Tea leaf picking method and tea leaf picking machine

Abstract

The present application relates to a kind of agricultural equipment, and the purpose is to provide a tea picking method and tea picking machine, and the tea picking method and picking machine have the characteristics of high picking quality, high work efficiency etc.The technical scheme is a kind of tea picking method, and is carried out in the following way: (1) design a walking mechanism suitable for the distance between tea ridge, drive tea picking machine to move along the small path between tea ridge;(2) tea picking machine is equipped with a horizontally arranged sieve tray, and multiple cutting openings are arranged on the sieve tray;(3) the upper part of each cutting opening is arranged with cutting knife driven by motor, for cutting the tea tree branches and leaves extending out of the cutting opening;(4) sensor is arranged in each cutting opening, for detecting whether the tea tree branches and leaves extend into the cutting opening;(5) the sieve tray is also provided with a tilting mechanism for tilting the sieve tray, so that the cut tea leaves on the tilted sieve tray slide to the collecting basket on one side of the sieve tray under the action of gravity, so as to be collected.

Description

TECHNICAL FIELD

[0001] The present application relates to an agricultural equipment, in particular a tea leaf picking method and a tea leaf picking machine. BACKGROUND

[0002] Tea drinks are popular all over the world, and long-term consumption has the effect of clearing the mind, refreshing the eyes and refreshing the mind. The existing tea picking methods are mainly divided into manual picking and machine picking. With the increasing demand for tea by the public, manual picking obviously cannot meet the production needs of tea, and manual picking is done by tearing off, which increases the damage rate of tea, resulting in time-consuming and labor-intensive picking and cannot guarantee the quality of tea. Machine picking can reduce labor, reduce production cost and improve economic benefit. Machine picking is divided into whole machine picking and handheld picking. Handheld picking is light and convenient and basically meets the requirements of tea picking, but it still consumes a lot of labor and increases labor costs. In addition, handheld picking also needs to consider the collection of tea leaves, and the picking efficiency is relatively low. Although whole machine picking is more efficient than manual picking, the picking method is still traditional and does not have selective picking.

[0003] CN212573590U discloses a tea leaf picking mechanical hand, which can collect tea leaves during tea leaf picking and can ensure that the tea leaves will not fall off during the whole process, facilitating tea picking and collection and avoiding tea waste. The disadvantage is that the tea leaf picking device is handheld, so it still consumes manpower and cannot achieve fully automated picking. In addition, since it can only pick a small amount of tea leaves at a time, the picking efficiency is low. CN115669368A discloses a tea leaf picking device, which uses two finger arms to pick tea leaves. The first finger arm fixes the position of the tea leaves, and the second finger arm imitates the human finger to pick the tea leaves and put the picked tea leaves into the collection device. The disadvantage is that the picking process is complicated, which results in low picking efficiency. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings in the background described above, and to provide a tea leaf picking method and a tea leaf picking machine, which have the characteristics of high picking quality and high working efficiency.

[0005] The technical solution provided by the present application is as follows:

[0006] A tea leaf picking method is performed in the following way:

[0007] (1) A walking mechanism suitable for the distance between tea ridges is designed to drive the tea leaf picking machine to move along the path between the tea ridges; and after moving a certain distance, the tea leaf picking machine is stopped to cut and pick tea leaves;

[0008] (2) The tea picking machine is provided with a horizontally arranged sieve plate, and a plurality of cutting openings are arranged on the sieve plate; when the tea picking machine is stopped, a lifting mechanism drives the sieve plate to move up and down on the top of the tea ridge, so that the branches and leaves of the tea tree can randomly enter the cutting openings and extend out of the cutting openings from bottom to top in the movement of the sieve plate;

[0009] (3) The upper part of each cutting opening is provided with a cutting knife driven by a motor, which is used for cutting the tea tree branches and leaves extending out of the cutting opening; the cutting knife after cutting simultaneously closes the cutting opening, preventing the cut tea from falling into the cutting opening;

[0010] (4) A sensor is arranged in each cutting opening to detect whether the tea tree branches and leaves extend into the cutting opening; if the tea tree branches and leaves extend into the cutting opening, the motor is started to cut the branches and leaves within a set time to control the length of the cut tea tree branches and leaves;

[0011] (5) The sieve plate is also provided with a tilting mechanism for tilting the sieve plate, so that the cut tea on the tilted sieve plate slides to the collecting basket on one side of the sieve plate under the action of gravity, thereby being collected.

