm coordinated tea-picking device for famous and high-quality teas and its tea-picking method. Background Technology

[0002] Tea, a traditional Chinese beverage with a history spanning thousands of years, plays an indispensable role in people's daily lives. Against the backdrop of national cultural revival, the vigorous promotion of tea culture has meant that traditional manual tea-picking methods can no longer meet the growing demand. While my country's technological strength is continuously increasing, and the level of agricultural mechanization is also rising, manual harvesting remains the primary method for picking premium teas. To achieve the transformation and upgrading of the tea industry, some tea gardens have implemented ground-laid tracks in conjunction with tea-picking machines. However, these tracks cause significant soil damage and hinder farmers' cultivation and maintenance of the tea trees. Furthermore, most picking machines typically use a single end to pick tea leaves, resulting in low efficiency. Therefore, to reduce soil damage in tea gardens, it is necessary to optimize the picking tracks and design a highly efficient tea-picking device for premium teas. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a detachable, rail-mounted, double-arm coordinated tea-picking device and its tea-picking method for high-quality tea.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention relates to a detachable, suspended rail type, dual-arm coordinated tea picking device for famous and high-quality tea, comprising a branch track device, a main track device, a main rail trolley, a branch rail trolley, and a coordinated picking device.

[0006] The main track device includes a support device and a track assembly; the support device has multiple equidistantly arranged components, each consisting of n support components arranged at axial intervals, where n≥3; each support component includes a lower support column, an upper support column, and a diagonal support column, the lower support column being detachably fixed to the lower end of the upper support column, and the diagonal support column being fixed at an angle relative to the lower support column; the track assembly consists of n-1 square tracks arranged horizontally at intervals, and each square track is a hollow tube; the track assembly has two track components arranged at intervals, the two track components being mounted on two adjacent support devices, and the two ends of each square track in each track assembly being detachably fixed to the upper ends of a set of two adjacent upper support columns in the corresponding support device, with the opposite ends of two adjacent square tracks in each track assembly being fitted together.

[0007] The main track device includes a second support component and a second square track. The second square track consists of m horizontally spaced sections, where m ≥ 3. The second support component consists of m+1 sections spaced axially. Each second support component includes a long column and two inclined support columns, which are fixed at an angle relative to the long column. The upper ends of the long columns of every two adjacent second support components are detachably fixed to both ends of a second square track, and the opposite ends of every two adjacent second square tracks are abutted. The main track device consists of two symmetrically spaced main track devices, and each second square track in one main track device has a rack fixed to both its upper and lower surfaces.

[0008] The track support trolley includes a track support frame, a driven wheel assembly 1, and a driven wheel assembly 1. One end of the track support frame has a driven wheel assembly 1, and the other end has two driven wheel assemblies 1 arranged at intervals. A depth camera is also mounted on the track support frame. The driven wheel assembly 1 includes an outer wheel frame 1, a connecting shaft 1, a driven wheel, and a driven wheel 1. The outer wheel frame 1 is fixed to the track support frame. The horizontally arranged connecting shaft 1 forms a rotating pair with the upper end of the outer wheel frame 1 and is driven by a driving component. The driven wheel is fixed to the connecting shaft 1. Two connecting shafts 2, parallel to the connecting shaft 1 and arranged at intervals, are fixed to the lower end of the outer wheel frame 1, and each connecting shaft 2 has a driven wheel 1 hinged to it. The driven wheel assembly 1 includes an outer wheel frame 2, a driven wheel 2, and a driven wheel 3. The outer wheel frame 2 is fixed to the track support frame 1. Four horizontally parallel and rectangularly distributed connecting shafts 3 are fixed to the outer wheel frame 2. Driven wheels 2 are hinged to the two upper connecting shafts 3, and driven wheels 3 are hinged to the two lower connecting shafts 3.

[0009] The main rail trolley includes a main rail frame, a second set of driving wheels, a second set of driven wheels, a height leveling device, and a leveling frame. One end of the main rail frame has the second set of driving wheels, and the other end has two sets of driven wheels arranged at intervals. Compared to the first set of driving wheels, the second set of driving wheels and the second set of driven wheels are identical except that the driving wheel in the second set of driving wheels is replaced with a driving gear, and the first set of driven wheels is replaced with a driven gear. Furthermore, the outer wheel frames of both the second set of driving wheels and the second set of driven wheels are fixed to the main rail frame. The main rail frame is equipped with height leveling devices at both ends of the leveling frame. Each height leveling device includes adjusting arms, nut blocks, and adjusting screws. Four adjusting arms are arranged in a diamond pattern. Two of these arms have their lower ends hinged to the main rail frame and their upper ends hinged to the two nut blocks respectively. The upper ends of the other two adjusting arms are hinged to the leveling frame, and their lower ends are hinged to the two nut blocks respectively. The two nut blocks and the threaded sections at both ends of the horizontally positioned adjusting screw form threaded pairs, with the thread directions of the threaded sections at both ends of the adjusting screw being opposite. Each end of the leveling frame is fixed with a receiving rail, which is a hollow tube. Each receiving rail contains a guide rod, and each guide rod forms a sliding pair with the corresponding receiving rail, driven by an electric push rod.

