Movable picking equipment for tea leaves

Abstract

The invention discloses movable picking equipment for tea leaves, and relates to the technical field of tea picking machines. The device comprises two crawler-type chassis, bottom plates are fixedly mounted at the tops of the crawler-type chassis, outer-layer collecting boxes and lower frames are fixedly mounted at the tops of the bottom plates, upper frames are slidably mounted at the tops of the lower frames, and three suspension rods arranged in parallel are fixedly mounted between the two upper frames; a camera is fixedly installed on the hanging rod located in the middle, and a mechanical arm is arranged between the two upper frames. By arranging the elastic shearing mechanism, the pressing distance of a sponge cushion is adjusted, then pressing force is kept, tea leaves are prevented from being damaged, meanwhile, accurate positioning and clamping force calculation are not needed, the tea leaves can be directly cut off through a sharp shearing blade, the influence on the freshness of the tea leaves is avoided, and the tea leaves are not damaged. The first elastic piece enables the shearing blades to have moving elastic sliding allowance, the situation that the sponge cushion clamps the tea leaves can be avoided, and the two shearing blades form over-positioning.

Description

Technical Field

[0001] The invention relates to the technical field of tea plucking machines, and in particular to a mobile plucking device for tea leaves. Background Art

[0002] Tea picking is a very tedious physical labor and requires certain skills, otherwise the quality of the tea is difficult to guarantee. The first point of tea picking skills is not to pinch the tea buds with fingernails. Generally, they are broken. This is mainly to protect the freshness of the tea. The second point is not to pinch the tea leaves hard, otherwise it will damage the tea leaves. The third point is that the tea picking process must not be contaminated by dust and sweat.

[0003] Currently, there are many tea-picking robots on the market that can replace manual labor. However, the picking mechanisms of these robots lack adaptability to the tea-picking process. Some tea-picking robots use blunt knives to shear the tea leaves, which can easily cause squeezing and contamination. In addition, it is difficult to accurately control the force of clamping the tea leaves, which can easily damage the tea leaves. At the same time, since it is mechanical tea picking, it is difficult to avoid pollution factors such as oil and dust, resulting in the quality of mechanically picked tea being not as high as that of tea picked manually by skilled workers. For this reason, a mobile picking device for tea is proposed. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the picking mechanisms of some tea-picking robots on the market lack adaptability to the tea-picking process, resulting in the quality of mechanically picked tea being lower than that of tea picked manually by skilled workers. The present invention provides a mobile picking device for tea.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] A mobile tea picking device, comprising two crawler chassis, each of which is fixedly mounted with a bottom plate on the top of each crawler chassis, each of which is fixedly mounted with an outer collecting box and a lower frame on the top of each bottom plate, each of which is slidably mounted with an upper frame on the top of each lower frame, three parallel suspension rods are fixedly mounted between the two upper frames, a camera is fixedly mounted on the suspension rod in the middle, a mechanical arm is arranged between the two upper frames, and an execution end of the mechanical arm is provided with an elastic shearing mechanism for clamping tea leaves and shearing tea tree branches;

[0007] The elastic shearing mechanism comprises a driver fixedly mounted on the execution end of the mechanical arm, the internal drive of the driver is equipped with two symmetrically arranged branch splints, a sponge pad is fixedly mounted on the side of the two branch splints close to each other, a blade handle is arranged on one side of the branch splint, a shearing blade is slidably mounted on one end of the blade handle, the two shearing blades are symmetrically distributed, a blade holder is fixedly mounted on one side of the blade handle, and a plurality of uniformly distributed first elastic members are fixedly mounted between the blade holder and the shearing blade on the same side;

[0008] A pneumatic collector for collecting sheared tea leaves is provided on one side of the upper frame;

[0009] The pneumatic collector includes a blower fixedly installed on one side of the upper frame, an air duct is fixedly installed on the air delivery end of the blower, an air gun is fixedly installed on one end of the air duct, two air guns are respectively fixedly installed on the two ends of the hanging rod located in the middle, and the top of the outer collection box is provided with an outer jacket leakage pipe connected to the inside of the outer collection box, and the positions of the two air guns correspond to the positions of the two outer jacket leakage pipes.

