Vehicle body frame of electric tea harvesting vehicle suitable for hills

Abstract

The invention relates to a vehicle body frame of an electric tea harvesting vehicle suitable for hills. The vehicle is characterized in that the vehicle body frame comprises a square steel steering support, a steering wheel support steering mechanism, an upper-layer support lifting electric cylinder, a transverse support, a longitudinal support and an upper-layer balance support; steering wheel support steering mechanisms are arranged on the square steel steering supports, and the adjacent steering wheel support steering mechanisms are connected with the transverse supports and the longitudinal supports to form a foundation frame; upper-layer support lifting electric cylinders are arranged on the steering wheel support steering mechanism, and the adjacent upper-layer support lifting electric cylinders are connected with an upper-layer balance support through upper-layer support connecting pieces to form an upper-layer frame; and bracket vertical adjusting mechanisms are arranged on the square steel steering bracket and the transverse bracket as well as the square steel steering bracket and the longitudinal bracket in a matching manner. The adjustable vehicle body frame structure can achieve automatic adjustment of the posture of the mountain tea leaf picking vehicle according to the characteristics and requirements of existing mountain tea leaf manual picking tree types, so that the gravity center of the vehicle is kept, and the mountain tea leaf picking vehicle is suitable for mechanical harvesting of mountain tea leaves.

Description

Technical Field

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

[0002] The characteristics of many tea gardens in my country are: 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 standardized; third, the mechanization of picking is not considered when the gardens are built, and the roads in the tea gardens are rugged; fourth, in hilly and mountainous areas, due to the large slopes and rugged and uneven roads, general-purpose driving agricultural machinery such as adjustable hilly and mountain tractors are prone to overturning and turning over in steep hilly areas, endangering the personal safety of drivers and not suitable for tea harvesting; fifth, urbanization has caused the young and middle-aged labor force to gradually flow to cities, and the agricultural labor force has dropped sharply, seriously affecting the sustainable development of agriculture in remote mountainous areas.

[0003] Due to geographical restrictions 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 is still mainly done by hand. Manual picking of fresh leaves of famous and high-quality tea usually requires a lot of labor. The picking cost alone accounts for about 50% of the price of fresh leaves. The fewer the number of farmers and the more serious the trend of population aging, the greater the intensity of tea picking, the lower the production efficiency, and the harsh working environment. Many people are unwilling to engage in tea picking. On the other hand, my country's tea garden area is huge, the fresh leaf picking cycle is short, and the quality requirements of the raw materials for the production of famous and high-quality tea are high. Only manual picking can get fresh leaves that meet the standards of famous and high-quality tea. Bulk tea can be harvested by mechanized methods with a relatively low completeness rate of fresh leaves. Mechanized harvesting can 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 operations 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, etc. Although "An automated tea harvester" application publication number CN 113243202 A Considering that the width of tea leaves varies from place to place, an automated adjustment mechanism is used to adjust the width of the machine; obviously, these tea-related agricultural machinery equipment are suitable for flat tea gardens, but in fact, most of my country's tea gardens are in hilly areas, so the practicality and promotion value of these inventions are relatively discounted. It is extremely important to develop a tea picking machine frame that is suitable for hilly areas and can maintain a stable center of gravity when harvesting tea leaves in hilly tea gardens with a certain slope. Summary of the invention

[0005] In view of the problems existing in the prior art, the object of the present invention is to provide a technical solution for a vehicle body frame of an electric tea harvesting vehicle suitable for hilly areas.

[0006] The body frame of an electric tea harvester suitable for hilly areas is characterized in that the 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; 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.

[0007] The body frame of an electric tea harvesting 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.

[0008] The body frame of an 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 body frame of an electric tea harvester suitable for hilly areas is characterized in that the upper bracket lifting electric cylinder is a direct-connected electric cylinder, the bottom of which is connected to a lifting electric cylinder stepper motor, and the lifting electric cylinder stepper motor is fixed to the upper flange of the steering mechanism of the steering wheel bracket through an upper flange fixing bolt; the upper bracket lifting electric cylinder is threadedly connected to the upper bracket connecting piece above, and the upper bracket connecting piece is threadedly connected to the ball head piece of the upper balance bracket.

[0010] The body frame of the electric tea harvester suitable for hilly areas is characterized in that the transverse bracket comprises: a single-ear ball head, a transverse bracket square steel and a body width adjustment mechanism, 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 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 component and a vehicle body length adjustment mechanism. 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 the single-ear ball head components 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.

[0011] The body frame of an electric tea harvesting vehicle suitable for hilly areas is characterized in that the body width adjustment mechanism is arranged on a transverse bracket square steel, dividing the transverse bracket square steel into two sections of a telescopic structure; the body width adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw, a reverse threaded screw, a body width adjustment stepping motor, a nut seat and a slide, the two sides of the cross-axis universal coupling are respectively connected to the forward threaded screw and the reverse threaded screw, the forward threaded screw and the reverse threaded screw are respectively connected to the transverse bracket square steel on both sides through the nut seats, a slide is arranged on one side of the transverse bracket square steel, the slide is provided with a body width adjustment stepping motor, and the body width 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 body width adjustment stepping motor drives the screw to rotate, the nut seats will approach or separate from each other to achieve the purpose of body width adjustment.

