Intelligent tea-leaf picker for picking tea leaves

Abstract

The invention relates to the technical field of tea-leaf picking machines, in particular to an intelligent tea-leaf picking machine for tea leaf picking, which comprises a case, a rack, a lifting assembly, a walking assembly, a picking assembly and a conveying assembly, a lifting plate is arranged on the rack, a damping assembly is connected between the lifting plate and the case, the lifting assembly is arranged between the rack and the lifting plate, and the walking assembly is arranged on the lifting plate. The walking assembly is arranged at the bottom of the rack, the picking assembly is arranged outside the machine box and used for picking tea leaves, the height of the equipment can be adjusted through the lifting assembly, the equipment can be moved through the walking assembly, and the tea leaves can be picked through the picking assembly; a third motor drives a first gear to rotate, the first gear drives a lifting rod to move vertically, the lifting rod is hinged to an adjusting plate, so that a certain height difference can be formed on the two sides of the adjusting plate, and the angles of a first arc-shaped cutting blade and a second arc-shaped cutting blade are changed to be more fit with the shape of a tea tree for picking.

Description

Technical Field

[0001] The invention relates to the technical field of tea plucking machines, in particular to an intelligent tea plucking machine for plucking tea leaves. Background Art

[0002] Tea refers to the leaves and buds of the tea tree, also known as tea, tea, tea, tea. It generally refers to the leaves of the evergreen shrub tea tree that can be used to make tea. The tea leaves are usually picked manually, and the efficiency of manual picking is low. In order to increase the picking efficiency, there is also a tea picking machine in the prior art.

[0003] After searching, the Chinese patent with the announcement number: CN12205170B discloses a tea-collecting robot, including a mobile system, a suction system, and a pruning system, wherein the pruning system is a base and also an installation platform for the mobile system and the suction system. The front end of the pruning system is provided with a plurality of scissor-like saw cuts, which can be used to prune and pick tea leaves. A saw cut power device is provided on one side of the saw cut, in which a disc is driven to rotate by a motor, and then the disc and the spring at the lower end are used to implement the rapid movement of the saw cut. A plurality of rotating wheels are provided in the middle of the pruning system, in which the pruned tea leaves can be transported to the rear. A suction system is provided at the rear of the pruning system, in which a gear set is driven by a motor, and then a fan is driven to rotate, thereby generating a suction force, the purpose of which is to suck the tea leaves transported to the rear into a collecting device.

[0004] The patent does not allow for angle adjustment of the upper and lower scissors. In reality, the heights and shapes of tea trees are different. If the angles of the upper and lower scissors cannot be adjusted in time, tea leaves cannot be picked in accordance with their height and shape, resulting in missed tea leaves. Summary of the invention

[0005] In order to solve the technical problem in the patent mentioned in the background technology that the angles of the upper scissors and the lower scissors cannot be adjusted, the present invention provides an intelligent tea picking machine for picking tea leaves.

[0006] The technical solution adopted by the present invention is: an intelligent tea plucking machine for tea leaves, comprising: a chassis, a frame, a lifting assembly, a walking assembly, a plucking assembly and a conveying assembly, the frame is provided with a lifting plate, a shock absorbing assembly is connected between the lifting plate and the chassis, the lifting assembly is arranged between the frame and the lifting plate, the walking assembly is arranged at the bottom of the frame, the plucking assembly is arranged outside the chassis for plucking tea leaves, and the conveying assembly is used to convey the plucking tea leaves; Among them, the picking component includes a first arc-shaped cutting blade and a second arc-shaped cutting blade, one side of the chassis is fixedly connected to a feed frame, the first arc-shaped cutting blade and the second arc-shaped cutting blade are located in the feed frame, the bottom of the first arc-shaped cutting blade is fixedly connected to a first sliding rod, the bottom of the second arc-shaped cutting blade is provided with a sliding groove, the first sliding rod passes through the sliding groove and is fixedly connected to a limiting plate, both sides of the interior of the chassis are fixedly connected to a third motor, the outside of the third motor is fixedly connected to a fixed sleeve, the inside of the fixed sleeve is rotatably connected to a first gear, a lifting rod is provided through the fixed sleeve, the outside of the lifting rod is provided with a tooth groove meshing with the first gear, the top of the first arc-shaped cutting blade is fixedly connected to a connecting rod, the top of the connecting rod is fixedly connected to an adjusting plate, the lifting rod is hinged to the adjusting plate, and the adjusting plate is provided with a driving component for driving the second arc-shaped cutting blade to slide back and forth.

[0007] In one embodiment, the drive assembly includes a second motor fixedly connected to an adjustment plate and a shell fixedly connected to the outside of the second motor, the output end of the second motor is fixedly connected to a second gear, a third gear and a fourth gear that are meshed with each other are rotatably connected in the shell, a rotating column is rotatably connected to the outside of the shell, the rotating column is coaxially fixedly connected to the fourth gear, the outside of the second arc-shaped cutting blade is fixedly connected to a synchronization plate, the top of the synchronization plate is fixedly connected to a sliding column, a curved groove is provided on the outside of the rotating column, and the top of the rotating column extends into the curved groove.

[0008] In one embodiment, a fan is fixedly connected to the top of the chassis, an output end of the fan is fixedly connected to an air outlet pipe, one end of the air outlet pipe is fixedly connected to an arc tube, a plurality of groups of blowing pipes are fixedly connected to the outside of the arc tube, the blowing pipes correspond to a feed frame, a connecting plate is fixedly connected to the outside of the arc tube, and the connecting plate is fixedly connected to an adjustment plate.