[0010] Furthermore, a height-adjusting electric push rod is fixedly installed on one side of the lower frame, and the telescopic ends of the two height-adjusting electric push rods are respectively fixedly installed on one side of the two upper frames, and two linkage frames are fixedly installed inside the upper frames, and one end of the two linkage frames on the same side is fixedly installed on the side wall of the outer sleeve leakage pipe, and the top of the outer collecting box is fixedly installed with an inner sleeve leakage pipe connected with the interior of the outer collecting box, and the outer sleeve leakage pipe is slidably connected to the inner sleeve leakage pipe.

[0011] Furthermore, an inner collecting box is fixedly installed inside the outer collecting box, the bottom end of the inner sleeve leakage pipe is connected to the inside of the inner collecting box, and a plurality of exhaust pipes are fixedly installed on the surrounding side of the outer collecting box.

[0012] Furthermore, one end of the exhaust pipe located outside the outer collecting box is bent upward obliquely and provided with a dustproof rubber sheet, and the side edge of the dustproof rubber sheet located at the top is fixedly connected to one end of the exhaust pipe.

[0013] Furthermore, the two blade handles are rotatably installed on one side of the two branch splints respectively, a positioning rod is slidably installed on one side of the branch splint, a positioning slot matched with the positioning rod is opened on one side of the first elastic member, and a frame matched with the positioning rod is fixedly installed on one side of the blade handle.

[0014] Furthermore, two suspension rails are fixedly installed at the bottom of the two suspension rods respectively located on both sides, and the two suspension rails located on the same side are symmetrically distributed, and the same installation slide rail is arranged between the two suspension slides, and a rotating shaft is fixedly installed on the top of the installation slide rail, and the rotating shaft is rotatably installed on the suspension rod, and a slide seat is fixedly installed on the top of the driving end of the robotic arm, and the slide seat is adapted to the suspension slide rail and the installation slide rail, and a plurality of evenly distributed positioning holes are opened on the side walls of the suspension slide rail and the installation slide rail, and an elastic positioning frame adapted to the positioning hole is fixedly installed on one side of the slide seat.

[0015] Furthermore, second elastic members are fixedly mounted on both sides of the top of the mounting rail, and a clamping ring is fixedly mounted on one side of the top of the suspension rail close to the mounting rail, and the clamping ring is matched with the second elastic member.

[0016] Furthermore, the tops of the two upper frames are fixedly sleeved with a same sunshade.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. The present invention provides an elastic shearing mechanism, so that the pressing distance of the sponge pad can be adjusted to maintain the pressing force and avoid damaging the tea leaves. At the same time, there is no need for precise positioning and calculation of the clamping force. The sharp shearing blade can directly cut the tea leaves to avoid affecting the freshness of the tea leaves. The first elastic member enables the shearing blade to have a movable elastic sliding margin, which can avoid the sponge pad clamping the tea leaves and the two shearing blades from being over-positioned.

[0019] 2. The present invention provides a pneumatic collector so that after the tea leaves between the air gun and the outer jacket leakage pipe are loosened, they will smoothly fall into the outer jacket leakage pipe under the blowing of the airflow, and will slide into the inner part of the outer collection box to complete automatic collection. The air gun outputs airflow to transport the tea leaves under positive pressure instead of negative pressure, so as to avoid too much dust entering the inner part of the outer collection box during the tea picking process, and also avoid clogging and pollution of the outer jacket leakage pipe;

[0020] 3. The present invention is provided with a height-adjusting electric push rod, so that the height-adjusting electric push rod can adjust the height of the lower frame, the upper frame, and the outer casing leakage pipe, so as to cope with tea trees with different individual differences and adapt to tea fields with different heights of tea trees. When the outer casing leakage pipe slides, the top of the inner casing leakage pipe always fits with the inner wall of the outer casing leakage pipe, effectively preventing dust from entering the gap between the outer casing leakage pipe and the inner casing leakage pipe, and affecting the smoothness of the sliding of the two.

