A tea picking device based on drone

Abstract

A tea picking device based on drones belongs to the field of agricultural machinery. It is composed of a first telescopic leg assembly, a negative pressure vacuum pump, a drone, a second telescopic leg assembly, a main bracket, a transmission device, a third telescopic leg assembly, a tea collection device and a collection box assembly. The first telescopic leg assembly is installed at the front of the main bracket, the negative pressure vacuum pump is installed at the front of the main bracket by bolts, the drone is installed on the main bracket by bolts, the second telescopic leg assembly and the third telescopic leg assembly are respectively installed on both sides of the rear of the main bracket, the front of the transmission device is installed on the inside of the first telescopic leg assembly by bolts, and the rear is fixedly installed on the main bracket and located below the main bracket, the tea collection device is fixedly installed on the transmission device and located below the transmission device, and the collection box assembly is fixedly installed on the inside of the first telescopic leg assembly. The device can overcome the influence of complex terrain, maintain stability during landing and picking, and save labor costs.

Description

Technical Field

[0001] The present invention relates to a tea picking device based on an unmanned aerial vehicle, specifically, a tea picking device and a first telescopic leg assembly, a second telescopic leg assembly and a third telescopic leg assembly carried by an unmanned aerial vehicle. The first telescopic leg assembly, the second telescopic leg assembly and the third telescopic leg assembly adjust the height of the robot and keep it horizontal by telescoping. The tea picking device is a device for picking tender leaves on tea trees, and belongs to the field of agricultural machinery. Background Art

[0002] As one of China's traditional beverages, tea has a large market demand, but tea is currently mostly picked manually, which requires a huge workload for workers. At present, most domestic tea picking devices can only be used for picking in standardized tea gardens. Compared with tea gardens in hilly areas, the slope of tea gardens in hilly areas is high and each row of tea trees is distributed in a stepped shape. Existing tea picking devices are difficult to overcome the impact of terrain. The soil on the ground in tea gardens is uneven, and tea picking devices may fall over unsteadily when moving and stopping, causing damage to the tea picking devices and reducing tea picking efficiency. In recent years, the emergence of unmanned driving technology has opened up new ways for the development of tea picking devices. Using drones to carry tea picking devices can overcome environmental factors such as planting terrain and planting density, save labor costs, and improve tea picking efficiency. It is suitable for situations where manual or ground tea picking machines are difficult to operate. Summary of the invention

[0003] In view of the above-mentioned shortcomings that the huge workload of manual tea picking causes adverse effects on health, the difficulty of tea picking devices in overcoming the influence of terrain, and the difficulty of tea picking devices in maintaining stability on uneven ground, the present invention provides a tea picking device based on a drone.

[0004] The present invention is realized through the following technical scheme: a tea picking device based on an unmanned aerial vehicle, which is composed of a first telescopic leg assembly, a negative pressure vacuum pump, an unmanned aerial vehicle, a second telescopic leg assembly, a main bracket, a transmission device, a third telescopic leg assembly, a tea collecting device and a collection box assembly, wherein the first telescopic leg assembly is installed at the front of the main bracket, the negative pressure vacuum pump is fixedly installed at the front of the main bracket by bolts, the unmanned aerial vehicle is fixedly installed on the main bracket by bolts, the second telescopic leg assembly and the third telescopic leg assembly are respectively installed on both sides of the rear of the main bracket, the front of the transmission device is installed on the inner side of the outer wall of the first telescopic leg assembly by bolts, the rear of the transmission device is fixedly installed on the main bracket and is located below the main bracket, the tea collecting device is fixedly installed on the transmission device and is located below the transmission device, and the collection box assembly is fixedly installed on the inner side of the first telescopic leg assembly.

[0005] The main bracket is composed of a front-end mounting plate, a UAV mounting plate and a rear-end mounting plate. The front-end mounting plate is fixedly mounted on the front of the UAV mounting plate, and the rear-end mounting plate is fixedly mounted on the rear of the UAV mounting plate.

[0006] The rear end mounting plate is provided with a left support leg mounting hole and a right support leg mounting hole, the second telescopic support leg assembly is mounted on the left support leg mounting hole, and the third telescopic support leg assembly is mounted on the right support leg mounting hole.

