A single-ridge self-propelled automatic harvesting equipment for high-quality fresh tea leaves

Abstract

This application belongs to the technical field of tea leaf picking, and discloses a single-ridge self-propelled high-quality tea fresh leaf automatic harvesting equipment, including a base, a traveling mechanism, a fixed guide platform, a picking mechanism, a collection mechanism, a storage box and a control mechanism. A first limiting hole and a second limiting hole are opened on the fixed guide platform from front to back. The second limiting hole is divided into a first vertical hole, a transverse connecting hole and a second vertical hole from bottom to top. A second rack is arranged on one side of the second vertical hole close to the first vertical hole; the picking mechanism includes a cantilever rod and a picker; the collection mechanism includes a sliding rod, a rotating rod, a gear and a collection box. In this application, the picking mechanism and the collection mechanism are separately arranged, so that the collection box can hold more tea fresh leaves, reduce the transfer times of the tea fresh leaves, and improve the picking efficiency; through the settings of the second limiting hole, the second rack, the sliding rod, the rotating rod and the gear, when the collection box moves along the second limiting hole to the storage box and rotates, the tea fresh leaves are poured into the storage box to realize the transfer of the tea fresh leaves.

Description

Technical Field

[0001] The present invention relates to the technical field of tea leaf picking, and particularly to a single-ridge self-propelled automatic harvesting equipment for high-quality fresh tea leaves. Background Art

[0002] China is a major tea-producing country. With the continuous development of social economy and the aggravation of the problem of population aging, the labor resources in our country are gradually in short supply. As a labor-intensive industry, the tea industry requires a large amount of labor in the processes of planting, cultivation, picking, tea making, etc. Especially in the aspect of picking, due to the time limit of tender tea shoots picking, after the picking period, the tender tea shoots will become old, resulting in poor taste and unable to make good tea. At present, the tea leaf harvesting has faced the problem of labor shortage, so mechanized tea picking has become the general trend of the tea industry.

[0003] In a Chinese invention patent application with the publication number of CN117958027A, a small single-track self-propelled tea picking machine is disclosed, which includes a base, a track, a collection box, an installation platform, a series of robotic arms, an actuator and a depth camera; the track is installed on the bottom surface of the base; the installation platform is installed on the top surface of the base, and the series of robotic arms are installed on the top surface of the installation platform; the actuator includes a reciprocating cutter and a temporary storage box, the temporary storage box is installed at the end of the series of robotic arms, a feed inlet is arranged on the side surface of the temporary storage box, the reciprocating cutter is installed on the bottom surface of the temporary storage box and close to the feed inlet, and the reciprocating cutter is used for cutting the tea leaves; the collection box is installed on the top surface of the base, the fresh tea leaves are cut by the reciprocating cutter and stored in the temporary storage box, and then the actuator is driven by the series of robotic arms to move the fresh tea leaves in the temporary storage box into the collection box for collection.

[0004] Regarding the above related technologies, the inventor believes that there are the following defects: in the above solution, the reciprocating cutter is installed at the feed inlet of the temporary storage box, the temporary storage box is installed at the end of the series of robotic arms, and the series of robotic arms are driven to move the temporary storage box and the reciprocating cutter to cut the fresh tea leaves and transfer the fresh tea leaves in the temporary storage box into the collection box. The temporary storage box needs to move synchronously with the reciprocating cutter and adjust the angle, which requires that the temporary storage box should not be too large and cannot store too many fresh tea leaves. Therefore, it is necessary to frequently move the series of robotic arms to pour the fresh tea leaves in the temporary storage box into the collection box, affecting the picking efficiency. Summary of the Invention

[0005] In order to solve the above problems, the present invention provides a single-ridge self-propelled automatic harvesting equipment for high-quality fresh tea leaves.

