Intelligent tea bud cutting equipment

Abstract

The invention provides intelligent tea bud cutting equipment which comprises a base and a conveying belt and is characterized by further comprising a recognition device, a bud cutting device and a bud collecting device. The recognition device comprises a camera arranged above the conveying belt, the camera is connected with an image recognition system, and the camera scans the tea leaves on the conveying belt, recognizes the tea buds and calculates to obtain tea bud cutting parts; the bud cutting device comprises an annular cutter perpendicular to the plane of the conveying belt and an annular cutter supporting plate arranged in parallel to the conveying belt, a tubular channel is formed in the annular interior of the annular cutter and facilitates collection of tea leaf separation parts, and the tubular channel is connected with an air suction pipe; the ring cutter supporting plate provides a bud cutting supporting platform for the ring cutter; the bud cutting device receives the bud cutting part information transmitted by the identification device; the thought that tea leaves are directly and accurately picked from the tea land environment is changed, the tea leaves are harvested without difference according to certain requirements in the tea land environment, and then tea buds are automatically picked and collected in a separated mode through a machine in the plant environment.

Description

Technical Field

[0001] The invention belongs to the technical field of tea processing and manufacturing, and particularly relates to a tea plucking machine. Background Art

[0002] Current tea-picking technology is developing primarily in two directions: one is crawler-type robotic arms or gantry structures for automated precision picking, and the other is handheld harvesting equipment that relies on manual operation. These two technologies exhibit different characteristics in practical applications, but the former faces significant bottlenecks, while the latter has functional limitations.

[0003] For example, the tea-picking robot patented in Patent No. ZL 202311567791.1 utilizes a robotic arm equipped with a plucking mechanism fixed to an upper worktable. This, combined with a stereo vision camera and supporting algorithms, determines the location of tea buds for precise harvesting. A vacuum-type negative pressure recovery device then extracts the buds from the plucking mechanism's connecting pipe and stores them. A crawler-type walking mechanism drives the upper worktable to the desired position. This design requires specific spacing between tea trees, soil flatness, and tea tree height.

[0004] For example, the crawler-type tea-picking robot with patent number: ZL 202323162663.7 is designed with a gantry-structured moving robot arm to automatically pick tea in the field. The crawler feet of the tea-picking machine run on the tea tree rows, allowing the machine to be transferred to different tea trees for picking. The gantry structure makes the device suitable for picking tea leaves from tea trees of different heights, and the cost is lower than that of a robotic arm.

[0005] The current technology of using crawler robotic arms or gantry structures for tea picking inevitably has problems such as high equipment precision requirements, high manufacturing costs, high working environment requirements, and still requires a lot of manual supervision.

[0006] In addition, handheld tea picking machines, such as patent number: ZL 202322126607.1, do not have the functions of automatic recognition and active picking, and are unable to accurately collect tea buds. They require manual handheld operation to achieve the function of indiscriminate harvesting of tea leaves.

[0007] The crawler-type robotic arm or gantry-structured tea-picking robot has the following problems, and the problems are explained.

[0008] High precision requirements: The tea buds need to be accurately positioned in three-dimensional space, and the precision requirements are higher than the precision requirements for positioning the tea buds on a plane; in addition, the robotic arm needs to move to the position of the tea buds, and the mechanical precision requirements are also very high.

[0009] High manufacturing costs: Current automated tea bud picking machines rely on precise mechanical collection within tea fields. This requires a tracked power unit capable of traversing dirt roads and a high-precision robotic arm for harvesting. Picking in a tea field is a three-dimensional process, requiring at least two high-precision cameras (i.e., stereo vision cameras) and matching algorithms and computing resources. Furthermore, since the machines operate outdoors, they also require an independent power source. Consequently, manufacturing such equipment is costly.

[0010] The working environment requirements are high: the equipment must be able to operate on narrow tea roads, which has strict requirements on the size of tea trees and row spacing, and the tea fields must be sufficiently flat and open, especially for machines with gantry structures. However, most of the tea-producing areas in places such as Guizhou are in mountainous areas, and crawler tea pickers are easily hindered by terrain problems.

[0011] Requires manual supervision: Compared with the industrial production environment, the tea field environment is too complex, and the system cannot cover all working conditions. Therefore, it is difficult to ensure the stability of the equipment operation when there is no one to supervise it, and manual supervision and control are still required.