[0007] The first telescopic support leg assembly is composed of a first stepper motor, a first stepper motor bracket, a first coupling, a first lead screw, a first bearing, a telescopic sleeve, a bearing end cover, a support leg slider, a wheel assembly and a second bearing. The first stepper motor bracket is fixedly mounted on the front end mounting plate of the main bracket by bolts, the first stepper motor is fixedly mounted on the first stepper motor bracket by screws, the telescopic sleeve is provided with a through hole and a dovetail key, the telescopic sleeve is fixedly mounted below the front end mounting plate of the main bracket, the first bearing is mounted in the front end mounting plate, the second bearing is mounted at the bottom of the telescopic sleeve, the first lead screw coaxially passes through the first bearing and the second bearing and is mounted inside the telescopic sleeve, the shaft end of the first lead screw and the motor shaft of the first stepper motor are connected by the first coupling, the bearing end cover is fixedly mounted on the telescopic sleeve by screws and covers the second bearing, the upper end of the support leg slider is mounted inside the telescopic sleeve and is threadedly connected to the first lead screw, the lower end of the support leg slider extends from the bottom of the telescopic sleeve, and the wheel assembly is fixedly mounted on the lower end of the support leg slider by bolts.

[0008] The second telescopic leg assembly and the third telescopic leg assembly have the same structure as the first telescopic leg assembly.

[0009] The support foot slider is provided with a dovetail groove, a connecting support plate and a wheel mounting plate and is equipped with a first lead screw nut. The dovetail groove can be connected to the dovetail key in the telescopic sleeve, the connecting support plate can be telescoped through the through hole at the bottom of the telescopic sleeve, and the first lead screw nut is threadedly connected to the first lead screw.

[0010] The wheel assembly is composed of a second stepper motor, a second stepper motor bracket, a second coupling, a bevel gear shaft, a first bevel gear, a first buckle, a second bevel gear, a second buckle, a wheel bracket, a wheel, a first wheel bearing and a second wheel bearing. The second stepper motor bracket is fixedly mounted on the upper side of the wheel mounting plate by bolts, the second stepper motor is fixedly mounted on the second stepper motor bracket by screws, the second coupling connects the motor shaft and the bevel gear shaft of the second stepper motor, the first bevel gear is mounted on the bevel gear shaft, and the first buckle is installed at the front end to prevent the first bevel gear from falling. The wheel bracket is fixedly mounted on the lower side of the wheel mounting plate by bolts, the first wheel bearing and the second wheel bearing are respectively installed on the left and right sides of the wheel bracket, the wheel is coaxially installed between the first wheel bearing and the second wheel bearing, the second bevel gear is installed on the shaft end of the wheel, and the second buckle is installed at the front part of the shaft end of the wheel to fix the second bevel gear, and the second bevel gear and the first bevel gear are meshed with each other.

[0011] The transmission device is composed of a third stepper motor, a third coupling, a third stepper motor bracket, a first linear guide, a second lead screw, a second linear guide, a second lead screw nut, a transmission slider, a first transmission bracket, a first transmission bearing, a second transmission bracket and a second transmission bearing. The third stepper motor bracket is fixedly mounted on the upper side of the rear end mounting plate, the third stepper motor is fixedly mounted on the third stepper motor bracket by screws, the first transmission bracket is fixedly mounted on the telescopic sleeve of the first telescopic support leg assembly by bolts, the first transmission bearing is mounted on the first transmission bracket, the second transmission bracket is fixedly mounted on the lower side of the rear end mounting plate by bolts, and the second transmission bearing is mounted on On the second transmission bracket, the second lead screw is coaxially installed between the first transmission bearing and the second transmission bearing, the shaft end of the second lead screw and the motor shaft of the third stepping motor are connected by a third coupling, one end of the first linear guide is fixedly installed on the first transmission bracket, and the other end is fixedly installed on the second transmission bracket and is located on the left side of the second lead screw, one end of the second linear guide is fixedly installed on the first transmission bracket, and the other end is fixedly installed on the second transmission bracket and is located on the right side of the second lead screw, the second lead screw nut is fixedly installed in the transmission slider by a screw, and is threadedly connected to the second lead screw, and the transmission slider is installed on the second lead screw, the first linear guide and the second linear guide and can slide reciprocatingly along the second lead screw.