[0006] The above technical object of the present invention is achieved by the following technical solutions: A single-ridge self-propelled automatic harvesting equipment for high-quality fresh tea leaves, including a base, a traveling mechanism is arranged at the bottom of the base, a fixed guide platform, a picking mechanism, a collecting mechanism, a storage box and a control mechanism are arranged on the base. A first limiting hole and a second limiting hole which are vertically arranged as a whole are opened on the fixed guide platform from front to back. The second limiting hole is divided into a first vertical hole, a transverse connecting hole and a second vertical hole from bottom to top. The second vertical hole is located on the rear side wall of the fixed guide platform. A vertically arranged second rack is arranged on one side of the second vertical hole adjacent to the first vertical hole. The picking mechanism is slidably arranged in the first limiting hole and is used for cutting and conveying fresh tea leaves backward. The collecting mechanism includes a sliding rod slidably arranged in the second limiting hole. A rotating rod is rotatably arranged at the outer end of the sliding rod. A gear is fixedly arranged on the rotating rod, and a collecting box is arranged at its outer end. The storage box is located behind the fixed guide platform and its height is lower than the lower end of the second vertical hole. When the sliding rod is located in the lower section of the first vertical hole, the opening of the collecting box faces the picking device for collecting the cut fresh tea leaves. When the sliding rod slides upward in the second vertical hole, the gear meshes with the second rack to make the collecting box rotate counterclockwise to pour the fresh tea leaves into the storage box. The control mechanism is used to provide power for each mechanism and control its movement.

[0007] Further, a vertically arranged first rack is arranged on one side of the first vertical hole adjacent to the second vertical hole. When the sliding rod slides upward in the first vertical hole, the gear meshes with the first rack to make the collecting box rotate clockwise.

[0008] Further, a first lead screw is vertically rotatably arranged in the fixed guide platform. A first nut seat is spirally arranged on the first lead screw. The picking mechanism includes an overhanging rod whose inner end is slidably arranged in the first limiting hole. The first nut seat is fixedly connected with the inner end of the overhanging rod. A first driving motor is arranged on the base. The output shaft of the first driving motor is connected with the bottom end of the first lead screw through a first speed reducer.

[0009] Further, an installation frame is arranged on the lower side of the overhanging rod. Two vertical plates are arranged at intervals in the installation frame. A worm parallel to the overhanging rod is rotatably arranged between the two vertical plates. A short shaft is respectively arranged on the opposite sides of the two vertical plates. A rotating sleeve is rotatably sleeved on each of the two short shafts. A rotating frame is jointly connected below the two rotating sleeves. A worm wheel matched with the worm is rotatably arranged in the rotating frame. The two ends of the wheel shaft of the worm wheel pass through the rotating frame and a connecting frame is jointly arranged below. A picking device is arranged at the bottom of the connecting frame.

[0010] Further, a first servo motor and a second servo motor are respectively arranged at both ends in the installation frame. One end of the worm adjacent to the first servo motor passes through the corresponding vertical plate and short shaft and is connected with the output shaft of the first servo motor. The output shaft of the second servo motor is connected with the corresponding rotating sleeve.

[0011] Further, a second lead screw is vertically rotatably arranged in the fixed guide platform. A second nut seat is helically arranged on the second lead screw. The second nut seat is fixedly connected to the inner end of the sliding rod. A second driving motor is arranged on the base. The output shaft of the second driving motor is connected to the bottom end of the second lead screw through a second speed reducer.

[0012] Further, the control mechanism includes a control cabinet arranged on the base. A storage battery and a controller are arranged in the control cabinet. The storage battery provides power for each mechanism. The controller is used to control the movement of each mechanism.

[0013] Further, the control cabinet is arranged at the rear side of the fixed guide platform. A fixing frame is arranged thereon. The storage box is placed in the fixing frame.

[0014] Further, a lidar and an industrial camera are arranged at the front side of the top of the fixed guide platform. The lidar and the industrial camera are used to identify the terrain information of the tea garden, and plan a route for the traveling mechanism through the controller. A depth camera is arranged at the top of the fixed guide platform on one side of the picking mechanism. The depth camera is used to identify the information of the tea bush surface, and adjust the picking height and picking angle of the picking mechanism through the controller.