[0012] To address these issues, the present invention adopts a new approach to the working environment. Specifically, the process of directly plucking tea buds in the tea fields is replaced by manually harvesting tea leaves in the fields according to specific requirements, followed by automated sorting and collection of the buds in the factory environment. This reduces equipment precision requirements, manufacturing costs, and the working environment. Furthermore, because the process is performed in the factory environment, the need for manual supervision is significantly reduced. Summary of the Invention

[0013] The present invention first makes a huge change in the concept, changing the concept from direct picking in the tea field environment to: first manually harvesting tea leaves indiscriminately according to certain requirements in the tea field environment, and then automatically picking and collecting tea buds by machine in the factory environment.

[0014] Since equipment that can achieve indiscriminate collection of tea leaves with stem buds already exists, the present invention is an equipment for separating and collecting tea leaves with stem buds in a factory environment.

[0015] An intelligent tea bud cutting device comprises a base and a conveyor belt, and also comprises an identification device, a bud cutting device and a bud collecting device; The identification device includes a camera arranged above the conveyor belt, the camera is connected to an image recognition system, the camera scans the tea leaves on the conveyor belt, identifies the tea buds, and calculates the cutting position of the tea buds; The bud cutting device includes a circular cutting knife perpendicular to the plane of the conveyor belt and a circular cutting knife support plate arranged parallel to the conveyor belt. A tubular channel is formed inside the circular cutting knife ring to facilitate the collection of separated tea leaves. The tubular channel is connected to the suction material pipe. The circular cutting knife support plate provides a bud cutting support platform for the circular cutting knife, which can support the conveyor belt and provide a reliable cutting platform for cutting tea buds. The bud cutting device receives the bud cutting position information transmitted by the identification device. The bud collecting device comprises an air jet pump, an air suction machine, an air suction pipe connected with the air suction machine, and a tea bud storage bin connected with the air suction machine.

[0016] Furthermore, the tubular channel is used to collect tea buds.

[0017] Furthermore, the circular cutter is connected to the base through horizontal and vertical power devices; the circular cutter is provided with a pressing knife air suction elbow and an air jet pressing leaf sleeve, and the pressing knife air suction elbow and the air jet pressing leaf sleeve are respectively connected to the suction material pipe and the air pump air pipe for providing airflow and collecting tea buds.

[0018] Furthermore, the base includes a machine frame with a gantry structure, and the bud cutting support plate and conveyor belt are located in the first layer space at the bottom of the machine frame, which are used to transport tea leaves and provide support for bud cutting; there is a ring cutting knife carrier plate above the bud cutting support plate, and the ring cutting knife carrier plate is located in the second layer space of the machine frame, which is used to carry the ring cutting knife; the camera is located in the third layer space of the machine frame.

[0019] Furthermore, the camera is connected to the machine frame via a connecting rod, and the camera can be used to set a real-time shooting position for the tea leaves.

[0020] Tea picking process: Step 1: During the appropriate tea picking period, staff will use handheld tea cutting machines to cut tea leaves with stems and buds at the appropriate height in the tea field without discrimination; Step 2: Turn on the power of the tea bud intelligent cutting device, air pump and aspirator respectively, turn on the image recognition system computing terminal, and the system will automatically initialize; Step 3: Bring a large amount of cut tea leaves with stems and buds to the factory where the tea bud intelligent cutting equipment is located, and pour the tea leaves with stems and buds into the tea spreading machine; Step 4: The automatic tea spreading machine of the tea bud intelligent cutting equipment will sparsely spread an appropriate amount of tea leaves on the feeding conveyor belt of the tea bud intelligent cutting equipment; Step 5: The tea leaves pass through the camera of the tea bud intelligent cutting equipment. The image recognition system automatically identifies the position of the tea buds to be picked, calculates the knife drop positions of all tea buds, and feeds the position list back to the mechanical control system.

[0021] Step 6: The circular cutting knife moves to the horizontal position where the knife should fall. After the tea leaves with stem buds are sent to the cutting range of the circular cutting knife by the conveyor belt, the conveyor belt movement is temporarily stopped, and the circular cutting knife falls, separating the tea buds from the stems. Step 7: The suction channel of the aspirator opens as the knife falls, and the air pump air guide switch opens when the knife falls completely. The tea buds cut from the stems by the ring cutting knife are guided into the storage box of the aspirator along with the air flow; Step 8: The circular cutting knife is lifted and returned to its original position, the conveyor belt continues to run, the circular cutting knife and the crawler belt continue to move to the next cutting position, and the stem and leaf parts without tea buds are removed with the conveyor belt; Step 9: Repeat steps 4 to 8, and add more tea leaves with stems and buds to the tea spreader while the machine is running until the tea picking is completed: This solution has the following advantages: (1) The present invention transfers the environment for picking tea buds from the tea field to the factory, which reduces the complexity of the environment and the need for machine care. At the same time, the factory equipment is fixed and does not require a power storage structure and a crawler structure, which reduces the manufacturing cost of the machine.