[0012] The cutting knife is vertically arranged on the side of the collecting box, and an arc-shaped baffle is arranged on the side of the cutting knife to block the cut tea, so as to avoid affecting the operation of the adjacent cutting opening.

[0013] A tea picking machine, characterized in that: the picking machine comprises a cutting mechanism horizontally arranged on the top of the frame to cut tea, a lifting mechanism supporting and moving the cutting mechanism up and down to realize tea cutting, a tilting mechanism tilting the cutting mechanism to collect the cut tea, and a walking mechanism driving the tea picking machine to move.

[0014] The walking mechanism comprises two bottom plates installed on the left and right bottom ends of the frame, and the bottom plates are respectively provided with a track belt for walking, a guide wheel for guiding the movement of the track belt, a driving wheel for driving the movement of the track belt, a supporting wheel for supporting the weight of the tea picking machine, and a chain wheel for preventing the track belt from sagging too much; the guide wheel, the driving wheel, the supporting wheel and the chain wheel are all engaged with the inner side of the track belt.

[0015] In the lifting mechanism, the support frame is horizontally arranged and the left and right sides are respectively provided with notches, and the left and right sides of the frame are symmetrically provided with two scissor forks hinged by a first cross rod and a second cross rod to support the support frame, the top end of the first cross rod is hinged with the support frame, and the top end of the second cross rod is movably positioned in the notch through a first pulley, the bottom end of the second cross rod is hinged with the frame, and the bottom end of the first cross rod is movably positioned on the frame through a moving part, and a first cylinder installed on the frame applies force to the moving part, thereby realizing the up and down movement of the support frame.

[0016] The length direction side of the frame is provided with a horizontally arranged sliding slot, two pulleys which can slide with the sliding slot are hinged on the moving part, the cylinder body of the first cylinder is installed on the frame and the first piston rod of the first cylinder is hinged with the moving part to drive the moving part.

[0017] The cutting mechanism is characterized in that the surface of the sieve disc is provided with a plurality of rows of sliding slots perpendicular to the motion direction of the tea machine, a plurality of tea cutting openings are formed in the sliding slots, and sensors for identifying whether tea enters are fixed in the tea cutting openings; a cutting blade which can rotate around a vertical axis is arranged above the tea cutting openings, and a rotating motor for driving the cutting blade through a gear set is arranged.

[0018] The gear set comprises a large gear connected to one end of the cutting blade and a small gear installed on the motor shaft of the rotating motor.

[0019] The blade area of the cutting blade is larger than that of the cutting opening.

[0020] The left and right direction side of the sieve disc is hinged to the support frame through a rotating shaft which is horizontally arranged and parallel to the motion direction of the tea machine; the second cylinder is arranged perpendicular to the motion direction of the tea picking machine and is hinged to one side of the support frame, one end of the second piston rod of the second cylinder is hinged to the other side of the sieve disc in the left and right direction, so that the sieve disc can be tilted through the extension and retraction of the second piston rod, and the tea can be poured into the collection basket.

[0021] A vibrator is further arranged below the sieve disc; and the collection basket is fixed to the frame and is parallel to the rotating shaft.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] 1. Compared with the existing mechanical picking, the tea picking efficiency (especially for the picking efficiency of the top flat tea ridge) is significantly improved due to the simultaneous up and down movement of the plurality of tea cutting openings and the random "blind picking" mode; and the length of the cut tea is controlled by the sensor to detect the length of time that the tea tree branches and leaves extend into the tea cutting opening, thereby ensuring the quality of the collected tea.