[0012] The tea collection device is composed of a picking terminal component, a first steering gear, a long rocker arm, a short rocker arm, a second steering gear, a turntable, a third steering gear and a turntable. The turntable is fixedly installed at the bottom of the transmission slider, the turntable is installed at the bottom of the turntable and extends from the bottom, the short rocker arm is installed on the turntable, one end of which is connected by a pin, and the other end is connected by the third steering gear, the long rocker arm is installed on the short rocker arm, one end of which is connected by a pin, and the other end is connected by the second steering gear, and the picking terminal component is installed on the long rocker arm, one end of which is connected by a pin, and the other end is connected by the first steering gear.

[0013] The picking end assembly is composed of a right picking claw, a left picking claw, a rubber sealing ring, an exhaust pipe, an exhaust pipe mounting plate, an end bracket and an electric clamp. The end bracket is installed on the long rocker arm and connected through a first servo and a pin. The electric clamp is installed on the end bracket by screws. The exhaust pipe mounting plate is fixedly installed on the end bracket and is located at the front end of the electric clamp. The exhaust pipe is fixedly installed on the exhaust pipe mounting plate. A rubber sealing ring is installed at the bottom of the outer wall of the exhaust pipe. The left picking claw and the right picking claw are both provided with air holes. The left picking claw is installed on the left end of the electric clamp by screws, and the right picking claw is installed on the right end of the electric clamp by screws.

[0014] The turntable is composed of a turntable base and a fourth steering gear, wherein the fourth steering gear is fixedly installed inside the turntable base, and the turntable base is fixedly installed at the bottom of the transmission sliding block.

[0015] The collection box assembly is composed of a box cover and a box body. The box body is fixedly mounted on the outer wall of the telescopic sleeve shell, and the box cover is mounted on the top of the box body.

[0016] The box cover is composed of a top cover and a rubber pad, and the rubber pad is fixedly installed inside the top cover.

[0017] The box body is provided with a vacuum pump suction port, a baffle and a collection suction port. The baffle is installed inside the box body at the vacuum pump suction port. The vacuum pump suction port is connected to the negative pressure vacuum pump through a vacuum pump pipe, and the collection suction port is connected to the suction pipe through a pneumatic hose.

[0018] The benefits of the invention are that the device is carried by a drone, which overcomes the influence of complex terrain factors during the picking process and can improve the efficiency of tea picking; the three telescopic leg assemblies used in the device can keep the device stable by telescoping the height and can adjust the picking device to a height suitable for picking, thereby improving the wide range of tea picking by the device; the negative pressure vacuum pump used in the device to extract and collect the picked tea leaves can protect the tea leaves from damage, thereby improving the efficiency of tea collection and ensuring the quality of the tea leaves; the wheel assembly used in the device can enable the device to pick tea leaves while moving along the tea trees, thereby shortening the time spent on tea picking; the collection box assembly used in the device is equipped with a retaining net to prevent the tea leaves from being sucked into the vacuum pump pipe and causing blockage during the collection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is the trachea connection diagram of the present invention;

[0021] Figure 3 is a structural schematic diagram of a first telescopic leg assembly;

[0022] Figure 4 A schematic diagram of the structure of the main support;

[0023] Figure 5 is a schematic diagram of the structure of the transmission device;

[0024] Figure 6 It is a structural schematic diagram of a tea leaf collecting device;

[0025] Figure 7 is a schematic diagram of the structure of the collection box assembly;

[0026] Figure 8 is a top view of the telescopic housing;

[0027] Fig. 9 It is a structural schematic diagram of the support foot slider;

[0028] Fig.10 is a schematic diagram of the structure of a wheel assembly;

[0029] Fig.11 is another view of the wheel assembly;

[0030] Fig.12 It is a structural diagram of the rear end mounting plate;

[0031] Fig.13 It is a structural schematic diagram of the picking end component;

[0032] Fig.14 It is a schematic diagram of the structure of the turntable;

[0033] Fig.15 It is a structural diagram of the box;

[0034] Fig.16 This is a cross-sectional view of the box cover.