[0012] The body frame of an electric tea harvesting vehicle suitable for hilly areas is characterized in that the body length adjustment mechanism is arranged on the longitudinal bracket square steel, dividing the longitudinal bracket square steel into two sections of a telescopic structure, and the body length adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw rod, a reverse threaded screw rod, a body length adjustment stepping motor, a nut seat, and a slide. The cross-axis universal coupling connects the forward threaded screw rod and the reverse threaded screw rod, and the forward threaded screw rod and the reverse threaded screw rod 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 body length adjustment stepping motor is arranged on the slide. The body length 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 body length adjustment stepping motor drives the screw rod to rotate, the nut seats will approach or separate from each other to achieve the purpose of body length adjustment.

[0013] The body frame of an electric tea harvesting vehicle suitable for hilly areas is 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 inner 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.

[0014] The body frame of an 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, one end of the balancing support outer rod and the balancing support inner rod are respectively screwed with a ball head piece, 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, ensuring that the balancing support outer rod and the balancing support inner rod can be freely retracted 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.

[0015] The body frame of an electric tea harvesting vehicle suitable for hilly areas is 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 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, and 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.

[0016] The vehicle frame of the present invention solves the problem that the tea picking vehicle has an unstable center of gravity and is easy to fall over in hilly areas, and realizes the rapid harvesting of large quantities of tea leaves in early summer. It can not only reduce the labor intensity of tea picking and the harvesting cost, but also effectively improve labor productivity.

[0017] The adjustable vehicle frame structure of the present invention can realize automatic posture adjustment of the mountain tea picking vehicle and maintain the center of gravity of the vehicle according to the requirements of the existing mountain tea manual picking tree characteristics, and is suitable for mechanized harvesting of mountain tea.

[0018] The present invention can be coordinated with software to control the operation of the vehicle through remote control, and can allow the vehicle to operate autonomously during the harvesting process, thereby improving the labor productivity of tea harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 Schematic diagram of the upper balance support. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings: A vehicle frame of an electric tea harvester suitable for hilly areas, wherein the vehicle frame 100 comprises 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, wherein four square steel steering brackets 110 are provided, and a steering wheel bracket steering mechanism 120 is provided on the square steel steering bracket 110, and 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 arranged on the mechanism 120, and adjacent upper support lifting electric cylinders 130 are connected to the upper balancing support 190 through an upper support connecting piece 132 to form an upper frame; a support vertical adjustment mechanism 140 is arranged 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, and 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 that can be retracted; 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. A slide 168 is arranged on the square steel 172 of the horizontal bracket on one side, 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 can be 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 harvesting vehicle is mainly divided into two layers of frame structures, 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, which controls the upper frame load to always be in a horizontal state.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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. Example

[0039] See also Figure 1 Schematic diagram of the body frame of an electric tea harvester, where the 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 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.

[0040] See also Figure 6 , Figure 7 and Figure 8The 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.

[0041] 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.

[0042] 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.

[0043] 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 direction of the longitudinal bracket 180 is welded and fixed to the outer longitudinal bracket. 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] See also Figure 1 and Figure 2 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] See also Figure 1 , Figure 6 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 lifting and lowering of each upper frame lifting cylinder 130 can be controlled by a PID / fuzzy PID algorithm to ensure that the load is always in a horizontal state, so that the center of gravity can be kept stable when harvesting tea in a hilly tea garden with a certain slope.

[0055] See also Figure 2 and Figure 4Since 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.

[0056] 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.

[0057] 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.

[0058] 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. 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.

[0059] 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.

[0060] 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.

[0061] The tea picking vehicle body frame of the present invention takes into account the adaptive changes of the frame in various situations such as frame extension and contraction, turning and angle change. The automatic control of the tea picking vehicle can be achieved through the cooperation of the structure of the present invention and the control device.

[0062] 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 the 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. A vehicle frame of an electric tea harvester suitable for hilly areas, characterized in that 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 arranged, and a steering wheel bracket steering mechanism is arranged 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 arranged 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; a bracket vertical adjustment mechanism is arranged 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.

2. The vehicle frame of an 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, 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.

3. The vehicle frame of an 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 vehicle frame of an 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 vehicle frame of an 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, wherein 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 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 component and a vehicle body length adjustment mechanism. 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 the single-ear ball head components 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.

6. The vehicle frame of an electric tea harvesting vehicle suitable for hilly areas according to claim 5, characterized in that 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 telescopic structure; the vehicle body width adjustment mechanism includes: a cross-axis universal coupling, a forward threaded screw, a reverse threaded screw, 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 and the reverse threaded screw, the forward threaded screw and the reverse threaded screw 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, and the vehicle body width adjustment stepping motor is arranged on the slide, and the vehicle body width adjustment stepping motor drives the screw to rotate; because the screw is divided into a forward threaded screw and a reverse threaded screw, when the vehicle body width 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 width adjustment.

7. The vehicle frame of an electric tea harvester suitable for hilly areas according to claim 5, characterized in that 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.

8. The vehicle frame of an electric tea harvester 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.

9. The vehicle frame of an electric tea harvester 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.

10. The vehicle frame of an electric tea harvester 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.

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