[0009] In one embodiment, the shock absorbing assembly includes a connecting frame fixedly connected in the chassis, a buffer frame fixedly connected to the outside of the connecting frame, a connecting seat fixedly connected to the top of the lifting plate, and a first spring arranged between the buffer frame and the connecting seat, a rocker arm is hinged between the connecting seat and the buffer frame, a sleeve is hinged on the top of the connecting seat, a sleeve rod is slidably connected in the sleeve, one end of the sleeve rod is hinged to the buffer frame, a first fixing ring is fixedly connected to the outside of the sleeve, and the spring is sleeved on the outside of the sleeve and abuts against the outside of the first fixing ring.

[0010] In one of the embodiments, the lifting assembly includes an installation frame and a plurality of connecting rods hinged in a scissor-fork manner in the installation frame, the installation frame is rotatably connected with a bidirectional threaded rod, the outside of the installation frame is fixedly connected with a first motor, the output end of the first motor is fixedly connected to the bidirectional threaded rod, the external thread of the bidirectional threaded rod is connected with two nut blocks, the connecting rod is rotatably connected with the corresponding nut block, the bottom of the lifting plate is fixedly connected with a first guide rod, the external sleeve of the first guide rod is provided with a first guide block, the top of the frame is fixedly connected with a second guide rod, the external sleeve of the second guide rod is provided with a second guide block, the connecting rods are rotatably connected with the corresponding first guide block and the second guide block, and the connecting rods are also rotatably connected with the corresponding lifting plate and the frame, the top of the frame is fixedly connected with a third guide rod, the lifting plate is fixedly connected with a guide sleeve, and the third guide rod passes through the guide sleeve.

[0011] In one embodiment, both sides of the bottom of the frame are fixedly connected to a bottom frame, the walking assembly includes a crossbeam fixedly connected to the bottom frame, a driving roller rotatably connected to the outside of the crossbeam, and a crawler mounted on the outside of the driving roller, the outside of the crossbeam is rotatably connected to multiple groups of guide rollers, one of the driving rollers is fixedly connected to a driving gear on the outside, the outside of the bottom frame is fixedly connected to a fifth motor, the output end of the fifth motor is fixedly connected to a fifth gear, the bottom frame is rotatably connected to a sixth gear and an eighth gear, the outside of the sixth gear is fixedly connected to a seventh gear, the outside of the eighth gear is fixedly connected to a ninth gear, the fifth gear is meshed with the sixth gear, the seventh gear is meshed with the eighth gear, and the ninth gear is meshed with the driving gear.

[0012] In one of the embodiments, the conveying assembly includes a feed pipe fixedly connected to both sides of the bottom of the chassis and a rotating rod rotatably connected to the feed pipe, the outside of the rotating rod is fixedly connected to multiple groups of flexible paddles, and the flexible paddles are spiral-shaped. One end of the feed pipe extends into the feed frame, one end of the feed pipe is fixedly connected to a discharge pipe, the outside of the discharge pipe is fixedly connected to a mounting frame, the outside of the mounting frame is fixedly connected to a fourth motor, the output end of the fourth motor is fixedly connected to one of the rotating rods, and the outsides of the two groups of rotating rods are fixedly connected to a first pulley, and the outside of the first pulley is provided with a first belt.

[0013] In one of the embodiments, a storage cylinder is further included, wherein the outside of the storage cylinder is fixedly connected to a second fixing ring, a latch is passed through the second fixing ring, and a through hole is provided on the outside of the frame at a position corresponding to the latch.

[0014] In one embodiment, the outside of the mounting frame is rotatably connected to a first rotating shaft and a second rotating shaft, the outside of the first rotating shaft and the second rotating shaft are fixedly connected to a second pulley, the outside of the second pulley is sleeved with a second belt, the outside of the first rotating shaft and the rotating rod are fixedly connected to a bevel gear, and the bottom of the second rotating shaft is provided with a vibration component for knocking the storage cylinder.

[0015] In one embodiment, the vibration assembly includes a rotating block fixedly connected to the outside of the second rotating shaft, a second spring fixedly connected to the outside of the rotating block, and a knocking block fixedly connected to one end of the second spring, a rubber sheet is connected between two adjacent knocking blocks, a second sliding rod is fixedly connected to the outside of the knocking block, a sliding hole is provided inside the rotating block at a position corresponding to the second sliding rod, and the second sliding rod is slidably connected to the sliding hole.

[0016] The beneficial effects of the present invention are: 1. Compared with the prior art, in the present invention, the height of the device can be adjusted by the lifting component, the device can be moved by the walking component, the tea leaves can be picked by the picking component, and the tea leaves can be picked by the first arc-shaped cutting blade and the second arc-shaped cutting blade in the picking component. In order to adapt to the different height changes and shapes of the tea trees during the picking process and reduce the missed picking rate during the picking process, the first gear is driven to rotate by the third motor, and the first gear drives the lifting rod to move vertically. Since the lifting rod is hinged to the adjustment plate, a certain height difference can be formed on both sides of the adjustment plate, and the angles of the first arc-shaped cutting blade and the second arc-shaped cutting blade are changed to better fit the shape of the tea tree for picking, thereby adapting to the different height changes of the tea trees during the picking process.

[0017] 2. Compared with the prior art, in the present invention, the second motor drives the second gear to rotate, and then the transmission of multiple gears can drive the rotating column to rotate. When the rotating column rotates, the curved groove will slide on the outside of the sliding column, thereby driving the second arc-shaped cutting blade to slide along the path of the sliding groove and the first sliding rod. The second arc-shaped cutting blade and the first arc-shaped cutting blade form staggered cutting to achieve the cutting and picking of tea leaves. The picked tea leaves are blown into the feed frame by the wind blown out of the blow pipe, and finally enter the feed pipe, and finally transported to the storage cylinder for storage, thereby achieving integrated picking.

