Tea crop picking mechanism and picking machine

Abstract

This invention discloses a tea harvesting mechanism and machine. The harvesting mechanism includes a harvesting body, which is trumpet-shaped with smooth curved sidewalls. The inner diameter of the cross-section of the harvesting body gradually decreases from the first end to the last end. The trumpet-shaped curved surface enables mechanical screening, guidance, and positioning of tea buds, eliminating the need for precise coordinates of the tea leaves and reducing the requirements for accuracy and real-time performance of the visual perception system. A sensing device is provided on the inner sidewall near the last end of the harvesting body to detect the position of the tea buds entering the harvesting body. A harvesting device is provided on the sidewall near the first end of the harvesting body to receive signals from the sensing device and harvest the tea buds within the harvesting body. The harvesting machine of this invention, with this harvesting mechanism, guides the tea buds to the center of the harvesting mechanism under the guidance and screening effect of the curved surface structure, thus guiding and defining the spatial position of the tea buds, avoiding the precision requirements for spatial positioning found in conventional harvesting mechanisms.

Description

Technical Field

[0001] This invention relates to the field of harvesting equipment technology, and in particular to a harvesting mechanism and harvesting machine for tea crops. Background Technology

[0002] The usable part of tea leaves during harvesting is generally the tea shoot, which includes the tender bud at the top and a few leaves near the base of the bud. The very top bud is what makes premium tea. The tea industry has long awaited mechanized harvesting technology for premium tea, but this problem remains unsolved. The harvesting mechanism is the core of premium tea harvesting technology and a decisive factor in the quality of the harvest. However, related research focuses on the identification and positioning of tender buds, with relatively little research on the harvesting mechanism itself. Existing tea harvesting devices mainly include shearing harvesting mechanisms, clamping harvesting mechanisms, and squeezing harvesting mechanisms. Premium tea has stringent requirements for appearance, not only in terms of completeness but also in terms of aesthetic appeal.

[0003] The existing picking devices all involve forced shearing, which can easily cause mechanical damage to tender buds, destroy cell tissue, and cause cell sap leakage, thus impairing the quality of tea. The power and transmission mechanisms are complex, making the overall structure bulky, heavy, and impractical. Moreover, a vision system is required to accurately locate the tea buds, which is generally difficult to achieve in the unstructured environment of tea gardens. Therefore, the problem of picking famous and high-quality teas has been difficult to solve, seriously hindering the development of the industry. Summary of the Invention

[0004] The purpose of this invention is to provide a tea harvesting mechanism and harvesting machine to solve the problems existing in the prior art. When the tea buds enter the area covered by the opening of the harvesting body, as the harvesting body moves downward relative to the tea buds, the tea buds gradually move to the center of the harvesting mechanism under the guidance of the curved structure. That is, the tea buds are guided and their spatial position is defined, avoiding the precision requirements of spatial positioning of general harvesting mechanisms.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a tea crop harvesting mechanism, comprising: a harvesting body, wherein the sidewall of the harvesting body is a smooth curved surface structure, and the inner diameter of the cross-section of the harvesting body gradually decreases from the first end to the last end, and the overall structure is similar to a trumpet shape. The tea buds to be picked are also similar to a trumpet-shaped structure. The tender buds at the top, or tea buds, are similar to the stamens of a flower. The lower part of the tea bud has leaves that are tilted upwards at a 45° angle, which is structurally equivalent to a trumpet shape with an upward opening. Thus, the trumpet-shaped structure of the picking body and the tea bud can be matched. After the downward-opening trumpet-shaped curved surface structure of the picking body and the trumpet-shaped tea bud cooperate with each other, they can squeeze down the several older leaves arranged in a trumpet shape, so that only the very top tea bud can enter the narrower upper part of the trumpet shape of the picking body. This can achieve the function of screening the tea buds to be picked during the picking process. The sensing device is set on the inner side wall of the picking body near the tail end to sense the position of the tea buds entering the picking body. The picking device is set on the side wall of the picking body near the head end, which can receive the signal from the sensing device and realize the picking of tea buds in the picking body.