[0021] 4. The present invention provides an inner collecting box so that the outer collecting box and the inner collecting box form a double-layer collecting structure, ensuring that after the tea leaves enter the inner collecting box with the air flow, each exhaust pipe can exhaust air evenly, so that the air flow will not stir the tea leaves inside the inner collecting box, thereby preventing the tea leaves from being damaged. The dustproof rubber sheet makes the exhaust pipe a one-way air outlet, thereby preventing dust from entering the inner part of the outer collecting box along the exhaust pipe;

[0022] 5. The present invention provides a positioning rod, so that when picking tea leaves, if the current variety of tea trees does not need to be cut by a blade, the shear blade can be rotated 90 degrees to one side of the branch splint, and then the positioning rod is plugged into the plug frame, and the blade handle and the shear blade are limited, so that the tea leaves are directly broken by clamping the branch splint and the sponge pad to meet different picking needs;

[0023] 6. The present invention sets a hanging slide rail so that the slide seat can be slid to the specified position, and then the slide seat and the robot arm are fixed to achieve position adjustment of the robot arm and the elastic shearing mechanism. The installation slide rail can also be rotated to turn out the openings at both ends of the installation slide rail, and then put in a new slide seat, robot arm and elastic shearing mechanism, and then reset the installation slide rail to achieve adjustment of the number of elastic shearing mechanisms and facilitate subsequent disassembly and maintenance of the robot arm and other components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the interior of the sunshade of the present invention from a first viewing angle;

[0026] Figure 3 is a schematic diagram of the second viewing angle stereoscopic structure of the interior of the sunshade of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the suspension slide rail and the mechanical arm of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the elastic shearing mechanism of the present invention;

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure of the shear blade and the blade handle of the present invention;

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the blower and the air gun of the present invention;

[0031] Figure 8 It is a schematic diagram of the internal three-dimensional structure of the outer collection box of the present invention;

[0032] Fig. 9 It is a schematic diagram of the internal three-dimensional structure of the outer jacket leakage pipe of the present invention;

[0033] 1. Crawler chassis; 2. Bottom plate; 3. Outer collection box; 4. Lower frame; 5. Upper frame; 6. Suspension rod; 7. Camera; 8. Robotic arm; 9. Driver; 10. Branch splint; 11. Sponge pad; 12. Shear blade; 13. Blade handle; 14. Blade holder; 15. First elastic member; 16. Positioning plug rod; 17. Positioning slot; 18. Insert frame; 19. Blower; 20. Air duct; 21. Air gun; 22. Outer sleeve leakage pipe; 23. Height adjustment electric push rod; 24. Linkage frame; 25. Inner sleeve leakage pipe; 26. Inner collection box; 27. Exhaust duct; 28. Dust-proof rubber sheet; 29. ​​Suspension slide rail; 30. Mounting slide rail; 31. Rotating shaft; 32. Slide seat; 33. Positioning socket; 34. Elastic positioning frame; 35. Second elastic member; 36. Clamp; 37. Sunshade. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] like Figures 1 to 9As shown, a mobile tea picking device includes two crawler chassis 1, and a bottom plate 2 is fixedly installed on the top of each crawler chassis 1. Figure 2 As shown, an outer collecting box 3 and a lower frame 4 are fixedly installed on the top of the bottom plate 2, an upper frame 5 is slidably installed on the top of the lower frame 4, three parallel suspension rods 6 are fixedly installed between the two upper frames 5, a camera 7 is fixedly installed on the suspension rod 6 located in the middle, and a mechanical arm 8 is arranged between the two upper frames 5. In this embodiment, the mechanical arm 8 can adopt a commercial joint mechanical arm 8, or a special machine can be designed, which includes at least four rotating joints and one telescopic arm, and the execution end of the mechanical arm 8 is provided with an elastic shearing mechanism for clamping tea leaves and shearing tea tree branches; specifically, when the mobile picking equipment for tea leaves is in use, the two crawler chassis 1 drive the entire equipment to move in the tea field, so that the tea trees to be picked are placed between the two outer collecting boxes 3, the camera 7 identifies the tea trees and the tea leaves that can be picked, and then the mechanical arm 8 drives the elastic shearing mechanism to move to the position of the tea leaves to pick them;

