Profiling tea leaf picking device and tea leaf picker

Abstract

The invention provides a profiling tea leaf picking device and a tea leaf picker. The problems that in the prior art, the radian of an arc-shaped blade is fixed, the picking and collecting effects are poor, and a sorting function does not exist are solved. Comprising a main body module, a picking module, a negative pressure feeding module and an air blowing anti-falling module, the main body module comprises a transverse frame, two swing arms hinged to the two ends of the transverse frame respectively, and a vertical plate fixedly connected to the lower portion of the transverse frame; the picking module is arranged between the ends, away from the transverse frame, of the two swing arms and comprises a plurality of picking units and a plurality of angle adjusting units used for independently adjusting the angles between the adjacent picking units and the angles between the picking units and the swing arms. The picking unit comprises a picking arm, an arc-shaped plate and a cutting part, and a material suction opening is formed in the arc-shaped plate; the negative pressure feeding module is communicated with the suction port; the blowing direction of the blowing anti-falling module faces the inclined upper rear portion, and blown airflow blows tea leaves picked by the picking unit to the negative pressure feeding module. According to the device, the tea tree canopy can be precisely cut in a profiling mode, and the tea picking quality and the collecting effect can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tea picking, and particularly relates to a profiled tea leaf picking device and a tea picking machine. BACKGROUND

[0002] China is a big country in tea production and consumption. Tea, as a natural green drink, has a long cultural tradition in China. Not only are there the most famous products, but also the quality is excellent, the unique and beautiful shape is unique and beautiful, and it has good artistic appreciation value, and is more and more loved by people.

[0003] In order to improve the picking speed of tea leaves and reduce the labor intensity, a tea picking machine is designed and widely used. It is used to pick fresh tea leaves from the top of tea trees by manually holding the machine.

[0004] However, the current tea picking machine still has some shortcomings, specifically: 1. Most of the top of the tea tree is in an arc shape, and the operator needs to hold the machine back and forth several times to complete the fresh leaf picking of a single row of tea trees, which is prone to cause high-intensity single-person long-time operation, time-consuming and labor-intensive, and low efficiency. The radius of the arc-shaped blade is fixed, and the growth state of each tea tree is different, which will cause partial fresh leaf missing or missing; 2. During the cutting of tea leaves, the tea leaves are not fixed, which makes the cutting process easy to shake, thereby affecting the picking quality of tea leaves; 3. During the cutting of tea leaves, the cut tea leaves are easy to fall to the ground, and the collection effect is poor; 4. The picked tea leaves are of different qualities, and manual sorting of tea leaves is still needed, which still wastes labor. SUMMARY

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a profiled tea leaf picking device and a tea picking machine to solve the problems of fixed arc radius of the arc-shaped blade, poor picking and collecting effect, and no sorting function in the prior art.

[0006] To achieve the above-mentioned purposes and other related purposes, the present application provides a profiled tea leaf picking device, comprising: a main body module, the main body module comprising a horizontal frame, two swing arms respectively hinged to both ends of the horizontal frame, and a vertical plate fixed to the lower side of the horizontal frame; a picking module, the picking module being arranged between the two swing arms away from the horizontal frame, the picking module comprising a plurality of picking units, and a plurality of angle adjusting units respectively used for independently adjusting the angle between adjacent picking units and the swing arms; the picking unit comprises a picking arm, an arc-shaped plate fixed to the upper rear side of the picking arm, and a cutting part used for cutting tea leaves, and the arc-shaped plate has a suction port. A negative pressure feeding module is communicated with the suction port, and a negative pressure formed above each picking unit provides a pulling force to the tea leaves in a rearward and upward direction, so that the cutting part cuts the tea leaves and sucks them into the suction port for conveying; A blowing anti-falling module is equal in number to the picking units and is arranged on the picking units one by one, and the blowing anti-falling module blows the tea leaves picked by the picking units to the negative pressure feeding module.