[0022] (2) The present invention uses a conveyor belt to transport tea leaves with stems and buds, and a circular cutting knife to cut the tea buds. Compared with the method of picking tea leaves directly in the tea field with a robotic arm, the present invention reduces one spatial dimension in terms of identification, reduces the difficulty of identifying the position of the tea buds, and reduces the accuracy requirement for picking.

[0023] (3) The present invention adopts an annular knife to rotate and cut the tea buds. The annular knife is designed with a retractable and rotatable cylindrical structure. The annular knife covers the tea buds, which makes it easier for the vacuum machine to use negative air pressure to collect the cut tea buds without affecting other tea leaves on the conveyor belt.

[0024] (4) The present invention adopts the method of using an air pump to spray air toward the inner wall of the annular knife, which solves the problem of no airflow to carry away the tea buds due to the closed environment formed by the annular knife and the conveyor belt. The strong airflow delivered by the air pump also improves the success rate of tea bud collection.

[0025] (5) The power part of the present invention adopts a gantry structure, which has the advantages of strong stability, low cost and high load compared with the robotic arm structure. At the same time, because it is operated indoors, the disadvantages of limited flexibility and inconvenience in movement can be ignored.

[0026] (6) The present invention is capable of accurately picking tea buds and reducing missed and wrong picking, and requires that tea leaves with stem buds be sparsely distributed on the conveyor belt.

[0027] (7) In order to accurately identify the position of tea buds and calculate the optimal position for the knife to fall, the present invention requires a camera to photograph the tea leaves on the conveyor belt, and the photos are transmitted in real time to the computing terminal for information processing. The computer vision technology in artificial intelligence is used to identify the connection position of the tea buds and the tea buds and stems, supplemented by other algorithms in the control system, and then the accurate position of the knife to fall is obtained, which can achieve the goal of collecting famous and high-quality tea.

[0028] The working principle is as follows: By moving the tea bud picking environment from the tea fields to indoors, the working environment becomes simpler: lighting can be more easily controlled, allowing the machine to identify tea buds without being affected by natural light, thereby improving the recognition success rate. Power can be directly supplied: the power storage system of the outdoor robot is eliminated, reducing manufacturing costs and enabling 24-hour uninterrupted operation. One degree of spatial freedom is reduced: the picking range is changed from a three-dimensional space to a two-dimensional space, eliminating the need for stereo vision cameras and supporting algorithms. This reduces the complexity of the picking machinery, lowers the precision requirements, and correspondingly reduces manufacturing costs. Reduced manual supervision requirements: the machine operates in a fixed indoor location, requiring only timely replenishment of tea leaves with stems to be picked, making machine debugging difficult and demanding. The scope of application is expanded: because tea leaves with stems are harvested from the tea fields manually using other machinery, the present invention acts as a post-processing of the tea leaves, eliminating the need to consider the complex environment of the tea fields. Even when tea buds are scarce and manual picking is costly, the present invention can be used to partially remove buds from the harvested tea leaves, further increasing yields.

[0029] Mechanical structure key points: (1) The structure of the circular cutter rotating to cut the tea buds: the pressure knife suction elbow is pressed downward by the pressure rod, and the rotating inner sleeve moves downward because it is fixed to the rotating support cover and the pressure knife suction elbow. The circular protrusion on the inner wall of the circular cutter rotator is in the spiral groove of the rotating inner sleeve, and it rotates as the rotating inner sleeve moves downward, driving the circular cutter fixed on the circular cutter rotator to rotate. The springs connected to the rotating support cover and the two ends of the circular cutter rotator provide pressure for cutting the tea buds, thereby achieving the purpose of cutting the tea buds.

[0030] (2) The structure of providing air flow when the circular cutter collects tea buds: the air flow from the jet pump is ejected to the air guide port of the circular cutter rotor through the jet pressure blade sleeve of the circular cutter, thereby providing air flow to suck the tea buds into the closed environment formed by the circular cutter and the conveyor belt.