[0039] like Figure 4 As shown, the elastic shearing mechanism includes a driver 9 fixedly mounted on the execution end of the mechanical arm 8, as shown in FIG. Figure 5 As shown, the internal drive of the driver 9 is installed with two symmetrically arranged branch splints 10, and a sponge pad 11 is fixedly installed on the side where the two branch splints 10 are close to each other. A blade handle 13 is provided on one side of the branch splint 10, and a shear blade 12 is slidably installed on one end of the blade handle 13. The two shear blades 12 are symmetrically distributed, and a knife seat 14 is fixedly installed on one side of the blade handle 13. In this embodiment, the branch splint 10 and the shear blade 12 are made of hard materials such as engineering plastics, aluminum alloy, stainless steel or other materials. The driver 9 can adopt an electric or pneumatic linear actuator, and other components can be made of self-lubricating materials to avoid pollution caused by the use of lubricating oil, such as Figure 6As shown, a plurality of evenly distributed first elastic members 15 are fixedly installed between the knife holder 14 and the shear blade 12 on the same side. In this embodiment, the first elastic member 15 can be a small spring rod, and the extension direction of the spring rod is consistent with the sliding direction of the shear blade 12; specifically, by setting an elastic shearing mechanism, when picking tea, the mechanical arm 8 drives the elastic shearing mechanism to extend, and the driver 9 drives the branch clamps 10 on both sides to approach each other, so that the two sponge pads 11 clamp the tea leaves, and at the same time, the two shear blades 12 shear and separate the tea leaves from the tea tree branches, and by adjusting the pressing distance of the sponge pad 11, the pressing force is maintained and the damage to the tea leaves is avoided. At the same time, there is no need for precise positioning and calculation of the clamping force. The sharp shear blade 12 can directly cut the tea leaves to avoid affecting the freshness of the tea leaves. The knife holder 14 is connected with the first elastic member 15 and the shear blade 12, so that the shear blade 12 has a movable elastic sliding margin, which can avoid clamping the tea leaves on the sponge pad 11 and over-positioning of the two shear blades 12;

[0040] A pneumatic collector for collecting the sheared tea leaves is provided on one side of the upper frame 5;

[0041] like Figure 3 As shown, the pneumatic collector includes a blower 19 fixedly mounted on one side of the upper frame 5, as shown in FIG. Figure 7 As shown, the air delivery end of the blower 19 is fixedly installed with an air duct 20, one end of the air duct 20 is fixedly installed with an air gun 21, and the two air guns 21 are respectively fixedly installed on the two ends of the suspension rod 6 located in the middle, and the top of the outer collecting box 3 is provided with an outer jacket leakage pipe 22 connected to the inside of the outer collecting box 3, and the positions of the two air guns 21 correspond to the positions of the two outer jacket leakage pipes 22 respectively; specifically, by setting a pneumatic collector, after the shear blade 12 cuts the tea leaves, the mechanical arm 8 drives the elastic shearing mechanism to carry the tea leaves to the top of the outer jacket leakage pipe 22, and the blower 19 Air is supplied to the outer jacket leakage pipe 22 through the air duct 20 and the air gun 21, so that a strong airflow is formed between the air gun 21 and the outer jacket leakage pipe 22. The driver 9 drives the branch clamps 10 on both sides to separate and loosen the tea leaves. The tea leaves between the air gun 21 and the outer jacket leakage pipe 22 will fall smoothly into the outer jacket leakage pipe 22 under the blowing of the airflow, and will slide into the inner part of the outer collecting box 3 to complete automatic collection. The air gun 21 is used to output positive pressure airflow to transport the tea leaves instead of negative pressure transportation, so as to avoid too much dust entering the inner part of the outer collecting box 3 during the tea picking process, and also to avoid blockage and pollution of the outer jacket leakage pipe 22.

[0042] like Figure 3 As shown, a height-adjusting electric push rod 23 is fixedly installed on one side of the lower frame 4, and the telescopic ends of the two height-adjusting electric push rods 23 are fixedly installed on one side of the two upper frames 5 respectively. Two linkage frames 24 are fixedly installed inside the upper frames 5, and one end of the two linkage frames 24 on the same side is fixedly installed on the side wall of the outer shell leakage pipe 22, as shown in FIG. Fig. 9 As shown, an inner sleeve leakage pipe 25 connected to the inner part of the outer collection box 3 is fixedly installed on the top of the outer collection box 3, and the outer sleeve leakage pipe 22 is slidably sleeved on the inner sleeve leakage pipe 25. In this embodiment, the outer sleeve leakage pipe 22 and the inner sleeve leakage pipe 25 both adopt a funnel-shaped structure, and the top side wall of the inner sleeve leakage pipe 25 is always in contact with the inner wall of the outer sleeve leakage pipe 22; specifically, by setting a height-adjusting electric push rod 23, the telescopic ends of the two height-adjusting electric push rods 23 can be controlled to move synchronously, thereby driving the upper frames 5 on both sides. When the outer sleeve leakage pipe 22 slides, the top of the inner sleeve leakage pipe 25 is always in contact with the inner wall of the outer sleeve leakage pipe 22, which effectively prevents dust from entering the gap between the outer sleeve leakage pipe 22 and the inner sleeve leakage pipe 25 and affecting the smoothness of the sliding of the two.