[0015] In summary, the present invention has the following beneficial effects: In this application, the picking mechanism and the collection mechanism are separately arranged. The two move independently but cooperate with each other in the first limiting hole and the second limiting hole respectively, so that the size of the collection box of the collection mechanism is not limited, and more fresh tea leaves can be accommodated, reducing the transfer times of fresh tea leaves and improving the picking efficiency. The second limiting hole is divided into three sections, and a second rack, a sliding rod, a rotating rod and a gear are arranged, so that the sliding rod drives the rotating rod and the collection box to move along the second limiting hole. When the sliding rod moves in the first vertical hole and the horizontal connecting hole, the collection box is moved to the rear side of the fixed guide platform and above the storage box. When the sliding rod moves in the second vertical hole, the collection box moves upward and rotates counterclockwise under the meshing action of the gear and the second rack, so that the opening of the collection box is turned downward, and the fresh tea leaves are poured into the storage box to realize the transfer of fresh tea leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the structure of the collection mechanism of the embodiment of the present invention in the state of transferring fresh tea leaves;

[0018] Figure 3 Schematic diagram of the structure of the fixed guide platform part of the embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of the structure of the picking mechanism of the embodiment of the present invention;

[0020] Figure 5 are schematic structural diagrams of the mounting frame, rotating frame and connecting frame parts of the embodiments of the present invention;

[0021] Figure 6 is Figure 5 schematic cross-sectional structural diagram of;

[0022] Figure 7 is the schematic structural diagram of the collection mechanism of the embodiments of the present invention.

[0023] In the figure: 10, base; 11, traveling mechanism; 12, first driving motor; 13, first reducer; 14, second driving motor; 15, second reducer; 20, fixed guide; 21, first limiting hole; 22, second limiting hole; 221, first vertical hole; 222, horizontal connecting hole; 223, second vertical hole; 23, second rack; 24, first rack; 25, first lead screw; 26, first nut seat; 27, second lead screw; 28, second nut seat; 30, picking mechanism; 31, overhanging rod; 32, picker; 33, mounting frame; 331, vertical plate; 332, worm; 333, short shaft; 334, rotating sleeve; 34, rotating frame; 341, worm gear; 35, connecting frame; 36, first servo motor; 37, second servo motor; 40, collection mechanism; 41, sliding rod; 42, rotating rod; 43, gear; 44, collection box; 50, storage box; 51, fixing frame; 60, control mechanism; 61, control cabinet; 62, storage battery; 63, controller; 70, lidar; 80, industrial camera; 90, depth camera. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] Such as Figure 1-7As shown in the figure, an embodiment of the present application discloses a single-ridge self-propelled high-quality fresh tea leaf automatic harvesting equipment, which includes a base 10, a traveling mechanism 11, a fixed guide platform 20, a picking mechanism 30, a collecting mechanism 40, a storage box 50, and a control mechanism 60. The traveling mechanism 11 is arranged at the bottom of the base 10 and adopts a double-track structure to drive the movement of the base 10 and its upper components. The fixed guide platform 20 is arranged on the base 10 and is used to install the picking mechanism 30 and the collecting mechanism 40. The picking mechanism 30 is used to cut and convey fresh tea leaves backward. The collecting mechanism 40 is used to collect the fresh tea leaves cut by the picking mechanism 30. The storage box 50 is located behind the fixed guide platform 20 and is used to receive and store the fresh tea leaves transported by the collecting mechanism 40. The control mechanism 60 is used to provide power for each mechanism and control its movement.

[0026] Specifically, the fixed guide platform 20 is an overall vertically arranged shell structure with a kidney-shaped cross-section. A first limiting hole 21 and a second limiting hole 22, which are both vertically arranged as a whole, are opened on it from front to back. The picking mechanism 30 is slidably arranged in the first limiting hole 21, and the collecting mechanism 40 is slidably arranged in the second limiting hole 22.

