Self-adaptive profiling tea-leaf picker for famous high-quality tea

Abstract

The invention discloses a famous high-quality tea self-adaptive profiling tea-picking machine, which relates to the technical field of tea-picking equipment, and comprises a walking chassis, a rack, a collection fan system, an air supply pipeline system, a picker floating connecting rod and a picker system, the picker system comprises a profiling plate, a cutting groove and a tea conveying transition frame which are sequentially arranged from front to back; the profiling plate is used for profiling a tea tent surface, the segmenting grooves are longitudinally distributed strip-shaped grooves and are distributed in the transverse direction, each groove body comprises two groove walls, guide belts are oppositely arranged on the two groove walls, and the tail sections of the guide belts can be arranged to be cutting edges for cutting tea buds; the tea leaf conveying transition frame is used for hanging a tea leaf collecting mesh bag and collecting tea leaves picked by the picker system; according to the self-adaptive profiling picking device, a sensor and a control system are not needed, self-adaptive precise profiling of the tea tent face is achieved from the mechanical structure, the distance between the cutting edge position and the top face of the tea tent is fixed all the time, and the self-adaptive profiling picking device has the natural advantages of being simple in structure, low in cost and high in profiling precision.

Description

Technical Field

[0001] The invention relates to the technical field of tea picking equipment, in particular to a self-adaptive profiling tea picking machine for famous and high-quality teas. Background Art

[0002] The existing mechanized tea picking technology is mainly divided into two types: one is the bulk tea picking machine, which uses a reciprocating cutting cutter as the main component and adopts the pruning picking principle. This machine is relatively mature and can only pick bulk tea with low appearance quality; the other is the humanoid robot picking technology for picking famous and high-quality tea, which mainly includes key parts such as visual system, robotic arm, and end-point picking actuator. It is currently in the exploratory research stage and there is no mature technology available for application. The tea industry has long been looking forward to the famous and high-quality tea machine picking technology, but this problem has been unresolved. Among the existing famous and high-quality tea picking technologies, computer vision recognition technology is commonly used for tea target visual recognition, and traditional recognition models and algorithms such as digital image processing and deep learning are used; and the end-point picking actuators are commonly used in the form of shearing picking mechanism, pinching picking mechanism, and squeezing picking mechanism, all of which are realized by simplifying the process of simulating human finger picking to pick tea buds. The strict requirements of famous and high-quality tea on appearance are not only that the appearance is complete, but also that the appearance is beautiful. The above picking methods all require a visual system to accurately locate the tea buds and pick them one by one. In theory, the picking quality is high; however, accurate positioning is generally difficult to achieve, so the production efficiency and quality are far lower than manual labor.

[0003] In summary, the existing technology for picking high-quality tea has problems such as low positioning accuracy of the visual system, slow speed and low efficiency of the picking mechanism and control system. The picking quality and production efficiency are difficult to meet actual requirements. Therefore, the problem of picking high-quality tea has been difficult to solve, which has seriously hindered the development of the industry. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive profiling tea picking machine for high-quality tea to solve the problems existing in the above-mentioned prior art. The present invention is an adaptive profiling tea picking device which does not require sensors and control systems, realizes adaptive and precise profiling of the tea leaf surface from a mechanical structure, and the distance between the cutting edge position and the top surface of the tea leaf is always fixed. The present invention has the natural advantages of simple structure, low cost and high profiling accuracy.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a self-adaptive tea-picking machine for high-quality tea, comprising a walking chassis, a frame, a collecting fan system, an air supply duct system, a plucking device floating connecting rod and a plucking device system;

[0007] Wherein, the frame is arranged on the top of the walking chassis, and the walking of the frame is achieved by pulling the walking chassis;

[0008] The collecting fan system is arranged on the frame and connected to the air supply duct system, and air is supplied to the picking device system through the air supply duct system;

[0009] The picker system is arranged at the bottom of the air supply duct system and connected to the frame through the picker floating connecting rod, and the two ends of the picker floating connecting rod are respectively hinged to the frame and the picker system;

[0010] The picking device system comprises a profiling plate, a cutting groove and a tea delivery transition frame arranged in sequence from front to back; the profiling plate is used for profiling the tea shed surface, the cutting groove is a strip groove distributed longitudinally and a plurality of the strip grooves are distributed transversely, each trough body comprises two trough walls, and guide belts are arranged on the two trough walls of each trough body opposite to each other, and the end section of the guide belt can be set as a cutting edge for cutting tea buds;

[0011] The tea conveying transition frame is used to hang the tea leaf collecting net bag to collect the tea leaves picked by the picking device system.