[0031] (3) The air flow channel structure when the circular cutter collects tea buds: The circular cutter rotor and the rotating inner sleeve are cylindrical structures, which reduce the movement obstruction of the air flow carrying the tea buds; the ball valve is connected to the ball valve switch. As the circular cutter moves downward, the ball valve push rod pushes the ball valve switch to open the air flow channel of the rotary support cover to the pressure knife suction elbow, and the air flow can smoothly deliver the tea buds to the suction machine material pipe.

[0032] (4) The structure of fixing tea leaves when the circular cutter cuts the tea buds: When the jet leaf pressing sleeve moves down with the circular cutter rotator, the leaf pressing soft rubber sleeve fixed on the jet leaf pressing sleeve will contact the tea leaves before the circular cutter. The soft rubber leaf pressing sleeve with teeth at the end will fix the position of the tea leaves to prevent the tea leaves from rotating with the circular cutter when the circular cutter rotates to cut the tea buds. In addition, when the circular cutter is lifted and returned to its original position, the leaf pressing soft rubber sleeve, which is a little longer than the circular cutter, will push away the tea leaves that may be attached to the circular cutter.

[0033] (5) The power plate realizes the gantry structure of the horizontal and vertical movement of the circular cutter: the power plate reduction motor and stepper motor are fixed in position by the power plate motor box, and are rotated by the bevel gear (motor), bevel gear (hexagonal), square hole gear and bevel gear (screw) embedded in the gear carrier plate, so that the vertical screw and horizontal screw rotate. The vertical screw controls the vertical movement of the circular cutter through the screw slider and the pressure rod, and the horizontal screw controls the horizontal movement of the circular cutter through the circular cutter moving sleeve and the circular cutter limit rod.

[0034] (6) Auxiliary structure for the circular cutter to smoothly cut the tea buds on the conveyor belt: a layer of smooth, soft and thick protective cloth is glued to the surface of the conveyor belt to reduce the friction of the circular cutter when the conveyor belt rotates and cuts, thereby improving the cutting effect of the tea buds and extending the service life of the conveyor belt; the bud cutting support plate is attached to the lower surface of the conveyor belt feeding layer to support the conveyor belt when the circular cutter cuts the tea buds.

[0035] (7) Feedback design for the circular cutter moving to the boundary: When the circular cutter moves vertically to the boundary, the light shield of the lead screw slider will block the light source and light receiver of the limit photoelectric gate attached to the lead screw fixing column. The limit photoelectric gate will feedback the position information to the mechanical control development board. Similarly, when the circular cutter moves vertically to the boundary, the limit photoelectric gate attached to the appropriate position on the circular cutter carrier will feedback the position information to the mechanical control development board. Thus, the purpose of position control of the circular cutter boundary is achieved.

[0036] (8) The adjustable driven shaft connector fixes the conveyor belt driven shaft and adjusts the structure of the conveyor belt: the adjustable driven shaft connector box is fixed at a suitable position on the first layer of the machine frame near the tea spreader. By turning the hexagonal screw inserted into the adjustable driven shaft connector box, the driven shaft connector embedded in the driven shaft connector box slide is pulled, and the two ends of the conveyor belt driven shaft are inserted into the driven shaft connector, thereby adjusting the position of the conveyor belt driven shaft and adjusting the tightness of the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the tea picking workflow; Figure 2 This is the assembly diagram of all parts of the tea bud intelligent cutting equipment; Figure 3This is the exploded view of the assembly of the various parts of the circular cutter; Figure 4 This is the exploded view of the assembly of the parts of the power board; Figure 5 This is the assembly diagram of the parts of the tea bud intelligent cutting equipment carrier frame; Figure 6 This is the exploded view of the assembly of the various parts of the conveyor belt; Figure 7 This is an exploded view of the assembly of the parts of the adjustable driven shaft connector in the conveyor belt; DETAILED DESCRIPTION The following is further described in detail through specific implementation methods: like Figure 1 As shown, the tea picking workflow: Step 1: During the appropriate tea picking period, staff will use handheld tea cutting machines to cut tea leaves with stems and buds at the appropriate height in the tea field without discrimination; Step 2: Turn on the power of the tea bud intelligent cutting device, air pump and aspirator respectively, turn on the image recognition system computing terminal, and the system will automatically initialize; Step 3: Bring a large amount of cut tea leaves with stems and buds to the tea bud intelligent cutting equipment factory, and pour the tea leaves with stems and buds into the tea spreading machine; Step 4: The automatic tea spreading machine of the tea bud intelligent cutting equipment will sparsely spread an appropriate amount of tea leaves on the feeding conveyor belt of the tea bud intelligent cutting equipment; Step 5: The tea leaves pass through the camera of the tea bud intelligent cutting equipment. The image recognition system automatically identifies the position of the tea buds to be picked, calculates the knife drop positions of all tea buds, and feeds the position list back to the mechanical control system.

