Tea leaf picking terminal device and working method thereof

Abstract

The invention belongs to the field of agricultural machinery, and discloses a tea leaf picking end device and a working method thereof, and the tea leaf picking end device comprises a support assembly, a driving clamping assembly and a driven clamping assembly. The driving clamping assembly comprises a motor, a rotating piece, a first gear, a second gear and a swing rolling wheel. The driven clamping assembly comprises a guide sliding block, an elastic piece, a gear connecting rod folding mechanism, a third gear and a lifting rolling wheel. According to the tea leaf picking device, accurate clamping, lifting and picking of tea leaves can be achieved, and flexibility and high efficiency in the picking process are guaranteed.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to a tea picking terminal device and a working method thereof. Background Art

[0002] At present, tea picking still mainly relies on manual labor, especially in the picking of fine tea leaves, which has high cost and labor intensity. In addition, the efficiency of manual picking is often difficult to meet the needs of large-scale production, and the picking quality is also easily affected by human factors, resulting in uneven tea quality. Although the existing mechanical picking equipment can improve the picking efficiency, it is often easy to damage the tea leaves due to the lack of precise control and flexible design, affecting the quality of the finished product. Therefore, there is an urgent need for a tea picking mechanical equipment that is efficient, flexible and has precise control to replace the traditional manual picking method. Summary of the invention

[0003] The purpose of the present invention is to provide a tea picking terminal device and a working method thereof, so as to solve the problems of low efficiency, high labor intensity and great damage to tea leaves in the existing tea picking process. Through innovative mechanical design and reasonable power transmission mode, the present invention can realize accurate clamping, lifting and picking of tea leaves, and ensure flexibility and high efficiency in the picking process.

[0004] To achieve the above object, the present invention provides the following technical solutions: A tea picking terminal device, comprising: Bracket assembly; An active clamping assembly, the active clamping assembly comprising a motor, a rotating member, a first gear, a second gear and a swinging rolling wheel, the rotating member being driven to rotate by the motor, the first gear being fixedly disposed on the bracket assembly, the second gear being rotationally connected to the rotating member and meshing with the lower tooth surface of the first gear, the swinging rolling wheel being fixedly connected to the second gear, and the second gear and the swinging rolling wheel being driven by the rotating member to revolve along the lower tooth surface of the first gear; and A passive clamping assembly, the passive clamping assembly comprising a guide slider, an elastic member, a gear-link folding mechanism, a third gear and a lifting and lowering rolling wheel, the guide slider being slidably mounted on the bracket assembly, the elastic member exerting downward force on the guide slider, the gear-link folding mechanism being connected between the bracket assembly and the guide slider, and being capable of folding, the third gear being rotatably mounted on the guide slider, and being meshed with a fourth gear in the gear-link folding mechanism, the lifting and lowering rolling wheel being fixedly connected to the third gear and being arranged opposite to the swinging rolling wheel; The tea picking terminal device is configured as follows: the motor drives the swinging rolling wheel through the rotating part and the second gear to move toward the lifting rolling wheel while revolving and rotating, and clamps the tea leaves together with the lifting rolling wheel. The swinging rolling wheel squeezes the lifting rolling wheel, so that the lifting rolling wheel and the guide slider move upward, and the gear connecting rod folding mechanism folds, so that the fourth gear rotates, and the fourth gear drives the lifting rolling wheel to rotate through the third gear meshing with it. The swinging rolling wheel and the lifting rolling wheel rotate in opposite directions, and both pull the tea buds upward through self-rotation.

[0005] Furthermore, the first gear is a half-tooth structure, and its tooth surface is arranged downward.

[0006] Furthermore, the rotating member is a swing arm structure.

[0007] Furthermore, the second gear and the swing rolling wheel are coaxially arranged, and the swing rolling wheel revolves and rotates together with the second gear.

[0008] Furthermore, a guide rod is vertically arranged on the bracket assembly, the guide slider is slidably engaged on the guide rod up and down, and the elastic member is a spring sleeved on the guide rod, and the spring presses the guide slider downward.

[0009] Furthermore, the lower end of the guide rod has a boss structure, and the boss structure is used to block and engage with the guide slider to prevent the guide slider from falling.