[0043] like Figure 8 As shown, an inner collecting box 26 is fixedly installed inside the outer collecting box 3. In this embodiment, the inner collecting box 26 can be made of breathable cloth or other porous materials. The bottom end of the inner sleeve leakage tube 25 is connected to the interior of the inner collecting box 26, and a plurality of exhaust pipes 27 are fixedly installed on the surrounding side of the outer collecting box 3. Specifically, by arranging the inner collecting box 26, the outer collecting box 3 and the inner collecting box 26 form a double-layer collecting structure to ensure that after the tea leaves enter the inner collecting box 26 with the air flow, each exhaust pipe 27 can exhaust air evenly, so that the air flow will not stir the tea leaves inside the inner collecting box 26, thereby preventing damage to the tea leaves.

[0044] like Figure 8 As shown, one end of the exhaust pipe 27 located outside the outer collecting box 3 is bent upward obliquely and is provided with a dustproof rubber sheet 28. The side of the dustproof rubber sheet 28 located at the top is fixedly connected to one end of the exhaust pipe 27. In the present embodiment, part of the side of the dustproof rubber sheet 28 located at the top is fixedly connected to the exhaust pipe 27, and the remaining side is not connected to the exhaust pipe 27. Specifically, by providing the dustproof rubber sheet 28, when the airflow flows out of the exhaust pipe 27, half of the dustproof rubber sheet 28 will be pushed away. When the air gun 21 stops supplying air, the dustproof rubber sheet 28 presses the top of the exhaust pipe 27 under the action of gravity, so that the exhaust pipe 27 is a one-way air outlet, thereby preventing dust from entering the interior of the outer collecting box 3 along the exhaust pipe 27.

[0045] like Figure 5 As shown, the two blade handles 13 are rotatably mounted on one side of the two branch clamps 10, and a positioning rod 16 is slidably mounted on one side of the branch clamps 10. Figure 6As shown, one side of the first elastic member 15 is provided with a positioning slot 17 adapted to the positioning rod 16, and one side of the blade handle 13 is fixedly installed with an insertion frame 18 adapted to the positioning rod 16. In the present embodiment, the knife seat 14 and the insertion frame 18 are made of magnetic metal, and magnets are provided at both ends of the positioning rod 16 for fixing the position of the positioning rod 16; specifically, by providing the positioning rod 16, when picking tea leaves, if the current variety of tea trees does not need to be cut by a blade, the positioning rod 16 can be slid to separate its front end from the positioning slot 17, and the limit on the knife seat 14 is released, so that the blade handle 13 can carry the shear blade 12 and rotate ninety degrees to one side of the branch splint 10, and then the positioning rod 16 is plugged into the insertion frame 18, and the blade handle 13 and the shear blade 12 are limited again, so that the tea leaves are directly broken by the clamping of the branch splint 10 and the sponge pad 11 to meet different picking needs.

[0046] like Figure 2 , Figure 3 As shown, two suspension rails 29 are fixedly installed at the bottom of the two suspension rods 6 located on both sides. Figure 4 As shown, the two hanging slide rails 29 on the same side are symmetrically distributed, and the same mounting slide rail 30 is arranged between the two hanging slide rails 29. A rotating shaft 31 is fixedly installed on the top of the mounting slide rail 30, and the rotating shaft 31 is rotatably installed on the hanging rod 6. A slide seat 32 is fixedly installed on the top of the driving end of the mechanical arm 8, and the slide seat 32 is adapted to the hanging slide rail 29 and the mounting slide rail 30. A plurality of evenly distributed positioning holes 33 are provided on the side walls of the hanging slide rail 29 and the mounting slide rail 30. An elastic positioning frame 34 adapted to the positioning holes 33 is fixedly installed on one side of the slide seat 32. In this embodiment, both sides of the mounting slide rail 30 are arc-shaped with the rotating shaft 31 as the axis, and the side of the hanging slide rail 29 close to the mounting slide rail 30 is also arranged to be arc-shaped adapted to the mounting slide rail 30. The elastic positioning frame 34 can be composed of a pull rod, an elastic member, The lever 30 is composed of a rod, which is pulled to deform the elastic member and move the slide 32 to the specified position. The lever is released so that the elastic member drives the rod to be inserted into the positioning socket 33 for fixation. Specifically, by setting the hanging slide rail 29, the elastic positioning frame 34 can be pulled to release the limit on the slide 32, and then the slide 32 is slid to the specified position, and then the elastic positioning frame 34 is released to make it plugged into the positioning socket 33 there, and the slide 32 and the robot arm 8 are fixed again to achieve the position adjustment of the robot arm 8 and the elastic shearing mechanism. The mounting slide rail 30 can also be rotated to turn out the openings at both ends of the mounting slide rail 30, and then a new slide 32, the robot arm 8 and the elastic shearing mechanism are placed inside the mounting slide rail 30, and then the mounting slide rail 30 is reset to achieve the adjustment of the number of elastic shearing mechanisms and facilitate the subsequent disassembly and maintenance of the robot arm 8 and other components.

