A full-automatic tea picking and pruning integrated machine

Abstract

The application discloses a full-automatic tea picking and pruning integrated machine, which comprises a rack and a pruning unit arranged on the rack; the pruning unit comprises reciprocating staggered driving cutters and a plurality of pruning teeth arranged on the cutters; the pruning unit is horizontally slidably arranged on the rack, and a driving motor for driving the pruning unit to reciprocatingly slide is arranged on the rack; the driving motor is started to realize the horizontal reciprocating displacement of the pruning unit, so as to compensate for the pruning gap of the cutters in the tooth missing state; the detection circuit composed of the resistance rod, the wire and the elastic guide sheet is arranged in the pruning tooth, so that the number of broken teeth can be accurately positioned in real time and automatically, and then the controller drives the servo push rod and the motor to drive the whole pruning unit to move horizontally, so that the intact pruning tooth compensates for the pruning gap caused by the missing tooth.

Description

Technical Field

[0001] This invention relates to the field of tea picking and pruning machine technology, and in particular to a fully automatic tea picking and pruning integrated machine. Background Technology

[0002] Tea picking and pruning are two core operations in tea garden management. Traditional manual tea picking and pruning methods are labor-intensive, inefficient, and costly, and are severely affected by seasonal labor shortages. Therefore, large-scale agricultural machinery that integrates tea picking and pruning functions has emerged and has become a key piece of equipment for modern tea gardens to achieve large-scale and standardized production.

[0003] In existing technologies, the pruning function of integrated tea-picking and pruning machines is typically achieved through reciprocating cutting saw teeth. For example, CN1072054A discloses a tea-picking machine that specifically discloses reciprocating blades 60 and 61. These blades consist of two rows of serrated pruning teeth that are driven by power to move laterally back and forth, similar to the principle of scissors, thereby cutting the branches of the tea tree. This structure has a good pruning effect on tender branches and current-year shoots of regular thickness.

[0004] However, in practical applications, especially when dealing with old tea tree branches that are perennial, thick, or highly lignified, the above pruning method reveals obvious technical defects. Due to the limited strength of the pruning teeth (especially the serrated part), a huge stress concentration will be generated at the moment of impact shearing of thick and hard branches, which can easily cause the tips of the pruning teeth to crack or break, i.e., the "tooth breakage" phenomenon. Once tooth breakage occurs, a notch will be formed on the pruning blade, resulting in a "missing tooth" state.

[0005] This "missing tooth" problem can trigger a series of adverse reactions:

[0006] First, in subsequent continuous pruning operations, the branches that cannot be effectively cut through the missing teeth cannot be effectively cut through. This results in the branches not being cut off or being forcibly torn instead of being cleanly cut, causing the pruning surface to be uneven and the cut to be rough. Rough cuts are prone to infection by pests and diseases, and also affect the uniformity and growth vigor of the tea tree's subsequent budding, seriously reducing the quality of pruning.

[0007] Secondly, in order to make up for the trimming defects, rework or manual repair is often required, which greatly affects the work efficiency and increases additional costs. Moreover, the broken blades need to be replaced or repaired after the machine is stopped, which not only increases maintenance costs but also causes work interruption and reduces the overall trimming efficiency. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a fully automatic tea picking and pruning integrated machine. This integrated machine can automatically drive the pruning unit to move laterally after detecting a broken pruning tooth, in order to compensate for the pruning gap caused by the missing tooth, thereby ensuring pruning quality and work efficiency.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a fully automatic tea picking and pruning integrated machine, comprising a frame and a pruning unit mounted on the frame;

[0010] The trimming unit includes reciprocating and interleaved driven blades and a number of trimming teeth provided on the blades.

[0011] The trimming unit is slidably mounted on the frame, and the frame is equipped with a drive motor for driving the trimming unit to slide back and forth.

[0012] After the drive motor is started, the trimming unit is moved laterally back and forth to compensate for the trimming gap of the cutter when the tooth is missing.

[0013] In the above scheme, preferably, the trimming unit includes a side frame and a plurality of sliding rods disposed on the side frame and slidably engaged with the frame. The side frame is provided with a screw sleeve, and the frame is provided with a lead screw that is threadedly engaged with the screw sleeve.