[0007] Optionally, the angle adjusting unit comprises a worm, and one end of the picking arm has an inwardly recessed blind hole, and the worm is rotatably arranged in the blind hole; A first U-shaped block is fixedly arranged at the other end of the picking arm; A worm is rotatably arranged in the first U-shaped block, and the worm is in meshing transmission with the worm; An angle adjusting power member is arranged to drive the worm to rotate; Optionally, the angle adjusting unit comprises a second U-shaped block, and the second U-shaped block is fixedly arranged at one end of the picking arm; A T-shaped block is horizontally connected with the other end of the picking arm, and when two adjacent picking arms or the picking arm and the swing arm are connected, the vertical part of the T-shaped block is embedded in the second U-shaped block; An angle shaft is coaxially arranged on the vertical part of the T-shaped block and the second U-shaped block; Two internal gears and two external gears are coaxially fixedly arranged on the second U-shaped block, the angle shaft is coaxially fixedly arranged at two ends of the external gears, the internal gears and the external gears are in meshing transmission, and the middle part of the angle shaft is coaxially rotatably arranged in the connecting hole on the vertical part of the T-shaped block; or one internal gear and one external gear are coaxially fixedly arranged on the vertical part of the T-shaped block and the angle shaft, respectively, the two ends of the angle shaft are coaxially rotatably arranged in the connecting holes on the second U-shaped block, and the internal gear and the external gear are in meshing transmission; An angle driving member is arranged to drive the angle shaft to rotate to conform to the posture of the tea tree.

[0008] Optionally, the negative pressure feeding module comprises an air source, and the air source is arranged behind the vertical plate; A vertical block is vertically and fixedly connected with the vertical plate; A negative pressure forming part is arranged in the vertical block and communicates with the gas source through a gas conveying pipe; A plurality of elastic feeding pipes, one end of each of the plurality of elastic feeding pipes communicates with the negative pressure forming part, and the other end of each of the plurality of elastic feeding pipes penetrates through the vertical plate and respectively communicates with the suction port of the arc-shaped plate of each of the plurality of picking units, and each of the elastic feeding pipes is provided with an on-off electromagnetic valve; An elastic conveying pipe, the elastic conveying pipe communicates with the negative pressure forming part, and the negative pressure forming part forms a negative pressure through the gas source blowing gas into the gas conveying pipe to provide a pulling force for the tea leaves, and at the same time, the cut tea leaves enter the elastic conveying pipe along the elastic feeding pipe and are blown out from the elastic conveying pipe together with the gas blown out by the gas source.

[0009] Optionally, the negative pressure forming part comprises an air inlet contraction section arranged in the vertical block and communicating with the gas conveying pipe; A throat arranged in the vertical block and communicating with the air inlet contraction section, and the plurality of elastic feeding pipes communicate with the throat; An air outlet expansion section, two ends of the air outlet expansion section respectively communicate with the throat and the elastic conveying pipe, and the size of the air outlet expansion section is greater than the size of the throat, and when the gas source blows gas into the air inlet contraction section through the gas conveying pipe, a negative pressure is formed in the throat to provide a pulling force for the tea leaves through the elastic feeding pipe, and at the same time, the cut tea leaves are sucked into the throat along the elastic feeding pipe and are blown out from the air outlet expansion section into the elastic conveying pipe together with the gas.

[0010] Optionally, the blow-off fall-preventing mold group comprises two sub-zone gas outlet pipes, a gas turning cavity is arranged in the picking arm, and the two sub-zone gas outlet pipes are fixedly installed on the picking arm and respectively communicate with the gas turning cavity; A plurality of elastic blow-off pipes, one end of each of the plurality of elastic blow-off pipes respectively communicates with the gas turning cavity on the picking arm; A transfer main pipe, the transfer main pipe is fixedly installed on the vertical plate, and the plurality of elastic blow-off pipes communicate with the transfer main pipe; A blow-off member, the blow-off member is used to provide gas to the transfer main pipe.