[0027] When setting, the first limiting hole 21 is opened on the side wall of the fixed guide platform 20 parallel to the machine's forward direction, and it is an overall vertically strip-shaped hole. The picking mechanism 30 includes an overhanging rod 31 whose inner end is slidably arranged in the first limiting hole 21, and the length direction of the overhanging rod 31 is perpendicular to the machine's forward direction. A first lead screw 25 is vertically rotatably arranged in the fixed guide platform 20, and a first nut seat 26 is helically arranged on the first lead screw 25. The first nut seat 26 is fixedly connected to the inner end of the overhanging rod 31. A first driving motor 12 is arranged on the base 10, and the output shaft of the first driving motor 12 is connected to the bottom end of the first lead screw 25 through a first speed reducer 13. The first driving motor 12 drives the first speed reducer 13 to drive the first lead screw 25 to rotate, driving the movement of the first nut seat 26 on the first lead screw 25. Since the first nut seat 26 is fixedly connected to the inner end of the overhanging rod 31, and the overhanging rod 31 is horizontally limited in the first limiting hole 21, the first nut seat 26 cannot rotate with the first lead screw 25. Therefore, when the first lead screw 25 rotates, it will drive the first nut seat 26 and the overhanging rod 31 to move up and down along the first limiting hole 21.

[0028] An installation frame 33 is provided on the lower side of the overhanging rod 31. Two vertical plates 331 are arranged at intervals within the installation frame 33. A worm 332 parallel to the overhanging rod 31 is rotatably arranged between the two vertical plates 331. A short shaft 333 is respectively arranged on the opposite sides of the two vertical plates 331, and the short shaft 333 is concentrically arranged with the worm 332. A rotating sleeve 334 is rotatably sleeved on each of the two short shafts 333. A rotating frame 34 is jointly connected below the two rotating sleeves 334, enabling the rotating frame 34 to rotate around the short shaft 333. A worm gear 341 cooperating with the worm 332 is rotatably arranged within the rotating frame 34. The axle of the worm gear 341 is rotatably arranged on both sides of the rotating frame 34, and both ends of its axle pass through the rotating frame 34 and a connecting frame 35 is jointly arranged below, enabling the connecting frame 35 to rotate on the rotating frame 34 along with the worm gear 341 and its axle. A picker 32 is arranged at the bottom of the connecting frame 35. In this embodiment, the picker 32 uses the picking component of an SV100 double-person (flat type) tea picking machine, and an air blowing structure is arranged thereon, which can blow the freshly picked tea leaves backward, well ensuring the collection efficiency of the collection mechanism 40 and reducing the probability of the freshly picked tea leaves falling. Since this picker 32 is a prior art, it will not be elaborated here.

[0029] A first servo motor 36 and a second servo motor 37 are respectively arranged at both ends within the installation frame 33. One end of the worm 332 close to the first servo motor 36 passes through the corresponding vertical plate 331 and the short shaft 333 and is connected to the output shaft of the first servo motor 36. The output shaft of the second servo motor 37 is connected to the corresponding rotating sleeve 334. By driving the worm 332 to rotate through the first servo motor 36, the worm gear 341 is driven to rotate, thereby driving the connecting frame 35 and the picker 32 below it to rotate along with the axle of the worm gear 341, realizing the tilting adjustment of the picker 32 on the vertical plane perpendicular to the advancing direction of the machine; by driving the rotating sleeve 334 to rotate through the second servo motor 37, the rotating frame 34 and the connecting frame 35 and the picker 32 below it are driven to rotate around the short shaft 333, and the worm gear 341 will also follow the connecting frame 35 to rotate around the short shaft 333. At this time, the first servo motor 36 synchronously drives the worm 332 to rotate along with the worm gear 341, thereby ensuring that the worm gear 341 will not rotate around the center of its axle when the worm gear 341 follows the connecting frame 35 to rotate around the short shaft 333, realizing the pitching adjustment of the picker 32 on the vertical plane parallel to the advancing direction of the machine; in this way, the angle of the picker 32 can be adjusted in real time according to the actual situation of the tea bush surface, so that the picker 32 can better pick the freshly picked tea leaves and ensure the picking quality.