[0014] In the above scheme, preferably, the drive motor is connected to the lead screw.

[0015] In the above scheme, preferably, the sliding rod passes through the frame and is provided with a connecting plate, the connecting plate is provided with a servo push rod, and the end of the servo push rod is provided with a reset button that is electrically connected to the drive motor.

[0016] In the above scheme, preferably, each of the trimming teeth is provided with a movable resistance rod, the cutter is provided with a wire that is in electrical contact with each resistance rod, and an elastic guide plate is provided between the resistance rod and the wire;

[0017] The wire is electrically connected to the servo push rod through the controller, and the extension length of the servo push rod is controlled by the change of the resistance value on the guide.

[0018] In the above scheme, preferably, the trimming tooth is provided with a movable groove adapted to the resistor rod and an elastic cavity for the elastic guide plate to move, and the movable groove and the elastic cavity are in communication.

[0019] In the above scheme, preferably, one end of the movable groove extends toward the tip of the trimming tooth and touches the top of the groove wall, and the other end is electrically connected to the resistance rod in the elastic cavity through an elastic guide plate.

[0020] In the above scheme, preferably, one side of the trimming unit is slidably connected to one side of the frame via a sliding rod on the side frame, and the other side is slidably connected to the frame via an auxiliary rod; the frame is provided with a positioning plate that cooperates with the sliding rod.

[0021] In the above scheme, preferably, the resistor rod is made of zinc-aluminum alloy.

[0022] In the above scheme, preferably, the elastic guide plate is an arc-shaped plate, with its end face protruding outward away from the arc center abutting against the end of the resistor rod, and both ends of the elastic guide plate contacting the wire.

[0023] The beneficial effects of the present invention are as follows: By setting a detection circuit consisting of a resistance rod, a wire and an elastic guide plate inside the trimming tooth, the present invention can accurately locate the number of broken teeth in real time and automatically. Then, the controller drives the servo push rod and the motor to move the entire trimming unit laterally, so that the intact trimming teeth can compensate for the trimming gap caused by the missing teeth.

[0024] Meanwhile, the aforementioned automated detection and compensation mechanism, combined with the precision transmission structure consisting of the lead screw and nut pair and the sliding rod, effectively solves the technical problem of incomplete pruning caused by broken teeth in traditional pruning shears. Thus, without the need for manual intervention, it significantly improves the continuity, flatness, and cut quality of pruning operations, and fundamentally avoids rework, greatly improving the operational efficiency and economic benefits of tea garden management, while reducing manual labor. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the main structure of the present invention.

[0026] Figure 2 For the present invention Figure 1 A magnified schematic diagram of the structure at point A in the middle.

[0027] Figure 3 This is an exploded three-dimensional schematic diagram of the drive motor of the present invention.

[0028] Figure 4 This is a schematic diagram of the internal structure of the trimming tooth of the present invention.

[0029] Figure 5 This is a schematic diagram of the through structure of the movable groove and the elastic cavity of the present invention. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: See also Figures 1-5 .

[0031] A fully automatic tea picking and pruning integrated machine includes a frame 1 and a pruning unit 2 mounted on the frame 1. The pruning unit 2 has a side frame 203 fixed to one side and an auxiliary rod 207 fixed to the other side. Figure 1 As shown, two sets of auxiliary rods 207 are provided, and several sliding rods 204 are fixed on the inner end face of the side frame 203. The trimming unit 2 is laterally slidably mounted on the frame 1 through the sliding rods 204 and the auxiliary rods 207.

[0032] A positioning plate 101 is fixed on the same side of the frame 1 and the side frame 203. The sliding rod 204 slides to the right through the positioning plate 101, thereby enabling the trimming tool 2 to slide laterally on the frame 1.