[0011] Optionally, the pose module further comprises four motion units arranged around the horizontal frame, and the four motion units cooperatively adjust the pose of the picking mold group; Each of the motion units comprises a telescopic arm and a universal joint, and the telescopic end of the telescopic arm is connected to the horizontal frame through the universal joint.

[0012] Optionally, the sorting and collecting module is further arranged, and the sorting and collecting module is used to sort and collect the tea leaves respectively. The sorting and collecting module comprises a frame and a first ring body fixedly installed on the frame; At least two lifting ring bodies, two of which are coaxially arranged with the first ring body and rotationally connected; A plurality of partitions, each of the inner walls of the lifting ring bodies has an annular groove, and a plurality of partitions are arranged in the annular groove; A plurality of tea blocking plates, a plurality of tea blocking plates are arranged towards the rotation direction of the lifting ring body, and the adjacent partitions, tea blocking plates and the bottom of the annular groove form a tea conveying space; At least two collecting boxes, the top of the frame has a box containing groove, and two collecting boxes are arranged in the box containing groove; A second ring body, the outer wall of the second ring body is tangent to the bottom of the inner wall of the first ring body and fixedly connected; A sorting part is arranged on the second ring body for sorting tea sent by the negative pressure feeding module; A same drive part simultaneously drives the sorting part and the lifting ring body to rotate.

[0013] Optionally, the sorting part comprises a roller coaxially rotationally matched with the second ring body, the roller has an open end and a closed end, the open end of the roller is in rotation communication with the negative pressure feeding module through a communication pipe installed on the frame, and the closed end of the roller is in transmission connection with the drive part through a transmission shaft. The roller has a leaf fall groove, a first sorting groove and a second sorting groove in sequence from the open end to the closed end along the axial direction of the roller, the width size of the first sorting groove is greater than that of the leaf fall groove, and the width size of the first sorting groove is less than that of the second sorting groove. The length sizes of the first sorting groove and the second sorting groove are both less than the length size of the tea conveying space; An inclined waste channel is arranged in the frame with the front being higher than the back, and the high end of the inclined waste channel is located below the leaf fall groove.

[0014] Optionally, the same drive part comprises a drive shaft rotationally installed in the frame; At least two drive gears, at least two of which are coaxially fixedly matched with the drive shaft, and the number of the drive gears is equal to the number of the lifting ring bodies; At least two driven gears, the outer wall of the lifting ring body has an annular groove, and at least two driven gears are coaxially arranged in the annular groove of the lifting ring body, and the drive gears and the driven gears are in mesh transmission; An annular transmission member transmits the drive shaft and the sorting part; Driving power element, which is used for driving the driving shaft to rotate.

[0015] A tea picking machine comprises the profiling tea picking device.

[0016] As described above, the profiling tea picking device and the tea picking machine have at least the following beneficial effects: Through the cooperation of the main body module, the picking module, the negative pressure feeding module and the blowing anti-falling module, the tea tree tea piaos can be precisely cut and efficiently collected and transported without damage, thereby improving the tea picking quality and the collection effect. The swing arm of the main body module can be articulated and rotated, and the angle adjusting unit of the picking module is used to automatically adjust the angle of the plurality of picking units according to the curvature of the tea tree tea piaos, so that the profile of the tea tree is fitted and profiled. The cutting part of each picking unit cuts tea leaves by rotating the cutter, and the cutting of adjacent picking units is time-interval and the cutting of interval picking units is synchronous, which not only avoids mechanical interference when the adjacent cutters move, but also ensures that the cutting covers no dead angle. The negative pressure feeding module generates negative pressure through the suction port of the arc plate to form a backward upward pulling force on the tea leaves, so that the cutting part can cut the tea leaves precisely and quickly when cutting the tea leaves, and avoid shaking; at the same time, the blowing anti-falling module blows air obliquely upward and backward to push the cut tea leaves to the negative pressure area of the suction port, and the two cooperate to realize efficient suction and transportation of tea leaves. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The figure shows the three-dimensional structure of the present application; Figure 2 The figure shows the three-dimensional structure of the picking module of the present application; Figure 3 The figure shows the exploded view of the angle adjusting unit of the present application; Figure 4 The figure shows the cross-sectional view of the negative pressure feeding module of the present application; Figure 5 The figure shows the three-dimensional structure of the blowing anti-falling module of the present application; Figure 6 The figure shows the three-dimensional structure of the motion unit of the present application; Figure 7 The figure shows the structure of the sorting and collecting mechanism module of the present application; Figure 8 The figure shows the internal three-dimensional structure of the sorting and collecting module of the present application; Figure 9 The figure shows the three-dimensional structure of the sorting part of the present application.