[0012] Preferably, the collection fan system includes a fan and a drive motor which are arranged on the middle crossbeam at the top of the frame, and the fan is driven by the drive motor.

[0013] Preferably, the air supply duct system is fixed on the frame and is located directly below the collecting fan system, and the air supply duct system is connected to the air outlet of the fan through a duct.

[0014] Preferably, two floating links of the picker are provided and symmetrically arranged on both sides of the profiling plate. One end of the floating link of the picker is hinged to the frame through a pin, and the other end is hinged to hinge ears arranged on both sides of the profiling plate through a pin.

[0015] Preferably, the front end of the profiling plate is an upwardly curved arc plate structure, and the rear end is a flat plate structure, and the two are smoothly transitioned, and the hinge ears are arranged on both sides of the flat plate structure.

[0016] Preferably, the cutting groove is arranged at the rear end of the profiling plate, and the top plate of the cutting groove and the flat plate structure of the profiling plate are an integrally formed structure.

[0017] Preferably, the cutting groove is a rectangular groove, and three layers of guide belts are arranged in parallel on the two groove walls of each cutting groove. The guide belts on the same layer of two groove walls constitute a pair of guide belts, and a cutting edge is set at the tail of at least one pair of the three pairs of guide belts. Each guide belt is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually becoming horizontal backward. The vertical spacing between the guide belts of each layer is equal, and the width of each guide belt increases from front to back, so that the gap between the two guide belts of each layer gradually decreases, and the lateral gap between the two guide belts of each layer from top to bottom decreases successively. According to different standards for picking tea tips, the cutting edge is set at the tail end of the two guide belts of one layer.

[0018] Preferably, the rear section of the cutting groove is rectangular and the front section is conical. A guide belt is respectively arranged on the two groove walls of the cutting groove. The tail ends of the two guide belts are cutting edges. Each guide belt is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually becoming horizontal backward. The height of the two guide belts is set according to different picking standards.

[0019] Preferably, the two sides of the rear end of the cutting groove are connected to the tea conveying transition frame through S-shaped pins, respectively, shaft sleeve 1 is arranged on the two sides of the rear end of the cutting groove, and shaft sleeve 2 is arranged on the two sides of the front end of the tea conveying transition frame, the front section of the S-shaped pin is hinged to the shaft sleeve 1, and the rear section of the S-shaped pin is hinged to the shaft sleeve 2.

[0020] Preferably, the tea conveying transition frame includes a transition frame, a leaf collecting mesh belt hanging interface and a leaf collecting mesh belt fixing ear. The leaf collecting mesh belt hanging interface is in the shape of a rectangular frame and is fixed to the tail of the transition frame. There are 4 leaf collecting mesh belt fixing ears, which are respectively welded at the four corners of the leaf collecting mesh bag hanging interface. The leaf collecting mesh belt hanging interface is used to prop open the bag opening of the leaf collecting mesh belt and strengthen the tea conveying transition frame. The leaf collecting mesh belt fixing ears are used to connect the bag opening of the leaf collecting mesh belt.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] 1) A cutting groove picker is used. The cutting groove of the picker and the guide belt with guiding, screening and cutting functions arranged on its inner wall realize the partitioning of the tea head surface, the separation of the leaf buds of the tea shoots, and the fixed-height picking of the tea shoots. It has the functional characteristics of selecting overall efficient selective picking (compared with the robot's single-seed selective picking, the efficiency is exponentially improved).