[0010] The collaborative harvesting device includes an XYZ three-axis moving device, an end-harvesting actuator, and a negative pressure storage device. The XYZ three-axis moving device includes a Z-axis slide module, a Y-axis slide module, and an X-axis slide module. The two horizontally parallel and spaced X-axis slide modules are mounted on the support rail frame and drive the two horizontally parallel and spaced Y-axis slide modules to translate in a direction parallel to the X-axis slide modules. The two Y-axis slide modules drive the two vertically arranged Z-axis slide modules to translate in a direction perpendicular to the X-axis slide modules. Each Z-axis slide module drives an end-harvesting actuator and a negative pressure storage device to move synchronously in the vertical direction.

[0011] Preferably, in the support device, each of the two upper support columns located at the outer end has a track connector fixed to it, and each of the upper support columns located in the middle has two track connectors fixed to it. Each track connector is detachably fixed to the corresponding square track.

[0012] Preferably, the two opposite upper support columns and the two ends of a transverse adjusting rod in each pair of adjacent support devices are detachably fixed.

[0013] Preferably, the two ends of every two adjacent lower support columns and a longitudinal adjusting rod in the support device are detachably fixed.

[0014] More preferably, the two ends of the longitudinal adjusting rod are threaded sections, and the two ends of the longitudinal adjusting rod pass through a through hole opened on the corresponding two lower support columns, and are fixed to the two lower support columns by nuts.

[0015] Preferably, in the main track device, each of the two long columns at the outer end is fixed with a second track connector, and each of the long columns at the middle position is fixed with two second track connectors. Each second track connector is detachably fixed to the corresponding square track.

[0016] Preferably, the driving component includes a fourth connecting shaft, a rotary motor, and a chain drive mechanism. The fourth connecting shaft is arranged parallel to the first connecting shaft and forms a rotating pair with the first outer wheel frame. It is connected to the first connecting shaft through the chain drive mechanism. The housing of the rotary motor is fixed on the first outer wheel frame. The output shaft of the rotary motor is connected to the fourth connecting shaft through a gear pair.

[0017] Preferably, one end of the outer wheel frame is fixed to one end of the universal joint coupling, and the other end of the universal joint coupling is fixed to the support rail frame or the main rail frame; one end of the outer wheel frame is fixed to one end of the universal joint coupling, and the other end of the universal joint coupling is fixed to the support rail frame or the main rail frame.

[0018] Preferably, the linear guide rail 1 of the X-axis slide module is fixed on the support rail frame; the two ends of the linear guide rail 2 of each Y-axis slide module are fixed to the two corresponding sliders 1 on the two X-axis slide modules; the slider 2 of the Z-axis slide module is fixed to the slider 3 of the corresponding Y-axis slide module; the end-capture actuator and the negative pressure storage device are fixed on the linear guide rail 3 of the corresponding Z-axis slide module.

[0019] The tea-picking method of the detachable, rail-mounted, double-arm coordinated tea-picking device for premium teas of this invention is as follows:

[0020] Step 1: Install two main track devices on the main road of the tea garden. Install support devices at the middle of each row of tea ridges and at the outermost two rows of tea ridges. Install the two track components on the first and second support devices respectively. Next, install the main track trolley on the two opposite square tracks 2 of the two main track devices. The driving gear and each driven gear mesh with the racks on the upper and lower ends of the corresponding square track 2. The driven wheels 2 and 3 of the driven wheel set 2 contact the upper and lower ends of the corresponding square track 2. Then, install the support track trolley on the main track trolley. The driving wheel and the driven wheel 1 contact the upper and lower ends of one receiving track. The driven wheels 2 and 3 of the driven wheel set 1 contact the upper and lower ends of the other receiving track.

[0021] Step 2: The driving component of the second drive wheel group drives the corresponding connecting shaft to rotate the drive gear. The drive gear meshes with the corresponding rack, thereby driving the main rail frame to move forward. Each driven gear meshes with the corresponding rack until the main rail frame moves to the point where the two receiving rails are aligned with the two rail components.

[0022] Step 3: Manually rotate the two adjusting screws forward or backward, thereby causing the two nut blocks to move towards or away from each other. The two nut blocks drive the corresponding end of the leveling frame to rise or fall through the adjusting arms, thereby causing the corresponding receiving rails to rise or fall until the two receiving rails are completely aligned with the two rail assemblies. Then, the two electric push rods push the two guide rods out of the inner cavity of the corresponding receiving rails and into the inner cavity of the corresponding square rail one in the two rail assemblies, and the main rail trolley and the support rail device are connected.

[0023] Step 4: The driving component of the first drive wheel group drives the corresponding connecting shaft to rotate the drive wheel in the forward direction. The rolling friction between the drive wheel and the corresponding receiving rail drives the support rail frame to move forward. The support rail frame moves from the support rail trolley to the two rail components until the support rail frame moves to one end of the two rail components away from the main rail device.

[0024] Step 5: Based on the positions of all target buds in the area currently occupied by the support trolley, as fed back by the depth camera, the XYZ three-axis moving device drives the two end-effectors to move to the positions of two target buds respectively; then the two end-effectors pick up the two target buds; then the two negative pressure storage devices temporarily store the two picked target buds.