[0035] In the figure, 1, first telescopic leg assembly, 2, negative pressure vacuum pump, 3, drone, 4, second telescopic leg assembly, 5, main bracket, 6, transmission device, 7, third telescopic leg assembly, 8, tea collection device, 9, collection box assembly;

[0036] 10. Vacuum pump tube, 11. Pneumatic hose;

[0037] 101. first stepper motor, 102. first stepper motor bracket, 103. first coupling, 104. first lead screw, 105. first bearing, 106. telescopic sleeve, 107. bearing end cover, 108. support foot slider, 109. wheel assembly, 110. second bearing;

[0038] 501, front mounting plate, 502, drone mounting plate, 503, rear mounting plate;

[0039] 601, a third stepping motor, 602, a third coupling, 603, a third stepping motor bracket, 604, a first linear guide rail, 605, a second lead screw, 606, a second linear guide rail, 607, a second lead screw nut, 608, a transmission slider, 609, a first transmission bracket, 610, a first transmission bearing, 611, a second transmission bracket, 612, a second transmission bearing;

[0040] 801, picking end assembly, 802, first steering gear, 803, long rocker arm, 804, short rocker arm, 805, second steering gear, 806, turntable, 807, third steering gear, 808, turntable;

[0041] 901, box body, 902, box cover;

[0042] 10601, dovetail key, 10602, through hole;

[0043] 10801, dovetail groove, 10802, connecting support plate, 10803, wheel mounting plate, 10804, first lead screw nut;

[0044] 10901. a second stepper motor; 10902. a second stepper motor bracket; 10903. a second coupling; 10904. a bevel gear shaft; 10905. a first bevel gear; 10906. a first buckle; 10907. a second bevel gear; 10908. a second buckle; 10909. a wheel; 10910. a wheel bracket;

[0045] 10911, a first wheel bearing, 10912, a second wheel bearing;

[0046] 50301, left leg mounting hole, 50302, right leg mounting hole;

[0047] 80101, right picking claw, 80102, left picking claw, 80103, rubber sealing ring, 80104, air extraction pipe, 80105, air extraction pipe mounting plate, 80106, end bracket, 80107, electric clamping claw;

[0048] 80601, the fourth steering gear, 80602, the turntable base;

[0049] 90101, vacuum pump exhaust port, 90102, retaining net, 90103, collecting exhaust port;

[0050] 90201, top cover, 90202, rubber pad. DETAILED DESCRIPTION

[0051] A tea picking device based on an unmanned aerial vehicle is composed of a first telescopic leg assembly 1, a negative pressure vacuum pump 2, an unmanned aerial vehicle 3, a second telescopic leg assembly 4, a main bracket 5, a transmission device 6, a third telescopic leg assembly 7, a tea collecting device 8 and a collection box assembly 9. The first telescopic leg assembly 1 is installed in front of the main bracket 5, the negative pressure vacuum pump 2 is fixedly installed in front of the main bracket 5 by bolts, the unmanned aerial vehicle 3 is fixedly installed on the main bracket 5 by bolts, the second telescopic leg assembly 4 and the third telescopic leg assembly 7 are respectively installed on both sides of the rear of the main bracket 5, the front of the transmission device 6 is installed on the inner side of the outer wall of the first telescopic leg assembly 1 by bolts, the rear part of the transmission device 6 is fixedly installed on the main bracket 5 and is located below the main bracket 5, the tea collecting device 8 is fixedly installed on the transmission device 6 and is located below the transmission device 6, and the collection box assembly 9 is fixedly installed on the inner side of the first telescopic leg assembly 1.

[0052] The main bracket 5 is composed of a front end mounting plate 501, a UAV mounting plate 502 and a rear end mounting plate 503. The front end mounting plate 501 is fixedly mounted on the front of the UAV mounting plate 502, and the rear end mounting plate 503 is fixedly mounted on the rear of the UAV mounting plate 502.

[0053] The rear end mounting plate 503 is provided with a left support leg mounting hole 50301 and a right support leg mounting hole 50302 , the second telescopic support leg assembly 4 is mounted on the left support leg mounting hole 50301 , and the third telescopic support leg assembly 7 is mounted on the right support leg mounting hole 50302 .