[0018] 3. Compared with the prior art, in the present invention, when the rotating rod in the feed pipe rotates, the mutual engagement of the bevel gears will drive the first rotating shaft to rotate, the first rotating shaft will drive the second rotating shaft to rotate, the second rotating shaft will drive the rotating block to rotate, the rotating block will drive the knocking block to rotate, and the knocking block will continuously knock on the outside of the storage cylinder, so that the storage cylinder will vibrate, the tea leaves in the storage cylinder will vibrate, the tea leaves will be more compacted, and the tea leaves in the storage cylinder will be prevented from becoming fluffy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the present invention; Figure 3 It is a structural schematic diagram of the chassis in the present invention; Figure 4 It is a schematic diagram of the internal structure of the chassis in the present invention; Figure 5 It is a three-dimensional structural schematic diagram of the frame in the present invention; Figure 6 It is a schematic structural diagram of a feed pipe below the frame in the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the feed pipe below the frame in the present invention; Figure 8 It is a structural schematic diagram of the lifting assembly in the present invention; Fig. 9 yes Figure 8 Schematic diagram of the enlarged structure of the A area in the middle; Fig.10 yes Figure 8 Schematic diagram of the enlarged structure of the middle B area; Fig.11 It is a structural schematic diagram of the fan in the present invention; Fig.12 It is a structural schematic diagram of the adjustment plate in the present invention; Fig.13 It is a schematic structural diagram of the first arc-shaped cutting blade and the second arc-shaped cutting blade in the present invention; Fig.14 is a schematic diagram of the structure of the first gear and the second gear in the present invention; Fig.15 It is a schematic diagram of the three-dimensional structure of the first arc-shaped cutting blade and the second arc-shaped cutting blade in the present invention; Fig.16 is a schematic structural diagram of the first arc-shaped cutting blade in the present invention; Fig.17 It is a schematic diagram of the structure of the transfer column of the present invention; Fig.18 It is a schematic diagram of the structure of the feed pipe in the present invention; Fig.19 It is a schematic diagram of the three-dimensional structure of the feed pipe in the present invention; Fig. 20 It is a schematic structural diagram of the rotating rod in the feed pipe of the present invention; Fig.21 It is a structural schematic diagram of the transfer block of the present invention.

[0020] The markings in the figure are: 100, chassis; 1001, fan; 1002, air outlet pipe; 1003, arc pipe; 1004, air blowing pipe; 1005, connecting plate; 1006, feed frame; 200, frame; 2001, lifting plate; 2002, guide sleeve; 2003, bottom frame; 2004, third guide rod; 300, buffer frame; 3001, connecting frame; 3002, sleeve; 3003, sleeve rod; 3004, first fixing ring; 3005, connecting seat; 3006, swing rod; 3007, first spring; 400, mounting frame; 4001, first motor; 4002, bidirectional threaded rod; 4003, nut block; 4004, connecting rod; 4005, first guide rod; 4006, first guide block; 4007, second guide rod; 4008, second guide block; 500, adjusting plate; 5001, second motor; 5002, housing; 5003, third motor; 5004, lifting rod; 5005, first arc-shaped cutting blade; 5006, second arc-shaped cutting blade; 5007, connecting rod; 5008, slide groove; 5009, fixing sleeve; 50010, first slide rod; 50011, limit plate; 50012, tooth groove; 50013, first gear; 50014, second gear; 50015, third gear; 50016, fourth gear; 50017, rotating column; 50018, synchronous plate; 50019, slide column; 50020, curved groove; 600, feed pipe; 6001, rotating rod; 6002, flexible paddle; 6003, mounting frame; 6004, fourth motor; 6005, discharge pipe; 6006, first pulley; 6007, first belt; 6008, first rotating shaft; 6009, bevel gear; 60010, second pulley; 60011, second belt; 60012, second rotating shaft; 700, rotating block; 7001, striking block; 7002, second spring; 7003, second slide bar; 7004, rubber sheet; 800, storage cylinder; 8001, second fixing ring; 8002, latch; 900, the fifth motor; 9001, the crawler track; 9002, the crossbeam; 9003, the driving roller; 9004, the driving gear; 9005, the guide roller; 9006, the fifth gear; 9007, the sixth gear; 9008, the seventh gear; 9009, the eighth gear; 90010, the ninth gear. DETAILED DESCRIPTION

[0021] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “front”, “up”, “down”, “left”, “right”, “vertical” and “horizontal” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The following is combined with Figure 1-21 The present invention is further described.

[0024] In order to solve the problems existing in the background technology, the present application proposes the following technical solution: an intelligent tea picking machine for picking tea leaves, comprising: a chassis 100, a frame 200, a lifting component, a walking component, a picking component and a conveying component.

[0025] In the specific technical solution, a lifting plate 2001 is provided on the frame 200, a shock absorbing assembly is connected between the lifting plate 2001 and the chassis 100, a lifting assembly is arranged between the frame 200 and the lifting plate 2001, a walking assembly is arranged at the bottom of the frame 200, a picking assembly is arranged outside the chassis 100, and is used to pick tea leaves, and a conveying assembly is used to convey the picked tea leaves; Among them, the picking component includes a first arc-shaped cutting blade 5005 and a second arc-shaped cutting blade 5006, both of which are serrated, and a feed frame 1006 is fixedly connected to one side of the chassis 100, the first arc-shaped cutting blade 5005 and the second arc-shaped cutting blade 5006 are located in the feed frame 1006, the bottom of the first arc-shaped cutting blade 5005 is fixedly connected to a first slide bar 50010, and the bottom of the second arc-shaped cutting blade 5006 is provided with a slide groove 5008, the first slide bar 50010 passes through the slide groove 5008 and is fixedly connected to a limiting plate 50011, the second arc-shaped cutting blade 5006 can slide under the first arc-shaped cutting blade 5005 through the slide bar and the slide groove 5008, so that the tea leaves are picked by the cooperation of the first arc-shaped cutting blade 5005 and the second arc-shaped cutting blade 5006.