[0025] Step Six: Repeat Step Five until all target buds in the area where the support rail trolley is currently located have been harvested and temporarily stored. Then, the drive unit of the drive wheel assembly one drives the corresponding connecting shaft one to reverse the drive wheel, and the support rail frame moves towards the main track device until the support rail frame moves to the next area where harvesting has not been carried out.

[0026] Step 7: Repeat Step 6 until all target buds between the two track components have been harvested and temporarily stored. During the process, when there is an empty square track 1 in a track component far from the tea grove that has not been harvested, remove the empty square track 1 and install it on the two adjacent upper support columns of the next empty support device that are close to the main track device and have an installation position.

[0027] Step 8: The drive unit of the drive wheel assembly 1 drives the corresponding connecting shaft 1 to drive the drive wheel to continue to reverse, and the support rail frame moves from the two square tracks 1 to the two receiving tracks until the support rail frame is completely moved to the two receiving tracks; then the two electric push rods drive the two guide rods to retract into the inner cavity of the corresponding receiving tracks, and the main rail trolley disconnects from the support rail device.

[0028] Step 9: The drive component of the second drive wheel group drives the corresponding connecting shaft to drive the drive gear to continue rotating, thereby driving the main rail frame to continue moving forward. At the same time, the remaining square rail from a rail assembly that is far away from the tea grove that has not been harvested is disassembled and installed on the two adjacent upper support columns with remaining installation positions in the next free support device, until the main rail frame moves to the point where the two receiving rails and the two rail assemblies are close to aligned.

[0029] Step 10: Repeat steps 3 through 9 until all target buds in the tea bushes have been harvested. Finally, disassemble the branch rail trolley, main rail trolley, each track component, the upper support column of each support device, and each main track device.

[0030] The beneficial effects of this invention are as follows:

[0031] 1. This invention optimizes the tea-picking track by replacing the ground-laid track with a main track device and branch track devices. Compared with ground-laid tracks, the main track device and branch track devices occupy less land and cause less damage to the tea garden. At the same time, the upper and lower support columns of each support device in the branch track device can be detached and fixed. During non-tea-picking periods, the main track device and each upper support column can be disassembled to facilitate pruning and other maintenance work on the tea trees. Furthermore, the collaborative picking device of this invention is equipped with two end-picking actuators and two negative pressure temporary storage devices. The two end-picking actuators perform picking work simultaneously, and the two negative pressure temporary storage devices perform temporary storage work simultaneously, thereby improving tea-picking efficiency.

[0032] 2. This invention includes a height leveling device, which allows for adjustment of the tilt angle of the leveling frame. This enables pre-alignment of the two receiving rails even when there is a small height difference between adjacent rail components due to tea garden road conditions during actual installation. The guide rods facilitate precise docking between the two receiving rails and the two rail components, thereby enabling the main rail trolley to connect with the branch rail device. This allows the branch rail trolley to adapt to uneven tea garden terrain and switch between the branch rail device and the main rail device, thus facilitating tea picking tasks on different tea rows.

[0033] 3. Each square track in the track assembly of the present invention is detachable. During operation, without affecting the movement of the support rail trolley, the positions of the two track assemblies can be changed by cross-disassembling and installing the empty square track. This achieves the tea picking task for different tea ridges while saving the number of support rails and reducing costs.

[0034] 4. Both the support rail trolley and the main rail trolley of the present invention are equipped with universal joint coupling one and universal joint coupling two, so that the support rail trolley and the main rail trolley can adapt to the non-absolute straight trajectory caused by engineering errors during the movement, thus ensuring the stability of the support rail trolley and the main rail trolley during the movement. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure during the operation of the present invention. Figure 1 ;

[0036] Figure 2 This is a schematic diagram of the structure during the operation of the present invention. Figure 2 ;

[0037] Figure 3 This is a schematic diagram of the structure during the operation of the present invention. Figure 3 ;

[0038] Figure 4 This is a schematic diagram of the track assembly and corresponding support device in this invention;

[0039] Figure 5 This is a schematic diagram of the structure of the support device in the present invention after the upper support column has been removed and the device is located in the middle of the tea trough.

[0040] Figure 6 This is a schematic diagram of the main track device in this invention;

[0041] Figure 7 This is a schematic diagram of the structure of the rail-supported trolley in this invention;

[0042] Figure 8 This is a schematic diagram of the structure of the first drive wheel assembly in this invention;

[0043] Figure 9 This is a schematic diagram of the driven wheel assembly one or driven wheel assembly two in this invention;

[0044] Figure 10 This is a schematic diagram of the main rail trolley in this invention;

[0045] Figure 11 This is a schematic diagram of the collaborative harvesting device in this invention;

[0046] Figure 12 This is a path diagram of the operation of this invention. Detailed Implementation

[0047] The present invention will now be further described with reference to the accompanying drawings.

[0048] like Figure 1 , Figure 2 and Figure 3 As shown, the detachable hanging rail type double-arm cooperative tea picking device of the present invention includes a branch track device 1, a branch track trolley 2, a cooperative picking device 3, a main track device 4, and a main track trolley 5.