[0047] like Figure 4As shown, second elastic members 35 are fixedly installed on both sides of the top of the mounting rail 30, and a snap ring 36 is fixedly installed on one side of the top of the suspension rail 29 close to the mounting rail 30, and the snap ring 36 is adapted to the second elastic member 35. In the present embodiment, the second elastic member 35 can adopt a small spring rod, and the extension direction of the spring rod is consistent with the sliding direction of the slide seat 32; specifically, by setting the second elastic member 35, before rotating the mounting rail 30, it is necessary to move the second elastic members 35 on both sides to disengage them from the snap ring 36, and then rotate the mounting rail 30. The cooperation of the second elastic member 35 and the snap ring 36 can limit the mounting rail 30 and prevent the mounting rail 30 from rotating.

[0048] like Figure 1 As shown, the tops of the two upper frames 5 are fixedly sleeved with a same light shield 37; specifically, by setting the light shield 37, the light shield 37 can cover the robot arm 8, the camera 7, the outer collection box 3 and the air gun 21 inside, so that the entire process of tea picking is carried out in the light shield 37, which not only reduces dust pollution, but also avoids the strong ambient light from affecting the recognition camera 7 to identify the tea leaves that can be picked.

[0049] In summary: when the mobile tea picking device is in use, the two crawler chassis 1 drive the entire device to move in the tea field, so that the tea trees to be picked are placed between the two outer collecting boxes 3, and the camera 7 identifies the tea trees and the tea leaves that can be picked, and then the mechanical arm 8 drives the elastic shearing mechanism to move to the position of the tea leaves to pick them. By setting the elastic shearing mechanism, when picking tea, the mechanical arm 8 drives the elastic shearing mechanism to extend, and the driver 9 drives the branch clamps 10 on both sides to approach each other, so that the two sponge pads 11 clamp the tea leaves, and at the same time, the two shear blades 12 shear the tea leaves and the tea branches and separate them, and by adjusting the pressing distance of the sponge pad 11, the pressing force is maintained and the damage to the tea leaves is avoided. At the same time, there is no need for precise positioning and calculation of the clamping force, and the use of The sharp shearing blade 12 can directly cut the tea leaves to avoid affecting the freshness of the tea leaves. The knife holder 14 and the first elastic member 15 are connected to the shearing blade 12, so that the shearing blade 12 has a movable elastic sliding margin, which can avoid clamping the tea leaves on the sponge pad 11. The two shearing blades 12 form an over-positioning. By setting a pneumatic collector, after the shearing blade 12 cuts the tea leaves, the mechanical arm 8 drives the elastic shearing mechanism to carry the tea leaves to the top of the outer jacket leakage pipe 22, and the blower 19 supplies air to the inside of the outer jacket leakage pipe 22 through the air duct 20 and the air gun 21, so that a strong airflow is formed between the air gun 21 and the outer jacket leakage pipe 22, and the driver 9 drives the branch clamps 10 on both sides to separate and loosen the tea leaves. The tea leaves between the air gun 21 and the outer jacket leakage pipe 22 will be blown by the airflow. The tea leaves will fall smoothly into the outer sleeve leakage pipe 22 under the action of the air gun 21, and will slide into the inside of the outer collection box 3 to complete automatic collection. The air gun 21 is used to output positive pressure of airflow to transport the tea leaves instead of negative pressure transportation, so as to avoid too much dust entering the inside of the outer collection box 3 during the tea picking process, and also avoid clogging and pollution of the outer sleeve leakage pipe 22. By setting the height-adjusting electric push