[0023] 2) It has the function of cutting with a guide belt, using the principle of relative motion and the cutting wall existing during crop harvesting to achieve unpowered cutting of tea bud stems, which is green and low-energy;

[0024] Furthermore, by setting up a multi-layer guide belt, a layered guide function is played, so that the tea bud tip moves along the middle (symmetry plane) of the cutting groove, and the leaves and the bud tip are separated, and the leaves are perpendicular to the stem of the tea bud, so that when the blade is cut later, only the stem is cut without losing the leaves. The setting of the multi-layer guide belt can also be based on the picking needs, and different lengths can be picked, and the picking can also be layered.

[0025] 3) It has a comprehensive profiling function. The picker uses its own gravity and cutting groove to achieve profiling of the tea shed surface. No additional sensors and adaptive control systems are required. It achieves adaptive and accurate profiling of the tea shed surface from a mechanical structure perspective. The distance between the cutting edge and the top surface of the tea shed is always fixed. It has the advantages of simple structure, low cost and high profiling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a front view of the self-adaptive profiling tea picking machine for famous and high-quality tea in the present invention;

[0028] Figure 2 It is a left view of the self-adaptive profiling tea picking machine for famous and high-quality tea in the present invention;

[0029] Figure 3 It is an axonometric diagram of the self-adaptive profiling tea picking machine for high-quality tea in the present invention;

[0030] Figure 4 It is a schematic diagram of the connection between the tea conveying transition frame and the cutting groove in the present invention;

[0031] Figure 5 It is a front view of the profiling plate and the cutting groove in the present invention;

[0032] Figure 6 It is a left side view of the profiling plate and the cutting groove in the present invention;

[0033] Figure 7 It is a cross-sectional view of the profiling plate and the cutting groove in the first embodiment of the present invention;

[0034] Figure 8 It is an axonometric view of the profiling plate and the cutting groove in the present invention;

[0035] Fig. 9 This is a front view of the tea conveying transition frame of the present invention;

[0036] Fig.10It is a top view of the tea-leaf conveying transition frame in the present invention;

[0037] Fig.11 It is a left view of the tea conveying transition frame of the present invention;

[0038] Fig.12 Schematic diagram of the cutting groove in the second embodiment of the present invention;

[0039] In the figure: 1. Walking chassis;

[0040] 2. Rack;

[0041] 3. Collect fan system;

[0042] 4. Air supply duct system;

[0043] 5. Picker floating connecting rod;

[0044] 6. Picker system; 6-1. Profile plate; 6-1-1. Hinged ear; 6-2. Cutting groove; 6-2-1. Bushing 1; 6-2-2. Groove wall; 6-2-3. Guide belt; 6-2-4. Cutting edge; 6-3. Tea leaf conveying transition frame; 6-3-1. Transition frame; 6-3-2. Leaf collecting net belt hanging interface; 6-3-3. Leaf collecting net belt fixing ear; 6-3-4. Bushing 2. DETAILED DESCRIPTION

[0045] 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.

[0046] The purpose of the invention is to provide a self-adaptive tea-picking machine for picking high-quality tea to solve the problems existing in the prior art.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Embodiment 1:

[0049] The self-adaptive profiling tea picking machine for famous and high-quality tea in this embodiment is as follows: Figure 1-Figure 11 As shown, it includes a walking chassis 1, a frame 2, a collecting fan system 3, an air supply duct system 4, a picker floating link 5 and a picker system 6;

[0050] The frame 2 is arranged on the top of the walking chassis 1, and the walking of the frame 2 is achieved by pulling the walking chassis 1;

[0051] The collecting fan system 3 is arranged on the frame 2 and connected to the air supply duct system 4, and the air is supplied to the picking device system 6 through the air supply duct system 4;

[0052] The picker system 6 is arranged at the bottom of the air supply duct system 4 and connected to the frame 2 through the picker floating connecting rod 5, and the two ends of the picker floating connecting rod 5 are respectively hinged to the frame 2 and the picker system 6;

[0053] The picking device system 6 includes a profiling plate 6-1, a cutting groove 6-2 and a tea delivery transition frame 6-3 which are arranged in sequence from front to back; the profiling plate 6-1 is used for profiling the tea shed surface, the cutting groove 6-2 is a strip groove distributed longitudinally and there are several of them distributed transversely, each groove body includes two groove walls 6-2-2, and the two groove walls 6-2-2 of each groove body are oppositely provided with guide belts 6-2-3, and the end section of the guide belt 6-2-3 can be set as a cutting edge 6-2-4 for cutting tea buds;

[0054] The tea conveying transition frame 6 - 3 is used to hang the tea leaf collecting net bag to collect the tea leaves picked by the picking system 6 .

