Electric tea harvesting vehicle suitable for hills

Abstract

The invention relates to an electric tea harvesting vehicle suitable for hills. The harvester is characterized by comprising a vehicle body frame, a cutter mechanism, a harvesting bag, an electric control cabinet and an air compressor, the harvesting bag, the electric control cabinet and the air compressor are arranged above the vehicle body frame, and the cutter mechanism is arranged on the front portion of the vehicle body frame. The problems that a mechanical operation machine is unstable in gravity center and prone to lodging in a hilly land are hopefully solved, rapid harvesting of bulk tea in early summer is achieved, the labor intensity of tea picking can be reduced, the harvesting cost is reduced, and the labor productivity is effectively improved. According to the adjustable vehicle body frame structure, various agricultural production tools used for mountainous regions can be loaded conveniently. A new thought is provided for mountain tea harvesting machinery and mountain mechanical operation, the restriction of popularization of agricultural implements in hilly and mountainous areas is broken through, and tea farmers in economically underdeveloped areas in the hilly and mountainous areas are assisted to create income.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an electric tea harvesting vehicle suitable for hills. Background Art

[0002] Many existing tea gardens in my country have the following characteristics: First, they are built on mountains with small plots, complex terrain and steep slopes, and the site conditions are poor; second, the shape of the tea trees is not highly standardized; third, the mechanization of picking was not fully considered in the early stage of the garden construction, and the tea garden roads are rugged; fourth, in hilly and mountainous areas, due to the steep slopes and rugged and uneven roads, conventional driving agricultural machinery such as adjustable hilly and mountain tractors are prone to overturning and turning over on steep slopes, endangering the personal safety of the driver, and are not suitable for tea harvesting needs.

[0003] Limited by geographical conditions and traditional planting patterns, the mechanization level of tea gardens has been at a low level for a long time. On the one hand, the picking of famous and high-quality tea mainly relies on manual labor, which usually requires a large amount of labor input, of which the picking cost alone accounts for about 50% of the price of fresh leaves. However, on the one hand, with the decrease in the number of farmers and the intensification of the trend of population aging, the intensity of tea picking is high, the production efficiency is low, and the working environment is difficult, which makes many people unwilling to engage in tea picking; on the other hand, with the advancement of urbanization, young and middle-aged labor force gradually transfers to cities, and the reduction of agricultural labor force has a serious impact on the sustainable development of agriculture in remote mountainous areas. In view of the vast area of ​​tea gardens in my country and the short fresh leaf picking cycle, there is an urgent need for mechanized harvesting of bulk tea to solve the problem of labor shortage. Research and development of remote control technology to control special agricultural machinery in hilly and mountainous areas, realize unmanned operation, and improve the safety of agricultural machinery operation in hilly and mountainous areas are of great significance to the improvement of the mechanization level of agricultural machinery in hilly and mountainous areas.

[0004] The main patents for agricultural mechanization in my country's tea industry include "A tea picking machine with high tea picking efficiency" application publication number CN104525470A; "A riding tea tree table mower and its use method" application publication number CN 112889512 A; "Tea tree table mower" application publication number CN 219555718 U; "A highly automated tea harvester" application publication number CN 216362633 U; "Tea tree cross-section arc-shaped cutting and harvesting mechanism and cutting and harvesting method" application publication number CN115211283 A; "A tea harvester" application publication number CN 115088476 A, among which "An automated tea harvester" application publication number CN 113243202 A also considers that the width of tea leaves varies from place to place, so an automated adjustment mechanism is used to adjust the width of the machine; but overall, these tea-related agricultural machinery and equipment are relatively more suitable for flat tea gardens, and the application effect in tea gardens in hilly areas of my country is not ideal. Therefore, it is of practical significance to develop tea harvesting machinery that can maintain a stable center of gravity when harvesting tea leaves in hilly tea gardens with a certain slope, can turn around on the spot on the narrow mechanized farming road in front of the tea garden, and has a certain degree of autonomous operation ability. Summary of the invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a technical solution for an electric tea picking vehicle suitable for hilly areas, so as to reduce the labor cost of tea picking in tea gardens in hilly areas and improve labor productivity.

[0006] The electric tea harvesting vehicle suitable for hilly areas is characterized by comprising: a vehicle frame, a cutting knife mechanism, a harvesting bag, an electric control cabinet and an air compressor, wherein the harvesting bag, the electric control cabinet and the air compressor are arranged above the vehicle frame, and the cutting knife mechanism is arranged at the front of the vehicle frame; The vehicle body frame includes a square steel steering bracket, a steering wheel bracket steering mechanism, an upper bracket lifting electric cylinder, a transverse bracket, a longitudinal bracket and an upper balancing bracket; four square steel steering brackets are provided, and a steering wheel bracket steering mechanism is provided on the square steel steering bracket, and adjacent steering wheel bracket steering mechanisms are connected to the transverse bracket and the longitudinal bracket to form a basic frame; an upper bracket lifting electric cylinder is provided on the steering wheel bracket steering mechanism, and adjacent upper bracket lifting electric cylinders are connected to the upper balancing bracket through an upper bracket connector to form an upper frame, and the harvesting bag, electric control cabinet and air compressor are provided on the upper frame; a bracket vertical adjustment mechanism is provided on the square steel steering bracket and the transverse bracket, and on the square steel steering bracket and the longitudinal bracket, and the bracket vertical adjustment mechanism is used to adjust the angle between the square steel steering bracket and the transverse bracket or the angle between the square steel steering bracket and the longitudinal bracket; The transverse bracket is provided with a vehicle body width adjustment mechanism for adjusting the transverse dimension of the vehicle body frame; the longitudinal bracket is provided with a vehicle body length adjustment mechanism for adjusting the longitudinal dimension of the vehicle body frame.

[0007] The electric tea picking vehicle suitable for hilly areas is characterized in that the square steel steering bracket includes: an electric wheel, an electric wheel fixing bracket and a steering wheel bracket wall, the electric wheel is arranged below the electric wheel fixing bracket, and the steering wheel bracket wall is welded to the upper plane of the electric wheel fixing bracket; a spline shaft is arranged on the top of the steering wheel bracket wall, and the spline shaft is keyed to the spline gear in the steering mechanism of the steering wheel bracket; a wheel steering bracket verticality detector is arranged on the steering wheel bracket wall.

[0008] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the steering mechanism of the steering wheel bracket includes: an upper flange, a lower flange, a clamping flange fixing bolt, a spline gear, a driving gear, a steering mechanism stepping motor and a plane bearing; the lower flange is an intermediate concave flange, the spline gear is interference fit above the lower flange, the spline gear is tightly fitted with the plane bearing above, an upper flange is arranged above the plane bearing, the clamping flange fixing bolts pass through the upper flange and the lower flange to clamp and fix the plane bearing and the spline gear, and the spline shaft of the square steel steering bracket is keyed to the spline gear inside the recessed flange; the steering mechanism stepping motor is arranged on the lower flange of the steering mechanism of the steering wheel bracket, a gear is arranged at the output end of the steering mechanism stepping motor, the gear is meshed with the spline gear, and when the gear drives the spline gear to rotate, the plane bearing also rotates accordingly; due to the existence of the plane bearing, the rotation of the steering mechanism stepping motor can drive the steering bracket to rotate through the gear and the spline gear.

[0009] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the upper support lifting electric cylinder is a direct-connected electric cylinder, the bottom of which is connected to a lifting electric cylinder stepping motor, and the lifting electric cylinder stepping motor is fixed to the upper flange of the steering mechanism of the steering wheel support through an upper flange fixing bolt; the upper part of the upper support lifting electric cylinder is threadedly connected to the upper support connecting piece, and the upper support connecting piece is threadedly connected to the ball head piece of the upper balance support.