[0026] In this embodiment, a third motor 5003 is fixedly connected to both sides of the interior of the chassis 100, a fixed sleeve 5009 is fixedly connected to the outside of the third motor 5003, a first gear 50013 is rotatably connected to the inside of the fixed sleeve 5009, a lifting rod 5004 is passed through the fixed sleeve 5009, a tooth groove 50012 meshing with the first gear 50013 is provided on the outside of the lifting rod 5004, the top of the first arc-shaped cutting blade 5005 is fixedly connected to a connecting rod 5007, the top of the connecting rod 5007 is fixedly connected to an adjusting plate 500, the lifting rod 5004 is hinged to the adjusting plate 500, and a driving component for driving the second arc-shaped cutting blade 5006 to slide back and forth is provided on the adjusting plate 500.

[0027] The above technical solution is explained as follows: In order to adapt to the different height changes and shapes of the tea trees during the picking process and reduce the missed picking rate during the picking process, the above technical solution has a micro-adjustment function. It only needs to drive the first gear 50013 to rotate through the third motor 5003, and the first gear 50013 drives the lifting rod 5004 to move vertically. Since the lifting rod 5004 is hinged to the adjustment plate 500, a certain height difference can be formed on both sides of the adjustment plate 500, and the angles of the first arc-shaped cutting blade 5005 and the second arc-shaped cutting blade 5006 are changed to better fit the shape of the tea tree for picking.

[0028] In this embodiment, the driving assembly includes a second motor 5001 fixedly connected to the adjustment plate 500 and a housing 5002 fixedly connected to the outside of the second motor 5001, the output end of the second motor 5001 is fixedly connected to the second gear 50014, the housing 5002 is rotatably connected to a third gear 50015 and a fourth gear 50016 that mesh with each other, the outside of the housing 5002 is rotatably connected to a rotating column 50017, the rotating column 50017 is coaxially fixedly connected to the fourth gear 50016, the outside of the second arc-shaped cutting blade 5006 is fixedly connected to a synchronous plate 50018, the top of the synchronous plate 50018 is fixedly connected to a sliding column 50019, and the outside of the rotating column 50017 is provided with The curved groove 50020, the top of the rotating column 50017 extends into the curved groove 50020, and the second motor 5001 drives the second gear 50014 to rotate, the second gear 50014 drives the third gear 50015 to rotate, the third gear 50015 drives the fourth gear 50016 to rotate, and the fourth gear 50016 drives the rotating column 50017 to rotate. When the rotating column 50017 rotates, the curved groove 50020 will slide on the outside of the sliding column 50019, thereby driving the second arc-shaped cutting blade 5006 to slide back and forth along the path of the sliding groove 5008 and the first sliding rod 50010, thereby forming a staggered cutting with the first arc-shaped cutting blade 5005, thereby realizing the cutting and picking of tea leaves.

[0029] In a further design, a fan 1001 is fixedly connected to the top of the chassis 100, and an output end of the fan 1001 is fixedly connected to an air outlet pipe 1002, one end of the air outlet pipe 1002 is fixedly connected to an arc tube 1003, and the outside of the arc tube 1003 is fixedly connected to multiple groups of blowing pipes 1004, the blowing pipes 1004 correspond to the feeding frame 1006, and the outside of the arc tube 1003 is fixedly connected to a connecting plate 1005, and the connecting plate 1005 is fixedly connected to the adjusting plate 500. When the fan 1001 is working, the blown air is discharged through the blowing pipe 1004, and the wind blown out by the blowing pipe 1004 blows the tea leaves into the feeding frame 1006.

[0030] Among them, the shock absorbing assembly includes a connecting frame 3001 fixedly connected in the chassis 100, a buffer frame 300 fixedly connected to the outside of the connecting frame 3001, a connecting seat 3005 fixedly connected to the top of the lifting plate 2001, and a first spring 3007 arranged between the buffer frame 300 and the connecting seat 3005. A rocker arm 3006 is hinged between the connecting seat 3005 and the buffer frame 300. A sleeve 3002 is hinged on the top of the connecting seat 3005. A sleeve rod 3003 is slidably connected in the sleeve 3002. One end of the sleeve rod 3003 is hinged to the buffer frame 300. A first fixing ring 3004 is fixedly connected to the outside of the sleeve 3002. The spring is sleeved on the outside of the sleeve 3002 and abuts against the outside of the first fixing ring 3004. The above technical solution is explained as follows: In order to weaken the impact of vibration during walking and improve the stability of the equipment during operation, a buffer frame 300 and a first spring 3007 and other structures are set for buffering and shock absorption.

[0031] In a further design, the lifting assembly in this embodiment includes a mounting frame 400 and a plurality of connecting rods 4004 that are scissor-shaped and hinged in the mounting frame 400. A bidirectional threaded rod 4002 is rotatably connected in the mounting frame 400. A first motor 4001 is fixedly connected to the outside of the mounting frame 400. The output end of the first motor 4001 is fixedly connected to the bidirectional threaded rod 4002. Two nut blocks 4003 are connected to the outer threads of the bidirectional threaded rod 4002. The connecting rod 4004 is rotatably connected to the corresponding nut block 4003. The bottom of the lifting plate 2001 is fixedly connected to a first guide rod 4005. The outer part of the guide rod 4005 is provided with a first guide block 4006, the top of the frame 200 is fixedly connected with a second guide rod 4007, the outer part of the second guide rod 4007 is provided with a second guide block 4008, the connecting rod 4004 is rotatably connected with the corresponding first guide block 4006 and second guide block 4008, and the connecting rod 4004 is also rotatably connected with the corresponding lifting plate 2001 and the frame 200, the top of the frame 200 is fixedly connected with a third guide rod 2004, the lifting plate 2001 is fixedly connected with a guide sleeve 2002, and the third guide rod 2004 passes through the guide sleeve 2002.