[0030] The second limiting hole 22 is divided into a first vertical hole 221, a transverse connecting hole 222, and a second vertical hole 223 from bottom to top. The first vertical hole 221 is opened at a rear position on the side wall of the fixed guide platform 20 parallel to the advancing direction of the machine, and it is a vertical strip-shaped hole as a whole; the second vertical hole 223 is located on the rear side wall of the fixed guide platform 20, and it is a vertical strip-shaped hole as a whole. The lower end of the second vertical hole 223 is higher than the storage frame 50; the transverse connecting hole 222 is a horizontal arc-shaped hole opened from the top end of the first vertical hole 221 to the top end of the second vertical hole 223, so as to connect the first vertical hole 221 and the second vertical hole 223 together. A second lead screw 27 is vertically rotatably arranged in the fixed guide platform 20, and a second nut seat 28 is helically arranged on the second lead screw 27. The distance from the second lead screw 27 to the vertical center line of the first vertical hole 221 is the same as the distance to the vertical center line of the second vertical hole 223. A second driving motor 14 is arranged on the base 10, and the output shaft of the second driving motor 14 is connected to the bottom end of the second lead screw 27 through a second speed reducer 15 for driving the second lead screw 27 to rotate.

[0031] The collection mechanism 40 includes a sliding rod 41 slidably arranged in the second limiting hole 22. The inner end of the sliding rod 41 is fixedly connected to the second nut seat 28, so that the sliding rod 41 moves synchronously with the second nut seat 28. The outer end of the sliding rod 41 is rotatably provided with a rotating rod 42, and the outer end of the rotating rod 42 is provided with a collection frame 44. The length direction of the collection frame 44 is the same as the length direction of the picking device 32. When setting, it is necessary to ensure that there is a certain frictional force between the rotating rod 42 and the sliding rod 41, so that under the influence of external force factors such as the collection frame 44 contacting the tea tree, external wind force, and machine bumping, the rotating rod 42 will not rotate by itself, thereby ensuring the stability of the collection frame 44. When the sliding rod 41 moves in the first vertical hole 221 and the second vertical hole 223, due to the horizontal limitation of the sliding rod 41 by the first vertical hole 221 and the second vertical hole 223, the sliding rod 41 and the second nut seat 28 can only move vertically in the first vertical hole 221 and the second vertical hole 223 along with the rotation of the second lead screw 27, thereby driving the collection frame 44 to move in the vertical direction; when the sliding rod 41 moves to the transverse connecting hole 222, the sliding rod 41 is limited up and down by the transverse connecting hole 222 and loses the limitation in the horizontal direction, so that when the second lead screw 27 rotates, it drives the second nut seat 28 and the sliding rod 41 to rotate together, so that the sliding rod 41 swings horizontally along the transverse connecting hole 222, so that the collection frame 44 swings from the rear side of the picking mechanism 30 to above the storage frame 50, realizing the transfer of the fresh tea leaves by the collection frame 44.

[0032] Further, a first rack 24 arranged vertically is provided on one side of the first vertical hole 221 adjacent to the second vertical hole 223. The first rack 24 is integrally located in the middle of the first vertical hole 221. A second rack 23 arranged vertically is provided on one side of the second vertical hole 223 adjacent to the first vertical hole 221. A gear 43 is fixedly arranged on the rotating rod 42, and the gear 43 can be meshed with both the first rack 24 and the second rack 23. When the sliding rod 41 is located at the lower section of the first vertical hole 221, the opening of the collection box 44 faces the picking device 32, and the bottom edge of its opening always corresponds to the rear side edge of the picking device 32, so as to better collect the fresh tea leaves picked by the picking device 32. When the sliding rod 41 slides upward in the first vertical hole 221, after the gear 43 reaches the height where the first rack 24 is located, it meshes with the first rack 24. Under the meshing action, the gear 43 rotates clockwise, driving the collection box 44 to rotate clockwise, so that the opening side of the collection box 44 turns upward, concentrating the fresh tea leaves in the collection box 44 and preventing the fresh tea leaves from falling during the subsequent movement of the collection box 44. When the sliding rod 41 slides upward in the second vertical hole 223, after the gear 43 reaches the height where the second rack 23 is located, it meshes with the second rack 23. Under the meshing action, the gear 43 rotates counterclockwise, driving the collection box 44 to rotate counterclockwise, so that the opening side of the collection box 44 turns downward, and thus pouring the fresh tea leaves in the collection box 44 into the storage box 50 below. In this way, only one driving motor is needed to drive the collection box 44 to perform three actions of lifting movement, horizontal swing and self-turning in the second limiting hole 22, completing the collection, transfer and dumping of the fresh tea leaves, reducing the use of driving components and making the overall structure simpler.