[0007] Optionally, the picking body is a trumpet-shaped structure with openings at both ends, which can cooperate with the trumpet-shaped structure of the tea shoot. The bud of the tea shoot is equivalent to the stamen of a flower, and the two leaves below the bud are structurally equivalent to an upward-opening trumpet shape. During the selection process, the trumpet-shaped curved surface of the picking body squeezes downwards against the upward-opening trumpet-shaped structure formed by the leaves at the bottom of the tea bud. This squeezes and rejects the two older leaves at the bottom of the tea bud, allowing only the topmost tea bud of the tea shoot to smoothly penetrate into the upper part of the picking body and reach the narrower part of the picking mechanism. This achieves the function of selecting tea buds to be picked from the buds and leaves of the tea shoot, thus realizing the selection of premium tea. After the tea bud enters the narrower upper part of the trumpet-shaped picking body and completes the selection process, other tea structures that do not meet the shape requirements are squeezed and rejected by the trumpet-shaped structure of the picking body, without interfering with the picking process. The picking mechanism achieves the picking of tea buds through the picking action.

[0008] Optionally, the sensing device is an infrared sensor, which can sense the position of the tea buds to be picked inside the picking body and send a signal to the control terminal. The control terminal is used to drive the picking device to pick the tea buds.

[0009] Optionally, the sensing device is a laser sensor, which includes a transmitter and a receiver. The transmitter and receiver are symmetrically arranged on the inner side wall of the picking body near the tail end. When the tea bud to be picked enters the preset position in the picking body, the signal between the transmitter and receiver is blocked, which can trigger the picking switch of the control end to open, drive the picking device to act, and realize the picking of tea buds.

[0010] Optionally, the harvesting device includes harvesting fingers, two of which are symmetrically hinged to the inner wall of the harvesting body near the head end, and the harvesting fingers can fit against the inner wall of the harvesting body; a cutting edge is provided on the inner side of one end of the harvesting finger near the opening at the head end of the harvesting body, a magnet is fixed on one of the harvesting fingers, and an electromagnet is provided on the other harvesting finger, the electromagnet is connected to a control terminal, the control terminal can receive signals from the sensing device, and control the direction of the coil current of the electromagnet accordingly.

[0011] Optionally, the picking device includes two picking fingers, which are symmetrically hinged to the inner wall of the picking body near the head end, and the picking fingers can fit against the inner wall of the picking body. One end of the picking finger near the opening of the head end of the picking body is provided with a finger-shaped clamping part, which replaces the cutting of the blade by clamping. The finger-shaped clamping part is connected to an electromagnetic drive device, which can drive the finger-shaped clamping part to clamp the tea bud to be picked, and then replace the cutting of the blade by clamping to realize the picking operation. A magnet is fixed on one of the picking fingers, and an electromagnet is provided on the other picking finger. The electromagnet is connected to a control terminal, which can receive the signal of the sensing device and control the direction of the coil current of the electromagnet accordingly, thereby changing the polarity of the electromagnet and realizing attraction or repulsion with the magnet, so that the picking finger can move accordingly to pick the tea bud.

[0012] When using a picking finger as a picking device, two trapezoidal notches need to be symmetrically opened on the side wall near the head end of the picking body. A hinge ear hole is provided at the bottom side wall of the trapezoidal notch. A hinge post is fixedly provided on both sides of the picking finger away from the head end of the picking body. Each trapezoidal notch contains a picking finger. The hinge post of the picking finger is rotatably located in the corresponding hinge ear hole, ensuring that the trumpet-shaped curved surface structure of the picking body with the opening facing downward will not be interfered with by the picking finger, and thus will not affect the positioning process of the picking body for tea leaves.

[0013] Optionally, the harvesting device includes a laser cutter, which is fixedly mounted on the side wall of the harvesting body near the head end. The laser cutter is connected to a control terminal, which can receive signals from the sensing device and control the laser cutter to open and close accordingly.