[0032] The above technical solution is explained as follows: Since tea producing areas have a large amount of hilly terrain, it is necessary to design a corresponding adaptive balancing system to adapt to a certain slope of the park and the height of the tea ridges. The first motor 4001 drives the bidirectional threaded rod 4002 to rotate, and the bidirectional threaded rod 4002 drives the two nut blocks 4003 to work, and the nut blocks 4003 drive the connecting rod 4004 to work, so that the connecting rod 4004 can push the lifting plate 2001 to drive the chassis 100 to perform lifting and adjustment.

[0033] In a further design, both sides of the bottom of the frame 200 are fixedly connected to a bottom frame 2003, the walking assembly includes a crossbeam 9002 fixedly connected to the bottom frame 2003, a driving roller 9003 rotatably connected to the outside of the crossbeam 9002, and a crawler 9001 sleeved on the outside of the driving roller 9003, the outside of the crossbeam 9002 is rotatably connected to multiple groups of guide rollers 9005, one of the driving rollers 9003 is fixedly connected to the outside with a driving gear 9004, the outside of the bottom frame 2003 is fixedly connected to a fifth motor 900, the output end of the fifth motor 900 is fixedly connected to a fifth gear 9006, the bottom frame 2003 is rotatably connected to a sixth gear 9007 and an eighth gear 9009, the sixth gear 9007 is The seventh gear 9008 is fixedly connected to the outside, the ninth gear 90010 is fixedly connected to the outside of the eighth gear 9009, the fifth gear 9006 is meshed with the sixth gear 9007, the seventh gear 9008 is meshed with the eighth gear 9009, and the ninth gear 90010 is meshed with the driving gear 9004. The fifth motor 900 drives the fifth gear 9006 to rotate, and then the transmission cooperation of the sixth gear 9007, the seventh gear 9008, the eighth gear 9009 and the ninth gear 90010 can drive the driving gear 9004 to rotate, and the driving gear 9004 drives the driving roller 9003 to rotate, and then it can drive the crawler 9001 to drive, thereby driving the device to move.

[0034] In a further design, the conveying assembly includes a feed pipe 600 fixedly connected to both sides of the bottom of the chassis 100 and a rotating rod 6001 rotatably connected to the feed pipe 600, the outside of the rotating rod 6001 is fixedly connected to multiple groups of flexible paddles 6002, the flexible paddles 6002 are spiral-shaped, one end of the feed pipe 600 extends into the feed frame 1006, one end of the feed pipe 600 is fixedly connected to a discharge pipe 6005, the outside of the discharge pipe 6005 is fixedly connected to a mounting frame 6003, the outside of the mounting frame 6003 is fixedly connected to a fourth motor 6004, and the output end of the fourth motor 6004 is fixed to one of the rotating rods 6001 The first belt pulley 6007 is provided on the outer sleeve of the first belt pulley 6006, and the fourth motor 6004 drives the rotating rod 6001 to rotate, and the rotating rod 6001 drives the flexible paddle 6002 to rotate, so that the tea leaves can be transported to the discharge pipe 6005 through the spiral flexible paddle 6002, and then transported to the storage cylinder 800 for storage through the discharge pipe 6005. The setting of the flexible paddle 6002 can avoid damage to the tea leaves during the transportation process. The flexible paddle 6002 can be a rubber sheet 7004, a plastic sheet, a silicone sheet, etc.

[0035] In this embodiment, a storage cylinder 800 is further included. The outside of the storage cylinder 800 is fixedly connected to a second fixing ring 8001. A latch 8002 runs through the second fixing ring 8001. A through hole is provided on the outside of the frame 200 at a position corresponding to the latch 8002. The storage cylinder 800 is used to store tea leaves.

[0036] In addition, in order to compact the tea leaves in the storage tube 800 and prevent the tea leaves in the storage tube 800 from becoming loose, a first rotating shaft 6008 and a second rotating shaft 60012 are rotatably connected to the outside of the mounting frame 6003, and a second pulley 60010 is fixedly connected to the outside of the first rotating shaft 6008 and the second rotating shaft 60012, and a second belt 60011 is sleeved on the outside of the second pulley 60010, and a bevel gear 6009 is fixedly connected to the outside of the first rotating shaft 6008 and the rotating rod 6001, and a vibration component for knocking the storage tube 800 is provided at the bottom of the second rotating shaft 60012. During the rotation of the rotating rod 6001, the mutual engagement of the bevel gears 6009 will drive the first rotating shaft 6008 to rotate, and the first rotating shaft 6008 drives the second rotating shaft 60012 to rotate through the second pulley 60010 and the second belt 60011, and the second rotating shaft 60012 drives the vibration component to work.

[0037] Specifically, the vibration component includes a rotating block 700 fixedly connected to the outside of the second rotating shaft 60012, a second spring 7002 fixedly connected to the outside of the rotating block 700, and a knocking block 7001 fixedly connected to one end of the second spring 7002, a rubber sheet 7004 is connected between two adjacent knocking blocks 7001, a second slide bar 7003 is fixedly connected to the outside of the knocking block 7001, a sliding hole is provided at the position of the second slide bar 7003 corresponding to the inside of the rotating block 700, and the second slide bar 7003 is slidably connected to the sliding hole, the second rotating shaft 60012 drives the rotating block 700 to rotate, and the rotating block 700 drives the knocking block 7001 to rotate, and the knocking block 7001 will continuously knock on the outside of the storage tube 800, so that the storage tube 800 vibrates, the tea leaves in the storage tube 800 can be vibrated, the tea leaves can be more compacted, and the tea leaves in the storage tube 800 can be prevented from being fluffy.

[0038] Other embodiments may include a control system hardware structure, which is as follows: GNSS-based navigation and positioning systems, including the BeiDou system, etc.: In order to achieve precise operations and automatic control, the machine obtains decimeter-level positioning data from the park, uses differential technology, combined with base station remote sensing technology to improve positioning accuracy, and independently plans tea-picking routes.