[0033] The front end of the frame 1 is equipped with a front wheel, which is driven by a power mechanism. The rear end is equipped with a single steering rear wheel. By controlling the rear wheel, the steering control of the whole machine is realized. The pruning part of the pruning blade 2 is located on the side where the front wheel moves forward, so that the tea tree is pruned when the front wheel moves forward. The frame 1 is a gantry frame, which forms a gate shape at the bottom for the tea tree to pass through, and the pruning blade 2 is placed horizontally in the lateral direction of the gantry frame to prune the tea crown.

[0034] A drive motor 3 is fixed on the positioning plate 101. The drive motor 3 is a servo motor or a DC motor. A lead screw 206 is fixed on the output shaft of the drive motor 3. One end of the lead screw 206 facing the side frame 203 passes through the positioning plate 101. A threaded sleeve 205 that is threadedly engaged with the lead screw 206 is fixed on the side frame 203. When the drive motor 3 rotates, the lead screw 206 can drive the threaded sleeve 205 to slide under the guidance of the sliding rod 204, thereby driving the side frame 203 to move laterally, that is, driving the trimming unit 2 to move laterally. Furthermore, by controlling the reciprocating forward and reverse switching of the drive motor 3, the lateral reciprocating sliding of the trimming unit 2 can be realized.

[0035] The sliding rod 204 slides through the positioning plate 101 and is connected to it via the connecting plate 4. A servo push rod 401 is fixed on the end face of the connecting plate 4 facing the positioning plate 101. Specifically, the push rod seat of the servo push rod 401 is fixed on the connecting plate 4, and the push rod end can move closer to or away from the positioning plate 101 via the drive of the servo push rod 401. A reset button 402 is fixed on the push rod end. The reset button 402 is connected to the drive motor 3 after being programmed by the microcontroller controller. When the reset button 402 is turned on, the reset button 402 will be activated. After 2 is triggered, the drive motor 3 can reverse to achieve a reset. Initially, the push rod end of the servo push rod 401 is in the overall extended state. At this time, the distance between the reset button 402 and the end face of the positioning plate 101 is the shortest. After the drive motor 3 starts, the lateral displacement distance of the trimming unit 2 is also the shortest. When the servo push rod 401 is driven to retract to the right, that is, when the distance between the reset button 402 and the end face of the positioning plate 101 increases, the drive motor 3 drives the screw sleeve 205 to move a longer distance through the lead screw 206, that is, the backward displacement distance of the trimming unit 2 is longer.

[0036] To control the reciprocating distance of the trimming unit 2, that is, to increase the lateral displacement distance when the number of missing teeth in the trimming unit 2 is large, and to compensate for the impact of missing teeth on trimming by the lateral reciprocating displacement of the trimming unit 2, and to shorten the displacement distance when the number of missing teeth is small, this embodiment provides a mechanism for detecting the missing tooth status on the trimming unit 2. Specifically, the trimming unit 2 includes a reciprocatingly driven cutter 201 and a plurality of trimming teeth 202 provided on the cutter 201. The cutter 201 is divided into an upper cutter and a lower cutter. The upper and lower cutters are arranged laterally reciprocating to realize a shearing mechanism. This is the prior art in the patent cited in the background art, and will not be described in detail here.

[0037] Each of the trimming teeth 202 is provided with a movable resistance rod 5. Specifically, each trimming tooth 202 is provided with a movable groove 203 and an elastic cavity 504, and the movable groove 203 and the elastic cavity 504 are connected in a through connection. Figure 5 As shown, the resistance rod 5 is slidably embedded in the movable groove 203. It is straight and the bottom of the elastic cavity 504 is coated with insulating material, thereby achieving insulated contact between the resistance rod 5 and the trimming tooth 202. A wire 501 is horizontally embedded on the cutter 201, and the wire 501 passes through the elastic cavity 504.