[0018] Element number explanation Main body module 11, cross frame 111, swing arm 112, vertical plate 113; The picking module 12, the picking unit 121, the picking arm 1211, the arc-shaped plate 1212, the suction port 12121, the cutting part 1213, the angle adjusting unit 122, the second U-shaped block 1221, the connecting hole 12211, the T-shaped block 1222, the angle shaft 1223, the internal gear 1224, the external gear 1225, the angle driving part 1226, The negative pressure feeding module 13, the air source 131, the longitudinal block 132, the negative pressure forming part 133, the air inlet contraction section 1331, the throat 1332, the air outlet expansion section 1333, the elastic feeding pipe 134, the elastic conveying pipe 135, the air conveying pipe 136; The blow-off preventing module 14, the partitioned air outlet pipe 141, the elastic blow-off pipe 143, the transfer main pipe 144, the blow-off part 145; The pose module 15, the motion unit 151, the telescopic arm 1511, the universal joint 1512; The sorting and collecting module 21, the frame 211, the container groove 2111, the first ring body 212, the lifting ring body 213, the annular groove 2131, the partition plate 214, the tea conveying space 215, the collecting box 216, the second ring body 217, the sorting part 218, the roller 2181, the communication pipe 2182, the transmission shaft 2183, the broken leaf falling groove 2184, the first sorting groove 2185, the second sorting groove 2186, the inclined waste passage 2187, the same driving part 219, the driving shaft 2191, the driving gear 2192, the driven gear 2193, the annular transmission part 2194, the driving power part 2195. DETAILED DESCRIPTION

[0019] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0020] Please refer to Figures 1 to 9 It should be understood that the structure, proportion, size, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for understanding and reading by those skilled in the art, and do not have technical significance to limit the implementation conditions of the present application, so any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" in the specification are only for the convenience of clear description, and are not used to limit the implementation scope of the present application, and the change or adjustment of the relative relationship, without substantially changing the technical content, is also regarded as the implementation scope of the present application.

[0021] The following embodiments are only for illustration. Various embodiments can be combined, which are not limited to the following single embodiment.