[0039] Machine vision sensor control system: auxiliary navigation and positioning system. Due to the geometric characteristics of the tea garden environment, the ridges of the tea ridges become simple navigation reference targets. Through the visual sensor of this equipment to perceive these ridges, more accurate positioning information can be obtained to achieve navigation and positioning of agricultural machinery. During the operation of this equipment, the visual recognition module is installed at the front end of the machine body, collects the front image and performs image preprocessing, then performs data processing, and finally extracts the baseline of the operation line.

[0040] Inertial gyroscope self-balancing adjustment system: mainly used for the control of the self-balancing adjustment mechanism on both sides. Since the target operating area is a hill with a slope of less than or equal to 30 degrees, the gyroscope sensor and accelerometer can calculate the angular velocity and angle of the coordinates of the equipment, and then feed back to the lifting components on both sides for spontaneous adjustment, so that the whole equipment can remain level and operate.

[0041] It also includes a laser sensor, which cooperates with a visual sensor to detect the height difference between the target bud and leaf height and the first arc-shaped cutting blade 5005 and the second arc-shaped cutting blade 5006 to adjust the height position of the device. The laser sensor and the visual sensor are installed on both sides of the tea ridge. The laser sensor has the advantages of long distance measurement and high precision. In the tea garden environment, the buds and leaves are regarded as obstacles. Laser scanning is used to obtain the average height of the tea bushes, and the signal is input to the third motor 5003, so that the first arc-shaped cutting blade 5005 and the second arc-shaped cutting blade 5006 are more in line with the shape of the tea tree.

[0042] In addition, the intelligent control of the tea picking machine requires signal input from the actual scene. After sensing by laser sensors and visual sensors, the signal is processed and then transmitted to the controller to achieve intelligent control.

[0043] In the further design, the positioning module uses the NEO6M positioning module. The position receiver and the control center are connected to each other through the positioning satellite. The encoded GPS and other signal receiving devices are installed on this equipment. Before and during the operation of this equipment, the positioning system and ground remote sensing combined with certain algorithms can pre-compile the best cruise operation route and improve the accuracy during operation.

[0044] Among them, the slope sensing uses the MPU-6050 three-axis accelerometer electronic gyroscope, which has a built-in 16-bit AD converter and 16-bit data output. It has the advantages of high sensitivity, stable and reliable operation, and small size. The gyroscope sensor can also use the characteristics of the gyroscope to determine the direction of an object. During operation, the gyroscope can read its own direction signal by reading gravity and the axis angle, and then process the signal and transmit it to the control system, which is then controlled by the stepper motor.

[0045] Among them, machine vision uses photosensitive elements to receive external light signals, generate image information, and then filter out cluttered signals to identify three-dimensional objects. The camera unit of the visual system in this article uses a CMOS camera with a USB interface. To realize the automatic tea picking of the tea picker, in addition to the adaptive adjustment of the slope, it is also necessary to autonomously identify the operation target and identify and analyze the target treetops. Fresh buds and leaves have obvious color differences from older tea leaves. In addition, the colors of branches, soil, etc. are brown and black, which form a sharp contrast with the target objects. This difference is manifested in computer recognition as the R, G, and B components of the image. The algorithm can effectively divide the new shoots and background areas. During the operation of the tea picker, the blade is blocked, and it is difficult for us to make direct visual recognition of the position where the blade needs to work. The blade curve of the blade itself is known, so the spatial shape and position of the new shoots and background areas of the bush can be identified by the visual sensor while data processing is performed to fit a reasonable picker stroke.

[0046] Among them, the self-balancing control system first senses the slope signal by the gyroscope sensor, then determines the angle difference, calculates the height difference on both sides that needs to be adjusted, and converts it into the displacement that the nut block 4003 needs to move.

[0047] In the further design, the controller includes a single-chip microcomputer, a PLC, a DSP, an industrial control computer, etc. The controllers are used in different occasions due to different categories. The single-chip microcomputer is suitable for small machines, has strong comprehensive performance and high cost performance. The single-chip microcomputer receives control instructions and feeds back information, and can control the controlled object by writing a program, but the performance is not enough to control the tea picking machine; the PLC programmable controller is suitable for industrial production lines, and algorithm judgment is formed based on travel switches and various sensors; the industrial control computer is suitable for industrial production. Taking into account the advantages and disadvantages of each controller and comparing their portability and economy, the present invention selects a powerful 32-bit fixed-point DSP digital signal processor with a protection mechanism, which takes into account both control and fast calculation functions, and can well meet the control requirements.

[0048] The working principle of the control system is as follows: the control system in the present invention can be divided into a self-balancing control system, a driving system of the walking component, a control system of the third motor 5003, a blade efficiency control system, a rotation rate control system of the rotating rod 6001, a fan 1001 power control system and a power management system, etc.

[0049] In addition, the system design is implemented by CCS3.3 software, which has the functions of zeroing, serial communication, stroke detection, and forward and reverse rotation. After the control system is initialized, the control system enters the serial communication subroutine. When the input interrupt flag is detected to be 1, the data is received and transferred to the structure. When the end flag data is received, the communication is terminated. When the input interrupt flag is not 1, the operation is repeated until the interrupt flag is 1, and then the data reception and communication end steps are carried out.