[0049] like Figure 4 and Figure 5 As shown, the main track device 1 includes a support device and a track assembly; the support device has multiple equidistantly arranged components, and the support device is composed of three support components arranged axially; the support component includes a lower support column 16, an upper support column 17, and a diagonal bearing column 23. The lower support column 16 is detachably fixed to the lower end of the upper support column 17, and the diagonal bearing column 23 is fixed at an angle relative to the lower support column 16. The diagonal bearing column 23 is used to increase the stability of the lower support column 16; the track assembly is composed of two horizontally arranged square tracks 19, and the square tracks 19 are hollow tubes; the track assembly has two spaced tracks, and the two track assemblies are set on two adjacent support devices. The two ends of each square track 19 in each track assembly are detachably fixed to the upper ends of a set of two adjacent upper support columns 17 in the corresponding support device, and the opposite ends of the two square tracks 19 in each track assembly are attached.

[0050] like Figure 6 As shown, the main track device 4 includes a second support assembly and two square tracks 6. Three square tracks 6 are arranged horizontally and at intervals, while four support assemblies are arranged at intervals along the axial direction. Each support assembly includes a long column 8 and two inclined support columns 10. The inclined support columns 10 are fixed at an angle relative to the long columns 8 to increase their stability. The upper ends of the long columns 8 of every two adjacent support assemblies are detachably fixed to both ends of a square track 6, and the opposite ends of every two adjacent square tracks 6 are fitted together. The main track device 4 has two symmetrically arranged track units, and a rack 11 is fixed to the upper and lower ends of each square track 6 in one of the main track devices 4.

[0051] like Figure 7 As shown, the support rail trolley 2 includes a support rail frame 12, a driven wheel assembly 13, and a driving wheel assembly 14; one end of the support rail frame 12 is equipped with the driving wheel assembly 14, and the other end is equipped with two driven wheel assemblies 13 arranged at intervals. A depth camera 15 is also mounted on the support rail frame 12, and the depth camera 15 is used to identify target buds. Figure 8 As shown, the drive wheel assembly 14 includes an outer wheel frame 43, a connecting shaft 45, a drive wheel, and a driven wheel 52; the outer wheel frame 43 is fixed to the support rail frame 12; the horizontally arranged connecting shaft 45 and the upper end of the outer wheel frame 43 form a rotating pair and are driven by a driving component; the drive wheel is fixed to the connecting shaft 45; two connecting shafts 53, parallel to the connecting shaft 45 and spaced apart, are fixed to the lower end of the outer wheel frame 43, and each connecting shaft 53 has a driven wheel 52 hinged to it. Figure 9 As shown, the driven wheel assembly 13 includes an outer wheel frame 38, a driven wheel 39, and a driven wheel 42; the outer wheel frame 38 is fixed to the support rail frame 12; four horizontally parallel and rectangularly distributed connecting shafts 37 are fixed on the outer wheel frame 38, with driven wheels 39 hinged to the two upper connecting shafts 37 and driven wheels 42 hinged to the two lower connecting shafts 37.

[0052] like Figure 10As shown, the main rail trolley 5 includes a main rail frame 24, a second set of driving wheels 28, a second set of driven wheels 31, a height leveling device, and a leveling frame. One end of the main rail frame 24 has the second set of driving wheels 28, and the other end has two sets of driven wheels 31 spaced apart. Compared to the first set of driving wheels 14 and the first set of driven wheels 14, the second set of driving wheels 28 and driven wheels 31 are identical except that the driving wheel in the second set of driving wheels 28 is replaced with a driving gear, and the first set of driven wheels 52 is replaced with a driven gear. Furthermore, the outer wheel frame 43 in the second set of driving wheels 2 and the outer wheel frame 38 in the second set of driven wheels 2 are both fixed to the main rail frame. The main rail frame 24 is equipped with height leveling devices at both ends of the leveling frame. Each height leveling device includes adjusting arms 27, nut blocks 32, and adjusting screws 34. Four adjusting arms 27 are arranged in a diamond pattern. The lower ends of two adjusting arms 27 are hinged to the main rail frame 24, and their upper ends are hinged to the two nut blocks 32 respectively. The upper ends of the other two adjusting arms 27 are hinged to the leveling frame, and their lower ends are hinged to the two nut blocks 32 respectively. The two nut blocks 32 and the threaded sections at both ends of the horizontally positioned adjusting screw 34 form threaded pairs, with the threads at both ends of the adjusting screw 34 having opposite directions of rotation. Each end of the leveling frame is fixed with a receiving rail 25, which is a hollow tube. Each receiving rail 25 has a guide rod 29 embedded within it. Each guide rod 29 and the corresponding receiving rail 25 form a sliding pair, driven by an electric push rod 30.

[0053] like Figure 11 As shown, the collaborative harvesting device 3 includes an XYZ three-axis moving device, an end-harvesting actuator 60, and a negative pressure storage device 61. The XYZ three-axis moving device includes a Z-axis slide module 59, a Y-axis slide module 63, and an X-axis slide module 65. Two horizontally parallel and spaced X-axis slide modules 65 are mounted on the support rail frame 12 and drive two horizontally parallel and spaced Y-axis slide modules 63 to translate in a direction parallel to the X-axis slide modules 65. The two Y-axis slide modules 63 drive two vertically arranged Z-axis slide modules 59 to translate in a direction perpendicular to the X-axis slide modules 65. Each Z-axis slide module 59 drives an end-harvesting actuator 60 and a negative pressure storage device 61 to move synchronously in the vertical direction. The negative pressure storage device can be designed according to the structure of a vacuum cleaner.