[0010] Furthermore, the gear-link folding mechanism includes two left and right single-sided folding mechanisms that are relatively arranged, and the single-sided folding mechanism includes an upper connecting rod, a lower connecting rod, a fourth gear and a fifth gear. The upper end of the upper connecting rod is fixedly connected to the fifth gear, and the fifth gear is rotatably installed on the bracket assembly. The lower end of the upper connecting rod is rotatably connected to the upper end of the lower connecting rod, and the lower end of the lower connecting rod is fixedly connected to the fourth gear. The fourth gear is rotatably installed on the guide slider, and the fourth gears of the left and right single-sided folding mechanisms are meshed with each other, and the fifth gears of the left and right single-sided folding mechanisms are meshed with each other, and one of the fourth gears is meshed with the third gear.

[0011] Furthermore, the upper connecting rods (304) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same length; the lower connecting rods (305) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same length; the fifth gears (307) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same diameter; the fourth gears (306) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same diameter; and the diameter of the fourth gear is greater than the diameter of the third gear.

[0012] Furthermore, the diameter of the swing rolling wheel is greater than the diameter of the lifting rolling wheel, and the swing rolling wheel can rotate to the lower side of the lifting rolling wheel when revolving around the first gear, and the diameter of the first gear is greater than the diameter of the second gear.

[0013] The present invention also provides a working method of the tea picking terminal device as described above, comprising: Step 1: The tea picking terminal device is in an open state, ready to perform the picking task; Step 2: The picking robot identifies the position and state of the target tea leaves through the visual system, and the tea picking terminal device moves as a whole to the picking position, at which time the tea buds are located between the swing rolling wheel and the lifting rolling wheel; Step 3, the motor rotates forward, so that the swing rolling wheel moves toward the lifting rolling wheel. At this time, due to the meshing between the second gear and the first gear on the swing rolling wheel, the swing rolling wheel revolves around the axis of the motor on the one hand, clamping the tea buds together with the lifting rolling wheel, and on the other hand, it rotates clockwise, so that the swing rolling wheel rotates upward toward the side of the tea buds; Step 4, after the swinging rolling wheel and the lifting rolling wheel clamp the tea buds, the motor continues to rotate forward, and the swinging rolling wheel continues to revolve in the direction of the lifting rolling wheel; the swinging rolling wheel pushes the lifting rolling wheel and the guide slider to move upward, forming a lifting action; the gear connecting rod folding mechanism folds as the guide slider moves upward, and drives the lifting rolling wheel to rotate counterclockwise through the fourth gear, so that the lifting rolling wheel rotates upward toward the side of the tea buds; the lifting rolling wheel and the swinging rolling wheel pull the tea buds upward together when they rotate, and the tea buds are pulled and broken at the clamping position and are sucked into the picking bag by the negative pressure adsorption device.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1) Efficient tea picking: The present invention realizes efficient tea picking through the linkage design of the motor and the gear set, can quickly complete the tea picking of a large area, and reduce labor costs.

[0015] 2) Precision and flexibility. The picking device adopts a flexible design when clamping tea leaves. Through the spring reset structure and precise up and down motion control, it ensures the integrity and high quality of the tea leaves during the picking process.

[0016] 3) Automatic reset, continuous operation. The elastic parts and guide rods work together to achieve automatic reset, so that the picking device can quickly return to its initial state after picking and prepare for the next picking, ensuring the continuous operation capability of the equipment.

[0017] 4) Strong adaptability: through reasonable power transmission and structural design, the present invention can adapt to tea stems of different sizes and shapes, has good adaptability and stability, and is suitable for the picking needs of various tea varieties. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the structural schematic diagrams of the present invention when it is in the initial state.

[0019] Figure 2 This is the second structural schematic diagram of the present invention in the initial state.

[0020] Figure 3 This is one of the structural schematic diagrams of the present invention when it is in a clamping state.

[0021] Figure 4 This is the second structural schematic diagram of the present invention when it is in a clamping state.

[0022] Figure 5 This is one of the structural schematic diagrams of the present invention when it is in a pulling state.