rod 23, the telescopic ends of the two height-adjusting electric push rods 23 can be controlled to move synchronously, thereby driving the upper frames 5 on both sides to move up and down. At the same time, the upper frame 5 will drive the two outer sleeve leakage pipes 22 to slide up and down along the inner sleeve leakage pipe 25 through the linkage frame 24, so as to adjust the height of the lower frame 4, the upper frame 5 as a whole and the outer sleeve leakage pipe 22, so as to cope with tea trees with different individual differences and adapt to tea trees with different heights. When the outer leakage pipe 22 slides, the top of the inner leakage pipe 25 is always in contact with the inner wall of the outer leakage pipe 22, which effectively prevents dust from entering the gap between the outer leakage pipe 22 and the inner leakage pipe 25 and affecting the smoothness of the sliding of the two. By setting the inner collection box 26, the outer collection box 3 and the inner collection box 26 form a double-layer collection structure to ensure that after the tea leaves enter the inner collection box 26 with the air flow, each exhaust pipe 27 can exhaust air evenly, so that the air flow will not stir the tea leaves in the inner collection box 26 to prevent damage to the tea leaves. By setting the dust-proof rubber sheet 28, when the air flow flows out of the exhaust pipe 27, half of the dust-proof rubber sheet 28 will be pushed open. When the air gun 21 stops supplying air, the dust-proof rubber sheet 28 presses the top of the exhaust pipe 27 under the action of gravity.The exhaust duct 27 is a one-way air outlet to prevent dust from entering the outer collecting box 3 along the exhaust duct 27. By setting the positioning plug rod 16, when picking tea leaves, if the current variety of tea trees does not need to be cut by a blade, the positioning plug rod 16 can be slid to separate its front end from the positioning slot 17, and the limit of the knife seat 14 can be released, so that the blade handle 13 can carry the shear blade 12 and rotate ninety degrees to one side of the branch clamp 10, and then the positioning plug rod 16 is plugged into the insertion frame 18, and the blade handle 13 and the shear blade 12 are limited again, so that the tea leaves are directly broken by the clamping of the branch clamp 10 and the sponge pad 11 to meet different picking needs. By setting the hanging slide rail 29, the elastic positioning frame 34 can be pulled to release the limit of the slide seat 32, and then the slide seat 32 is slid to the specified position, and then the elastic positioning frame 34 is loosened to make it plugged into the positioning socket 33 there, and the slide seat 32 and the mechanical arm 8 are fixed again, so that the mechanical arm 8 and the elastic shearing mechanism are realized. The position can be adjusted by rotating the mounting rail 30, turning out the openings at both ends of the mounting rail 30, and then placing a new slide seat 32, a mechanical arm 8 and an elastic shearing mechanism inside the mounting rail 30, and then resetting the mounting rail 30 to adjust the number of elastic shearing mechanisms and facilitate the subsequent disassembly and maintenance of the mechanical arm 8 and other components. By setting the second elastic member 35, before rotating the mounting rail 30, it is necessary to move the second elastic members 35 on both sides to disengage them from the clamping ring 36, and then rotate the mounting rail 30. The cooperation of the second elastic member 35 and the clamping ring 36 can limit the mounting rail 30 and prevent the mounting rail 30 from rotating. By setting the light shield 37, the light shield 37 can cover the mechanical arm 8, the camera 7, the outer collection box 3 and the air gun 21 inside, so that the entire process of tea picking is carried out in the light shield 37, which not only reduces dust pollution, but also avoids the strong ambient light from affecting the recognition camera 7 to identify the tea leaves that can be picked.