[0055] In this specific embodiment, the collection fan system 3 includes a fan and a drive motor which are arranged on the middle crossbeam at the top of the frame 2, and the fan is driven by the drive motor.

[0056] In this specific embodiment, the air supply duct system 4 is fixed on the frame 2 and is located directly below the collecting fan system 3. The air supply duct system 4 is connected to the air outlet of the fan through a duct.

[0057] In this specific embodiment, two picker floating links 5 are provided and symmetrically arranged on both sides of the contour plate 6-1. One end of the picker floating link 5 is hinged to the frame 2 through a pin, and the other end is hinged to the hinge ears 6-1-1 arranged on both sides of the contour plate 6-1 through a pin.

[0058] In this specific embodiment, the front end of the profiling plate 6-1 is an upwardly curved arc plate structure, and the rear end is a flat plate structure, and the two are smoothly transitioned. The hinge ears 6-1-1 are arranged on both sides of the flat plate structure.

[0059] In this specific embodiment, the cutting groove 6-2 is arranged at the rear end of the profiling plate 6-1, and the top plate of the cutting groove 6-2 and the flat plate structure of the profiling plate 6-1 are an integrally formed structure, that is, it is an extension of the flat plate structure.

[0060] In this specific embodiment, the cutting groove 6-2 is a rectangular groove, and three layers of guide belts 6-2-3 are arranged in parallel on the two groove walls 6-2-2 of each cutting groove 6-2. The guide belts 6-2-3 of the same layer of the two groove walls 6-2-2 constitute a pair of guide belts 6-2-3. The tail end of at least one pair of the three pairs of guide belts 6-2-3 is a cutting edge 6-2-4. Each guide belt 6-2-3 is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually horizontal backward. The vertical spacing between the guide belts 6-2-3 of each layer is equal, and the width of each guide belt 6-2-3 increases from front to back, so that the gap between the two guide belts 6-2-3 of each layer is gradually reduced, and the lateral gap between the two guides of each layer from top to bottom is reduced successively. According to different standards for picking tea tips, the cutting edge 6-2-4 is set at the tail end of the two guide belts 6-2-3 of one layer. The effect achieved by setting up the multi-layer guide belt is that the layered guide function makes the tea bud tip move along the cutting groove to the middle (symmetry plane), and separates the leaves from the bud tip. The leaves are perpendicular to the stem of the tea bud, so that when the blade is cut later, only the stem is cut without losing the leaves. The setting of the multi-layer guide belt can also be based on the picking needs, and different lengths can be picked, and the picking can also be layered.

[0061] In this specific embodiment, the two sides of the rear end of the cutting groove 6-2 are connected to the tea conveying transition frame 6-3 through S-shaped pins, and shaft sleeves 6-2-1 are set on both sides of the rear end of the cutting groove 6-2, and shaft sleeves 6-3-4 are set on both sides of the front end of the tea conveying transition frame 6-3. The front section of the S-shaped pin is hinged to the shaft sleeve 6-2-1, and the rear section of the S-shaped pin is hinged to the shaft sleeve 6-3-4.

[0062] In this specific embodiment, the tea conveying transition frame 6-3 includes a transition frame 6-3-1, a leaf collecting mesh belt hanging interface 6-3-2 and a leaf collecting mesh belt fixing ear 6-3-3. The leaf collecting mesh belt hanging interface 6-3-2 is in the shape of a rectangular frame and is fixed to the tail of the transition frame 6-3-1. There are 4 leaf collecting mesh belt fixing ears, which are respectively welded at the four corners of the leaf collecting mesh bag hanging interface. The leaf collecting mesh belt hanging interface 6-3-2 is used to prop open the bag opening of the leaf collecting mesh belt and strengthen the tea conveying transition frame 6-3. The leaf collecting mesh belt fixing ear 6-3-3 is used to connect the bag opening of the leaf collecting mesh belt.