[0023] Figure 6 This is the second structural schematic diagram of the present invention when it is in a pulling state.

[0024] In the figure: bracket assembly 1, guide rod 100, boss structure 1000, active clamping assembly 2, motor 200, rotating member 201, first gear 202, second gear 203, swing rolling wheel 204, passive clamping assembly 3, guide slider 300, elastic member 301, third gear 302, lifting rolling wheel 303, upper connecting rod 304, lower connecting rod 305, fourth gear 306, fifth gear 307. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-Figure 6A tea picking terminal device includes a support assembly 1, an active clamping assembly 2 and a passive clamping assembly 3. The active clamping assembly 2 includes a motor 200, a rotating member 201, a first gear 202, a second gear 203 and a swinging rolling wheel 204. The rotating member 201 is driven to rotate by the motor 200. The first gear 202 is fixedly arranged on the support assembly 1. The second gear 203 is rotatably connected to the rotating member 201 and meshes with the lower tooth surface of the first gear 202. The swinging rolling wheel 204 is fixedly connected to the second gear 203. The second gear 203 and the swinging rolling wheel 204 revolve around the lower tooth surface of the first gear 202 under the drive of the rotating member 201. The passive clamping assembly 3 includes a guide slider 300, an elastic member 301, a gear-link folding mechanism, a third gear 302 and a lifting and lowering rolling wheel 303. The guide slider 300 is installed on the bracket assembly 1 for sliding up and down. The elastic member 301 applies downward force to the guide slider 300, so that the guide slider 300 has a downward movement tendency. The gear-link folding mechanism is connected between the bracket assembly 1 and the guide slider 300, and it can be folded. The third gear 302 is rotatably installed on the guide slider 300, and it is meshed with the fourth gear 306 in the gear-link folding mechanism. The lifting and lowering rolling wheel 303 is fixedly connected to the third gear 302 and is arranged opposite to the swinging rolling wheel 204.

[0027] When the present invention is working, the motor 200 drives the swinging rolling wheel 204 to move toward the lifting rolling wheel 303 while revolving and rotating through the rotating part 201 and the second gear 203, and clamps the tea leaves together with the lifting rolling wheel 303. The swinging rolling wheel 204 squeezes the lifting rolling wheel 303, so that the lifting rolling wheel 303 and the guide slider 300 move upward, and the gear connecting rod folding mechanism folds, so that the fourth gear 306 rotates, and the fourth gear 306 drives the lifting rolling wheel 303 to rotate through the third gear 302 meshing therewith. The swinging rolling wheel 204 and the lifting rolling wheel 303 rotate in opposite directions, and both pull the tea buds upward by rotating.

[0028] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the first gear 202 is a half-tooth structure, and its tooth surface is arranged downward.

[0029] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the rotating member 201 is a swing arm structure, which is fixedly connected to the output shaft of the motor 200 and rotates around the axis of the output shaft.

[0030] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the second gear 203 and the swing rolling wheel 204 are coaxially arranged, and the shafts of the two are fixedly connected, and the swing rolling wheel 204 revolves and rotates together with the second gear 203.

[0031] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the bracket assembly 1 is an inverted U-shaped plate structure, the front side of which is fixedly connected to the first gear 202, and the guide rod 100 is vertically arranged at the lower end of the rear side. The guide slider 300 slides up and down on the guide rod 100, and the elastic member 301 is a spring sleeved on the guide rod 100, and the spring presses the guide slider 300 downward. The lower end of the guide rod 100 has a boss structure 1000, and the outer diameter of the boss structure 1000 is larger than the outer diameter of the main body of the guide rod 100. The boss structure 1000 is used to block and engage with the guide slider 300 to prevent the guide slider 300 from falling.