[0054] The first telescopic support leg assembly 1 is composed of a first stepper motor 101, a first stepper motor bracket 102, a first coupling 103, a first lead screw 104, a first bearing 105, a telescopic sleeve 106, a bearing end cover 107, a support leg slider 108, a wheel assembly 109 and a second bearing 110. The first stepper motor bracket 102 is fixedly mounted on the front end mounting plate 501 of the main bracket 5 by bolts, and the first stepper motor 101 is fixedly mounted on the first stepper motor bracket 102 by screws. The telescopic sleeve 106 is provided with a through hole 10602 and a dovetail key 10601. The telescopic sleeve 106 is fixedly mounted below the front end mounting plate 501 of the main bracket 5. The first bearing 105 is arranged Installed in the front end mounting plate 501, the second bearing 110 is installed at the bottom of the telescopic sleeve 106, the first lead screw 104 coaxially passes through the first bearing 105 and the second bearing 110 and is installed inside the telescopic sleeve 106, the axial end of the first lead screw 104 and the motor shaft of the first stepper motor 101 are connected through the first coupling 103, the bearing end cover 107 is fixedly installed on the telescopic sleeve 106 by screws and covers the second bearing 110, the upper end of the support foot slider 108 is installed inside the telescopic sleeve 106 and is threadedly connected to the first lead screw 104, the lower end of the support foot slider 108 extends from the bottom of the telescopic sleeve 106, and the wheel assembly 109 is fixedly installed at the lower end of the support foot slider 108 by bolts.

[0055] The second telescopic leg assembly 4 and the third telescopic leg assembly 7 have the same structure as the first telescopic leg assembly 1 .

[0056] The support foot slider 108 is provided with a dovetail groove 10801, a connecting support plate 10802 and a wheel mounting plate 10803 and is equipped with a first lead screw nut 10804. The dovetail groove 10801 can be connected to the dovetail key 10601 in the telescopic sleeve 106, and the connecting support plate 10802 can be telescoped through the through hole 10602 at the bottom of the telescopic sleeve 106. The first lead screw nut 10804 is threadedly connected to the first lead screw 104.

[0057] The wheel assembly 109 is composed of a second stepper motor 10901, a second stepper motor bracket 10902, a second coupling 10903, a bevel gear shaft 10904, a first bevel gear 10905, a first buckle 10906, a second bevel gear 10907, a second buckle 10908, a wheel bracket 10910, a wheel 10909, a first wheel bearing 10911 and a second wheel bearing 10912. The second stepper motor bracket 10902 is fixedly mounted on the upper side of the wheel mounting plate 10803 by bolts, and the second stepper motor 10901 is fixedly mounted on the second stepper motor bracket 10902 by screws. The second coupling 10903 connects the motor shaft of the second stepper motor 10901 and the bevel gear shaft 10904. The first bevel gear 10905 is installed on the bevel gear shaft 10904, and the first buckle 10906 is installed at the front end to prevent the first bevel gear 10905 from falling. The wheel bracket 10910 is fixed to the lower side of the wheel mounting plate 10803 by bolts, and the first wheel bearing 10911 and the second wheel bearing 10912 are respectively installed on the left and right sides of the wheel bracket 10910. The wheel 10909 is coaxially installed between the first wheel bearing 10911 and the second wheel bearing 10912. The second bevel gear 10907 is installed on the shaft end of the wheel 10909. The second buckle 10908 is installed at the front part of the shaft end of the wheel 10909 to fix the second bevel gear 10907. The second bevel gear 10907 and the first bevel gear 10905 are meshed with each other.