[0063] In this embodiment, the main function of the cutting groove 6-2 is to cut the tea shed surface into long strips along the longitudinal direction, ensuring that there are fewer tea buds (usually 0-3) in the cross section of the long strip; the function of the guide belt 6-2-3 is mainly to separate the buds and leaves of the tea tips. When the picking device slides along the tea shed surface, the tea tips move backward relative to the picking device, enter the cutting groove 6-2 in sequence, and move backward along the guide belt 6-2-3. The guiding effect of the guide belt 6-2-3 on the tea tips is divided into two aspects: first, the tea tips are gathered to the center of the cutting groove 6-2; second, the larger leaves of the tea tips are pressed downward to keep them as vertical as possible with the tea bud stems, so that the rear section of the guide belt 6-2-3 does not cut the leaves when cutting the tea stems. Under the dual effects of the groove wall and the guide belt, the tea tips moving in the cutting groove 6-2 are always in a vertical state. After the tea buds come out of the cutting groove, they directly enter the tea delivery transition frame 6-3. The tail of the tea delivery transition frame 6-3 is provided with an interface for hanging a net bag for collecting tea leaves, which is used to hang a leaf collection bag to collect the picked tea leaves. The front end of the tea picking device is provided with a traction and hanging structure, which can be operated by manual traction or hung on the tea bud operation power platform. It has the advantages of simple structure, no need for cutting and profiling power, and good picking quality consistency.

[0064] The working process is as follows: the picking device system 6 slides along the tea canopy surface with neatly trimmed tea tips under the mobile tea picking platform or manual traction, and the profiling plate 6-1 completes the profiling of the tea canopy surface, ensuring that the cutting groove 6-2 is always at a fixed depth below the canopy top surface; the tea tender tips move backward relative to the picking device and enter the cutting groove 6-2 in turn. Under the guidance, gathering and leaf pressing of the guide belts 6-2-3 of each layer, they remain upright and the leaf stems are nearly vertical. When they move to the second half of the cutting groove 6-2, they are cut off by the cutting edge 6-2-4 of a pair of guide belts 6-2-3. Under the push of the subsequent tea tips (cutting wall principle), they are pushed out from the cutting groove 6-2 into the tea delivery transition frame 6-3, and enter the tea collection network loan under the relative movement or the blowing force of the fan. The tea picking process is completed. Its profiling function is mainly completed by the flat plate located in the front of the picking device. The front end of the flat plate is bent upward to avoid being blocked by the tea tips, so that it can slide smoothly along the tea canopy surface. The profiling plate 6-1 ensures the uniformity of the size of the picked tea tips (the fixed distance from the top surface downward). The middle part of the picker is its core part. The picker system 6 can be powered by mechanical traction or manually pulled. It has the advantages of simple structure, no need for cutting and profiling power, and good picking quality consistency. This technology provides equipment technical support for solving the problem of machine picking of famous and high-quality tea.

[0065] Embodiment 2:

[0066] The difference between this embodiment and the first embodiment is that:

[0067] like Fig.12As shown, the rear section of the cutting groove 6-2 is rectangular, and the front section is conical, which plays a peeling role on the leaves under the buds of the tea shoots; a guide belt 6-2-3 is respectively arranged on the two groove walls 6-2-2 of the cutting groove 6-2, and the tail ends of the two guide belts 6-2-3 are cutting edges. Each guide belt 6-2-3 is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually horizontal backward. The heights of the two guide belts 6-2-3 are set according to different picking standards.

[0068] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A self-adaptive tea-picking machine for high-quality tea, characterized by: It includes walking chassis, frame, collecting fan system, air supply duct system, picker floating link and picker system; Wherein, the frame is arranged on the top of the walking chassis, and the walking of the frame is achieved by pulling the walking chassis; The collecting fan system is arranged on the frame and connected to the air supply duct system, and air is supplied to the picking device system through the air supply duct system; The picker system is arranged at the bottom of the air supply duct system and connected to the frame through the picker floating connecting rod, and the two ends of the picker floating connecting rod are respectively hinged to the frame and the picker system; The picking device system comprises a profiling plate, a cutting groove and a tea delivery transition frame arranged in sequence from front to back; the profiling plate is used for profiling the tea shed surface, the cutting groove is a strip groove distributed longitudinally and a plurality of the strip grooves are distributed transversely, each trough body comprises two trough walls, and guide belts are arranged on the two trough walls of each trough body opposite to each other, and the end section of the guide belt can be set as a cutting edge for cutting tea buds; The tea conveying transition frame is used to hang the tea leaf collecting net bag to collect the tea leaves picked by the picking device system.