[0033] The control mechanism 60 includes a control cabinet 61 arranged on the base 10. The control cabinet 61 is arranged at the rear side of the fixed guide platform 20. A storage battery 62 and a controller 63 are arranged in the control cabinet 61. The storage battery 62 provides power for each mechanism, and the controller 63 is used to control the movement of each mechanism. A fixed frame 51 is arranged on the control cabinet 61, and the storage box 50 is placed in the fixed frame 51.

[0034] A lidar 70 and an industrial camera 80 are arranged on the front side of the top of the fixed guide platform 20. The lidar 70 and the industrial camera 80 are used to identify the terrain information of the tea garden, and the controller 63 plans the flight path for the traveling mechanism 11 to realize the automatic traveling of the machine. A depth camera 90 is arranged on the top of the fixed guide platform 20 on one side of the picking mechanism 30. The depth camera 90 is used to identify the information of the tea bush surface, and the controller 63 adjusts the picking height and picking angle of the picking mechanism 30.

[0035] In this embodiment, the working principle of a single-ridge self-propelled automatic high-quality tea fresh leaf harvesting equipment is as follows: The lidar 70 and the industrial camera 80 identify the terrain information of the tea garden and the position of the tea ridges, and the controller 63 controls the traveling mechanism 11 to drive the whole machine to move along the tea ridges; the depth camera 90 captures the information of the tea canopy surface in real time, and the controller 63 analyzes the height of the tea canopy surface and the growth condition of the tea fresh leaves, then controls the first driving motor 12 to drive the first lead screw 25 to rotate, adjusts the harvesting height of the harvester 32, and then controls the first servo motor 36 and the second servo motor 37 to adjust the angle of the harvester 32 to ensure a better harvesting effect; the controller 63 synchronously controls the second driving motor 14 to drive the second lead screw 27 to rotate, adjusts the height of the collection box 44 so that it always follows the harvester 32; when the tea fresh leaves in the collection box 44 reach the set value, the harvester 32 stops working, and the controller 63 controls the second driving motor 14 to drive the second lead screw 27 to rotate, so that the sliding rod 41 drives the rotating rod 42 and the collection box 44 to move upward. When the gear 43 reaches the height where the first rack 24 is located, it meshes with the first rack 24, drives the rotating rod 42 and the collection box 44 to rotate clockwise, so that the opening side of the collection box 44 is turned upward by a certain angle; then the sliding rod 41 drives the rotating rod 42 and the collection box 44 to deflect horizontally at the lateral connection hole 222 to the rear side of the fixed guide 20, so that the collection box 44 is located above the storage box 50; when the gear 43 reaches the height where the second rack 23 is located, it meshes with the second rack 23, drives the rotating rod 42 and the collection box 44 to rotate counterclockwise, so that the opening side of the collection box 44 is turned downward until the opening is on the horizontal plane, and the tea fresh leaves in the collection box 44 are completely poured into the storage box 50 below; finally, the controller 63 controls the second driving motor 14 to drive the second lead screw 27 to rotate in the reverse direction, drives the collection box 44 to return to the position adapted to the harvester 32, and continues the harvesting operation.

[0036] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An automatic harvesting equipment for high-quality fresh tea leaves with a single ridge and self-propelled, including a base, and a traveling mechanism is arranged at the bottom of the base. It is characterized in that: A fixed guide platform, a picking mechanism, a collecting mechanism, a storage box and a control mechanism are arranged on the base. A first limiting hole and a second limiting hole which are vertically arranged as a whole are formed in the fixed guide platform from front to back. The second limiting hole is divided into a first vertical hole, a transverse connecting hole and a second vertical hole from bottom to top. The second vertical hole is located on the rear side wall of the fixed guide platform. A vertically arranged second rack is arranged on one side of the second vertical hole close to the first vertical hole. The picking mechanism is slidably arranged in the first limiting hole and is used for cutting and picking fresh tea leaves and conveying them backward. The collecting mechanism includes a sliding rod slidably arranged in the second limiting hole. A rotating rod is rotatably arranged at the outer end of the sliding rod. A gear is fixedly arranged on the rotating rod, and a collecting box is arranged at the outer end thereof. The storage box is located behind the fixed guide platform and is lower in height than the lower end of the second vertical hole. When the sliding rod is located in the lower section of the first vertical hole, the opening of the collecting box faces the picking mechanism for collecting the cut fresh tea leaves. When the sliding rod slides upward in the second vertical hole, the gear meshes with the second rack to make the collecting box rotate counterclockwise to pour the fresh tea leaves into the storage box. The control mechanism is used to provide power for each mechanism and control its movement.