[0050] In order for those skilled in the art to fully understand the technical solution, this embodiment is summarized as follows: When in use, the height of the device is first adjusted according to the tea picking area, specifically as follows: start the first motor 4001 to drive the bidirectional threaded rod 4002 to rotate, and the bidirectional threaded rod 4002 drives the two nut blocks 4003 to work, and the nut blocks 4003 drive the connecting rod 4004 to work, so that the connecting rod 4004 can push the lifting plate 2001 to drive the chassis 100 to move up and down; Subsequently, the fifth motor 900 is started to work, and the fifth motor 900 drives the fifth gear 9006 to rotate, and then through the transmission cooperation of the sixth gear 9007, the seventh gear 9008, the eighth gear 9009 and the ninth gear 90010, the driving gear 9004 can be driven to rotate, and the driving gear 9004 drives the driving roller 9003 to rotate, and then the crawler 9001 can be driven to drive, thereby driving the device to move, and the shock absorbing component can be used for shock absorption during the movement; Then, the fan 1001, the second motor 5001 and the fourth motor 6004 are started; The second motor 5001 drives the second gear 50014 to rotate, the second gear 50014 drives the third gear 50015 to rotate, the third gear 50015 drives the fourth gear 50016 to rotate, the fourth gear 50016 drives the rotating column 50017 to rotate, when the rotating column 50017 rotates, the curved groove 50020 will slide outside the sliding column 50019, thereby driving the second arc-shaped cutting blade 5006 to slide along the path of the sliding groove 5008 and the first sliding rod 50010, thereby contacting the first arc-shaped cutting blade 5006. The shaped cutting blades 5005 form staggered cutting to achieve cutting and picking of tea leaves, and the picked tea leaves are blown into the feeding frame 1006 by the wind blown by the blowing pipe 1004, and finally enter the feeding pipe 600. As the fourth motor 6004 drives the rotating rod 6001 to rotate, the rotating rod 6001 drives the flexible paddle 6002 to rotate, so that the tea leaves can be transported to the discharge pipe 6005 through the spiral flexible paddle 6002, and then transported to the storage cylinder 800 through the discharge pipe 6005 for storage; During the rotation of the rotating rod 6001, the mutual engagement of the bevel gears 6009 will drive the first rotating shaft 6008 to rotate, and the first rotating shaft 6008 will drive the second rotating shaft 60012 to rotate through the second pulley 60010 and the second belt 60011, and the second rotating shaft 60012 will drive the rotating block 700 to rotate, and the rotating block 700 will drive the knocking block 7001 to rotate, and the knocking block 7001 will continuously knock on the outside of the storage cylinder 800, so that the storage cylinder 800 vibrates, and the tea leaves in the storage cylinder 800 can vibrate, so that the tea leaves can be more compacted, and the storage cylinder 800 can be prevented from being filled up too early.

[0051] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0052] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent tea picking machine for picking tea leaves, characterized in that: include: chassis(100); A frame (200), wherein a lifting plate (201) is provided on the frame (200), and a shock absorbing component is connected between the lifting plate (2001) and the chassis (100); A lifting assembly, the lifting assembly being arranged between the frame (200) and the lifting plate (2001); A walking assembly, the walking assembly being arranged at the bottom of the frame (200); A picking component, the picking component is arranged outside the chassis (100) and is used for picking tea leaves; A conveying component, which is used to convey the picked tea leaves; The picking component comprises a first arc-shaped cutting blade (5005) and a second arc-shaped cutting blade (5006); a feeding frame (1006) is fixedly connected to one side of the chassis (100); the first arc-shaped cutting blade (5005) and the second arc-shaped cutting blade (5006) are located in the feeding frame (1006); a first sliding rod (50010) is fixedly connected to the bottom of the first arc-shaped cutting blade (5005); a sliding groove (5008) is provided at the bottom of the second arc-shaped cutting blade (5006); the first sliding rod (50010) passes through the sliding groove (5008) and is fixedly connected to a limiting plate (50011); both sides of the interior of the chassis (100) are fixedly connected to a third motor (5003); The outside of the three motors (5003) is fixedly connected to a fixing sleeve (5009), and the fixing sleeve (5009) is rotatably connected to a first gear (50013). A lifting rod (5004) is provided through the fixing sleeve (5009), and the outside of the lifting rod (5004) is provided with a tooth groove (50012) meshing with the first gear (50013). The top of the first arc-shaped cutting blade (5005) is fixedly connected to a connecting rod (5007), and the top of the connecting rod (5007) is fixedly connected to an adjustment plate (500). The lifting rod (5004) is hinged to the adjustment plate (500), and the adjustment plate (500) is provided with a driving component for driving the second arc-shaped cutting blade (5006) to slide back and forth.

2. The intelligent tea picking machine for tea picking according to claim 1, characterized in that: The driving assembly comprises a second motor (5001) fixedly connected to the adjustment plate (500) and a housing (5002) fixedly connected to the outside of the second motor (5001); the output end of the second motor (5001) is fixedly connected to a second gear (50014); a third gear (50015) and a fourth gear (50016) meshing with each other are rotatably connected in the housing (5002); a rotating column (50017) is rotatably connected to the outside of the housing (5002); the rotating column (50017) is coaxially fixedly connected to the fourth gear (50016); the outside of the second arc-shaped cutting blade (5006) is fixedly connected to a synchronous plate (50018); the top of the synchronous plate (50018) is fixedly connected to a sliding column (50019); the outside of the rotating column (50017) is provided with a curved groove (50020); the top of the rotating column (50017) extends into the curved groove (50020).

3. The intelligent tea picking machine for tea picking according to claim 2, characterized in that: The top of the chassis (100) is fixedly connected to a fan (1001), the output end of the fan (1001) is fixedly connected to an air outlet pipe (1002), one end of the air outlet pipe (1002) is fixedly connected to an arc-shaped pipe (1003), the outside of the arc-shaped pipe (1003) is fixedly connected to multiple groups of blowing pipes (1004), the blowing pipes (1004) correspond to the feed frame (1006), the outside of the arc-shaped pipe (1003) is fixedly connected to a connecting plate (1005), and the connecting plate (1005) is fixedly connected to the adjustment plate (500).