[0024] 2. The sieve disc of the tea picking machine is arrayed with a plurality of tea cutting openings, and the up and down movement of the sieve disc can simultaneously carry out batch picking, so that the tea picking is more efficient; and a vibrator is further arranged below the sieve disc, and the vibrator makes the sieve disc vibrate during the pouring process, so that the cut tea can be completely poured into the collection basket.

[0025] 3. The cutting blade of the tea picking machine adopts an arc-shaped structure, so that the blade can close the circular cutting hole during the cutting process, and the collected tea will not fall from the small hole.

[0026] 4、The tea picking machine has novel structure, the whole machine integrates lifting and rotation, the sieve disc moves up and down through the lifting mechanism during walking, and rotates through the dumping mechanism during rotation to pour the cut tea leaves into the collecting basket, so that the picking efficiency is high, manpower is saved, and the tea picking and collecting work can be well completed, and efficient tea picking is realized.

[0027] 5、The walking mechanism of the tea picking machine adopts a track type structure, track driving can adapt to various complex terrain environments, and increase the passing capacity on soft and muddy ground, and the patterns attached to the track can firmly grasp the ground and not slide, so that the tea picking machine works more stably. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of the present application.

[0029] Figure 2 is a schematic diagram of the position of the present application when working on a tea ridge.

[0030] Figure 3 is a schematic diagram of the structure of the walking mechanism in the present application.

[0031] Figure 4 is a schematic diagram of the structure of the lifting mechanism in the present application.

[0032] Figure 5 is a schematic diagram of the structure of the dumping mechanism in the present application.

[0033] Figure 6 is a schematic diagram of the working state of the dumping mechanism in the present application.

[0034] Figure 7 is an enlarged schematic diagram of the cutting blade in the present application.

[0035] Figure 8 is a working principle diagram of the cutting blade in the present application.

[0036] DRAWINGS: walking mechanism 1, lifting mechanism 2, dumping mechanism 3, cutting mechanism 4, rack 5, track 6, guide wheel 7, drive wheel 8, supporting wheel 9, chain wheel 10, collecting basket 11, sieve disc 12, sensor 13, protective cover 14, rotary motor 15, large gear 17, cutting blade 18, cutting port 19, hinged shaft 20, first pulley 21, second pulley 22, third pulley 23, first cross rod 24, second cross rod 25, first cylinder 26, first piston rod 27, moving part 28, chassis 29, support frame 30, rotating shaft 31, second cylinder 32, second piston rod 33, vibrator 34. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0038] Figure 1 The tea leaf picking machine shown includes a walking mechanism 1, a lifting mechanism 2, a dumping mechanism 3, and a cutting mechanism 4. The walking mechanism 1 is used for moving the tea leaf picking machine between tea ridges. The lifting mechanism 2 is used for moving the sieve tray up and down to drive the cutting mechanism 4 to pick tea leaves on the tea ridge. The dumping mechanism 3 is used for rotating the sieve tray to collect the picked tea leaves on the sieve tray.

[0039] The walking mechanism 1 includes a frame 5, a caterpillar track 6, a guide wheel 7, a driving wheel 8, a supporting wheel 9, a supporting sprocket 10, and a collecting basket 11. The frame 5 forms a door-shaped passage, the width of which is adapted to the width of the tea ridge. The bottom ends of the left and right sides of the frame (the two sides perpendicular to the forward direction of the tea leaf picking machine) are respectively fixed with a bottom plate 29. Two caterpillar tracks 6 are respectively arranged on the two bottom plates, which can reduce the ground pressure and enable the tea leaf picking machine to work stably on the soft path between the tea ridges. The guide wheel 7 is arranged inside each caterpillar track and supported by the bottom plate. Together with the tensioning device (omitted in the figure), the guide wheel can keep the caterpillar track at a certain tension and moderate the impact force from the road during forward movement, thereby reducing the vibration of the machine body. The driving wheel 8 is installed on the bottom plate. The gear on the driving wheel is engaged with the caterpillar track. The driving force is provided by a power source (preferably a fuel engine) to push the caterpillar track to move forward. The supporting wheel 9 is also supported by the bottom plate and rolls with the caterpillar track to support the weight of the tea leaf picking machine and prevent the caterpillar track from slipping transversely. The supporting sprocket 10 is also supported by the bottom plate and arranged above the inner side of the caterpillar track. It is used for supporting the caterpillar track to prevent the caterpillar track from sagging too much, thereby reducing the jumping phenomenon of the caterpillar track during movement and preventing the caterpillar track from slipping laterally. Obviously, the caterpillar track walking mechanism is a mature technology.