2. The self-adaptive tea-picking machine for high-quality tea according to claim 1, characterized in that: The collecting fan system comprises a fan and a driving motor which are arranged on the middle crossbeam at the top of the frame, and the fan is driven by the driving motor.

3. The self-adaptive tea-picking machine for high-quality tea according to claim 2, characterized in that: The air supply duct system is fixed on the frame and is located directly below the collecting fan system. The air supply duct system is connected to the air outlet of the fan through a duct.

4. The self-adaptive tea-picking machine for high-quality tea according to claim 1, characterized in that: The picker floating connecting rods are provided with two and are symmetrically arranged on both sides of the profiling plate. One end of the picker floating connecting rod is hinged to the frame through a pin shaft, and the other end is hinged to the hinge ears arranged on both sides of the profiling plate through a pin shaft.

5. The self-adaptive tea-picking machine for high-quality tea according to claim 4, characterized in that: The front end of the profiling plate is an upwardly curved arc plate structure, and the rear end is a flat plate structure, and the two are smoothly transitioned. The hinge ears are arranged on both sides of the flat plate structure.

6. The self-adaptive tea-picking machine for picking premium tea according to claim 5, characterized in that: The cutting groove is arranged at the rear end of the profiling plate, and the top plate of the cutting groove and the flat plate structure of the profiling plate are an integrally formed structure.

7. The self-adaptive tea-picking machine for high-quality tea according to claim 1, characterized in that: The cutting groove is a rectangular groove, and three layers of guide belts are arranged in parallel on the two groove walls of each cutting groove. The guide belts on the same layer of two groove walls constitute a pair of guide belts. A cutting edge is set at the tail of at least one pair of the three pairs of guide belts. Each guide belt is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually becoming horizontal backward. The vertical spacing between the guide belts of each layer is equal, and the width of each guide belt increases from front to back, so that the gap between the two guide belts of each layer gradually decreases, and the lateral gap between the two guide belts of each layer from top to bottom decreases successively. According to different standards for picking tea tips, the cutting edge is set at the tail end of the two guide belts of one layer.

8. The self-adaptive tea-picking machine for high-quality tea according to claim 1, characterized in that: The rear section of the cutting groove is rectangular, and the front section is conical. A guide belt is respectively arranged on the two groove walls of the cutting groove. The tail ends of the two guide belts are cutting edges. Each guide belt is distributed along the inner wall of the groove from top to bottom and from front to back, gradually bending downward and gradually becoming horizontal backward. The height of the two guide belts is set according to different picking standards.

9. The self-adaptive tea-picking machine for high-quality tea according to claim 1, characterized in that: The two sides of the rear end of the cutting groove are connected to the tea conveying transition frame through S-shaped pins respectively, axle sleeves 1 are arranged on the two sides of the rear end of the cutting groove, and axle sleeves 2 are arranged on the two sides of the front end of the tea conveying transition frame, the front section of the S-shaped pin is hinged to the axle sleeve 1, and the rear section of the S-shaped pin is hinged to the axle sleeve 2.

10. The self-adaptive tea-picking machine for picking premium tea according to claim 1, characterized in that: The tea conveying transition frame includes a transition frame, a leaf collecting mesh belt hanging interface and a leaf collecting mesh belt fixing ear. The leaf collecting mesh belt hanging interface is in the shape of a rectangular frame and is fixed to the tail of the transition frame; there are 4 leaf collecting mesh belt fixing ears, which are respectively welded at the four corners of the leaf collecting mesh bag hanging interface. The leaf collecting mesh belt hanging interface is used to prop open the bag opening of the leaf collecting mesh belt and strengthen the tea conveying transition frame. The leaf collecting mesh belt fixing ears are used to connect the bag opening of the leaf collecting mesh belt.

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