[0032] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the gear-link folding mechanism includes two left and right single-sided folding mechanisms that are relatively arranged, and the single-sided folding mechanism includes an upper connecting rod 304, a lower connecting rod 305, a fourth gear 306 and a fifth gear 307. The upper end of the upper connecting rod 304 is fixedly connected to the fifth gear 307, and the fifth gear 307 is rotatably mounted on the bracket assembly 1. The lower end of the upper connecting rod 304 is rotatably connected to the upper end of the lower connecting rod 305, and the lower end of the lower connecting rod 305 is fixedly connected to the fourth gear 306. The fourth gear 306 is rotatably mounted on the guide slider 300. The fourth gears 306 of the left and right single-sided folding mechanisms are meshed with each other, and the fifth gears 307 of the left and right single-sided folding mechanisms are meshed with each other, and one of the fourth gears 306 is meshed with the third gear 302.

[0033] Continue reading Figure 1-Figure 6 In one embodiment of the present invention, the upper connecting rods 304 of the two single-sided folding mechanisms in the gear-link folding mechanism are substantially identical in structure, and in particular, have the same length. The lower connecting rods 305 of the two single-sided folding mechanisms in the gear-link folding mechanism are substantially identical in structure, and in particular, have the same length. The fifth gears 307 of the two single-sided folding mechanisms in the gear-link folding mechanism are substantially identical in structure, and in particular, have the same diameter. The fourth gears 306 of the two single-sided folding mechanisms in the gear-link folding mechanism are substantially identical in structure, and in particular, have the same diameter. The diameter of the fourth gear 306 is greater than the diameter of the third gear 302, the diameter of the swinging rolling wheel 204 is greater than the diameter of the lifting rolling wheel 303, the swinging rolling wheel 204 can rotate to the lower side of the lifting rolling wheel 303 when revolving around the first gear 202, and the diameter of the first gear 202 is greater than the diameter of the second gear 203.

[0034] The tea leaf picking terminal device of the present invention is installed at the end of the executing component of the picking robot, and the picking robot is equipped with a conventional visual recognition system and a negative pressure suction device.

[0035] The present invention also provides a working method of the tea picking terminal device as described above, comprising the following steps, wherein the rotation direction in the following description is based on Figure 1 , Figure 3 , Figure 5 For reference: Step 1: Initialization preparation After the tea picking terminal device is started, the motor 200 is in a standby state, the swing rolling wheel 204 is located at the right extreme position, and the picking device is in an open state, ready to perform the picking task.

[0036] Step 2: Picking target identification The picking robot identifies the position and state of the target tea leaves through a visual recognition system, and the tea picking terminal device moves as a whole to the picking position. At this time, the tea buds are located between the swing rolling wheel 204 and the lifting rolling wheel 303, and the control system sends a signal to the motor 200.

[0037] Step 3: Tea leaf clamping The motor 200 rotates forward, causing the rotating part 201 to swing to the left. At this time, due to the meshing between the second gear 203 and the first gear 202 on the swinging rolling wheel 204, the swinging rolling wheel 204 revolves clockwise around the axis of the motor 200 on the one hand, clamping the tea buds together with the lifting rolling wheel 303. On the other hand, the swinging rolling wheel 204 rotates clockwise, causing an upward velocity component on the wheel surface that contacts the tea leaves.

[0038] Step 4, tea extraction After the swinging rolling wheel 204 and the lifting rolling wheel 303 clamp the tea buds, the motor 200 continues to rotate forward, and the swinging rolling wheel 204 continues to revolve to the left. Since the swinging rolling wheel 204 is located below the lifting rolling wheel 303 and has a larger diameter, it pushes the lifting rolling wheel 303 to move upward, forming a lifting action. At this time, the lifting rolling wheel 303 drives the guide slider 300 to move upward along the guide rod 100. Due to the meshing of the gears, Figure 5 Lower right center (that is Figure 6 The lower connecting rod 305 (at the lower left side of the middle) rotates clockwise around the guide slider 300 (at Figure 6 The movement is transmitted to the lifting roller 303 on the guide slider 300, so that the lifting roller 303 rotates counterclockwise around its own rotation axis while moving upward ( Figure 3 The middle is counterclockwise, Figure 4 At this time, there is an upward velocity component between the contact surface of the lifting roller 303 and the tea buds. During the extraction process, the guide slider 300 is always subjected to the downward elastic force of the spring as the tea clamping force. Under the combined effect of the velocity component and clamping action of the lifting roller 303 and the swinging roller 204, the tea buds are pulled and broken at the clamping position and sucked into the picking bag by the negative pressure adsorption device.