[0040] The lifting mechanism 2 comprises a hinged shaft 20, a first pulley 21, a second pulley 22, a third pulley 23, a first cross rod 24, a second cross rod 25, a first cylinder 26, a first piston rod 27, a moving part 28, a support frame 30. The horizontally arranged support frame 30 is held by two scissor forks respectively located on the left and right sides of the frame, and the left and right sides of the support frame are respectively provided with notches arranged along the movement direction of the tea picking machine; the middle parts of the first cross rod 24 and the second cross rod 25 in each scissor fork are hinged by an intermediate hinge shaft. The top end of the first cross rod 24 is rotatably connected with one end of the support frame through the hinged shaft 20 (i.e. hinged; the same below), and the bottom end is rotatably connected with the moving part 28 through a hinge shaft; the top end of the second cross rod 25 is rotatably connected with the first pulley 21 through a hinge shaft, and the bottom end is rotatably connected with the frame 5 through a hinge shaft, and the first pulley can move horizontally along the notch; the first cylinder 26 is fixedly connected with the frame, and the first piston rod 27 of the first cylinder is hingedly connected with the moving part 28; a horizontal sliding groove is formed on one side of the frame in the length direction (i.e. the forward direction of the tea picking machine), and a second pulley 22 and a third pulley 23 are arranged below the moving part 28; the second pulley and the third pulley can move horizontally along the sliding groove under the drive of the first piston rod 27, so as to realize the lifting of the support frame 30 during the movement. The upper part of the support frame 30 is horizontally provided with a sieve disc 12, so as to drive the upward and downward movement of the sieve disc 12.

[0041] The cutting mechanism 4 includes a sieve disc 12, a pair of photoelectric sensors 13, a protective cover 14, a rotary motor 15, a pinion, a large gear 17, a cutting blade 18, and a cutting port 19. The sieve disc 12 is placed above the support frame 30, and the surface of the sieve disc 12 is provided with a plurality of rows of grooves perpendicular to the movement direction of the tea picking machine, and a plurality of tea cutting ports 19 are formed in the grooves. When the sieve disc 12 is lowered, the young leaves on the tea branches can enter the cutting ports 19. The inside of the tea cutting port 19 is fixed with a sensor 13 (preferably a pair of sensors, including a photoelectric emitter and a receiver), which is used to identify whether the tea leaves enter the tea cutting port, and the length of the cut tea leaves is determined by controlling the time of the tea leaves extending into the cutting port. The pair of photoelectric sensors 13 is provided with a protective cover 14 above the pair of photoelectric sensors 13, which separates the cutting blade 18 from the pair of photoelectric sensors 13. The cutting blade 18 is provided above the tea cutting port 19, and the cutting blade 18 is connected to the sieve disc 12 through a vertically arranged pin shaft, one end of the cutting blade 18 is connected to a large gear 17 coaxially arranged with the rotating shaft, and the large gear 17 can be engaged with the pinion on the motor shaft of the rotary motor 15 (the rotary motor is fixed on the upper surface of the sieve disc through a motor frame). After the rotary motor 15 is started, the cutting blade 18 can swing around the pin shaft, thereby horizontally cutting the tea leaves entering the cutting port 19. The cutting blade after swinging just seals the cutting port to prevent the cut tea leaves from falling into the cutting port (the area of the cutting blade is larger than that of the cutting port). The periphery of the side of the cutting blade 18 away from the large gear is vertically provided with an arc-shaped baffle (the concave surface of the arc-shaped baffle faces the length direction of the groove), which can block the collected tea leaves. During the forward movement of the picking machine, the sieve disc 12 continuously enters the cutting port 19 through the up-and-down movement of the lifting mechanism 2, and the cutting blade then cuts. After the cutting is completed, the sieve disc 12 is tilted by swinging through the tilting mechanism 3, and the cut tea leaves are collected and poured into the collection basket 11.