[0050] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A mobile tea picking device, characterized in that: The invention comprises two crawler chassis (1), the top of each crawler chassis (1) is fixedly mounted with a bottom plate (2), the top of each bottom plate (2) is fixedly mounted with an outer collecting box (3) and a lower frame (4), the top of each lower frame (4) is slidably mounted with an upper frame (5), three parallel suspension rods (6) are fixedly mounted between the two upper frames (5), a camera (7) is fixedly mounted on the suspension rod (6) located in the middle, a mechanical arm (8) is arranged between the two upper frames (5), and an execution end of the mechanical arm (8) is provided with an elastic shearing mechanism for clamping tea leaves and shearing tea tree branches; The elastic shearing mechanism comprises a driver (9) fixedly mounted on the execution end of the mechanical arm (8), the internal drive of the driver (9) being mounted with two symmetrically arranged branch splints (10), the two branch splints (10) being fixedly mounted with a sponge pad (11) on the sides close to each other, a blade handle (13) being arranged on one side of the branch splints (10), a shearing blade (12) being slidably mounted on one end of the blade handle (13), the two shearing blades (12) being symmetrically distributed, a blade holder (14) being fixedly mounted on one side of the blade handle (13), and a plurality of uniformly distributed first elastic members (15) being fixedly mounted between the blade holder (14) and the shearing blade (12) on the same side; A pneumatic collector for collecting sheared tea leaves is provided on one side of the upper frame (5); The pneumatic collector comprises a blower (19) fixedly mounted on one side of the upper frame (5); an air duct (20) is fixedly mounted on the air delivery end of the blower (19); an air gun (21) is fixedly mounted on one end of the air duct (20); two air guns (21) are respectively fixedly mounted on the two ends of the suspension rod (6) located in the middle; the top of the outer collecting box (3) is provided with an outer jacket leakage pipe (22) connected to the inside of the outer collecting box (3); the positions of the two air guns (21) respectively correspond to the positions of the two outer jacket leakage pipes (22).

2. A mobile tea picking device according to claim 1, characterized in that: A height-adjusting electric push rod (23) is fixedly installed on one side of the lower frame (4), and the telescopic ends of the two height-adjusting electric push rods (23) are respectively fixedly installed on one side of the two upper frames (5). Two linkage frames (24) are fixedly installed inside the upper frames (5), and one end of the two linkage frames (24) on the same side is fixedly installed on the side wall of the outer sleeve leakage pipe (22). An inner sleeve leakage pipe (25) connected to the inside of the outer collection box (3) is fixedly installed on the top of the outer collection box (3), and the outer sleeve leakage pipe (22) is slidably sleeved on the inner sleeve leakage pipe (25).

3. A mobile tea picking device according to claim 2, characterized in that: An inner layer collection box (26) is fixedly installed inside the outer layer collection box (3), the bottom end of the inner sleeve leakage pipe (25) is connected to the inside of the inner layer collection box (26), and a plurality of exhaust pipes (27) are fixedly installed on the circumference of the outer layer collection box (3).

4. A mobile tea picking device according to claim 3, characterized in that: One end of the exhaust pipe (27) located outside the outer collecting box (3) is bent obliquely upward and provided with a dustproof rubber sheet (28); the dustproof rubber sheet (28) is located on the side of the top and is fixedly connected to one end of the exhaust pipe (27).

5. The mobile tea picking device according to claim 1, characterized in that: The two blade handles (13) are rotatably mounted on one side of the two branch clamps (10), and a positioning rod (16) is slidably mounted on one side of the branch clamps (10). A positioning slot (17) matched with the positioning rod (16) is opened on one side of the first elastic member (15), and an insertion frame (18) matched with the positioning rod (16) is fixedly mounted on one side of the blade handle (13).

6. The mobile tea picking device according to claim 1, characterized in that: Two suspension rails (29) are fixedly installed at the bottom of the two suspension rods (6) respectively located on both sides. The two suspension rails (29) located on the same side are symmetrically distributed. A same installation rail (30) is arranged between the two suspension rails (29). A rotating shaft (31) is fixedly installed on the top of the installation rail (30). The rotating shaft (31) is rotatably installed on the suspension rod (6). A slide seat (32) is fixedly installed on the top of the driving end of the mechanical arm (8). The slide seat (32) is compatible with the suspension rail (29) and the installation rail (30). A plurality of evenly distributed positioning holes (33) are opened on the side walls of the suspension rail (29) and the installation rail (30). An elastic positioning frame (34) compatible with the positioning hole (33) is fixedly installed on one side of the slide seat (32).

7. The mobile tea picking device according to claim 6, characterized in that: Second elastic members (35) are fixedly mounted on both sides of the top of the mounting rail (30), and a clamping ring (36) is fixedly mounted on one side of the top of the hanging rail (29) close to the mounting rail (30), and the clamping ring (36) is adapted to the second elastic member (35).

8. The mobile tea picking device according to claim 1, characterized in that: The tops of the two upper frames (5) are fixedly sleeved with a same light shield (37).

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