[0054] In a preferred embodiment, each of the two upper support columns 17 located at the outer end of the support device is fixed with a track connector 18, and the upper support column 17 located in the middle position is fixed with two track connectors 18. Each track connector 18 is detachably fixed to the corresponding square track 19.

[0055] In a preferred embodiment, the inclined bearing column 23 is fixed to the lower support column 16 by the inclined bearing member 21.

[0056] In a preferred embodiment, each pair of upper support columns 17 in each pair of adjacent support devices is detachably fixed to both ends of a transverse adjusting rod 20, which is used to increase the stability between the corresponding two support devices.

[0057] In a preferred embodiment, each pair of adjacent lower support columns 16 in the support device is detachably fixed to both ends of a longitudinal adjusting rod 22, which is used to increase the stability of the corresponding support device.

[0058] More preferably, the two ends of the longitudinal adjusting rod 22 are threaded sections. The two ends of the longitudinal adjusting rod 22 pass through a through hole opened on the corresponding two lower support columns 16 and are fixed to the two lower support columns 16 by nuts. By adjusting the fixing position of the nuts at both ends of the longitudinal adjusting rod 22, the spacing of the corresponding two lower support columns 16 can be adjusted, thereby allowing the replacement of square rails 19 of different lengths to adapt to tea troughs of different lengths.

[0059] In a preferred embodiment, each of the two long columns 8 located at the outer end of the main track device 4 is fixed with a track connector 2 7, and each of the two long columns 8 located in the middle position is fixed with two track connectors 2 7. Each track connector 2 7 is detachably fixed to the corresponding square track 2 6.

[0060] In a preferred embodiment, the second inclined bearing column 10 is fixed to the long column 8 by the second inclined bearing member 9.

[0061] In a preferred embodiment, the drive unit includes a connecting shaft 49, a rotary motor 51, and a chain drive mechanism. The connecting shaft 49 is arranged parallel to the connecting shaft 45 and forms a rotating pair with the outer wheel frame 43. It is connected to the connecting shaft 45 through the chain drive mechanism. The housing of the rotary motor 51 is fixed on the outer wheel frame 43. The output shaft of the rotary motor 51 is connected to the connecting shaft 49 through a gear pair.

[0062] More preferably, the chain drive mechanism includes a driven sprocket 44, a chain 46, and a driving sprocket 50. The driven sprocket 44 and the driving sprocket 50 are fixed on the connecting shaft 45 and the connecting shaft 49, and are connected by the chain 46.

[0063] In a preferred embodiment, one end of each of the two connecting shafts 53 in the first or second drive wheel assembly is fixed to the outer wheel frame 43, and the other end is fixed to both ends of the connecting rod 1. The connecting rod 1 is fixed to the outer wheel frame 43 via the connecting rod 2 54.

[0064] In a preferred embodiment, outer wheel frame 43 is fixed to one end of universal joint coupling 48 via fixing rod 47, and the other end of universal joint coupling 48 is fixed to the support rail frame 12 or the main rail frame 24; outer wheel frame 38 is fixed to one end of universal joint coupling 40 via fixing rod 41, and the other end of universal joint coupling 40 is fixed to the support rail frame 12 or the main rail frame 24; universal joint coupling 48 and universal joint coupling 40 are used to enable the support rail trolley 2 or the main rail trolley 5 to adapt to the non-absolute straight trajectory caused by engineering errors during the movement.

[0065] In a preferred embodiment, two adjusting arms 27 in each height leveling device are hinged to the base 33, which is fixed to the main rail frame 24. The other two adjusting arms 27 are hinged to the fixing block, which is fixed to the receiving plate 26 by connecting bolts 35. The receiving plate 26 is fixed to the leveling frame.

[0066] In a preferred embodiment, an adjustment handle 36 is fixed on the adjustment screw 34.

[0067] In a preferred embodiment, the linear guide rail 55 of the X-axis slide module 65 is fixed to the support frame 12; the two ends of the linear guide rail 64 of each Y-axis slide module 63 are fixed to the two corresponding sliders 56 on the two X-axis slide modules 65; the slider 58 of the Z-axis slide module 59 is fixed to the slider 3 of the corresponding Y-axis slide module 63; the end-capsule picker 60 and the negative pressure storage device 61 are fixed to the linear guide rail 57 of the corresponding Z-axis slide module 59.

[0068] Among them, the electric linear actuator 30, the X-axis slide module 65, the Y-axis slide module 63 and the Z-axis slide module 59 are driven by their own servo motor 1, drive motor, linear motor 62 and servo motor 2 66 respectively, and the rotary motor 51, servo motor 1, drive motor, linear motor 62 and servo motor 2 66 are all controlled by the controller, and the signal output terminal of the depth camera 15 is connected to the controller.