[0058] The transmission device 6 is composed of a third stepper motor 601, a third coupling 602, a third stepper motor bracket 603, a first linear guide 604, a second lead screw 605, a second linear guide 606, a second lead screw nut 607, a transmission slider 608, a first transmission bracket 609, a first transmission bearing 610, a second transmission bracket 611 and a second transmission bearing 612. The third stepper motor bracket 603 is fixedly mounted on the upper side of the rear end mounting plate 503, the third stepper motor 601 is fixedly mounted on the third stepper motor bracket 603 by screws, the first transmission bracket 609 is fixedly mounted on the telescopic sleeve 106 of the first telescopic support leg assembly 1 by bolts, the first transmission bearing 610 is mounted on the first transmission bracket 609, the second transmission bracket 611 is fixedly mounted on the lower side of the rear end mounting plate 503 by bolts, and the second transmission bearing 612 is mounted On the second transmission bracket 611, the second lead screw 605 is coaxially installed between the first transmission bearing 610 and the second transmission bearing 612, the shaft end of the second lead screw 605 and the motor shaft of the third stepping motor 601 are connected through the third coupling 602, one end of the first linear guide 604 is fixedly installed on the first transmission bracket 609, and the other end is fixedly installed on the second transmission bracket 611 and is located on the left side of the second lead screw 605, one end of the second linear guide 606 is fixedly installed on the first transmission bracket 609, and the other end is fixedly installed on the second transmission bracket 611 and is located on the right side of the second lead screw 605, the second lead screw nut 607 is fixedly installed in the transmission slider 608 by screws, and is threadedly connected to the second lead screw 605, and the transmission slider 608 is installed on the second lead screw 605, the first linear guide 604 and the second linear guide 606 and can slide back and forth along the second lead screw 605.

[0059] The tea collection device 8 is composed of a picking terminal component 801, a first steering gear 802, a long rocker arm 803, a short rocker arm 804, a second steering gear 805, a turntable 806, a third steering gear 807 and a turntable 808. The turntable 806 is fixedly mounted on the bottom of the transmission slider 608, the turntable 808 is mounted on the bottom of the turntable 806 and extends from the bottom, the short rocker arm 804 is mounted on the turntable 808, one end of which is connected by a pin, and the other end is connected by the third steering gear 807, the long rocker arm 803 is mounted on the short rocker arm 804, one end of which is connected by a pin, and the other end is connected by the second steering gear 805, the picking terminal component 801 is mounted on the long rocker arm 803, one end of which is connected by a pin, and the other end is connected by the first steering gear 802.

[0060] The picking end assembly 801 is composed of a right picking claw 80101, a left picking claw 80102, a rubber sealing ring 80103, an exhaust pipe 80104, an exhaust pipe mounting plate 80105, an end bracket 80106 and an electric clamp 80107. The end bracket 80106 is mounted on the long rocker arm 803 and connected to the first steering gear 802 and the pin. The electric clamp 80107 is mounted on the end bracket 80106 by screws. The exhaust pipe mounting plate 80105 It is fixedly mounted on the end bracket 80106 and located at the front end of the electric clamp 80107. The exhaust pipe 80104 is fixedly mounted on the exhaust pipe mounting plate 80105. A rubber sealing ring 80103 is installed at the bottom of the outer wall of the exhaust pipe 80104. Both the left picking claw 80102 and the right picking claw 80101 are provided with air holes. The left picking claw 80102 is mounted on the left end of the electric clamp 80107 by screws, and the right picking claw 80101 is mounted on the right end of the electric clamp 80107 by screws.

[0061] The turntable 806 is composed of a turntable base 80602 and a fourth steering gear 80601 . The fourth steering gear 80601 is fixedly installed inside the turntable base 80602 . The turntable base 80602 is fixedly installed at the bottom of the transmission slider 608 .

[0062] The collection box assembly 9 is composed of a box cover 902 and a box body 901 . The box body 901 is fixedly mounted on the outer wall of the telescopic casing 106 , and the box cover 902 is mounted on the top of the box body 901 .

[0063] The box cover 902 is composed of a top cover 90201 and a rubber pad 90202 , and the rubber pad 90202 is fixedly installed inside the top cover 90201 .

[0064] The box body 901 is provided with a vacuum pump exhaust port 90101, a baffle 90102 and a collecting exhaust port 90103. The baffle 90102 is installed inside the box body 901 at the vacuum pump exhaust port 90101. The vacuum pump exhaust port 90101 is connected to the negative pressure vacuum pump 2 through a vacuum pump pipe 10. The collecting exhaust port 90103 is connected to the exhaust pipe 80104 through a pneumatic hose 11.