[0042] The tilting mechanism 3 includes a rotating shaft 31, a second air cylinder 32, a second piston rod 33, and a vibrator 34. The left and right sides (perpendicular to the movement direction of the tea machine) of the sieve disc 12 are hinged to the support frame 30 through the rotating shaft 31 arranged horizontally and parallel to the movement direction of the tea machine. Figure 5 The hinge point can be seen on the left side of the support frame), the second piston rod 33 of the second air cylinder 32 is hinged to the other side of the sieve disc 12 in the left and right directions (perpendicular to the movement direction of the tea machine) Figure 5The hinge point is on the right side of the screen disc, so that one side of the screen disc 12 can rotate around the rotating shaft 31. The screen disc 12 can be tilted and inclined by the extension and retraction of the second piston rod 33, so as to use gravity to pour the cut tea leaves. The lower part of the two sides of the screen disc 12 is also provided with a vibrator 34 (preferably an eccentric cam vibrator), which can make the screen disc 12 vibrate during the pouring process, so that the cut tea leaves can be completely poured into the collection basket 11. The collection basket is fixed on the frame and parallel to the rotating shaft 31, which is a horizontally arranged and top open strip corresponding to the edge of the screen disc, so as to effectively collect the cut tea leaves.

[0043] The first cylinder and the second cylinder are respectively connected to the air pump through air pipes (the air pump, air pipes and related pneumatic control components are omitted in the figure).

[0044] The frame is also provided with a battery to supply the power required for the operation of each mechanism.

[0045] The working principle of the tea picking machine is as follows:

[0046] During the working process of the tea picking machine, the caterpillar belt moves on the tea ridge path. Since the width of the caterpillar belt is smaller than the width of the tea ridge path, the surrounding tea ridge will not be damaged during the movement. In addition, the tea ridge is lower than the height of the frame of the tea picking machine, so the tea ridge to be picked will not be damaged during the movement of the tea picking machine. When the lifting mechanism works, the moving part moves along the horizontal sliding groove under the action of the first cylinder, drives the support frame to move up and down through the scissors fork, and drives the screen disc to move up and down. The tea leaves in the tea ridge enter the cutting port of the screen disc (as shown in Figure 8 A of the figure) under the action of the lifting mechanism. A pair of opposite light sensors arranged on the inner wall of the cutting port are used to identify whether the tea leaves enter the cutting port (when the tea leaves enter the transmission path of the light, part of the light will be blocked, resulting in weakening or disappearance of the light signal received by the receiver). After the sensor detects the signal, the rotating motor is started by controlling the time of the signal to cut the tea leaves of the same length. The rotating motor drives the arc-shaped blade to rotate (as shown in Figure 8 B of the figure), and then cuts the tea leaves inserted into the hole. The blade can just seal the cutting hole when it is closed, so as to prevent the cut tea leaves from falling from the small hole. After the cutting of the tea leaves is completed, the screen disc is tilted and inclined under the action of the second cylinder (the cutting port without tea leaves entering it is also sealed), and at the same time, the screen disc is vibrated under the action of the vibrator below the screen disc, so that the cut tea leaves are completely poured into the collection basket. The above operations are used to realize the cutting and collection of tea leaves.