[0010] The electric tea harvesting vehicle suitable for hills is characterized in that the transverse bracket comprises: a single-ear ball head, a transverse bracket square steel and a body width adjustment mechanism, and a transverse bracket inclination sensor is arranged on the transverse bracket square steel; the transverse bracket square steel is connected to the support plate arranged on the side of the lower flange of the steering mechanism of the steering wheel bracket through the single-ear ball head parts on both sides; one end of the rotating gear ring of the bracket vertical adjustment mechanism in the direction of the transverse bracket is welded and fixed to the transverse bracket; The vehicle body width adjustment mechanism is arranged on the transverse bracket square steel, and the transverse bracket square steel is divided into two sections of a telescopic structure; the vehicle body width adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw rod, a reverse threaded screw rod, a vehicle body width adjustment stepping motor, a nut seat and a slide, the two sides of the cross-axis universal coupling are respectively connected with the forward threaded screw rod and the reverse threaded screw rod, the forward threaded screw rod and the reverse threaded screw rod are respectively connected to the transverse bracket square steel on both sides through the nut seat, a slide is arranged on one side of the transverse bracket square steel, the slide is arranged with a vehicle body width adjustment stepping motor, and the vehicle body width adjustment stepping motor drives the screw rod to rotate; since the screw rod is divided into a forward threaded screw rod and a reverse threaded screw rod, when the vehicle body width adjustment stepping motor drives the screw rod to rotate, the nut seats will be close to or separated from each other to achieve the purpose of adjusting the vehicle body width; bearings are arranged on the outer edges of both ends of the cross-axis universal coupling, the bearing is externally connected to one end of the operating mechanism positioning bracket, and a cutting knife mechanism is arranged at the other end of the operating mechanism positioning bracket.

[0011] The electric tea harvesting vehicle suitable for hills is characterized in that the longitudinal bracket is divided into an outer longitudinal bracket and an inner longitudinal bracket, the outer longitudinal bracket comprises a longitudinal bracket square steel, a single-ear ball head piece and a vehicle body length adjustment mechanism, an outer longitudinal bracket inclination sensor is arranged on the longitudinal bracket square steel, and the longitudinal bracket square steel is connected to a support plate arranged on the side of the lower flange of the steering mechanism of the steering wheel bracket through single-ear ball head pieces on both sides; one end of the rotating gear ring of the bracket vertical adjustment mechanism in the direction of the longitudinal bracket square steel is welded and fixed to the longitudinal bracket square steel; The vehicle body length adjustment mechanism is arranged on the longitudinal bracket square steel, and the longitudinal bracket square steel is divided into two sections of telescopic structure. The vehicle body length adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle body length adjustment stepping motor, a nut seat, and a slide. The cross-axis universal coupling connects the forward threaded screw and the reverse threaded screw. The forward threaded screw and the reverse threaded screw are respectively connected to the longitudinal bracket square steels on both sides through nut seats. A slide is arranged on the outer longitudinal bracket square steel on one side, and a vehicle body length adjustment stepping motor is arranged on the slide. The vehicle body length adjustment stepping motor drives the screw to rotate. Since the screw is divided into a forward threaded screw and a reverse threaded screw, when the vehicle body length adjustment stepping motor drives the screw to rotate, the nut seats will be close to or separated from each other to achieve the purpose of vehicle body length adjustment.

[0012] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the inner longitudinal support is a retractable universal joint structure, including: an inner longitudinal support universal joint, an inner longitudinal support outer square steel, an inner longitudinal support inner square steel and an inner longitudinal support inner bushing, one end of the inner longitudinal support outer square steel and the inner longitudinal support inner square steel are respectively screwed to the inner longitudinal support universal joint, the inner longitudinal support universal joint is arranged on the transverse support square steel of the transverse support, the inner longitudinal support outer square steel and the inner longitudinal support inner square steel are supported by the inner longitudinal support inner bushing to ensure that the inner longitudinal support outer square steel and the inner longitudinal support inner square steel can be freely retracted and retracted.

[0013] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the upper balancing support is a telescopic universal joint structure, including: a ball head piece, a balancing support outer rod, a balancing support inner rod and a transverse balancing support inner bushing. The balancing support outer rod and the balancing support inner rod have one end respectively screwed with a ball head piece, and the ball head piece is arranged on the upper support connecting piece of the upper support lifting electric cylinder. The transverse balancing support inner bushing is arranged between the balancing support outer rod and the balancing support inner rod and supported by the transverse balancing support inner bushing to ensure that the balancing support outer rod and the balancing support inner rod can be freely extended and retracted. A plurality of support rods consisting of a ball head piece, a balancing support outer rod, a balancing support inner rod and a transverse balancing support inner bushing are arranged transversely in the upper balancing support.

[0014] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the vertical adjustment mechanism of the bracket includes: a fixed plate, a rotating plate, a bracket vertical longitudinal adjustment mechanism stepper motor and a driving gear. The fixed plate is vertically arranged on the steering wheel bracket wall of the square steel steering bracket. A rotation center is arranged on the fixed plate. A bearing is embedded in the rotation center opening. The T-shaped rotating plate and the bearing are interference fit. The bracket vertical longitudinal adjustment mechanism stepper motor is fixedly arranged on the rotating plate. The driving gear of the bracket vertical longitudinal adjustment mechanism stepper motor is meshed with the rotating gear ring. The rotating gear ring is welded on the transverse bracket square steel of the transverse bracket and the longitudinal bracket square steel of the longitudinal bracket. The rotation center of the single-ear ball joint on the transverse bracket square steel and the longitudinal bracket square steel is coaxial with the rotation center of the fixed plate.

[0015] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the cutting mechanism comprises: a crown cutting mechanism and a tree body cutting mechanism, the crown cutting mechanism is fixed on the operating mechanism positioning bracket, and the tree body cutting mechanism is fixed on the steering wheel bracket wall of the square steel steering bracket; The upper part of the upper balancing bracket is connected to the air compressor installation tray and the tea harvest bag tray through transition square steel and bolts. The harvest bags are placed on the tea harvest bag tray, and the air compressor and the electric control cabinet are installed on the air compressor installation tray.

[0016] The present invention solves the problem of unstable center of gravity and easy lodging of mechanized operation machinery in hilly areas, which can not only reduce the labor intensity of tea picking and reduce the harvesting cost, but also effectively improve labor productivity and realize the rapid harvesting of bulk tea in early summer. The adjustable vehicle frame structure of the present invention can conveniently load various agricultural production tools used in mountainous areas, providing a new idea for mountain tea harvesting machinery and mountain mechanized operations, breaking the restriction on the promotion of agricultural machinery in hilly and mountainous areas.

[0017] The tea picking vehicle of the present invention can realize automatic adjustment of the posture of the mountain tea picking vehicle and maintain the center of gravity of the vehicle according to the requirements of the existing manual tree-type characteristics of mountain tea, and is suitable for the mechanized harvesting of mountain tea. The present invention can be coordinated with software to control the operation of the vehicle by remote control. The vehicle can also realize autonomous operation during the harvesting process, effectively improving the labor productivity of tea harvesting, providing inexpensive and high-quality raw materials for deep-processing fermented tea products, and promoting the income of tea farmers in economically underdeveloped areas in hilly and mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the body frame of the electric tea harvesting vehicle; Figure 2 The figure is a front view of the body frame of the electric tea harvesting vehicle; Figure 3 This is a schematic diagram of the horizontal frame posture of an electric tea harvester in hilly areas; Figure 4 It is a side view of the vehicle body frame; Figure 5 It is a schematic diagram of the longitudinal frame posture of the electric tea harvesting vehicle in hilly areas; Figure 6 It is the connection diagram of the steering mechanism and the electric wheel steering bracket; Figure 7 for Figure 6 Partial magnification; Figure 8 It is a three-dimensional schematic diagram of the steering mechanism structure of the steering wheel bracket; Fig. 9 Schematic diagram of the vertical adjustment mechanism of the bracket Figure 1 ; Fig.10 Schematic diagram of the vertical adjustment mechanism of the bracket Figure 2 ; Fig.11 is a schematic diagram of the rotating disk mechanism; Fig.12 It is a schematic diagram of the vehicle body width adjustment mechanism; Fig.13 This is a schematic diagram of the vehicle body length adjustment mechanism; Fig.14 is a schematic diagram of the inner longitudinal support; Fig.15 This is a schematic diagram of the upper balance support; Fig.16 This is a front view of an electric tea harvesting vehicle; Fig.17 Schematic diagram of manual tea picking and electric tea harvesting vehicles in plains and hilly areas; Fig.18 This is a schematic diagram of an electric tea harvester going uphill; Fig.19 It is a three-dimensional schematic diagram of an electric tea harvesting vehicle; Fig. 20 This is a schematic diagram of the tea harvester in the field. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings: An electric tea harvesting vehicle suitable for hilly areas comprises: a vehicle frame 100, a cutting knife mechanism 200, a harvesting bag 300, an electric control cabinet 400 and an air compressor 500. A tea harvesting bag tray 601 and an air compressor mounting tray 600 are arranged above the vehicle frame 100, and a crown cutting knife mechanism 200 is arranged at the front of the vehicle frame 100.