[0038] An elastic guide plate 502 is provided inside the elastic cavity 504, such as Figure 4 As shown, the elastic guide plate 502 is an arc-shaped plate, with its outwardly protruding end face away from the arc center abutting against the end of the resistor rod 5. Both ends of the elastic guide plate 502 are in contact with the wire 501, so that the resistor rod 5 on each trimming tooth 202 is connected in series with the wire 501. One end of the movable groove 503 extends towards the tip of the trimming tooth 202 and touches the top of the groove wall, while the other end is electrically connected to the resistor rod 5 in the elastic cavity 504 through the elastic guide plate 502. That is, the resistor rod 5 is connected to the resistor rod 5 through the elastic guide plate 502. The elastic contact plate 502 and the wire 501 are connected in an elastic contact manner. When the tip of the trimming tooth 202 breaks off, the movable groove 503 breaks towards the tip of the trimming tooth 202. At this time, after the movable groove 503 breaks off, the resistance rod 5 also breaks off and loses its limiting contact with the groove wall of the movable groove 503. As a result, the remaining resistance rod 5 is ejected away from the elastic cavity 504 under the elastic force of the elastic contact plate 502, so that the resistance rod 5 is separated from the contact of the wire 501, reducing the total resistance value of the wire 501.

[0039] To achieve both rigidity and brittleness of the resistance rod 5 and to have a certain resistance value, the resistance rod 5 in this embodiment can be made of zinc-aluminum alloy. When the elastic guide plate 502 is initially placed in the elastic cavity 504, its arc surface is in a compressed state when subjected to the squeezing force of the resistance rod 5. Furthermore, the elastic guide plate 502 can be made of thin copper sheet to give it better elastic recovery ability and conductivity.

[0040] The wire 501 is electrically connected to the servo push rod 401 via a controller. The extension length of the servo push rod 401 is controlled by the change in resistance value on the wire 501. Specifically, the wire 501 is connected to the servo push rod 401 via a controller such as a microcontroller. When the resistance value on the wire 501 decreases, the controller calculates the magnitude of the decrease in resistance value to determine the number of missing resistance rods 5, further determines the number of missing teeth on the trimming teeth 202, and then converts it into an electrical signal transmitted to the servo push rod 401 to control its retraction length, that is, to control the displacement distance between the reset button 402 and the positioning plate 101. This changes the lateral displacement amplitude of the trimming unit 2 when missing teeth. That is, the more missing teeth there are, the smaller the resistance value on the wire 501, and the longer the retraction distance of the servo push rod 401. The greater the distance between the reset button 402 and the positioning plate 101, the greater the displacement distance of the drive motor 3 when driving the side frame 203 to move laterally, that is, the greater the lateral displacement amplitude of the trimming unit 2 towards the reset.

[0041] In this embodiment, the drive motor 3, servo push rod 401, reset button 402, and each resistor rod 5 and wire 501 are all connected to a simple single-chip microcomputer controller through electrical components to achieve automated control of the whole machine.

[0042] The method of using a fully automatic tea picking and pruning machine as described above:

[0043] As the machine moves through the tea garden, the blades 201 of the pruning unit 2 drive the upper and lower rows of pruning teeth 202 to perform reciprocating and alternating movements, thus pruning the tea trees normally.

[0044] At this time, the tips of all the trimming teeth 202 are intact, and the resistance rod 5 in each trimming tooth 202 is fixed in its initial position by the contact of the groove wall of the movable groove 503 of the tip portion. The resistance rod 5 maintains stable electrical contact with the wire 501 embedded in the cutter 201 through the elastic guide plate 502, and the entire detection circuit is maintained at a reference resistance value.

[0045] When the tip of the pruning tooth 202 breaks off due to cutting a thick branch, the end of the movable groove 503 facing the tip also breaks. As a result, the resistance rod 5 loses the limiting constraint of the groove wall and is slightly ejected towards the tip under the elastic force of the internal elastic guide plate 502, causing it to completely disengage from the elastic guide plate 502. This reduces the total resistance value of the detection circuit formed by the resistance rods 5 of all the pruning teeth 202 connected in series.

[0046] The wire 501 transmits the changed resistance signal to the controller. The controller calculates the number of clipped teeth 202 based on the magnitude of the decrease in resistance value using a preset algorithm. The more clipped teeth there are, the greater the decrease in total resistance value. Subsequently, the controller sends a command to the servo push rod 401 based on the calculated number of clipped teeth, controlling the push rod to retract by the corresponding length: that is, the more clipped teeth there are, the longer the servo push rod 401 retracts, which increases the distance between the reset button 402 fixed at the end of the push rod and the end face of the positioning plate 101.