4. The intelligent tea picking machine for tea picking according to claim 1, characterized in that: The shock absorbing assembly comprises a connecting frame (3001) fixedly connected to the chassis (100), a buffer frame (300) fixedly connected to the outside of the connecting frame (3001), a connecting seat (3005) fixedly connected to the top of the lifting plate (2001), and a first spring (3007) arranged between the buffer frame (300) and the connecting seat (3005); a swing rod (3006) is hinged between the connecting seat (3005) and the buffer frame (300); a sleeve (3002) is hingedly connected to the top of the connecting seat (3005); a sleeve rod (3003) is slidably connected inside the sleeve (3002); one end of the sleeve rod (3003) is hingedly connected to the buffer frame (3000); a first fixing ring (3004) is fixedly connected to the outside of the sleeve (3002); the spring is sleeved on the outside of the sleeve (3002) and contacts the outside of the first fixing ring (3004).

5. The intelligent tea picking machine for tea picking according to claim 1, characterized in that: The lifting assembly comprises a mounting frame (400) and a plurality of connecting rods (4004) which are hinged in a scissor-fork manner in the mounting frame (400); a bidirectional threaded rod (4002) is rotatably connected in the mounting frame (400); a first motor (4001) is fixedly connected to the outside of the mounting frame (400); an output end of the first motor (4001) is fixedly connected to the bidirectional threaded rod (4002); two nut blocks (4003) are externally threadedly connected to the bidirectional threaded rod (4002); the connecting rods (4004) are rotatably connected to the corresponding nut blocks (4003); a first guide rod (4005) is fixedly connected to the bottom of the lifting plate (2001); and the first guide rod (4005) The outer sleeve of the frame (200) is provided with a first guide block (4006); the top of the frame (200) is fixedly connected to a second guide rod (4007); the outer sleeve of the second guide rod (4007) is provided with a second guide block (4008); the connecting rod (4004) is rotatably connected to the corresponding first guide block (4006) and second guide block (4008); the connecting rod (4004) is also rotatably connected to the corresponding lifting plate (2001) and the frame (200); the top of the frame (200) is fixedly connected to a third guide rod (2004); the lifting plate (2001) is fixedly connected to a guide sleeve (2002); and the third guide rod (2004) passes through the guide sleeve (2002).

6. The intelligent tea picking machine for tea picking according to claim 1, characterized in that: The bottom sides of the frame (200) are fixedly connected to a bottom frame (2003); the walking assembly comprises a crossbeam (9002) fixedly connected to the bottom frame (2003), a driving roller (9003) rotatably connected to the outside of the crossbeam (9002), and a crawler (9001) sleeved on the outside of the driving roller (9003); the outside of the crossbeam (9002) is rotatably connected to a plurality of guide rollers (9005), one of the driving rollers (9003) is fixedly connected to the outside with a driving gear (9004); the outside of the bottom frame (2003) is fixedly connected to a fifth motor (900); the fifth The output end of the motor (900) is fixedly connected to a fifth gear (9006); a sixth gear (9007) and an eighth gear (9009) are rotatably connected in the bottom frame (2003); the exterior of the sixth gear (9007) is fixedly connected to a seventh gear (9008); the exterior of the eighth gear (9009) is fixedly connected to a ninth gear (90010); the fifth gear (9006) meshes with the sixth gear (9007); the seventh gear (9008) meshes with the eighth gear (9009); and the ninth gear (90010) meshes with the driving gear (9004).

7. The intelligent tea picking machine for tea picking according to claim 1, characterized in that: The conveying assembly comprises a feed pipe (600) fixedly connected to both sides of the bottom of the chassis (100) and a rotating rod (6001) rotatably connected to the feed pipe (600), the outside of the rotating rod (6001) is fixedly connected to a plurality of groups of flexible paddles (6002), and the flexible paddles (6002) are spiral-shaped. One end of the feed pipe (600) extends into the feed frame (1006), and one end of the feed pipe (600) is fixedly connected to a discharge pipe (600 5), the outside of the discharge pipe (6005) is fixedly connected to a mounting frame (6003), the outside of the mounting frame (6003) is fixedly connected to a fourth motor (6004), the output end of the fourth motor (6004) is fixedly connected to one of the rotating rods (6001), and the outsides of the two groups of rotating rods (6001) are fixedly connected to a first pulley (6006), and the outside of the first pulley (6006) is provided with a first belt (6007).

8. The intelligent tea picking machine for tea picking according to claim 7, characterized in that: It also comprises a storage cylinder (800), the outside of the storage cylinder (800) being fixedly connected to a second fixing ring (8001), a latch (8002) penetrating the second fixing ring (8001), and a through hole being provided on the outside of the frame (200) at a position corresponding to the latch (8002).

9. The intelligent tea picking machine for tea picking according to claim 8, characterized in that: The outside of the mounting frame (6003) is rotatably connected to a first rotating shaft (6008) and a second rotating shaft (60012); the outside of the first rotating shaft (6008) and the second rotating shaft (60012) are fixedly connected to a second pulley (60010); the outside of the second pulley (60010) is sleeved with a second belt (60011); the outsides of the first rotating shaft (6008) and the rotating rod (6001) are fixedly connected to a bevel gear (6009); and the bottom of the second rotating shaft (60012) is provided with a vibration component for knocking the storage cylinder (800).

10. The intelligent tea picking machine for tea picking according to claim 9, characterized in that: The vibration component comprises a rotating block (700) fixedly connected to the outside of a second rotating shaft (60012), a second spring (7002) fixedly connected to the outside of the rotating block (700), and a knocking block (7001) fixedly connected to one end of the second spring (7002); a rubber sheet (7004) is connected between two adjacent knocking blocks (7001); a second sliding rod (7003) is fixedly connected to the outside of the knocking block (7001); a sliding hole is provided inside the rotating block (700) at a position corresponding to the second sliding rod (7003); and the second sliding rod (7003) is slidably connected to the sliding hole.

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