[0014] The present invention also provides a harvesting machine, including a machine body, a driving device at the bottom of the machine body, a tea crop harvesting mechanism as described above at one end of the machine body, and a temporary storage basket below the tea crop harvesting mechanism.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] This invention, based on biomimetic principles and mimicking the structure of the petals and stamens of a trumpet flower, innovatively proposes a trumpet-shaped curved surface structure for the picking mechanism. This allows for the guidance and positioning of tea buds without requiring precise coordinates of the tea leaves, achieving the mechanical positioning and selective picking of premium teas. Compared to existing picking mechanisms, this significantly reduces the requirements for the accuracy and real-time performance of the visual perception system, and substantially lowers the industrialization cost of premium tea picking equipment. Furthermore, in addition to its guiding and positioning function, the trumpet-shaped curved surface structure also serves as a screening mechanism for separating buds and leaves. Because tea shoots have a trumpet-shaped structure, with the buds resembling flower stamens and the two leaves below them forming a trumpet shape with the opening facing upwards, this perfectly complements the downward-facing trumpet-shaped curved surface structure. This ensures that only tea leaves meeting the structural requirements can enter the picking device. In conjunction with this, the selection of tea leaves is achieved. The trumpet-shaped curved surface of the picking device presses down to select the leaves below the qualified tea buds, allowing the tea buds to enter the narrower upper part of the trumpet shape of the picking device before the picking action. This also serves to locate and select buds, perfectly meeting the selective picking requirements of premium teas. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the tea harvesting mechanism of the present invention;

[0019] Figure 2 This is a three-dimensional structural diagram of the tea crop harvesting mechanism of the present invention;

[0020] Figure 3 This is a schematic diagram of the tea harvesting mechanism of the present invention in the harvesting state;

[0021] Figure 4 This is a schematic diagram of the laser cutter arrangement in the tea crop harvesting mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram illustrating the guiding and positioning process of the tea crop harvesting mechanism of the present invention;

[0023] Figure 6 This is a schematic diagram illustrating the screening function of the tea crop harvesting mechanism of the present invention.

[0024] Explanation of reference numerals in the attached diagram: 1-Harvesting body, 2-Harvesting finger, 3-Electromagnet, 4-Magnet, 5-Hinge post, 6-Hinge ear hole, 7-Blade edge, 8-Transmitter, 9-Receiver, 10-Laser cutter. Detailed Implementation

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

[0026] The purpose of this invention is to provide a tea harvesting mechanism and harvesting machine to solve the problems existing in the prior art. When the tea buds enter the area covered by the opening of the harvesting body, as the harvesting body moves downward relative to the tea buds, the tea buds gradually move to the center of the harvesting mechanism under the guidance of the curved structure. That is, the tea buds are guided and their spatial position is defined, avoiding the precision requirements of spatial positioning of general harvesting mechanisms.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] refer to Figure 1 , Figure 2 and Figure 3 As shown, this invention, based on biomimicry, provides a tea-picking mechanism for tea crops, particularly suitable for picking premium teas. It includes a picking body 1, which is trumpet-shaped with smooth curved sidewalls. The inner diameter of the cross-section of the picking body 1 gradually decreases from the first to the last end. This is because the tea buds to be picked have a trumpet-shaped structure; the buds are analogous to flower stamens, and the two leaves below the buds structurally resemble an upward-opening trumpet shape. This perfectly complements the downward-opening trumpet-shaped curved surface of the picking body 1, allowing for the screening of tea leaves based on the trumpet-shaped biomimetic structure. The trumpet-shaped curved surface of the picking body 1 presses down on the trumpet-shaped curved surface of the tea buds, allowing the tea buds to enter the narrower upper part of the trumpet shape of the picking body 1. Furthermore, the trumpet-shaped curved surface also guides and positions the selected tea buds, eliminating the need for precise coordinates of the tea leaves and reducing the requirements for the accuracy and real-time performance of the visual perception system. A sensor is installed on the inner wall near the tail end of the picking body 1 to detect the position of the tea leaves inside. A picking device is installed on the side wall near the head end of the picking body 1, capable of receiving signals from the sensor and picking the tea leaves inside the picking body 1. This picking mechanism mimics the structure of a trumpet flower, and is based on... Figure 1The trumpet-shaped petal structure forms the main framework of the picking mechanism. Its curved, trumpet-shaped structure guides and positions the tea buds to be picked. The tea buds resemble the stamens of a trumpet flower, and the leaf shape beneath them resembles an upward-opening trumpet flower structure. Unsuitable buds cannot enter the picking mechanism 1 and cooperate with it, thus screening the tea leaves. Even if the picking mechanism's positioning is inaccurate, as long as the tea bud enters the area covered by the trumpet opening, as the trumpet-shaped device moves downward relative to the bud, the bud moves upward relative to the trumpet-shaped petals. Guided by the curved surface of the trumpet structure, the bud gradually moves to the center of the trumpet structure. The upward-opening trumpet-shaped curved surface formed by the leaves beneath the bud is then squeezed downwards, allowing the bud to enter the narrower upper part of the trumpet shape of the picking mechanism 1. In other words, the tea bud is screened, guided, and its spatial position is defined from the tea leaves, thus avoiding the precision requirements of typical picking mechanisms in terms of spatial positioning.