[0069] The tea-picking method of the detachable, rail-mounted, double-arm coordinated tea-picking device for premium teas of this invention is as follows:

[0070] Step 1: Install two main track devices 4 on the main road of the tea garden. Install support devices at the middle of each row of tea ridges and at the outermost two rows of tea ridges. Install the two track components on the first and second support devices respectively. Then, install the main track trolley 5 on the two opposite square tracks 6 of the two main track devices 4. The driving gear and each driven gear mesh with the rack 11 on the upper and lower end faces of the corresponding square track 6. The driven wheels 2 and 3 of the driven wheel group 2 contact the upper and lower end faces of the corresponding square track 6. Then, install the support track trolley 2 on the main track trolley 5. The driving wheel and the driven wheel 52 contact the upper and lower end faces of one receiving track. The driven wheels 2 and 3 of the driven wheel group 1 contact the upper and lower end faces of the other receiving track.

[0071] Step 2: The driving component of the second drive wheel assembly 28 drives the corresponding connecting shaft 45 to rotate the drive gear. The drive gear meshes with the corresponding rack 11, thereby driving the main rail frame 24 to move forward. Each driven gear meshes with the corresponding rack 11 until the main rail frame 24 moves to the point where the two receiving rails and the two rail assemblies are nearly aligned.

[0072] Step 3: Manually rotate the two adjusting screws 34 forward or backward, thereby driving the two nut blocks 32 to move towards or away from each other. The two nut blocks 32 drive the corresponding end of the leveling frame to rise or fall through each adjusting arm 27, thereby driving the corresponding receiving rail 25 to rise or fall, until the two receiving rails 25 are completely aligned with the two rail assemblies. Then, the two electric push rods 30 push the two guide rods 29 out of the inner cavity of the corresponding receiving rail 25 and into the inner cavity of the corresponding square rail 19 in the two rail assemblies, and the main rail trolley 5 and the branch rail device 1 are connected.

[0073] Step 4: The drive component of the drive wheel assembly 14 drives the corresponding connecting shaft 45 to rotate the drive wheel forward. The rolling friction between the drive wheel and the corresponding receiving rail causes the support rail frame 12 to move forward. The support rail frame 12 moves from the support rail trolley 2 onto the two rail assemblies until the support rail frame 12 moves to one end of the two rail assemblies away from the main rail device 4. Figure 12 Parts 1 and 5 are shown in the diagram.

[0074] Step 5: Based on the positions of all target buds in the area currently occupied by the support rail trolley 2 as fed back by the depth camera 15, the XYZ three-axis moving device drives the two end-effectors 60 to move to the positions of two of the target buds respectively; then the two end-effectors 60 pick up the two target buds; then the two negative pressure storage devices 61 temporarily store the two picked target buds.

[0075] Step Six: Repeat Step Five until all target buds in the area currently occupied by the support rail trolley 2 have been harvested and temporarily stored; then, the drive unit of the drive wheel assembly 14 drives the corresponding connecting shaft 45 to reverse the drive wheel, and the support rail frame 12 moves towards the main track device 4 until the support rail frame 12 moves to the next area that has not yet been harvested, such as... Figure 12 Part 2 is shown in the diagram.

[0076] Step 7: Repeat Step 6 until all target buds between the two track components have been harvested and temporarily stored. During the process, if a free square track 19 exists in a track component far from the tea grove that has not been harvested, remove the free square track 19 and install it on the two adjacent upper support columns 17 near the main track component 4 in the next free support device, as shown below. Figure 12 Part 3 is shown in the diagram.

[0077] Step 8: The drive unit of the drive wheel assembly 14 drives the corresponding connecting shaft 45 to drive the drive wheel to continue to reverse. The support rail frame 12 moves from the two square rails 19 to the two receiving rails until the support rail frame 12 is completely moved to the two receiving rails. Then, the two electric push rods 30 drive the two guide rods 29 to retract into the inner cavity of the corresponding receiving rail 25, and the main rail trolley 5 disconnects from the support rail device 1.

[0078] Step Nine, as Figure 12 As shown in part 4, the drive component of the second drive wheel assembly 28 drives the corresponding connecting shaft 45 to drive the drive gear to continue rotating, thereby driving the main rail frame 24 to continue moving forward. At the same time, it removes the remaining square track 19 from a track assembly that is far away from the tea grove that has not been harvested, and installs it on the two adjacent upper support columns 17 with remaining installation positions in the next free support device, until the main rail frame 24 moves to the point where the two receiving tracks and the two track assemblies are nearly aligned.

[0079] Step 10: Repeat steps 3 through 9 until all target buds in the tea bushes have been harvested. Finally, disassemble the support rail trolley 2, main rail trolley 5, each track component, the upper support column 17 of each support device, and each main track device.

[0080] The lower support column of each support component is lower than the minimum pruning height of the tea tree, which facilitates pruning and other maintenance work on the tea tree during the non-tea picking period. Before the next tea picking, each upper support column can be installed on the corresponding lower support column.