[0038] Step 6: The circular cutting knife moves to the horizontal position of the falling knife. After the tea leaves with stem buds are conveyed by the conveyor belt to the cutting range of the circular cutting knife, the tea leaves temporarily stop moving, the circular cutting knife falls, and the tea buds are separated from the stems; Step 7: The suction channel of the aspirator opens as the knife falls, and the air pump air guide switch opens when the knife falls completely. The tea buds cut from the stems by the ring cutting knife are guided into the storage box of the aspirator along with the air flow; Step 8: The circular cutting knife is lifted and returned to its original position, the crawler belt continues to run, the circular cutting knife and crawler belt continue to move to the next cutting position, and the stem and leaf parts without tea buds are removed with the conveyor belt; Step 9: Repeat steps 4 to 8, and add more tea leaves with stems and buds to the tea spreader while the machine is running until the tea picking is completed: like Figure 2 As shown, the intelligent tea bud cutting equipment mainly includes a circular cutting knife A0, a power plate B0, a bud spreader C0, a conveyor belt D0, a control and computing device E0, an air jet suction pipe F0 and a machine carrier G0.

[0039] The circular cutter A0 is controlled by the power board B0 through the horizontal screw B10, the pressure rod B12 and the horizontal circular shaft B13, and is used to cut the tea buds; the power board B0 is fixed on the circular cutter carrier G02 of the machine carrier G0, and is used to control the horizontal and vertical movement of the circular cutter A0; the pressure blade suction elbow A01 and the air jet pressure leaf sleeve A07 of the circular cutter A0 are respectively connected to the suction machine material pipe F02 and the air pump air pipe F01 to provide air flow and collect tea buds; the bud spreader C0 is fixed at the front end of the machine carrier G0, and is used to spread the tea leaves with stem buds sparsely and quantitatively on the conveyor belt D0; the conveyor belt D0 is fixed At the bottom of the machine carrier G0, the tea leaves with stem buds are sent to the cutting area of ​​the circular cutter A0 through the camera E03, that is, the cutting bud support plate G03 area. Finally, the picked tea leaves are conveyed to the leaking area of ​​the machine carrier G0 and fall; the camera E03 and LED light strip E04 are fixed in the upper middle part of the machine carrier G0, facing the conveyor belt D0, for real-time photography of tea leaves; the TB6600 driver and mechanical control development board E01 and the motor dual-bridge driver board E02 are fixed on the circular cutter carrier G02, for the logic control of various components of the machine and the motion analog control of the motor.

[0040] like Figure 3 As shown, the circular cutter A0 includes the following parts: a pressure cutter suction elbow A01, a rotating support cover A02, a rotating inner sleeve A03, a circular cutter moving sleeve A04, a circular cutter rotator A05, an annular cutter A06, an air jet pressure blade sleeve A07, a pressure blade soft rubber sleeve A08, a spring A09, a ball valve A10, a ball valve switch A11, a ball valve push rod A12, a circular cutter position card A13, a circular cutter limit rod A14 and a circular cutter bearing A15.