[0029] In order to accurately sense the position of the tea buds to be picked, the sensing device in this embodiment adopts a laser sensor. The laser sensor includes a transmitter 8 and a receiver 9. The transmitter 8 and the receiver 9 are symmetrically arranged on the inner side wall of the picking body 1 near the tail end. When the tea buds to be picked enter the preset position of the picking body 1, the signal between the transmitter 8 and the receiver 9 is blocked, that is, the target is detected, which can trigger the picking switch of the control terminal to open, drive the picking device to act, and realize the picking of tea buds.

[0030] The specific structure of the sensing device is not limited. An infrared sensor can also be used to sense whether the tea bud has reached the position. Once it has reached the position, the electromagnet changes the direction of the current, drives the picking device to close and pick the tea bud. The picking device can then be reset to release the tea bud.

[0031] The picking body 1 achieves the positioning effect for the tea leaves to be picked. To achieve precise picking of the tea leaves entering the picking body 1 without interfering with the positioning process, this embodiment has two trapezoidal notches symmetrically opened on the side wall near the head end of the picking body 1. A hinge ear hole 6 is provided at the bottom side wall of the trapezoidal notch. The picking fingers 2 of the picking device are fixedly provided with hinge posts 5 on both sides away from the head end of the picking body 1. Each trapezoidal notch contains a picking finger 2, and the hinge post 5 of the picking finger 2 is rotatably positioned within the corresponding hinge ear hole 6. The two picking fingers 2 are symmetrically hinged. The picking finger 2 is attached to the inner wall of the picking body 1 near the head end, and the picking finger 2 can fit against the inner wall of the picking body 1. The inner side of the end of the picking finger 2 near the opening of the head end of the picking body 1 is provided with a cutting edge 7. One of the picking fingers 2 is fixed with a permanent magnet 4, and the other picking finger 2 is provided with an electromagnet 3. The electromagnet 3 is connected to a control terminal, which can receive the signal from the sensing device and control the direction of the coil current of the electromagnet 3 accordingly, thereby changing the polarity of the electromagnet 3. Under the action of like poles attracting and unlike poles repelling, it plays the role of driving the two picking fingers 2 to open and close.

[0032] like Figure 3 As shown, when the two picking fingers 2 are closed, the two cutting edges 7 form a shearing pair to pick the tea leaves. The opening and closing of the picking fingers 2 is achieved by changing the direction of the current in the electromagnet 3: when the magnetic poles of the electromagnet 3 and the magnet 4 are opposite on opposite sides, they attract each other, and the picking fingers 2 close instantly, completing the picking action. After changing the direction of the current in the electromagnet 3, the magnetic poles of the electromagnet 3 and the magnet 4 are the same on opposite sides, and they repel each other, realizing the separation of the picking fingers 2. The picking fingers 2 return to their original position under the repulsive force of the like magnetic poles. The hinge mechanism at the hinge of the picking fingers 2 and the picking body 1 restricts the extreme positions of the picking fingers 2. The extreme positions are either coinciding with the outer curved surface of the trumpet or the cutting edges of the two picking fingers are aligned.