2. The automatic harvesting equipment for high-quality fresh tea leaves of a single ridge self-propelled type according to claim 1, characterized in that: A vertically arranged first rack is arranged on one side of the first vertical hole close to the second vertical hole. When the sliding rod slides upward in the first vertical hole, the gear meshes with the first rack to make the collecting box rotate clockwise.

3. The automatic harvesting equipment for high-quality fresh tea leaves of a single ridge self-propelled type according to claim 1, characterized in that: A first lead screw is vertically rotatably arranged in the fixed guide platform. A first nut seat is spirally arranged on the first lead screw. The picking mechanism includes an overhanging rod with an inner end slidably arranged in the first limiting hole. The first nut seat is fixedly connected with the inner end of the overhanging rod. A first driving motor is arranged on the base. The output shaft of the first driving motor is connected with the bottom end of the first lead screw through a first speed reducer.

4. The automatic harvesting equipment for high-quality fresh tea leaves of a single ridge self-propelled type according to claim 3, characterized in that: An installation frame is arranged on the lower side of the overhanging rod. Two vertical plates are arranged at intervals in the installation frame. A worm parallel to the overhanging rod is rotatably arranged between the two vertical plates. A short shaft is arranged on the opposite side of each of the two vertical plates. A rotating sleeve is rotatably sleeved on each of the two short shafts. A rotating frame is commonly connected below the two rotating sleeves. A worm gear matched with the worm is rotatably arranged in the rotating frame. Both ends of the wheel shaft of the worm gear pass through the rotating frame and a connecting frame is commonly arranged below. A picker is arranged at the bottom of the connecting frame.

5. The automatic harvesting equipment for high-quality fresh tea leaves of a single ridge self-propelled type according to claim 4, characterized in that: A first servo motor and a second servo motor are respectively arranged at both ends in the installation frame. One end of the worm close to the first servo motor passes through the corresponding vertical plate and short shaft and is connected with the output shaft of the first servo motor. The output shaft of the second servo motor is connected with the corresponding rotating sleeve.

6. The automatic harvesting equipment for high-quality fresh tea leaves with single-ridge self-propelled type according to claim 1, characterized in that: A second lead screw is vertically rotatably arranged in the fixed guide platform. A second nut seat is spirally arranged on the second lead screw. The second nut seat is fixedly connected with the inner end of the sliding rod. A second driving motor is arranged on the base. The output shaft of the second driving motor is connected with the bottom end of the second lead screw through a second speed reducer.

7. A single-ridge self-propelled automatic high-quality tea fresh leaf harvesting equipment according to claim 1, characterized in that: The control mechanism includes a control cabinet arranged on the base. A storage battery and a controller are arranged in the control cabinet. The storage battery provides power for each mechanism. The controller is used to control the movement of each mechanism.

8. A single-ridge self-propelled automatic high-quality fresh tea leaf harvesting equipment according to claim 7, characterized in that: The control cabinet is arranged at the rear side of the fixed guide platform, and a fixing frame is arranged thereon. The storage box is placed in the fixing frame.

9. A single-ridge self-propelled high-quality fresh tea leaf automatic harvesting equipment according to claim 1, characterized in that: A lidar and an industrial camera are arranged at the front side of the top of the fixed guide platform. The lidar and the industrial camera are used for identifying the terrain information of the tea garden, and planning a route for the traveling mechanism through a controller. A depth camera is arranged at the top of the fixed guide platform on one side of the picking mechanism. The depth camera is used for identifying the information of the tea bush surface, and adjusting the picking height and picking angle of the picking mechanism through the controller.

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