[0020] The vehicle body frame 100 includes a square steel steering bracket 110, a steering wheel bracket steering mechanism 120, an upper bracket lifting electric cylinder 130, a transverse bracket 170, a longitudinal bracket 180 and an upper balancing bracket 190. The square steel steering bracket 110 is provided with four, and a tree cutter mechanism 210 is respectively provided on the steering wheel bracket wall 114 of the two square steel steering brackets 110 at the front of the vehicle body frame 100. The square steel steering bracket 110 is provided with a steering wheel bracket steering mechanism 120. The adjacent steering wheel bracket steering mechanisms 120 are connected to the transverse bracket 170 and the longitudinal bracket 180 to form a basic frame; An upper support lifting electric cylinder 130 is provided, and adjacent upper support lifting electric cylinders 130 are connected to the upper balancing support 190 through an upper support connector 132 to form an upper frame. The harvesting bag 300, the electric control cabinet 400 and the air compressor 500 are arranged on the air compressor mounting tray 600 of the upper frame; a support vertical adjustment mechanism 140 is provided on the square steel steering support 110 and the transverse support 170, and on the square steel steering support 110 and the longitudinal support 180. The support vertical adjustment mechanism 140 is used to adjust the angle between the square steel steering support 110 and the transverse support 170 or the angle between the square steel steering support 110 and the longitudinal support 180.

[0021] The transverse bracket 170 is provided with a vehicle body width adjustment mechanism 160 for adjusting the transverse dimension of the vehicle body frame; the longitudinal bracket 180 is provided with a vehicle body length adjustment mechanism 150 for adjusting the longitudinal dimension of the vehicle body frame.

[0022] The square steel steering bracket 110 includes: an electric wheel 111, an electric wheel fixing bracket 112 and a steering wheel bracket wall 114. The electric wheel 111 is arranged below the electric wheel fixing bracket, and the steering wheel bracket wall 114 is welded to the upper plane of the electric wheel fixing bracket 112; a spline shaft 115 is arranged on the top of the steering wheel bracket wall 114, and the spline shaft 115 is keyed to the spline gear 124 in the steering mechanism 120 of the steering wheel bracket; a wheel steering bracket verticality detector 113 is arranged on the steering wheel bracket wall 114.

[0023] The steering mechanism 120 of the steering wheel bracket includes: an upper flange 121, a lower flange 122, a clamping flange fixing bolt 123, a spline gear 124, a driving gear 125, a steering mechanism stepping motor 126 and a plane bearing 127; the lower flange 122 is a middle concave flange, the spline gear 124 is interference-fitted above the lower flange 122, the spline gear 124 is tightly fitted with the plane bearing 127 above, the upper flange 121 is arranged above the plane bearing 127, and the clamping flange fixing bolt 123 passes through the upper flange 121 and the lower flange 122 to fix the plane bearing 127 and the spline gear 124 are fixed with clamps, and the spline shaft 115 of the square steel steering bracket 110 is keyed to the spline gear 124 inside the recessed flange; the steering mechanism stepper motor 126 is arranged on the lower flange of the steering wheel bracket steering mechanism 120, and a gear 125 is arranged at the output end of the steering mechanism stepper motor 126, and the gear 125 is meshed with the spline gear 124. When the gear 125 drives the spline gear 124 to rotate, the plane bearing 127 also rotates accordingly; due to the existence of the plane bearing 127, the rotation of the steering mechanism stepper motor 126 can drive the steering bracket 110 to rotate through the gear 125 and the spline gear 124.

[0024] The upper bracket lifting cylinder 130 is a direct-connected cylinder, and the bottom is connected to the lifting cylinder stepper motor 133. The lifting cylinder stepper motor 133 is fixed to the upper flange 121 of the steering mechanism 120 of the steering wheel bracket through the upper flange fixing bolts 128; the upper bracket lifting cylinder is threadedly connected to the upper bracket connecting piece 132 at the top, and the upper bracket connecting piece 132 is threadedly connected to the ball head piece 191 of the upper balancing bracket 190.

[0025] The transverse bracket 170 includes: a single-ear ball head 171, a transverse bracket square steel 172 and a vehicle body width adjustment mechanism 160, and a transverse bracket inclination sensor 173 is arranged on the transverse bracket square steel 172; the transverse bracket square steel 172 is connected to a support plate 174 arranged on the side of the lower flange of the steering wheel bracket steering mechanism 120 through the single-ear ball head 171 on both sides; one end of the rotating ring gear 145 of the bracket vertical adjustment mechanism 140 in the direction of the transverse bracket 170 is welded and fixed to the transverse bracket 170.

[0026] The vehicle body width adjustment mechanism 160 is arranged on the transverse bracket square steel 172, and the transverse bracket square steel 172 is divided into two sections of a telescopic structure; the vehicle body width adjustment mechanism 160 includes: a cross-axis universal coupling 161, a forward threaded screw rod 162, a reverse threaded screw rod 163, a vehicle body width adjustment stepping motor 166, a nut seat 167 and a slide 168, the two sides of the cross-axis universal coupling 161 are respectively connected to the forward threaded screw rod 162 and the reverse threaded screw rod 163, and the forward threaded screw rod 162 and the reverse threaded screw rod 163 are respectively connected to the transverse bracket square steel 172 on both sides through the nut seat 167. On one side, a slide 168 is arranged on the horizontal bracket square steel 172, and a body width adjustment stepping motor 166 is arranged on the slide 168, and the body width adjustment stepping motor 166 drives the screw rod to rotate; because the screw rod is divided into a forward threaded screw rod 162 and a reverse threaded screw rod 163, when the body width adjustment stepping motor 166 drives the screw rod to rotate, the nut seat 167 will be close to or separated from each other to achieve the purpose of body width adjustment; bearings 164 are arranged on the outer edges of both ends of the cross-axis universal coupling 161, and the bearing 164 is externally connected to one end of an operating mechanism positioning bracket 165, and a cutting knife mechanism is arranged on the other end of the operating mechanism positioning bracket 165.

[0027] The longitudinal bracket 180 is divided into an outer longitudinal bracket and an inner longitudinal bracket 181. The outer longitudinal bracket includes a longitudinal bracket square steel 1801, a single-ear ball head component 1711 and a vehicle body length adjustment mechanism 150. An outer longitudinal bracket inclination sensor 1803 is arranged on the longitudinal bracket square steel 1801. The longitudinal bracket square steel 1801 is connected to a support plate 174 arranged on the side of the lower flange of the steering wheel bracket steering mechanism 120 through the single-ear ball head components 1711 on both sides; one end of the rotating gear ring 145 of the bracket vertical adjustment mechanism 140 in the direction of the longitudinal bracket square steel 1801 is welded and fixed to the longitudinal bracket square steel 1801.