[0039] Step 5: Reset the device After the tea leaves are picked, the motor 200 rotates in the reverse direction, the rotating member 201 and the swinging roller 204 return to their initial positions, and the tea leaves picking terminal device opens again. The guide slider 300 and the lifting roller 303 return to their initial positions under the action of the spring, and the tea leaves picking terminal device is reset as a whole to enter the next picking cycle.

[0040] Step 6, repeat the operation The system continues to identify the next piece of tea and repeats the above process until all picking tasks are completed.

[0041] The structures, principles and usage methods of the above-mentioned picking robot, visual recognition system and negative pressure suction device are well-known technologies in the field and will not be elaborated herein.

[0042] The main innovative features of the present invention are: 1) Flexible reset structure The design of combining springs with guide rods is adopted to realize flexible resetting of the picking device, which effectively reduces the damage to the tea leaves during the picking process and ensures the quality of the tea leaves.

[0043] 2) Articulated arm with up and down motion control The gear-link folding mechanism only has vertical translational freedom, and through the meshing of the lifting and lowering rolling wheel with the fourth gear, a precise picking action is formed, ensuring that the picking device can provide stable and sufficient pulling force when clamping tea leaves.

[0044] 3) Driving and passive linkage The motor drives the rotating part and the swing rolling wheel to drive the gear connecting rod folding mechanism and the lifting rolling wheel to perform passive movement, forming a coordinated picking action and improving the picking efficiency and stability.

[0045] 4) Gear set clamping design The relative height design of the swing rolling wheel and the lifting rolling wheel ensures that when clamping tea leaves, the swing rolling wheel can push the lifting rolling wheel to form an upward pulling force, thereby achieving tea leaves picking.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tea picking terminal device, characterized in that: include: Bracket assembly (1); An active clamping assembly (2), the active clamping assembly (2) comprising a motor (200), a rotating member (201), a first gear (202), a second gear (203) and a swinging rolling wheel (204), the rotating member (201) being driven to rotate by the motor (200), the first gear (202) being fixedly arranged on the support assembly (1), the second gear (203) being rotationally connected to the rotating member (201) and meshing with the lower tooth surface of the first gear (202), the swinging rolling wheel (204) being fixedly connected to the second gear (203), and the second gear (203) and the swinging rolling wheel (204) being driven by the rotating member (201) to revolve along the lower tooth surface of the first gear (202); as well as A passive clamping assembly (3), the passive clamping assembly (3) comprising a guide slider (300), an elastic member (301), a gear-link folding mechanism, a third gear (302) and a lifting roller (303), the guide slider (300) being mounted on the bracket assembly (1) in an upward and downward sliding manner, the elastic member (301) exerting a force downward on the guide slider (300), the gear-link folding mechanism being connected between the bracket assembly (1) and the guide slider (300) and being capable of being folded, the third gear (302) being rotatably mounted on the guide slider (300) and meshing with a fourth gear (306) in the gear-link folding mechanism, and the lifting roller (303) being fixedly connected to the third gear (302) and being arranged opposite to the swinging roller (204); The tea picking terminal device is configured as follows: the motor (200) drives the swinging rolling wheel (204) through the rotating member (201) and the second gear (203) to move toward the lifting rolling wheel (303) while rotating and rotating, and clamps the tea leaves together with the lifting rolling wheel (303); the swinging rolling wheel (204) presses the lifting rolling wheel (303), so that the lifting rolling wheel (303) and the guide slider (300) move upward, and the gear connecting rod folding mechanism folds, so that the fourth gear (306) rotates; the fourth gear (306) drives the lifting rolling wheel (303) to rotate through the third gear (302) meshing therewith; the swinging rolling wheel (204) and the lifting rolling wheel (303) rotate in opposite directions, and both pull the tea buds upward by rotating.

2. A tea picking terminal device according to claim 1, characterized in that: The first gear (202) is a half-tooth structure, with its tooth surface arranged downward.

3. A tea picking terminal device according to claim 1, characterized in that: The rotating member (201) is a swing arm structure.