[0047] The drive motor 3 starts, causing the lead screw 206 to rotate, which in turn drives the entire trimming unit 2 (including the side frame 203, sliding rod 204, and cutter 201) to move laterally through the screw sleeve 205.

[0048] When the trimming unit 2 moves laterally, the connecting plate 4 moves accordingly. When the moving distance reaches the set value, the push rod end of the servo push rod 401 on the connecting plate 4 (and the reset button 402 on it) will touch the positioning plate 101. Pressing the reset button 402 will cause the drive motor 3 to reverse, driving the trimming unit 2 to move in the opposite direction until it returns to the vicinity of the initial position, completing one compensation cycle.

[0049] This invention increases the lateral reciprocating displacement of the trimming unit 2, so that the intact trimming teeth 202 on the cutter 201 can cover and trim the "trimming gap" area caused by tooth breakage, thereby ensuring the continuity and flatness of the trimming surface and realizing automatic compensation for the missing tooth state.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic tea-picking and pruning integrated machine, characterized in that: The utility model relates to a cutting device for cutting grass, comprising a frame (1) and a cutting unit (2) arranged on the frame (1). The cutting unit (2) comprises a reciprocating interlaced driven cutter (201) and a plurality of cutting teeth (202) arranged on the cutter (201). The cutting unit (2) is transversely slidably arranged on the frame (1), and the frame (1) is provided with a driving motor (3) for driving the cutting unit (2) to reciprocally slide. The driving motor (3) is started to realize the transverse reciprocating displacement of the cutting unit (2), so as to compensate for the cutting gap of the cutter (201) in the toothless state. The cutting unit (2) comprises a side frame (203) and a plurality of sliding rods (204) slidably arranged on the side frame (203) and slidably matched with the frame (1), the side frame (203) is provided with a threaded sleeve (205), and the frame (1) is provided with a lead screw (206) threadedly matched with the threaded sleeve (205). Each cutting tooth (202) is provided with a movable resistance rod (5), the cutter (201) is provided with a wire (501) in electrical contact with each resistance rod (5), and an elastic guide plate (502) is arranged between the resistance rod (5) and the wire (501). The wire (501) is electrically connected with a servo push rod (401) through a controller, and the length of the servo push rod (401) pushed out is controlled by changing the resistance value of the wire (501). The cutting tooth (202) is provided with a movable groove (503) matched with the resistance rod (5) and an elastic cavity (504) for the elastic guide plate (502) to move, and the movable groove (503) and the elastic cavity (504) are through. One end of the movable groove (503) extends to the tooth tip part of the cutting tooth (202) and touches the groove wall top, and the other end is electrically connected with the resistance rod (5) in the elastic cavity (504) through the elastic guide plate (502).

2. The full-automatic tea picking and pruning integrated machine according to claim 1, characterized in that: The driving motor (3) is connected with the lead screw (206).

3. The full-automatic tea picking and pruning integrated machine according to claim 1, characterized in that: The sliding rod (204) is provided with a connecting plate (4) after penetrating the frame (1), the connecting plate (4) is provided with a servo push rod (401), and the end of the servo push rod (401) is provided with a reset button (402) electrically connected with the driving motor (3).

4. The full-automatic tea picking and pruning integrated machine according to claim 1, characterized in that: One side of the cutting unit (2) is slidably connected with one side of the frame (1) through the sliding rod (204) on the side frame (203), and the other side is slidably connected with the frame (1) through an auxiliary rod (207); the frame (1) is provided with a positioning plate (101) matched with the sliding rod (204).

5. The full-automatic tea picking and pruning integrated machine according to claim 1, characterized in that: The resistance rod (5) is made of zinc-aluminum alloy.

6. The full-automatic tea picking and pruning integrated machine according to claim 1, characterized in that: The elastic guide plate (502) is an arc-shaped plate, one side end face of which protrudes outward away from the arc center and abuts against the end of the resistance rod (5), and the two ends of the elastic guide plate (502) are in contact with the wire (501).

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