[0028] The vehicle body length adjustment mechanism 150 is arranged on the longitudinal bracket square steel 1801, and the longitudinal bracket square steel 1801 is divided into two sections that can be telescopic. The vehicle body length adjustment mechanism 150 includes: a cross-axis universal coupling 151, a forward threaded screw rod 152, a reverse threaded screw rod 153, a vehicle body length adjustment stepper motor 156, a nut seat 157, and a slide 158. The cross-axis universal coupling 151 connects the forward threaded screw rod 152 and the reverse threaded screw rod 153, and the forward threaded screw rod 152 and the reverse threaded screw rod 153 are connected. The rod 153 is connected to the longitudinal bracket square steel 1801 on both sides through the nut seat 157 respectively, and a slide 158 is set on the outer longitudinal bracket square steel 1801 on one side, and a body length adjustment stepper motor 156 is set on the slide 158. The body length adjustment stepper motor 156 drives the screw rod to rotate. Since the screw rod is divided into a forward threaded screw rod 152 and a reverse threaded screw rod 153, when the body length adjustment stepper motor 156 drives the screw rod to rotate, the nut seats 157 will approach or separate from each other to achieve the purpose of body length adjustment.

[0029] The inner longitudinal bracket 181 is a telescopic universal joint structure, including: an inner longitudinal bracket universal joint 1811, an inner longitudinal bracket outer square steel 1812, an inner longitudinal bracket inner square steel 1813 and an inner longitudinal bracket inner bushing 1814. One end of the inner longitudinal bracket outer square steel 1812 and the inner longitudinal bracket inner square steel 1813 are respectively screwed to the inner longitudinal bracket universal joint 1811. The inner longitudinal bracket universal joint 1811 is arranged on the transverse bracket square steel 172 of the transverse bracket 170. The inner longitudinal bracket outer square steel 1812 and the inner longitudinal bracket inner square steel 1813 are supported by the inner longitudinal bracket inner bushing 1814 to ensure that the inner longitudinal bracket outer square steel 1812 and the inner longitudinal bracket inner square steel 1813 can be freely retracted and retracted.

[0030] The upper balancing bracket 190 is a telescopic universal joint structure, including: a ball head piece 191, a balancing bracket outer rod 192, a balancing bracket inner rod 193 and a transverse balancing bracket inner bushing 194. The balancing bracket outer rod 192 and the balancing bracket inner rod 193 are respectively screwed to the ball head piece 191 at one end, and the ball head piece 191 is arranged on the upper bracket connecting piece 132 of the upper bracket lifting cylinder 130. The transverse balancing bracket inner bushing 194 is arranged between the balancing bracket outer rod 192 and the balancing bracket inner rod 193 and supported by the transverse balancing bracket inner bushing 194 to ensure that the balancing bracket outer rod 192 and the balancing bracket inner rod 193 can be freely extended and retracted; a plurality of support rods consisting of a ball head piece 191, a balancing bracket outer rod 192, a balancing bracket inner rod 193 and a transverse balancing bracket inner bushing 194 are arranged transversely in the upper balancing bracket 190.

[0031] The bracket vertical adjustment mechanism 140 includes: a fixed plate 141, a rotating plate 142, a bracket vertical longitudinal adjustment mechanism stepper motor 143 and a driving gear 144. The fixed plate 141 is vertically arranged on the steering wheel bracket wall 114 of the square steel steering bracket 110. A rotation center is arranged on the fixed plate 141, and a bearing 147 is embedded in the rotation center opening. The T-shaped rotating plate 142 is interference fit with the bearing 147. The bracket vertical longitudinal adjustment mechanism stepper motor 143 is fixedly arranged on the rotating plate 142. The driving gear 144 of the bracket vertical longitudinal adjustment mechanism stepper motor 143 is meshed with a rotating ring gear 145. The rotating ring gear 145 is welded on the transverse bracket square steel 172 of the transverse bracket 170 and the longitudinal bracket square steel 1801 of the longitudinal bracket 180. The rotation center of the single-ear ball joint 171 on the transverse bracket square steel 172 and the longitudinal bracket square steel 1801 is coaxial with the rotation center of the fixed plate 141.

[0032] The cutting mechanism includes: a crown cutting mechanism 200 and a tree body cutting mechanism 210 . The crown cutting mechanism is fixed on the operating mechanism positioning bracket 165 , and the tree body cutting mechanism 210 is fixed on the steering wheel bracket wall 114 of the square steel steering bracket 110 .

[0033] The upper portion of the upper balancing bracket 190 is connected to the air compressor mounting tray 600 and the tea harvest bag tray 601 by transition square steel and bolts. The tea harvest bag tray 601 is provided with a harvest bag 300, and the air compressor 500 and the electric control cabinet 400 are installed on the air compressor mounting tray 600.

[0034] The harvesting vehicle is mainly divided into two layers of frame structure, the lower frame is composed of a horizontal frame 170, an outer longitudinal frame, an inner longitudinal frame 181 and a frame structure welded with four electric wheels and a steering frame 110, and the upper frame is composed of an upper balancing frame 190; the four electric wheels and the steering frame 110 are equipped with an upper frame lifting cylinder 130, and the upper inclination sensor 403 of the electric control cabinet 400 is used to detect the horizontality of the control cabinet and other equipment of the upper frame load, and the upper frame lifting cylinder 130 controls the upper frame load to always be in a horizontal state.

[0035] The transverse bracket 170 and the longitudinal bracket 180 are both welded and fixed by a single-ear ball joint 171 and the lower flange 122 of the steering mechanism 120 to form a stable frame structure. The upper balancing bracket 190 is a retractable structure. Under different terrain angles or body width requirements, the body length and body width of the electric tea harvester are adjusted by the body length adjustment mechanism 150 and the body width adjustment mechanism 160 respectively, and the upper balancing bracket 190 just follows the movement. The rotation position of the single-ear ball joint 171 has a certain distance difference from the steering bracket 110, so the body width adjustment mechanism 160 is installed on the transverse bracket 170. When harvesting tea leaves in a tilted tea garden, different inclination angles need to be calculated and adjusted to the appropriate length of the transverse bracket; the longitudinal bracket 180 is installed with the body length adjustment mechanism 150; when climbing a slope, different inclination angles need to be calculated and adjusted to the appropriate length of the longitudinal bracket.

[0036] When the electric tea harvester goes up the hill in a hilly area, the length of the transverse frame and the longitudinal frame needs to be appropriately adjusted according to the change of the mountain slope. Inclination sensors are respectively installed on the transverse frame 170 and the longitudinal frame 180. These inclination sensors detect the inclination angles corresponding to the slopes of the four sides of the electric tea harvester in the hilly area, and the transverse frame and the longitudinal frame are adjusted in length according to the change of this angle.

[0037] The inner longitudinal bracket 181 is a telescopic universal mechanism, which can automatically adjust its length following the adjustment of the outer longitudinal bracket. The upper balancing bracket 190 is a telescopic universal joint, which can automatically adjust its length following the adjustment of the outer longitudinal bracket and the transverse bracket 170. The length does not need to be calculated and adjusted by the adjustment mechanism.

[0038] The body width adjustment mechanism 160 is connected by a cross-axis universal coupling 161 to a forward threaded screw rod 162 and a reverse threaded screw rod 163, and is installed on a transverse bracket 170; the body length adjustment mechanism 150 is connected by a cross-axis universal coupling 151 to a forward threaded screw rod 152 and a reverse threaded screw rod 153. The universal coupling can adjust the body and the steering bracket 110 when the electric tea harvester moves on a slope without generating stress on the external longitudinal bracket and the transverse bracket 170.

[0039] Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113 to detect the verticality of the steering bracket 110 in the longitudinal and lateral directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 in the lateral and longitudinal directions respectively to be vertical within a 0.5 degree error range.

[0040] Taking the longitudinal bracket 180 direction as an example, the pin center of the single-ear ball joint 171 is coaxial with the center of the rotation center opening of the fixed plate 141, the stepper motor 143 of the bracket vertical adjustment mechanism 140 is bolted to the rotating plate 142, the T-shaped rotating plate 142 and the bearing 147 embedded in the rotation center opening of the fixed plate 141 are interference fit, the driving gear 144 is meshed with the rotating ring gear 145, one end of the rotating ring gear 145 is welded and fixed to the longitudinal bracket 180, and the motor stepper motor 143 on the rotating plate 142 is linked when the square steel steering bracket 110 turns.