Claims

1. A tea leaf picking method, which is performed in the following manner: (1) a walking mechanism is designed to match the distance between tea ridges, to drive the tea leaf picking machine to move along the path between the tea ridges, and to stop after moving a certain distance to cut and pick tea leaves; (2) the tea leaf picking machine is provided with a horizontally arranged sieve plate, a plurality of cutting openings are arranged on the sieve plate, a lifting mechanism drives the sieve plate to move up and down on the top of the tea ridge, so that the branches and leaves of the tea tree can randomly enter the cutting openings and extend out of the cutting openings from bottom to top during the movement of the sieve plate; (3) the upper part of each cutting opening is provided with a cutting blade driven by a motor, which is used to cut the tea tree branches and leaves extending out of the cutting opening; the cutting blade after cutting simultaneously closes the cutting opening to prevent the cut tea leaves from falling into the cutting opening; (4) a sensor is arranged in each cutting opening to detect whether the tea tree branches and leaves extend into the cutting opening; if the tea tree branches and leaves extend into the cutting opening, the motor is started to cut the branches and leaves within a set time to control the length of the cut tea tree branches and leaves; (5) an inclined mechanism is further arranged on the sieve plate to incline the sieve plate, so that the cut tea leaves on the inclined sieve plate slide to the collecting basket on one side of the sieve plate under the action of gravity, thereby being collected; an arc-shaped baffle is vertically arranged on the side of the cutting blade away from the collecting basket to enclose the cut tea leaves to avoid affecting the operation of the adjacent cutting opening; The picking machine comprises a cutting mechanism horizontally arranged on the top of the rack to cut tea leaves, a lifting mechanism to hold and move the cutting mechanism up and down to realize tea leaf cutting, an inclined mechanism to incline the cutting mechanism to collect the cut tea leaves, and a walking mechanism to drive the tea leaf picking machine to move; In the cutting mechanism, a plurality of rows of sliding grooves perpendicular to the movement direction of the tea leaf picking machine are arranged on the surface of the sieve plate, a plurality of tea cutting openings are arranged on the sliding grooves, and a sensor for identifying whether tea leaves enter is fixed inside the tea cutting opening; a cutting blade that can rotate around a vertical axis is arranged above the tea cutting opening, and a rotating motor that drives the cutting blade is arranged on the motor shaft of the rotating motor; The gear set comprises a large gear connected to one end of the cutting blade and a small gear installed on the motor shaft of the rotating motor; the blade area of the cutting blade is larger than the cutting opening.

2. The tea leaf plucker as claimed in claim 1, wherein: The walking mechanism comprises two bottom plates installed at the bottom ends of the left and right sides of the rack, a track belt for walking, a driving wheel for driving the track belt to move forward, a guide wheel for guiding the movement of the track belt, a supporting wheel for supporting the weight of the tea picking machine, and a chain wheel for preventing the track belt from sagging too much are installed on the bottom plate; the guide wheel, the driving wheel, the supporting wheel and the chain wheel are engaged with the inner side of the track belt.

3. A tea leaf plucking machine as claimed in claim 2 wherein: The lifting mechanism, the support frame is horizontally arranged and has notched on both sides, two scissor forks formed by the first cross rod and the second cross rod are symmetrically arranged on both sides of the frame to hold the support frame, the top end of the first cross rod is hinged to the support frame, the top end of the second cross rod is movably positioned in the notch through the first pulley, the bottom end of the second cross rod is hinged to the frame, and the bottom end of the first cross rod is movably positioned on the frame through the moving part; a first cylinder mounted on the frame applies force to the moving part, thereby realizing the up-down movement of the support frame.

4. A tea leaf plucker as claimed in claim 3 wherein: A horizontal chute is arranged on one side of the length direction of the frame, two pulleys hinged on the moving part can slide with the chute, the cylinder body of the first cylinder is mounted on the frame, and the first piston rod of the first cylinder is hinged to the moving part to drive the moving part.

5. A tea leaf plucking machine as claimed in claim 4 wherein: In the pouring mechanism, one side of the screen disc in the left-right direction is hinged to the support frame through a rotating shaft arranged horizontally and parallel to the movement direction of the tea machine; a second cylinder is arranged perpendicular to the movement direction of the tea picking machine and is hinged to one side of the support frame, one end of the second piston rod of the second cylinder is hinged to the other side of the screen disc in the left-right direction, thereby realizing the inclination of the screen disc through the extension and contraction of the second piston rod and pouring tea leaves into the collection basket.

6. A tea leaf plucking machine as claimed in claim 5 wherein: A vibrator is further arranged below the screen disc; the collection basket is fixed on the frame and parallel to the rotating shaft.

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