[0041] The pressing knife suction elbow A01 is connected to the rotating support cover A02 through the circular cutter limit rod A14, and contains a ball valve A10 inside. The pressing knife suction elbow A01 is controlled by the pressure rod B12 to control the vertical movement. The pressing knife suction elbow A01 and the suction machine material pipe F02 are used to provide vertical power transmission for the circular cutter A0, and are also the interface for conveying tea buds of the circular cutter A0; the rotating inner sleeve A03 is fixed to the rotating support cover A02 by threads, and the rotating inner sleeve A03 is inserted from the blade direction of the circular cutter rotator A05. The rotating inner sleeve A03 uses its own rotating grooves to make the circular cutter rotator A05 rotate during vertical movement; the circular cutter movable sleeve A04 is fixed with a screw nut, which is connected to the horizontal screw rod B 10 is connected, the rotation of the horizontal screw rod B10 will make the circular cutting knife movable sleeve A04 move horizontally, and the other side of the circular cutting knife movable sleeve A04 connected to the horizontal screw rod B10 is connected to the horizontal circular shaft B13. These two horizontal shafts ensure that the posture of the circular cutting knife movable sleeve A04 is correct, and the circular cutting knife limiting rods A14 are inserted around the circular cutting knife movable sleeve A04, and the 12 circular cutting knife limiting rods A14 are divided into two groups and embedded in the rotating support cover A02 and the jet pressure blade sleeve A07 respectively, so that when the circular cutting knife movable sleeve A04 moves horizontally, it will drive the circular cutting knife A0 as a whole to move; the circular cutting knife A06 is fixed at the cutting edge of the circular cutting knife rotator A05, and when the circular cutting knife rotator A05 rotates, it drives the circular cutting knife A06 to rotate, thereby realizing the cutting function; the jet pressure blade sleeve A07 is sleeved on the circular cutter rotator A05, the slit on the inner side of the jet leaf pressing sleeve A07 faces the air guide hole of the circular cutter rotator A05, and the outer nozzle of the jet leaf pressing sleeve A07 is connected to the air pump air pipe F01, which provides airflow for the circular cutter. The jet leaf pressing sleeve A07 is connected to the circular cutter movable sleeve A04 through the inserted circular cutter limit rod A14, which can correct the position of the circular cutter blade; the leaf pressing soft rubber sleeve A08 is sleeved on the far end of the jet interface of the jet leaf pressing sleeve A07, and the leaf pressing soft rubber sleeve A08 is used to fix the position of the tea leaves when the circular cutter cuts the buds, to prevent the tea leaves from following the movement of the circular cutter A06 and weakening the cutting effect. In addition, it can also push away the tea leaves that may stick to the circular cutter A06 when the knife is started; the spring A09 is sleeved on the rotating support cover A 02. On the cylindrical surface of the rotating inner sleeve A03 and the circular cutter rotator A05, the spring A09 provides pressure for cutting the tea buds; the ball valve A10 is connected to the ball valve switch A11, and the ball valve A10 is placed between the rotating support cover A02 and the pressure knife suction elbow A01. As the circular cutter A0 descends, the ball valve push rod A12 pushes the ball valve switch A11 to conduct the suction channel of the circular cutter A0, so that the external suction mechanism can suck away and collect the cut tea buds; the circular cutter position card A13 is sleeved on the position of the screw nut of the circular cutter moving sleeve A04, and cooperates with the horizontal limit photoelectric gate E05 to feedback information on whether the circular cutter A0 is at the boundary, so that the mechanical control development board E1 can plan the movement of the circular cutter A0;The eight ring cutter bearings A15 are divided into two groups and are respectively installed in the pressure knife suction elbow A01 and the ring cutter moving sleeve A04. They are respectively on both sides of the pressure rod B12 and the horizontal circular shaft B13, which plays a role in reducing the resistance of the ring cutter A0 when it moves horizontally.

[0042] like Figure 4 As shown, power plate B0 includes the following parts: gear carrier plate B01, gear bearing B02, bevel gear (motor) B03, bevel gear (hexagonal inner ring) B04, bevel gear (screw) B05, power plate reduction motor B06, stepper motor B07, power plate motor box B08, hexagonal drive shaft B09, horizontal screw B10, vertical screw B11, pressure rod B12, horizontal circular shaft B13, screw slider (including screw nut) B14, and screw limiter B15. Power plate B0 has a mirror image on the other side of the circular cutter, excluding motor assembly B06, B07, and B08.