[0022] In this embodiment, referring to Figures 1 to 9 The present application provides a profiling tea picking device, comprising: The main module 11, the picking module 12, the negative pressure feeding module 13 and the blowing anti-falling module 14, the main module 11 comprises a horizontal frame 111, two swing arms 112 respectively hinged to the two ends of the horizontal frame 111, and a vertical plate 113 fixedly connected below the horizontal frame 111; The picking module 12 is arranged between the two swing arms 112 away from the horizontal frame 111, and the picking module 12 comprises a plurality of picking units 121 and a plurality of angle adjusting units 122 respectively used for independently adjusting the angle between adjacent picking units 121 and the swing arms 112; The picking unit 121 comprises a picking arm 1211, an arc-shaped plate 1212 fixedly connected to the rear upper side of the picking arm 1211, and a cutting part 1213 used for cutting tea leaves, and the arc-shaped plate 1212 is provided with a suction port 12121; the cutting part 1213 comprises a cutting shaft, a cutter and a cutting power element, the cutting power element comprises but is not limited to a motor, the picking arm 1211 is provided with a cutting space, the cutting shaft is vertically and rotatably installed in the cutting space, the cutter is fixedly installed at the end of the cutting shaft, and the cutting power element drives the cutting shaft to rotate to realize the picking of tea leaves, wherein when the cutting part 1213 rotates, the cutting actions of the two adjacent picking units 121 can have a time interval, and the cutting of the interval picking units 121 can be synchronized, so that the tea leaves can be completely and efficiently cut in the profiling of the tea tree tea puffs, the interference of the cutters of the adjacent picking units 121 can be avoided, the tea leaves can be completely picked and cut, and the missed picking can be avoided. The end of the swing arm 112 away from the horizontal frame 111 has sufficient activity space for the arc-shaped plate 1212 when profiling the adjustment radius, so that interference does not occur. It also comprises an elastic covering sheet, which is located on the top surface of the plurality of picking arms 1211 to avoid the tea leaves being clamped between the picking units 121 during profiling. The elastic guard between the adjacent arc-shaped plates 1212 enables efficient collection of tea leaves and avoids falling backward. The negative pressure feeding module 13 communicates with the suction port 12121, and the negative pressure formed above each picking unit 121 by the negative pressure feeding module 13 provides a pulling force upward and backward to the tea leaves, so that the tea leaves cut and picked by the cutting part 1213 are sucked into the conveying part from the suction port 12121; The air blowing anti-falling model group 14 is equal in number to the picking unit 121 and is arranged on the picking unit 121 one by one, the air blowing direction of the air blowing anti-falling model group 14 is towards the obliquely upper rear, that is, the direction of the suction port 12121, and the air flow blown by the air blowing anti-falling model group 14 blows the tea leaves picked by the picking unit 121 towards the negative pressure feeding model group 13. In use, the negative pressure generated by the negative pressure feeding model group 13 can be greater than the air pressure blown by the air blowing anti-falling model group 14.

[0023] Through the cooperation of the main body model group 11, the picking model group 12, the negative pressure feeding model group 13 and the air blowing anti-falling model group 14, the tea tree tea piaos can be accurately cut and efficiently collected and transported without damage, and the tea picking quality and collection effect are improved. The swing arm 112 of the main body model group 11 can be hingedly rotated, and the angle adjusting unit 122 of the picking model group 12 is used to automatically adjust the angle of the plurality of picking units 121 according to the curvature of the tea tree tea piao, realize the fitting and profiling of the shape of the tea tree, and the cutting part 1213 of each picking unit 121 cuts the tea leaves by rotating the cutter, and the cutting of the adjacent picking units 121 is time-interval, and the cutting of the interval picking units 121 is synchronous, which not only avoids mechanical interference when the adjacent cutters move, but also ensures that there is no dead angle in cutting coverage. The negative pressure feeding model group 13 generates negative pressure through the suction port 12121 of the arc plate 1212, forms a backward and upward pulling force on the tea leaves, so that the cutting part 1213 can accurately and quickly cut the tea leaves when cutting, and avoid shaking; at the same time, the air blowing anti-falling model group 14 blows air obliquely upwards and backwards, pushes the cut tea leaves to the negative pressure area of the suction port 12121, and realizes efficient suction and transportation of the tea leaves through the cooperation of the two.

[0024] In this embodiment, please refer to Figure 2 and Figure 3 The angle adjusting unit 122 includes a worm, one end of the picking arm 1211 has a blind hole recessed inward, and the worm is rotatably installed in the blind hole; A first U-shaped block is fixedly installed at the other end of the picking arm 1211; A turbine is rotatably installed in the first U-shaped block, and the worm is in meshing transmission with the turbine; The angle adjusting power member is used to drive the worm to rotate; the angle adjusting power member includes but is not limited to a motor; in work, the worm is driven to rotate by the angle adjusting power member, the worm is in meshing transmission with the turbine, the rotational movement of the horizontal shaft is converted into the rotational movement of the turbine, and the turbine drives the next level picking arm 1211 or swing arm 112 connected thereto, so as to realize the relative angle adjustment between the two picking units 121 or between the swing arm 112 and the picking unit 121.