[0033] Based on the above embodiments, in a more preferred embodiment, the picking finger 2 is provided with a finger-shaped clamping part at one end near the opening of the picking body 1. The finger-shaped clamping part is connected to an electromagnetic drive device, which can drive the finger-shaped clamping part to clamp the tea leaves to be picked; simulating human picking action, that is, having two-stage actions of clamping and imitating human picking.

[0034] like Figure 4As shown, in different embodiments, the picking finger 2 can be implemented in other ways, such as using laser cutting instead of the contact cutting of the picking finger 2. The laser cutter 10 is fixedly installed on the side wall of the picking body 1 near the head end. The laser cutter 10 is connected to a control terminal, which can receive signals from the sensing device and control the laser cutter 10 to open and close accordingly. When the top contact sensor senses the tea bud target, the control terminal drives the laser cutter 10 to emit a laser beam to complete the cutting of the tea bud. The laser cutter 10 is located at the bottom of the picking body 1, facing the inside of the trumpet-shaped surface, so it will not interfere with the positioning of the tea leaves.

[0035] The present invention also provides a harvesting machine, including a machine body, a drive device at the bottom of the machine body, a tea crop harvesting mechanism as described above at one end of the machine body, and a temporary storage basket below the tea crop harvesting mechanism; the harvesting mechanism initially finds the approximate location of the tea shoots through a vision system, and then selects the single buds of the tea shoots for harvesting through its own positioning, guiding and screening mechanism. Specifically, the picking machine integrating the picking finger 2 with the trumpet-shaped guide mechanism of the picking body 1, compared with the traditional picking mechanism, can cooperate with the trumpet-shaped structure of the tea shoot. The bud of the tea shoot is equivalent to the stamen of a flower, and the two leaves below the bud are structurally equivalent to a trumpet shape with the opening facing upward. During the screening process, the trumpet-shaped curved surface of the picking body 1 presses downward against the trumpet curved surface formed by the upward tilting leaves of the tea shoot, so that the tea bud at the top of the tea shoot enters the narrower upper part of the trumpet shape of the picking body 1, which plays a role in screening the tea bud of the tea shoot. The narrower upper part of the trumpet shape of the picking body 1 achieves the function of guiding and positioning the screened tea bud. Moreover, after the picking finger is integrated with the trumpet-shaped guide mechanism, it can play the role of guiding the curved surface and picking, making the mechanism simple and effective. At the same time, the electromagnet 3 drives the two picking fingers to close and pick the tea bud, simplifying the power mechanism. The overall structure is simple, lightweight and efficient. Traditional tea-picking mechanisms lack the functions of locating, guiding, and screening premium teas. Furthermore, their picking drive mechanisms are complex, requiring not only motors but also power transmission mechanisms, making them bulky and cumbersome. This new mechanism, based on biomimicry and mimicking the structure of trumpet petals, integrates guiding, positioning, screening, and picking mechanisms into one unit. It achieves the functions of screening, guiding, and locating premium teas in a simple and efficient manner, completely eliminating the complex mechanisms of traditional methods. This invention, combined with electromagnet-driven picking, features a simple, lightweight, and efficient structure, facilitating industrialization.