[0041] The electric control cabinet 400 is internally installed with a controller and a motor control circuit, a radio remote control receiver and a battery valve group 401 and its charging interface. The upper part of the electric control cabinet 400 is installed with an inclination sensor 403 for measuring and controlling the horizontal state of the load of the electric tea harvester. According to the terrain of the hills, the lifting height of the upper support lifting cylinder 130 in each square steel steering support 110 of the electric tea harvester is controlled by the leveling method of the geometric center point of the upper support structure. The electric tea harvester of this design can be used in tea gardens with steep hills less than 30° to ensure the level of the upper load.

[0042] The electric tea harvester is driven by a four-wheel independent drive hub motor, and the electric wheel 111 includes a hub motor, a tire, a rim, a hub, and a brake device. Each square steel steering bracket 110 is equipped with a bracket steering mechanism 120 to achieve four-wheel independent movement, so that the electric tea harvester can move in a straight line, a broken line, and an arc at a low speed of 3 km / h in the undulating tea fields, and can move forward, backward, move sideways, turn around on the spot, and other efficient and flexible operations in the agricultural environment of narrow mountain roads.

[0043] A camera 402 for detecting terrain, a laser radar 404, and a radio antenna are installed on the upper part of the electric control cabinet 400. The harvesting vehicle adopts a wireless control integrated industrial wireless remote control console with wireless video to realize remote control operation. The camera 402 converts the optical signal into a video digital signal, and then transmits the video signal to the integrated industrial wireless remote control console 700 through the wireless remote control transceiver of the electric control cabinet 400. The video signal is displayed on the screen of the integrated industrial wireless remote control console 700, thereby realizing remote video remote control of the electric tea harvesting vehicle for tea harvesting.

[0044] A camera 402 and a laser radar 404 for detecting terrain are installed on the upper part of the electric control cabinet 400. The color of the tea trees in the strip tea garden is very different from the roads between the rows. The tea trees and the roads between the rows can actually be regarded as a structured road. The laser radar is used to obtain the three-dimensional information of the tea trees, and the road information on both sides of the row of tea trees is accurately obtained. The road detection information is converted into a solution of the road model to obtain the driving route of the electric tea harvesting vehicle. The touch screen or operation panel switch of the integrated industrial wireless remote control console is set to autonomous operation, which can realize the remote control of the vehicle and slow autonomous operation in the small roads between the tea gardens.

[0045] Due to the terrain or in order to make full use of the mountainous areas for growing tea, hilly tea gardens often have only one end of the tea field with a mechanized farming road. The electric tea harvester can adopt different operation strategies according to the conditions of the mechanized farming roads at both ends of the tea field. When there is only a mechanized farming road at the head of the tea field, the rotary electric cylinder 410 welded on the fixed bracket 409 on the electric control cabinet 400 rotates 180°, driving the camera 402 and the laser radar 404 bolted on the rotating bracket 411 to rotate 180°, stopping the crown cutting mechanism 200, the tree body cutting mechanism 210 and the air compressor 500 from running, and controlling the electric wheels 111 of the electric tea harvester to run in the reverse direction at a relatively fast speed of 6 km / h, so that the vehicle can autonomously run to the head of the tea field and get on the mechanized farming road to harvest the next row of tea fields.

[0046] The body adjustment mechanism at the head part includes an operating mechanism positioning bracket 165, which is fixedly connected to the crown cutter mechanism 200 by bolts. When harvesting in a tea garden with a certain slope, the inclination angle of the crown cutter mechanism 200 is consistent with the slope of the tea garden, so that the harvested tea trees meet the appropriate height for manual picking of spring tea in the second year.

[0047] A fuel generator is installed on the tray 600. The series plug-in hybrid electric tea harvester, which is powered by the internal combustion engine to the range extender, can be charged without a charging pile. It is very suitable for long-term operation in hilly areas, and can also recover braking energy. Example

[0048] See also Figure 1 Schematic diagram of the body frame of an electric tea harvester, an electric tea harvester suitable for hilly areas includes a body frame 100, a cutter mechanism 200, a harvesting bag 300, an electric control cabinet 400 and an air compressor 500, the body frame 100 includes a square steel steering bracket 110, a steering wheel bracket steering mechanism 120, an upper bracket lifting cylinder 130, a bracket vertical adjustment mechanism 140, a body length adjustment mechanism 150, a body width adjustment mechanism 160, a transverse bracket 170, a longitudinal bracket 180 and an upper balancing bracket 190.

[0049] See also Figure 6 , Figure 7 and Figure 8 The electric wheel 111 is fixed to the electric wheel fixing bracket 112 by nuts; the steering wheel bracket wall 114 of the square steel steering bracket 110 is welded to the upper plane of the electric wheel fixing bracket 112; the spline shaft 115 is welded to the top of the steering wheel bracket wall 114; the spline shaft 115 can be keyed to the spline gear 124 in the bracket steering mechanism 120; the steering wheel bracket steering mechanism 120 is connected by the upper flange 121, the lower flange 122 and the clamping flange fixing bolts 123 to the plane bearing 127 The clamps are fixed, wherein the lower flange 122 is a middle concave flange, and the spline gear 124 keyed to the spline shaft 115 is inside the concave flange, and the spline gear 124 fits tightly with the plane bearing 127. When the gear 125 drives the spline gear 124, the plane bearing 127 rotates with it and also rotates accordingly. Due to the existence of the plane bearing 127, the steering mechanism stepper motor 126 can only rotate through the gear 125 and the spline gear 124 to drive the steering bracket 110, thereby driving the rotation direction of the electric wheel.

[0050] See also Figure 1 , Figure 2 and Fig. 9 The wheel steering bracket verticality detector 113 is fixed to the steering wheel bracket wall 114 by bolts, and is used to detect the verticality of the steering bracket 110; the fixing plate 141 of the bracket vertical adjustment mechanism 140 is welded to the steering wheel bracket wall 114.

[0051] See also Fig. 9 , Fig.10 The bracket vertical adjustment mechanism 140 is composed of a fixed plate 141, a rotating plate 142, a bracket vertical longitudinal adjustment mechanism stepper motor 143, a driving gear 144, a rotating gear ring 145, and a bearing 147; the rotation center of the single-ear ball joint 171 in the longitudinal direction of the bracket 180 is coaxial with the center of the rotation center opening of the fixed plate 141, the rotation center opening of the fixed plate 141 is embedded with the bearing 147, the T-shaped rotating plate 142 is interference fit with the bearing 147, the bracket vertical longitudinal adjustment mechanism stepper motor 143 is fixed to the rotating plate 142 by bolts, and the driving gear 144 is meshed with the rotating gear ring 145.

[0052] See also Fig. 9 and Fig.10Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113 to detect the verticality of the steering bracket 110 in the longitudinal and transverse directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 to be vertical within a 0.5 degree error range in the transverse and longitudinal directions respectively; one end of the rotating ring gear 145 of the bracket vertical adjustment mechanism in the longitudinal bracket 180 direction is welded and fixed to the outer longitudinal bracket 1. When the wheel steering bracket verticality detector 113 detects that the square steel steering bracket 110 exceeds the error (assuming the error is 0.5 degrees), the stepping motor 143 in the bracket vertical adjustment mechanism 140 automatically drives the driving gear 144 to drive the rotating ring gear to move and adjust the square steel steering bracket 110.

[0053] When the square steel steering bracket 110 is turned, please refer to Fig. 9 and Fig.10 The pin center of the single-ear ball joint 171 is coaxial with the center of the rotation center opening of the fixed plate 141. The stepper motor 143 of the bracket vertical adjustment mechanism 140 is bolted to the rotating plate 142. The T-shaped rotating plate 142 and the bearing 147 embedded in the rotation center opening of the fixed plate 141 have an interference fit. The driving gear 144 is meshed with the rotating ring gear 145. One end of the rotating ring gear 145 is welded and fixed to the longitudinal bracket 180. When the square steel steering bracket 110 turns, the motor stepper motor 143 on the rotating plate 142 is linked.