[0043] The six gear holes of the gear carrier B01 are first embedded with gear bearings B02 to reduce the rotational friction of the bevel gears B03, B04, and B05; two bevel gears (motor) B03 are embedded in the side of the gear carrier B01 facing the motor, respectively driving the power board reduction motor B06 and the stepper motor B07; two bevel gears (hexagonal inner) B04 are embedded in the gear holes of the gear carrier B01 on the same level as the power board reduction motor B06. The rear part of the bevel gear (hexagonal inner) B04 is square, and the outer square hole gear B17 is used to transmit each other. The one bevel gear (hexagonal inner) on the motor side is Hexagonal) B04 is embedded with a hexagonal transmission shaft B09, which is used to mirror the power board without the motor group; two bevel gears (screws) B05 are respectively embedded in the gear holes of the power board B0 close to the stepper motor B07 and the vertical direction, and the horizontal screw B10 and the vertical screw B11 are respectively embedded inside. These two bevel gears (screws) B05 each receive the rotation from the stepper motor B07 and the power board reduction motor B06 through gear transmission, thereby respectively driving the rotation of the horizontal screw B10 and the vertical screw B11; the power board reduction motor B0 is respectively installed in the upper and lower empty nests in the power board motor box B08. 6 and stepper motor B07; the two ends of the horizontal screw rod B10 are embedded in the symmetrical bevel gears (screw rods) B05, and the screw nut of the circular cutter moving sleeve A04 will pass through the middle to allow the circular cutter moving sleeve A04 to move horizontally; the vertical screw rod B11 is embedded in the vertical bevel gear (screw rod) B05, and the screw rod slider B14 is passed through the middle to adjust the height of the pressure rod B12, and finally passes through the screw rod limit card B15; the pressure rod B12 is embedded in the symmetrical screw rod slider B14 at both ends, and the pressure knife suction elbow A01 is passed through the middle to adjust the vertical position of the circular cutter A0; the two ends of the horizontal circular shaft B13 are embedded in the opposite The circular cutter movable sleeve A04 is passed through the middle of the power plate, and the circular cutter movable sleeve A04 is set up together with the horizontal screw rod B10; the screw rod limit card B15 is inserted into the head slot of the screw rod fixing column B16, and is sleeved on the end of the vertical screw rod B11 to prevent the screw rod from deviating from the vertical direction; the screw rod fixing column B16 is sleeved on the outside of the 6mm cylindrical hole of the power plate B0, the foot is fixed to the power plate B0, and the head is embedded in the screw rod limit card B15. A pair of limit photoelectric gates E05 are affixed to the appropriate position of the column body. The limit photoelectric gate E05 is used to feedback the vertical position information of the circular cutter to the mechanical control development board E01.

[0044] like Figure 5 As shown, the machine carrier G0 includes the following parts: machine frame G01, ring cutter carrier plate G02, bud cutting support plate G03, suction pipe ring G04, air pump pipe ring G05, and adjustable camera connecting rod G06.

[0045] The machine skeleton G01 is the basis for carrying various components, and the skeleton is divided into three layers; the circular cutter carrier G02 is fixed on the second layer of the machine skeleton G01, and the circular cutter carrier G02 carries components such as the circular cutter A0, power board B0, TB6600 driver and mechanical control development board E01; the bud cutting support plate G03 is fixed on the first layer of the machine skeleton G01, and is located directly below the moving groove of the circular cutter A0 on the circular cutter carrier G02, and is used to support the conveyor belt D01 to facilitate the circular cutter A0 to cut and collect tea buds; the suction pipe ring G04 and the air pump pipe ring G05 are fixed on the second layer of the machine skeleton G01, and are respectively used to constrain the suction material pipe F02 and the air pump air pipe F01; the adjustable camera connecting rod G06 is located on the third layer of the machine skeleton G01, and the position of the camera connecting rod G06 can be adjusted horizontally, so that the shooting position of the camera on the camera connecting rod G06 can be adjusted.

[0046] like Figure 6 As shown, the conveyor belt D0 includes the following parts: conveyor belt D01, conveyor belt protective cloth D02, conveyor belt driving shaft D03, conveyor belt driven shaft D04, driving shaft connector D05, adjustable driven shaft connector D06, synchronous belt gear set D07, crawler reduction motor D08, crawler motor box D09, driving shaft bearing D10, and rotation counting fan blade D11.

[0047] The conveyor belt D01 is tightened and fixed by the conveyor belt protection cloth D02 and the conveyor belt driving shaft D03, which is used to receive the tea leaves with stems and buds scattered by the tea spreading machine C0 and transport the tea leaves to the bottom of the circular cutter A0. After the circular cutter A0 cuts and collects the tea buds, the remaining tea leaves are transported to the end of the conveyor belt and dropped; the conveyor belt protection cloth D02 is fitted and covered on the surface of the conveyor belt D01 to protect the conveyor belt D01 and prevent the circular cutter from damaging the conveyor belt D01. In addition, the conveyor belt protection cloth D02 should have a smooth surface, soft fabric and moderate thickness to facilitate the circular cutter to cut the tea buds smoothly; a pair of driving shaft connectors D05 are fixed on the first layer of the machine carrier G0 near the circular cutter carrier plate G02. The driving shaft connector D05 A driving shaft bearing D10 is embedded inside, and the driving shaft bearing D10 is sleeved on both ends of the conveyor belt driving shaft D03 to reduce rotational friction; a pair of adjustable driven shaft connectors D06 are fixed on the first layer of the machine carrier G0 near the tea spreader C0, and the adjustable driven shaft connector D06 is directly sleeved on both ends of the conveyor belt driven shaft D04. The hexagon socket screw D064 of the driven shaft connector D06 can be adjusted to control the tension of the conveyor belt D01; the crawler motor box D09 is fixed on the first layer of the machine carrier G0 adjacent to the driving shaft connector D05, and the crawler reduction motor D08 is loaded inside; the crawler reduction motor D08 and the conveyor belt driving shaft D03 are connected for transmission through the synchronous belt gear set D07.