[0036] For details, please refer to the following: Figure 5 and Figure 6As shown, based on biomimetic principles and mimicking the structure of the petals and stamens of a trumpet flower, an innovative trumpet-shaped curved surface design is proposed for guiding and positioning tea buds. This eliminates the need for precise coordinates of the tea leaves, achieving mechanical positioning and selective harvesting of premium teas. Compared to existing harvesting mechanisms, this significantly reduces the requirements for the accuracy and real-time performance of the visual perception system, and substantially lowers the industrialization cost of premium tea harvesting equipment. Furthermore, the trumpet-shaped curved surface, in addition to having... Figure 5 In addition to its guiding and positioning function, it also has the following functions: Figure 6 The screening effect of bud-leaf separation shown. Figure 5 and Figure 6 The arrows pointing at the contact point between the tea leaves and the picking body 1 indicate the direction of force, while the other arrows indicate the relative movement directions between the tea leaves and the picking body 1. Because the tea shoot has a trumpet-shaped structure, with the bud equivalent to a flower stamen and the two leaves below it structurally resembling an upward-opening trumpet shape, this perfectly complements the downward-opening trumpet-shaped curved surface of the picking body 1. The trumpet-shaped curved surface of the picking body 1 presses downwards against the trumpet-shaped curved surface of the tea bud (composed of two older leaves). Figure 6 The two open old leaves are subjected to downward pressure, causing the tea buds to enter the narrower upper part of the trumpet-shaped picking body 1. The old leaves below are squeezed and restricted, thus realizing the screening function of the tea buds. The narrower upper part of the trumpet-shaped picking body 1 guides and positions the screened tea buds. Combined with the picking mechanism, this meets the requirements of selective picking of famous and high-quality teas.

[0037] In the description of this invention, it should be noted that the terms "center," "top," "bottom," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A tea-picking mechanism, characterized in that, include: The picking body has a smooth curved surface structure on its sidewalls, and the inner diameter of the cross-section of the picking body gradually decreases from the first end to the last end. A sensing device is installed on the inner sidewall of the picking body near the tail end, used to sense the position of the tea buds entering the picking body; The picking device is installed on the side wall near the head end of the picking body, and can receive the signal from the sensing device to pick the tea buds inside the picking body. The picking device includes picking fingers, two of which are symmetrically hinged to the inner wall of the picking body near the head end, and the picking fingers can fit against the inner wall of the picking body. The picking finger has a cutting edge on the inner side of one end near the opening at the head of the picking body. One picking finger is fixed with a magnet, and the other picking finger is equipped with an electromagnet. The electromagnet is connected to a control terminal, which can receive signals from the sensing device and control the direction of the coil current of the electromagnet accordingly. Alternatively, one end of the picking finger near the opening at the head of the picking body has a finger-shaped clamping part, which is connected to an electromagnetic drive device. The electromagnetic drive device can drive the finger-shaped clamping part to clamp the tea bud to be picked. One picking finger is fixed with a magnet, and the other picking finger is equipped with an electromagnet. The electromagnet is connected to a control terminal, which can receive signals from the sensing device and control the direction of the coil current of the electromagnet accordingly. The picking body is a trumpet-shaped structure with openings at both ends.

2. The tea harvesting mechanism according to claim 1, characterized in that, The sensing device is an infrared sensor, which can sense the position of the tea buds to be picked inside the picking body and send a signal to the control terminal. The control terminal is used to drive the picking device to pick the tea buds.

3. The tea harvesting mechanism according to claim 1, characterized in that, The sensing device is a laser sensor, which includes a transmitter and a receiver. The transmitter and receiver are symmetrically arranged on the inner side wall of the picking body near the tail end. When the tea buds in the picking body enter the preset position, the signal between the transmitter and receiver is blocked, which can trigger the picking switch of the control end to open, drive the picking device to act, and realize the picking of tea buds.

4. The tea crop harvesting mechanism according to claim 1, characterized in that, Two trapezoidal notches are symmetrically opened on the side wall near the head end of the picking body. A hinge ear hole is provided at the bottom side wall of the trapezoidal notch. A hinge post is fixed on both sides of the picking finger away from the head end of the picking body. A picking finger is provided in each trapezoidal notch. The hinge post of the picking finger is rotatably located in the corresponding hinge ear hole.

5. The tea harvesting mechanism according to claim 1, characterized in that, The harvesting device includes a laser cutter, which is fixedly mounted on the side wall of the harvesting body near the head end. The laser cutter is connected to a control terminal, which can receive signals from the sensing device and control the laser cutter to open and close accordingly.

6. A harvesting machine, characterized in that, The device includes a body, a drive device at the bottom of the body, a tea crop picking mechanism as described in any one of claims 1 to 3 at one end of the body, and a temporary storage basket below the tea crop picking mechanism.

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