[0054] One end of the rotating ring gear 145 of the bracket vertical adjustment mechanism in the direction of the transverse bracket 170 is welded and fixed to the longitudinal bracket 170. When the wheel steering bracket verticality detector 113 detects that the square steel steering bracket 110 exceeds the error (assuming the error is 0.5 degrees), the stepper motor 143 in the bracket vertical adjustment mechanism 140 automatically drives the driving gear 144 to drive the rotating ring gear to move and adjust the square steel steering bracket 110; when the square steel steering bracket 110 turns, the fixed plate 141 rotates and follows the rotation. Since one end of the rotating ring gear 145 is welded and fixed to the longitudinal bracket 180, the motor stepper motor 143 on the rotating plate 142 rotates through the action of the driving gear 144 and the meshing rotating ring gear 145.

[0055] See also Figure 6 The upper bracket lifting cylinder 130 is installed on the square steel steering bracket 110 and is fixed to the upper flange 121 of the square steel steering bracket 110 through the upper flange fixing bolts 128; the upper bracket lifting cylinder 130 is a direct-connected cylinder, the bottom of which is connected to the lifting cylinder stepper motor 133, and the upper part is threadedly connected to the upper bracket connecting piece 132, and the upper bracket connecting piece 132 is threadedly connected to the ball head piece 191 of the upper balancing bracket 190.

[0056] See also Figure 1 and Figure 2The transverse bracket 170 is a pair of transverse bracket square steels 172 with a single-ear ball head 171 welded at one end and a body width adjustment mechanism 160 installed at the other end. A transverse bracket inclination sensor 173 is installed on each transverse bracket 170. The transverse bracket inclination sensor 173 detects the inclination angle corresponding to the slope between the two sides when the front and rear ends of the electric tea harvester are in a hilly area.

[0057] See also Fig.12 The vehicle body width adjustment mechanism 160 is connected by a cross-axis universal coupling 161 to a forward threaded screw rod 162 and a reverse threaded screw rod 163. The forward threaded screw rod 162 and the reverse threaded screw rod 163 are supported by a nut seat 167. One of the transverse bracket square steels 172 is bolted to the nut seat 167, and the other transverse bracket square steel 172 is bolted to the nut seat 167 and the slide 168. The vehicle body width adjustment stepper motor 166 drives the screw rod to rotate. Since the screw rod is divided into a forward threaded screw rod 162 and a reverse threaded screw rod 163, the nut seat 167 will move closer to or away from each other when rotating to achieve the purpose of adjusting the vehicle body width.

[0058] The body adjustment mechanism at the head part includes an operating mechanism positioning bracket 165, in which a bearing 164 is embedded, and the positive threaded screw rod 162 and the reverse threaded screw rod 163 on both sides of the cross-axis universal coupling 161 are respectively interference-fitted with the bearing 164. The operating mechanism positioning bracket 165 is fixedly connected to the crown cutter mechanism 200 by bolts, and the tree body cutter mechanism 220 is fixedly connected to the positioning nut on the square steel steering bracket 110 by bolts.

[0059] See also Figure 1 and Figure 4 The outer longitudinal bracket is a pair of longitudinal bracket square steels 1801 with a single-ear ball head 1711 welded at one end and a body length adjustment mechanism 150 installed at the other end. An outer longitudinal bracket inclination sensor 1803 is installed on each outer longitudinal bracket. The inclination detected by the outer longitudinal bracket inclination sensor 1803 corresponds to the slope between the front and rear ends of the electric tea harvester on both sides when it is in a hilly area.

[0060] See also Fig.13The vehicle body length adjustment mechanism 150 is connected by a cross-axis universal coupling 151 to a forward threaded screw rod 152 and a reverse threaded screw rod 153. The forward threaded screw rod 152 and the reverse threaded screw rod 153 are supported by a nut seat 157. One of the outer longitudinal bracket square steels 1801 is bolted to the nut seat 157, and the other outer longitudinal bracket square steel 1801 is bolted to the nut seat 157 and the slide 158. The vehicle body length adjustment stepping motor 156 drives the screw rod to rotate. Since the screw rod is divided into a forward threaded screw rod 152 and a reverse threaded screw rod 153, the nut seats 157 will move closer to or away from each other when rotating to achieve the purpose of adjusting the vehicle body length.

[0061] See also Fig.14 The inner longitudinal bracket 181 is composed of an inner longitudinal bracket outer square steel 1812 and an inner longitudinal bracket inner square steel 1813, one end of which is respectively threadedly connected to the telescopic section of the inner longitudinal bracket universal joint 1811. The inner longitudinal bracket outer square steel 1812 and the inner longitudinal bracket inner square steel 1813 are supported by the inner longitudinal bracket internal bushing 1814 to ensure that the inner longitudinal bracket 181 can be freely retracted and retracted.

[0062] See also Fig.15 The upper balancing bracket 190 is a telescopic universal joint including: a ball head 191, a balancing bracket outer rod 192, a balancing bracket inner rod 193, and a transverse balancing bracket internal bushing 194. The upper balancing bracket 190 is a balancing bracket outer rod 192; one end of the balancing bracket inner rod 193 is threadedly connected to the telescopic joint of the ball head 191, and the balancing bracket outer rod 192 and the balancing bracket inner rod 193 are supported by the transverse balancing bracket internal bushing 194 to ensure that the upper balancing bracket 190 can be freely extended and retracted.

[0063] See also Fig.16 and Fig.18 The upper part of the upper balance bracket 190 is connected to the control cabinet, the air compressor installation tray 600 and the tea harvest bag tray 601 through transition square steel and bolts. The harvest bag 300 is placed on the tea harvest bag tray 601, and the air compressor 500 and the electric control cabinet 400 are installed on the air compressor installation tray 600. The vehicle control system, battery pack 401, wireless remote control transceiver 405 and motor controller are installed inside the electric control cabinet 400. The inclination sensor 403 and the antenna of the wireless remote control transceiver 405 are fixed on the cabinet top by bolts. The fixed bracket 409 is welded to the electric control cabinet. The rotating electric cylinder 410 is connected to the fixed bracket 409 and the rotating bracket 411 by bolts. The rotating bracket 411 is bolted with a camera 402 and a laser radar 404 device. The rotating electric cylinder 410 can be pneumatically controlled to rotate 180°, driving the rotating bracket 411 and the camera 402 and the laser radar 404 device on the bracket to rotate 180°.

[0064] See also Fig.16 and Fig.12The body adjustment mechanism at the head portion includes an operating mechanism positioning bracket 165, and the operating mechanism positioning bracket 165 is fixedly connected to the crown cutter mechanism 200 by bolts. Fig.17 When harvesting in a tea garden with a certain slope, the inclination angle of the crown cutter 200 is consistent with the slope of the tea garden, so that the harvested tea trees meet the appropriate height for manual picking of spring tea in the second year.

[0065] See also Figure 1 , Figure 6 and Fig.16 The invention discloses an electric tea harvesting vehicle suitable for hilly tea gardens, which is mainly divided into an upper and lower frame structure. The lower frame is composed of a horizontal frame 170, an outer longitudinal frame, an inner longitudinal frame 181, and a frame structure welded with four electric wheels and a steering frame 110. The upper frame is composed of an upper balancing frame 190. The four electric wheels and the steering frame 110 are equipped with an upper frame lifting cylinder 130. The upper inclination sensor 403 of the electric control cabinet 400 detects the horizontality of the control cabinet and other loads, and then uses a PID / fuzzy PID algorithm to control the lifting of each upper frame lifting cylinder 130 to ensure that the load is always in a horizontal state, so as to keep the center of gravity stable when harvesting tea in a hilly tea garden with a certain slope.

[0066] See also Figure 2 and Figure 4 Since the transverse bracket 170 and the longitudinal bracket 180 are both welded and fixed to the lower flange 122 of the steering mechanism 120 by the single-ear ball joint 171, a stable frame structure is formed, and the upper balancing bracket 190 is a retractable structure, under different terrain angles or vehicle body width requirements, the body length and body width of the electric tea harvester are adjusted by the body length adjustment mechanism 150 and the body width adjustment mechanism 160 respectively, and the upper balancing bracket 190 just follows the movement.