Claims

1. A detachable, suspended-rail, double-arm coordinated tea-picking device for premium tea, comprising a branch track device, a main track device, and a main track trolley, characterized in that: It also includes a support rail trolley and a collaborative harvesting device; the support rail device includes a support device and a rail assembly; the support device has multiple equidistantly arranged components, and the support device is composed of n support components arranged at axial intervals, where n≥3; the support component includes a lower support column, an upper support column, and a diagonal support column, the lower support column is detachably fixed to the lower end of the upper support column, and the diagonal support column is fixed at an incline relative to the lower support column; the rail assembly is composed of n-1 square rails arranged horizontally and at intervals, and the square rails are hollow tubes; the rail assembly has two rails arranged at intervals, and the two rail assemblies are set on two adjacent support devices, and the two ends of each square rail in each rail assembly are detachably fixed to the upper ends of a set of two adjacent upper support columns in the corresponding support device, and the opposite ends of two adjacent square rails in each rail assembly are attached; The main track device includes a second support component and a second square track. The second square track has m horizontally spaced sections, where m ≥ 3. The second support component has m+1 sections spaced along the axial direction. The second support component includes a long column and a second inclined support column, which are fixed at an angle relative to the long column. The upper ends of the long columns of every two adjacent second support components are detachably fixed to both ends of a second square track, and the opposite ends of every two adjacent second square tracks are attached. The main track device has two sections spaced apart and symmetrically arranged, and each second main track device has a rack fixed to the upper and lower ends of the second square track. The rail support trolley includes a rail support frame, a driven wheel assembly 1, and a driven wheel assembly 1. One end of the rail support frame is equipped with a driven wheel assembly 1, and the other end is equipped with two driven wheel assemblies 1 arranged at intervals. A depth camera is also mounted on the rail support frame. The driven wheel assembly 1 includes an outer wheel frame 1, a connecting shaft 1, a driven wheel, and a driven wheel 1. The outer wheel frame 1 is fixed to the rail support frame. The horizontally arranged connecting shaft 1 and the upper end of the outer wheel frame 1 form a rotating pair and are driven by a driving component. The driven wheel is fixed to the connecting shaft 1. Two connecting shafts 2, parallel to the connecting shaft 1 and arranged at intervals, are fixed to the lower end of the outer wheel frame 1, and each connecting shaft 2 is hinged with a driven wheel 1. The driven wheel assembly 1 includes an outer wheel frame 2, a driven wheel 2, and a driven wheel 3. The outer wheel frame 2 is fixed to the rail support frame 1. Four horizontally parallel and rectangularly distributed connecting shafts 3 are fixed to the outer wheel frame 2. Driven wheels 2 are hinged to the two upper connecting shafts 3, and driven wheels 3 are hinged to the two lower connecting shafts 3. The main rail trolley includes a main rail frame, a second set of driving wheels, a second set of driven wheels, a height leveling device, and a leveling frame. One end of the main rail frame has the second set of driving wheels, and the other end has two sets of driven wheels arranged at intervals. Compared to the first set of driving wheels, the second set of driving wheels and the second set of driven wheels are identical except that the driving wheel in the second set of driving wheels is replaced with a driving gear, and the first set of driven wheels is replaced with a driven gear. All other structures are identical, and the outer wheel frames of both the second and third sets of driving wheels are fixed to the main rail frame. The main rail frame has height leveling devices at both ends of the leveling frame. Each height leveling device includes an adjusting arm, The system includes nut blocks and adjusting screws. Four adjusting arms are arranged in a diamond pattern. Two of these arms have their lower ends hinged to the main rail frame and their upper ends hinged to the two nut blocks respectively. The upper ends of the other two adjusting arms are hinged to the leveling frame, and their lower ends are hinged to the two nut blocks respectively. The two nut blocks and the threaded sections at both ends of the horizontally positioned adjusting screw form threaded pairs, with the thread directions of the threaded sections at both ends of the adjusting screw being opposite. Each end of the leveling frame is fixed with a receiving rail, which is a hollow tube. Each receiving rail contains an embedded guide rod, and each guide rod forms a sliding pair with the corresponding receiving rail, driven by an electric push rod. The collaborative harvesting device includes an XYZ three-axis moving device, an end-harvesting actuator, and a negative pressure storage device. The XYZ three-axis moving device includes a Z-axis slide module, a Y-axis slide module, and an X-axis slide module. Two horizontally parallel and spaced X-axis slide modules are mounted on the support rail frame and drive two horizontally parallel and spaced Y-axis slide modules to translate in a direction parallel to the X-axis slide modules. The two Y-axis slide modules drive two vertically arranged Z-axis slide modules to translate in a direction perpendicular to the X-axis slide modules. Each Z-axis slide module drives an end-harvesting actuator and a negative pressure storage device to move synchronously in the vertical direction.

2. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: In the support device, each of the two upper support columns located at the outer end has a track connector fixed to it, and each upper support column located in the middle has two track connectors fixed to it. Each track connector is detachably fixed to the corresponding square track.

3. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: In each pair of adjacent support devices, the two opposite upper support columns and the two ends of a transverse adjusting rod can be detachably fixed.

4. The detachable suspended rail type double-arm coordinated tea picking device for famous and high-quality tea as described in claim 1, characterized in that: In the support device, the two ends of each pair of adjacent lower support columns and a longitudinal adjusting rod can be detachably fixed.

5. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 4, characterized in that: The two ends of the longitudinal adjusting rod are threaded sections. The two ends of the longitudinal adjusting rod pass through the through holes opened on the corresponding two lower support columns and are fixed to the two lower support columns by nuts.

6. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: In the main track device, a track connector 2 is fixed on each of the two long columns at the outer end, and two track connector 2 are fixed on each long column at the middle position. Each track connector 2 is detachably fixed to the corresponding square track 2.

7. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: The driving component includes a fourth connecting shaft, a rotary motor, and a chain drive mechanism. The fourth connecting shaft is arranged parallel to the first connecting shaft and forms a rotating pair with the first outer wheel frame. It is connected to the first connecting shaft through the chain drive mechanism. The housing of the rotary motor is fixed on the first outer wheel frame. The output shaft of the rotary motor is connected to the fourth connecting shaft through a gear pair.

8. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: The outer wheel frame of the first drive wheel assembly is connected to the support rail frame via a universal joint coupling; the outer wheel frame of the second drive wheel assembly is connected to the main rail frame via another universal joint coupling; the outer wheel frame of the first driven wheel assembly is connected to the support rail frame via a universal joint coupling, and the outer wheel frame of the second driven wheel assembly is connected to the main rail frame via another universal joint coupling.

9. The detachable suspended rail type double-arm coordinated high-quality tea picking device according to claim 1, characterized in that: The linear guide rail 1 of the X-axis slide module is fixed on the support rail frame; the two ends of the linear guide rail 2 of each Y-axis slide module are fixed to the two corresponding sliders 1 on the two X-axis slide modules; the slider 2 of the Z-axis slide module is fixed to the slider 3 of the corresponding Y-axis slide module; the end-capsule picker and the negative pressure storage device are fixed on the linear guide rail 3 of the corresponding Z-axis slide module.

10. The tea-picking method of the detachable rail-mounted double-arm coordinated high-quality tea-picking device according to any one of claims 1 to 9, characterized in that: Specifically as follows: Step 1: Install two main track devices on the main road of the tea garden. Install support devices at the middle of each row of tea ridges and at the outermost two rows of tea ridges. Install the two track components on the first and second support devices respectively. Next, install the main track trolley on the two opposite square tracks 2 of the two main track devices. The driving gear and each driven gear mesh with the racks on the upper and lower ends of the corresponding square track 2. The driven wheels 2 and 3 of the driven wheel set 2 contact the upper and lower ends of the corresponding square track 2. Then, install the support track trolley on the main track trolley. The driving wheel and the driven wheel 1 contact the upper and lower ends of one receiving track. The driven wheels 2 and 3 of the driven wheel set 1 contact the upper and lower ends of the other receiving track. Step 2: The driving component of the second drive wheel group drives the corresponding connecting shaft to rotate the drive gear. The drive gear meshes with the corresponding rack, thereby driving the main rail frame to move forward. Each driven gear meshes with the corresponding rack until the main rail frame moves to the point where the two receiving rails are aligned with the two rail components. Step 3: Manually rotate the two adjusting screws forward or backward, thereby causing the two nut blocks to move towards or away from each other. The two nut blocks drive the corresponding end of the leveling frame to rise or fall through the adjusting arms, thereby causing the corresponding receiving rails to rise or fall, until the two receiving rails are completely aligned with the two rail assemblies. Then, the two electric push rods push the two guide rods out of the inner cavity of the corresponding receiving rails and into the inner cavity of the corresponding square rail one in the two rail assemblies, and the main rail trolley and the support rail device are connected. Step 4: The driving component of the first drive wheel group drives the corresponding connecting shaft to rotate the drive wheel in the forward direction. The rolling friction between the drive wheel and the corresponding receiving rail drives the support rail frame to move forward. The support rail frame moves from the support rail trolley to the two rail components until the support rail frame moves to one end of the two rail components away from the main rail device. Step 5: Based on the positions of all target buds in the area currently occupied by the support trolley, as fed back by the depth camera, the XYZ three-axis moving device drives the two end-effectors to move to the positions of two target buds respectively; then the two end-effectors pick up the two target buds; then the two negative pressure storage devices temporarily store the two picked target buds. Step 6: Repeat step 5 until all target buds in the area where the support rail trolley is currently located have been picked and temporarily stored. Then, the drive unit of the drive wheel group 1 drives the corresponding connecting shaft 1 to reverse the drive wheel, and the support rail frame moves towards the main track device until the support rail frame moves to the next area where no picking work has been carried out. Step 7: Repeat Step 6 until all target buds between the two track components have been harvested and temporarily stored. During the process, when there is an empty square track 1 in a track component far from the tea grove that has not been harvested, remove the empty square track 1 and install it on the two adjacent upper support columns of the next empty support device that are close to the main track device and have an installation position. Step 8: The drive unit of the drive wheel group 1 drives the corresponding connecting shaft 1 to drive the drive wheel to continue to reverse, and the support rail frame moves from the two square rails 1 to the two receiving rails until the support rail frame is completely moved to the two receiving rails; then the two electric push rods drive the two guide rods to retract into the inner cavity of the corresponding receiving rails, and the main rail trolley disconnects from the support rail device. Step 9: The drive component of the second drive wheel group drives the corresponding connecting shaft to drive the drive gear to continue rotating, thereby driving the main rail frame to continue moving forward. At the same time, the remaining square rail 1 in a rail assembly that is far away from the tea grove that has not been harvested is disassembled and installed on the two adjacent upper support columns with remaining installation positions in the next free support device, until the main rail frame moves to the point where the two receiving rails and the two rail assemblies are close to aligned. Step 10: Repeat steps 3 to 9 until all target buds in the tea bushes have been harvested; finally, disassemble the branch rail trolley, main rail trolley, each track component, the upper support column of each support device, and each main track device.

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