[0048] like Figure 7As shown, the adjustable driven shaft connector D06 includes the following parts: adjustable driven shaft connector box D061, driven shaft connector D062, 4 external hexagon nuts D063 and 2 internal hexagon screws D064.

[0049] The driven shaft connector D062 is embedded in the adjustable driven shaft connector box D061. The driven shaft connector D062 is sleeved on one end of the conveyor belt driven shaft D04. One side of the machine frame G01 passes through the driven shaft connector box D061 and the driven shaft connector D062. The driven shaft connector D062 can move in the axial direction; two external hexagon nuts D063 need to be filled in the hexagonal nut holes on the side of the driven shaft connector D062 facing the driving shaft direction, and the other two external hexagon nuts D063 need to be filled in the hexagonal nut holes on the side of the driven shaft connector box D061 facing away from the driving shaft direction; two internal hexagon screws D064 are turned along the nut of the driving shaft connector box D061 toward the nut of the driven shaft connector D062. Turning the internal hexagon screws D064 can control the position of the driven shaft connector D062, thereby adjusting the tightness of the conveyor belt D01.

[0050] The above description is merely an embodiment of the present invention. Common knowledge regarding the specific structure and characteristics of the solution is not described in detail herein. It should be noted that those skilled in the art may make various modifications and improvements without departing from the structure of the present invention. These modifications and improvements should also be considered within the scope of protection of the present invention and will not affect the effectiveness and practicality of the present invention. The specific embodiments and other descriptions in the specification may be used to interpret the content of the claims.

Claims

1. A tea bud intelligent cutting device, comprising a base and a conveyor belt, characterized in that: It also includes an identification device, a bud cutting device and a bud collecting device; The identification device includes a camera arranged above the conveyor belt, the camera is connected to an image recognition system, the camera scans the tea leaves on the conveyor belt, identifies the tea buds, and calculates the cutting position of the tea buds; The bud cutting device receives the bud cutting position information transmitted by the identification device; the cutting knife of the bud cutting device moves to the corresponding bud cutting position to cut the tea buds; Bud collecting device collects the tea buds separated by the cutter.

2. The intelligent tea bud cutting device according to claim 1, characterized in that: The bud cutting device includes a circular cutter perpendicular to the conveyor belt plane and a circular cutter support plate arranged parallel to the conveyor belt. A tubular channel is formed inside the circular cutter ring to facilitate the collection of separated tea leaves. The tubular channel is connected to an air suction pipe for collecting tea buds; the circular cutter support plate provides a bud cutting support platform for the circular cutter.

3. The intelligent tea bud cutting device according to claim 2, characterized in that: The bud collecting device comprises an air jet pump, an air suction machine, an air suction pipe connected to the air suction machine, and a tea bud storage bin connected to the air suction machine.

4. The intelligent tea bud cutting device according to any one of claims 1 to 3, characterized in that: The circular cutting knife is connected to the base through power devices in the horizontal and vertical directions; The circular cutting knife comprises: a pressing knife air suction elbow, a rotating support cover, a rotating inner sleeve, and a circular knife; a ball valve is provided between the pressing knife air suction elbow and the rotating support cover, and they form a tubular channel; the outer ring of the circular cutting knife is provided with a circular cutting knife rotator and a blade pressure soft rubber sleeve; the circular cutting knife rotator is connected to the rotating support cover through a spring, and an air jet blade pressure sleeve is provided outside the circular cutting knife rotator; the inner part of the spring ring is for the upper part of the circular cutting knife, the rotating inner sleeve and the lower part of the rotating support cover to pass through.

5. The tea bud intelligent cutting device according to claim 4, characterized in that: The base comprises a machine frame of a gantry structure, wherein the bud cutting support plate and the conveyor belt are located in the first layer space at the bottom of the machine frame for conveying tea leaves and providing support for the bud cutting; a ring cutting knife carrier plate is provided above the bud cutting support plate, and the ring cutting knife carrier plate is located in the second layer space of the machine frame for carrying the ring cutting knife; The camera is located in the third space of the machine skeleton.

6. The intelligent tea bud cutting device according to claim 5, characterized in that: The camera is connected to the machine frame via a connecting rod, and the camera can be set to a real-time shooting position via the connecting rod.

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