4. The tea picking terminal device according to claim 1, characterized in that: The second gear (203) and the swing rolling wheel (204) are coaxially arranged, and the swing rolling wheel (204) revolves and rotates along with the second gear (203).

5. The tea picking terminal device according to claim 1, characterized in that: A guide rod (100) is vertically arranged on the bracket assembly (1), the guide slider (300) is slidably engaged with the guide rod (100) up and down, and the elastic member (301) is a spring sleeved on the guide rod (100), and the spring presses the guide slider (300) downward.

6. A tea picking terminal device according to claim 5, characterized in that: The lower end of the guide rod (100) has a boss structure (1000), and the boss structure (1000) is used to engage with the guide slider (300) to prevent the guide slider (300) from falling.

7. The tea picking terminal device according to claim 1, characterized in that: The gear-link folding mechanism comprises two left and right single-sided folding mechanisms which are arranged opposite to each other. The single-sided folding mechanism comprises an upper connecting rod (304), a lower connecting rod (305), a fourth gear (306) and a fifth gear (307). The upper end of the upper connecting rod (304) is fixedly connected to the fifth gear (307). The fifth gear (307) is rotatably mounted on the bracket assembly (1). The lower end of the upper connecting rod (304) is rotatably connected to the upper end of the lower connecting rod (305). The lower end of the lower connecting rod (305) is fixedly connected to the fourth gear (306). The fourth gear (306) is rotatably mounted on the guide slider (300). The fourth gears (306) of the left and right single-sided folding mechanisms are meshed with each other. The fifth gears (307) of the left and right single-sided folding mechanisms are meshed with each other. One of the fourth gears (306) is meshed with the third gear (302).

8. The tea picking terminal device according to claim 7, characterized in that: The upper connecting rods (304) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same length; the lower connecting rods (305) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same length; the fifth gears (307) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same diameter; the fourth gears (306) of the two single-sided folding mechanisms in the gear connecting rod folding mechanism have the same diameter; and the diameter of the fourth gear (306) is greater than the diameter of the third gear (302).

9. The tea picking terminal device according to claim 1, characterized in that: The diameter of the swing rolling wheel (204) is greater than the diameter of the lifting rolling wheel (303); the swing rolling wheel (204) can rotate to the lower side of the lifting rolling wheel (303) when revolving around the first gear (202); the diameter of the first gear (202) is greater than the diameter of the second gear (203).

10. A method for operating the tea picking terminal device as claimed in any one of claims 1 to 9, characterized in that: include: Step 1: The tea picking terminal device is in an open state, ready to perform the picking task; Step 2, the picking robot identifies the position and state of the target tea leaves through a visual system, and the tea picking terminal device moves as a whole to the picking position, at which point the tea buds are located between the swing rolling wheel (204) and the lifting rolling wheel (303); Step 3, the motor (200) rotates in the forward direction, so that the swinging rolling wheel (204) moves toward the lifting rolling wheel (303). At this time, due to the meshing between the second gear (203) and the first gear (202) on the swinging rolling wheel (204), the swinging rolling wheel (204) revolves around the axis of the motor (200) on the one hand, clamping the young tea buds together with the lifting rolling wheel (303), and on the other hand, it rotates clockwise, so that the swinging rolling wheel (204) rotates upward toward the side of the young tea buds; Step 4, after the swinging rolling wheel (204) and the lifting rolling wheel (303) clamp the young tea buds, the motor (200) continues to rotate in the forward direction, and the swinging rolling wheel (204) continues to revolve in the direction of the lifting rolling wheel (303); the swinging rolling wheel (204) pushes the lifting rolling wheel (303) and the guide slider (300) to move upward, forming a lifting action; the gear connecting rod folding mechanism folds as the guide slider (300) moves upward, and drives the lifting rolling wheel (303) to rotate counterclockwise through the fourth gear (306), so that the lifting rolling wheel (303) rotates upward toward one side of the young tea buds; when the lifting rolling wheel (303) and the swinging rolling wheel (204) rotate, the young tea buds are lifted upward together, and the young tea buds are pulled and broken at the clamping position and are sucked into the picking bag by the negative pressure adsorption device.

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