[0065] When the device is in use, the drone 3 flies to the top of the tea tree according to the planned path, adjusts its posture and lands slowly. After landing, if the device is obviously tilted compared to the tea tree or is far away from the tea picking area, the first telescopic leg assembly 1 or the second telescopic leg assembly 4 and the third telescopic leg assembly 7 are adjusted to make the device reach a stable and highly suitable tea picking position, and the transmission device 6 drives the tea collection device 8 to move horizontally. During the movement, the left picking claw 80102 and the right picking claw 80101 on the picking end assembly 801 clamp and pick the tender buds on the tea tree, and then the negative pressure vacuum pump 2 is started to suck the picked tea buds into the collection box assembly 9 through the exhaust pipe 80104. When all the tea leaves within the range that the tea collection device 8 can cover have been collected, the wheel assembly 109 is started to move the device forward along the tea tree to the unpicked area for picking. When all the tea trees in this row have been picked, the drone 3 takes off and goes to another row of tea trees for picking.

[0066] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A tea picking device based on an unmanned aerial vehicle, comprising a first telescopic support leg assembly, a negative pressure vacuum pump, an unmanned aerial vehicle, a second telescopic support leg assembly, a main bracket, a transmission device, a third telescopic support leg assembly, a tea leaf collecting device and a collection box assembly, characterized in that: The first telescopic leg assembly is installed at the front of the main bracket, the negative pressure vacuum pump is fixedly installed at the front of the main bracket by bolts, the drone is fixedly installed on the main bracket by bolts, the second telescopic leg assembly and the third telescopic leg assembly are respectively installed on both sides of the rear of the main bracket, the front of the transmission device is installed on the inner side of the outer wall of the first telescopic leg assembly by bolts, the rear of the transmission device is fixedly installed on the main bracket and located below the main bracket, the tea collection device is fixedly installed on the transmission device and located below the transmission device, the collection box assembly is fixedly installed on the inner side of the first telescopic leg assembly, the main bracket is composed of a front end mounting plate, a drone mounting plate and a rear end mounting plate, the front end The mounting plate is fixedly mounted on the front of the drone mounting plate, and the rear end mounting plate is fixedly mounted on the rear of the drone mounting plate. The first telescopic support leg assembly is composed of a first stepper motor, a first stepper motor bracket, a first coupling, a first lead screw, a first bearing, a telescopic sleeve, a bearing end cover, a support leg slider, a wheel assembly and a second bearing. The first stepper motor bracket is fixedly mounted above the front end mounting plate of the main bracket by bolts, and the first stepper motor is fixedly mounted on the first stepper motor bracket by screws. The telescopic sleeve is provided with a through hole and a dovetail key, and the telescopic sleeve is fixedly mounted below the front end mounting plate of the main bracket. The first bearing is mounted in the front end mounting plate, and the second bearing is mounted at the bottom of the telescopic sleeve The first lead screw coaxially passes through the first bearing and the second bearing and is installed inside the telescopic sleeve. The shaft end of the first lead screw and the motor shaft of the first stepper motor are connected through a first coupling. The bearing end cover is fixedly installed on the telescopic sleeve by screws and covers the second bearing. The upper end of the support foot slider is installed inside the telescopic sleeve and is threadedly connected to the first lead screw. The lower end of the support foot slider extends from the bottom of the telescopic sleeve. The wheel assembly is fixedly installed at the lower end of the support foot slider by bolts. The second telescopic support foot assembly and the third telescopic support foot assembly have the same structure as the first telescopic support foot assembly. The tea collection device is composed of a picking end assembly, a first steering gear, a long rocker arm, a short rocker arm, a second steering gear, a turntable, a third steering gear and a turntable. The turntable is fixedly mounted at the bottom of the transmission device, the turntable is mounted at the bottom of the turntable and extends from the bottom, the short rocker arm is mounted on the turntable, one end is connected by a pin, and the other end is connected by a third servo, the long rocker arm is mounted on the short rocker arm, one end is connected by a pin, and the other end is connected by a second servo, the picking end assembly is mounted on the long rocker arm, one end is connected by a pin, and the other end is connected by a first servo, the picking end assembly is composed of a right picking claw, a left picking claw, a rubber sealing ring, an exhaust pipe, an exhaust pipe mounting plate, an end bracket and an electric clamp, the end bracket is mounted on the long rocker arm and connected to the pin through the first servo, and the electric clamp is mounted on the end bracket by screws,The exhaust pipe mounting plate is fixedly mounted on the end bracket and is located at the front end of the electric clamp, the exhaust pipe is fixedly mounted on the exhaust pipe mounting plate, a rubber sealing ring is installed at the bottom of the outer wall of the exhaust pipe, air holes are provided on the left picking claw and the right picking claw, the left picking claw is mounted on the left end of the electric clamp by screws, and the right picking claw is mounted on the right end of the electric clamp by screws, the turntable is composed of a turntable base and a fourth steering gear, the fourth steering gear is fixedly mounted inside the turntable base, and the turntable base is fixedly mounted at the bottom of the transmission device; when the device is in use, no one is The aircraft flies to the top of the tea tree according to the planned path, adjusts its posture and lands slowly. After landing, if the device is obviously tilted compared to the tea tree or is far away from the tea picking area, the first telescopic support leg assembly, the second telescopic support leg assembly and the third telescopic support leg assembly are adjusted to make the device reach a stable and height-appropriate tea picking position. The transmission device drives the tea picking device to move horizontally. During the movement, the left picking claw and the right picking claw on the picking terminal assembly clamp and pick the tender buds on the tea tree. Then the negative pressure vacuum pump is started to suck the picked tea buds into the collection box assembly through the suction pipe. When all the tea leaves within the range of the tea collection device have been collected, the wheel assembly starts, causing the device to move forward along the tea trees to the unpicked area for picking; when all the tea leaves in this row of tea trees have been picked, the drone takes off and goes to another row of tea trees for picking.