[0067] When the electric tea harvester goes up the hill in a hilly area, the length of the transverse frame and the longitudinal frame needs to be appropriately adjusted according to the change of the mountain slope. Inclination sensors are installed on the transverse bracket 170 and the outer longitudinal bracket respectively. These inclination sensors detect the inclination angles corresponding to the slopes of the four sides of the electric tea harvester in the hilly area. The transverse frame and the longitudinal frame adjust their lengths according to the change of this angle; please refer to Figure 3 The rotation position of the single-ear ball joint 171 has a certain distance difference from the steering bracket 110, so the body width adjustment mechanism 160 is installed on the transverse bracket 170. When harvesting tea leaves in a tilted tea garden, different inclination angles need to be calculated and adjusted to the appropriate length of the transverse bracket; please refer to Figure 5 The longitudinal bracket 180 is installed with the vehicle body length adjustment mechanism 150. When climbing a slope, different inclination angles need to be calculated and adjusted to appropriately adjust the length of the longitudinal bracket.

[0068] The inner longitudinal bracket 181 is a telescopic universal joint mechanism, which can automatically adjust its length following the adjustment of the outer longitudinal bracket. The upper balancing bracket 190 is a telescopic universal joint, which can automatically adjust its length following the adjustment of the outer longitudinal bracket and the transverse bracket 170. There is no need to calculate and the length is adjusted by the adjustment mechanism.

[0069] See also Fig.12 and Fig.13 The body width adjustment mechanism 160 is connected by a cross-axis universal coupling 161 to a forward threaded screw rod 162 and a reverse threaded screw rod 163, and is installed on a transverse bracket 170; the body length adjustment mechanism 150 is connected by a cross-axis universal coupling 151 to a forward threaded screw rod 152 and a reverse threaded screw rod 153, and the outer longitudinal bracket universal coupling can adjust the body and the steering bracket 110 when the electric tea harvester moves on a slope without generating stress on the outer longitudinal bracket and the transverse bracket 170.

[0070] See also Figure 8 and Fig. 9 Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113 to detect the verticality of the steering bracket 110 in the longitudinal and lateral directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 in the lateral and longitudinal directions respectively to be in a vertical error range of 0.5 degrees.

[0071] See also Fig. 9 and Fig.10 Taking the longitudinal bracket 180 direction as an example, the pin center of the single-ear ball joint 171 is coaxial with the center of the rotation center opening of the fixed plate 141, the stepper motor 143 of the bracket vertical adjustment mechanism 140 is bolted to the rotating plate 142, the T-shaped rotating plate 142 and the bearing 147 embedded in the rotation center opening of the fixed plate 141 are interference fit, the driving gear 144 is meshed with the rotating ring gear 145, one end of the rotating ring gear 145 is welded and fixed to the longitudinal bracket 180, and the motor stepper motor 143 on the rotating plate 142 is linked when the square steel steering bracket 110 turns.

[0072] The electric tea harvester is driven by a four-wheel independent drive hub motor, and the electric wheel 111 includes a hub motor, a tire, a rim, a hub, and a brake device. Each square steel steering bracket 110 is equipped with a bracket steering mechanism 120 to achieve four-wheel independent movement, so as to meet the needs of the electric tea harvester to move in a straight line, a broken line, and an arc at a low speed of 3 km / h in the undulating tea fields, as well as to move forward, backward, move sideways, turn around on the spot, and move autonomously on narrow mountain roads.

[0073] The electric control cabinet 400 is internally installed with a controller and a motor control circuit, a radio remote control receiver and a battery valve group and its charging interface. The upper part of the electric control cabinet 400 is installed with an inclination sensor 403 for measuring and controlling the horizontal state of the load of the electric tea harvester. According to the terrain of the hills, the highest reference point of the electric tea harvester is determined. The highest point does not move, and the "chasing" leveling method is used to control the lifting height of the upper bracket lifting cylinder 130 in each square steel steering bracket 110 of the electric tea harvester to ensure the upper load level.

[0074] A camera 402 for detecting terrain, a laser radar 404, and a radio antenna are installed on the upper part of the electric control cabinet 400. The harvesting vehicle adopts a wireless control integrated industrial wireless remote control console with wireless video to realize remote control operation. The camera 402 converts the optical signal into a video digital signal, and then transmits the video signal to the integrated industrial wireless remote control console through the wireless remote control transceiver of the electric control cabinet 400. The video signal is displayed on the screen of the integrated industrial wireless remote control console, thereby realizing remote video remote control of the electric tea harvesting vehicle for tea harvesting.

[0075] Cameras and lidars for detecting terrain are installed on the top of the electric control cabinet. The color of tea trees in the strip tea garden is very different from the roads between rows. The tea trees and the roads between rows can actually be regarded as a structured road. Lidar is used to obtain three-dimensional information of tea trees and accurately obtain road information on both sides of the row of tea trees.

[0076] The model-based road detection method first assumes a road model. Commonly used road models include straight line model, straight line-parabola model, parabola model, spline curve model, segmented curvature model, etc. Then the road detection information is converted into the solution of the road model to obtain the driving route of the electric tea harvester. It is set to autonomous operation on the touch screen or operation panel switch of the integrated industrial wireless remote control console, which can realize the remote control of the car and slow autonomous operation in the small road between the tea fields.

[0077] Due to the terrain or in order to make full use of the mountainous land for tea planting, the tea field in the hilly tea garden often has only one end with a mechanical farming road. The electric tea harvester can adopt different operation strategies according to the conditions of the mechanical farming roads at both ends of the tea field. When there is only a mechanical farming road at the head of the tea field, the rotary electric cylinder 410 welded on the fixed bracket 409 on the electric control cabinet 400 rotates 180°, driving the camera 402 and the laser radar 404 bolted on the rotating bracket 411 to rotate 180°, stopping the crown cutting knife mechanism 200, the tree body cutting knife mechanism 210 and the air compressor 500 from running, and controlling the electric wheel 111 of the electric tea harvester to run in the reverse direction at a relatively fast speed of 6 km / h, so that the vehicle can autonomously run to the first section of the tea field, and go to the mechanical farming road to harvest the next row of tea fields. The crown cutting knife mechanism 200 and the tree body cutting knife mechanism 210 are prior art and will not be described in detail here.

[0078] The automatic control of the electric tea harvesting vehicle suitable for hilly tea gardens of the present invention can set the control program according to the actual scene, which will not be described in detail here.

[0079] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An electric tea harvesting vehicle suitable for hilly areas, characterized in that include: The vehicle body frame, the cutting knife mechanism, the harvesting bag, the electric control cabinet and the air compressor are arranged on the upper part of the vehicle body frame, and the cutting knife mechanism is arranged at the front part of the vehicle body frame; The vehicle body frame includes a square steel steering bracket, a steering wheel bracket steering mechanism, an upper bracket lifting electric cylinder, a transverse bracket, a longitudinal bracket and an upper balancing bracket; four square steel steering brackets are provided, and a steering wheel bracket steering mechanism is provided on the square steel steering bracket, and adjacent steering wheel bracket steering mechanisms are connected to the transverse bracket and the longitudinal bracket to form a basic frame; an upper bracket lifting electric cylinder is provided on the steering wheel bracket steering mechanism, and adjacent upper bracket lifting electric cylinders are connected to the upper balancing bracket through an upper bracket connector to form an upper frame, and the harvesting bag, electric control cabinet and air compressor are provided on the upper frame; a bracket vertical adjustment mechanism is provided on the square steel steering bracket and the transverse bracket, and on the square steel steering bracket and the longitudinal bracket, and the bracket vertical adjustment mechanism is used to adjust the angle between the square steel steering bracket and the transverse bracket or the angle between the square steel steering bracket and the longitudinal bracket; The transverse bracket is provided with a vehicle body width adjustment mechanism for adjusting the transverse dimension of the vehicle body frame; the longitudinal bracket is provided with a vehicle body length adjustment mechanism for adjusting the longitudinal dimension of the vehicle body frame.

2. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The square steel steering bracket includes: an electric wheel, an electric wheel fixing bracket and a steering wheel bracket wall, the electric wheel is arranged below the electric wheel fixing bracket, the steering wheel bracket wall is welded to the upper plane of the electric wheel fixing bracket; a spline shaft is arranged on the top of the steering wheel bracket wall, and the spline shaft is keyed to the spline gear in the steering mechanism of the steering wheel bracket; a wheel steering bracket verticality detector is arranged on the steering wheel bracket wall.

3. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The steering mechanism of the steering wheel bracket includes: an upper flange, a lower flange, a clamping flange fixing bolt, a spline gear, a driving gear, a steering mechanism stepper motor and a plane bearing; the lower flange is an intermediate concave flange, the spline gear is interference fit above the lower flange, the spline gear is tightly fitted above the plane bearing, an upper flange is arranged above the plane bearing, the clamping flange fixing bolts pass through the upper flange and the lower flange to clamp and fix the plane bearing and the spline gear, and the spline shaft of the square steel steering bracket is keyed to the spline gear inside the concave flange; the steering mechanism stepper motor is arranged on the lower flange of the steering mechanism of the steering wheel bracket, a gear is arranged at the output end of the steering mechanism stepper motor, the gear is meshed with the spline gear, when the gear drives the spline gear to rotate, the plane bearing also rotates; due to the existence of the plane bearing, the rotation of the steering mechanism stepper motor can drive the steering bracket to rotate through the gear and the spline gear.

4. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The upper bracket lifting electric cylinder is a direct-connected electric cylinder, and the bottom is connected to the lifting electric cylinder stepper motor. The lifting electric cylinder stepper motor is fixed to the upper flange of the steering mechanism of the steering wheel bracket through the upper flange fixing bolts; the upper bracket lifting electric cylinder is threadedly connected to the upper bracket connecting piece at the top, and the upper bracket connecting piece is threadedly connected to the ball head piece of the upper balance bracket.

5. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The transverse bracket comprises: a single-ear ball head, a transverse bracket square steel and a vehicle body width adjustment mechanism, and a transverse bracket inclination sensor is arranged on the transverse bracket square steel; the transverse bracket square steel is connected to a support plate arranged on the side of the lower flange of the steering mechanism of the steering wheel bracket through the single-ear ball head parts on both sides; one end of the rotating gear ring of the bracket vertical adjustment mechanism in the direction of the transverse bracket is welded and fixed to the transverse bracket; The vehicle body width adjustment mechanism is arranged on the transverse bracket square steel, and the transverse bracket square steel is divided into two sections of a telescopic structure; the vehicle body width adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw rod, a reverse threaded screw rod, a vehicle body width adjustment stepping motor, a nut seat and a slide, the two sides of the cross-axis universal coupling are respectively connected with the forward threaded screw rod and the reverse threaded screw rod, the forward threaded screw rod and the reverse threaded screw rod are respectively connected to the transverse bracket square steel on both sides through the nut seat, a slide is arranged on one side of the transverse bracket square steel, the slide is arranged with a vehicle body width adjustment stepping motor, and the vehicle body width adjustment stepping motor drives the screw rod to rotate; since the screw rod is divided into a forward threaded screw rod and a reverse threaded screw rod, when the vehicle body width adjustment stepping motor drives the screw rod to rotate, the nut seats will be close to or separated from each other to achieve the purpose of adjusting the vehicle body width; bearings are arranged on the outer edges of both ends of the cross-axis universal coupling, the bearing is externally connected to one end of the operating mechanism positioning bracket, and a cutting knife mechanism is arranged at the other end of the operating mechanism positioning bracket.

6. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The longitudinal bracket is divided into: an outer longitudinal bracket and an inner longitudinal bracket, the outer longitudinal bracket includes: a longitudinal bracket square steel, a single-ear ball head piece and a vehicle body length adjustment mechanism, an outer longitudinal bracket inclination sensor is arranged on the longitudinal bracket square steel, and the longitudinal bracket square steel is connected to the support plate arranged on the side of the lower flange of the steering mechanism of the steering wheel bracket through the single-ear ball head pieces on both sides; one end of the rotating gear ring of the bracket vertical adjustment mechanism in the direction of the longitudinal bracket square steel is welded and fixed to the longitudinal bracket square steel; The vehicle body length adjustment mechanism is arranged on the longitudinal bracket square steel, and the longitudinal bracket square steel is divided into two sections of telescopic structure. The vehicle body length adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle body length adjustment stepping motor, a nut seat, and a slide. The cross-axis universal coupling connects the forward threaded screw and the reverse threaded screw. The forward threaded screw and the reverse threaded screw are respectively connected to the longitudinal bracket square steels on both sides through nut seats. A slide is arranged on the outer longitudinal bracket square steel on one side, and a vehicle body length adjustment stepping motor is arranged on the slide. The vehicle body length adjustment stepping motor drives the screw to rotate. Since the screw is divided into a forward threaded screw and a reverse threaded screw, when the vehicle body length adjustment stepping motor drives the screw to rotate, the nut seats will be close to or separated from each other to achieve the purpose of vehicle body length adjustment.

7. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The inner longitudinal bracket is a telescopic universal joint structure, including: an inner longitudinal bracket universal joint, an inner longitudinal bracket outer square steel, an inner longitudinal bracket inner square steel and an inner longitudinal bracket inner bushing. One end of the inner longitudinal bracket outer square steel and the inner longitudinal bracket inner square steel are respectively screwed to the inner longitudinal bracket universal joint. The inner longitudinal bracket universal joint is arranged on the transverse bracket square steel of the transverse bracket. The inner longitudinal bracket outer square steel and the inner longitudinal bracket inner square steel are supported by the inner longitudinal bracket internal bushing to ensure that the inner longitudinal bracket outer square steel and the inner longitudinal bracket inner square steel can be freely extended and retracted.

8. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The upper balancing bracket is a telescopic universal joint structure, including: a ball head piece, an outer rod of the balancing bracket, an inner rod of the balancing bracket and an internal bushing of the transverse balancing bracket. One end of the outer rod of the balancing bracket and the inner rod of the balancing bracket are respectively screwed with a ball head piece, and the ball head piece is arranged on the upper bracket connecting piece of the upper bracket lifting electric cylinder. The internal bushing of the transverse balancing bracket is arranged between the outer rod of the balancing bracket and the inner rod of the balancing bracket and supported by the internal bushing of the transverse balancing bracket, ensuring that the outer rod of the balancing bracket and the inner rod of the balancing bracket can be freely extended and retracted; a plurality of support rods consisting of a ball head piece, an outer rod of the balancing bracket, an inner rod of the balancing bracket and an internal bushing of the transverse balancing bracket are arranged transversely in the upper balancing bracket.

9. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The bracket vertical adjustment mechanism includes: a fixed plate, a rotating plate, a bracket vertical longitudinal adjustment mechanism stepper motor and a driving gear. The fixed plate is vertically arranged on the steering wheel bracket wall of the square steel steering bracket. A rotation center is arranged on the fixed plate. A bearing is embedded in the rotation center opening. The T-shaped rotating plate is interference fit with the bearing. The bracket vertical longitudinal adjustment mechanism stepper motor is fixedly arranged on the rotating plate. The driving gear of the bracket vertical longitudinal adjustment mechanism stepper motor is meshed with the rotating gear ring. The rotating gear ring is welded on the transverse bracket square steel of the transverse bracket and the longitudinal bracket square steel of the longitudinal bracket. The rotation center of the single-ear ball joint on the transverse bracket square steel and the longitudinal bracket square steel is coaxial with the rotation center of the fixed plate.

10. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that The cutting mechanism comprises: a crown cutting mechanism and a tree body cutting mechanism, the crown cutting mechanism is fixed on the operating mechanism positioning bracket, and the tree body cutting mechanism is fixed on the steering wheel bracket wall of the square steel steering bracket; The upper part of the upper balancing bracket is connected to the air compressor installation tray and the tea harvest bag tray through transition square steel and bolts. The harvest bags are placed on the tea harvest bag tray, and the air compressor and the electric control cabinet are installed on the air compressor installation tray.

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