2. The tea picking device based on a drone as claimed in claim 1, characterized in that: The transmission device is composed of a third stepper motor, a third coupling, a third stepper motor bracket, a first linear guide, a second lead screw, a second linear guide, a second lead screw nut, a transmission slider, a first transmission bracket, a first transmission bearing, a second transmission bracket and a second transmission bearing. The third stepper motor bracket is fixedly mounted on the upper side of the rear end mounting plate, the third stepper motor is fixedly mounted on the third stepper motor bracket by screws, the first transmission bracket is fixedly mounted on the telescopic sleeve of the first telescopic support leg assembly by bolts, the first transmission bearing is mounted on the first transmission bracket, the second transmission bracket is fixedly mounted on the lower side of the rear end mounting plate by bolts, and the second transmission bearing is mounted on On the second transmission bracket, the second lead screw is coaxially installed between the first transmission bearing and the second transmission bearing, the shaft end of the second lead screw and the motor shaft of the third stepping motor are connected by a third coupling, one end of the first linear guide is fixedly installed on the first transmission bracket, and the other end is fixedly installed on the second transmission bracket and is located on the left side of the second lead screw, one end of the second linear guide is fixedly installed on the first transmission bracket, and the other end is fixedly installed on the second transmission bracket and is located on the right side of the second lead screw, the second lead screw nut is fixedly installed in the transmission slider by a screw, and is threadedly connected to the second lead screw, and the transmission slider is installed on the second lead screw, the first linear guide and the second linear guide and can slide reciprocatingly along the second lead screw.

3. The tea picking device based on a drone as claimed in claim 1, characterized in that: The collection box assembly is composed of a box cover and a box body. The box body is fixedly mounted on the outer wall of the telescopic sleeve shell, and the box cover is mounted on the top of the box body.

4. The tea picking device based on a drone as claimed in claim 1, characterized in that: The wheel assembly is composed of a second stepper motor, a second stepper motor bracket, a second coupling, a bevel gear shaft, a first bevel gear, a first buckle, a second bevel gear, a second buckle, a wheel bracket, a wheel, a first wheel bearing and a second wheel bearing. The second stepper motor bracket is fixedly mounted on the upper side of the wheel mounting plate by bolts, the second stepper motor is fixedly mounted on the second stepper motor bracket by screws, the second coupling connects the motor shaft and the bevel gear shaft of the second stepper motor, the first bevel gear is mounted on the bevel gear shaft, and the first buckle is installed at the front end to prevent the first bevel gear from falling. The wheel bracket is fixedly mounted on the lower side of the wheel mounting plate by bolts, the first wheel bearing and the second wheel bearing are respectively installed on the left and right sides of the wheel bracket, the wheel is coaxially installed between the first wheel bearing and the second wheel bearing, the second bevel gear is installed on the shaft end of the wheel, and the second buckle is installed at the front part of the shaft end of the wheel to fix the second bevel gear, and the second bevel gear and the first bevel gear are meshed with each other.

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