[0025] And / or, the angle adjusting unit 122 includes a second U-shaped block 1221, and the second U-shaped block 1221 is fixedly installed at one end of the picking arm 1211; T-shaped block 1222, the horizontal part of the T-shaped block 1222 is fixedly connected with the other end of the picking arm 1211, when two adjacent picking arms 1211 or the picking arm 1211 is connected with the swing arm 112, the vertical part of the T-shaped block 1222 is embedded in the second U-shaped block 1221; Angle shaft 1223, the T-shaped block 1222 vertical part and the second U-shaped block 1221 are coaxially arranged with connecting holes 12211; Internal gear 1224 and external gear 1225, the internal gear 1224 and the external gear 1225 have two, two internal gears 1224 are coaxially fixedly matched with the connecting holes 12211 on the second U-shaped block 1221, two external gears 1225 are coaxially fixedly matched with both ends of the angle shaft 1223, the internal gear 1224 and the external gear 1225 are meshed and driven, the middle part of the angle shaft 1223 is coaxially rotationally matched with the connecting holes 12211 on the vertical part of the T-shaped block 1222; or the internal gear 1224 and the external gear 1225 have one, the internal gear 1224 is coaxially fixedly matched with the connecting holes 12211 on the vertical part of the T-shaped block 1222, the external gear 1225 is coaxially fixedly matched with the angle shaft 1223, both ends of the angle shaft 1223 are respectively coaxially rotationally matched with the connecting holes 12211 on the second U-shaped block 1221, the internal gear 1224 and the external gear 1225 are meshed and driven; Angle drive 1226, the angle drive 1226 is used to drive the angle shaft 1223 to rotate to conform to the posture above the tea tree, and the angle drive 1226 includes but is not limited to a motor. When working, the angle shaft 1223 is driven to rotate by the angle drive 1226, the external gear 1225 on the angle shaft 1223 rotates, the external gear 1225 is meshed and driven with the internal gear 1224 fixed to the other picking arm 1211, so that the angle is adjusted, through the double gear design, the contact area is large, the transmission rigidity is good, can bear greater bending moment and torque, long service life, high reliability.

[0026] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 4 , the negative pressure feeding module 13 includes an air source 131, the air source 131 is installed behind the vertical plate 113; the air source 131 can be one of a blower, a centrifugal fan or an air compressor; Longitudinal block 132, the longitudinal block 132 is vertically and fixedly connected with the vertical plate 113; Negative pressure forming part 133, the negative pressure forming part 133 is arranged in the longitudinal block 132 and communicates with the air source 131 through a gas conveying pipe 136; a plurality of elastic feeding pipes 134, one end of each of the plurality of elastic feeding pipes 134 is communicated with the negative pressure forming part 133, the other end of each of the plurality of elastic feeding pipes 134 penetrates through the vertical plate 113 and is respectively communicated with the suction port of the arc-shaped plate 1212 of the picking unit 121, and each of the elastic feeding pipes 134 is provided with an on-off electromagnetic valve; an elastic conveying pipe 135, the elastic conveying pipe 135 is communicated with the negative pressure forming part 133, and the negative pressure is formed in the negative pressure forming part 133 by blowing gas from the gas source 131 to the gas conveying pipe 136 to provide a pulling force for the tea leaves, and the cut tea leaves are blown into the elastic conveying pipe 135 along the elastic feeding pipe 134 and are blown out from the elastic conveying pipe 135 together with the gas blown from the gas source 131 for conveying. A plurality of elastic protrusions are arranged along the circumferential direction and the axial direction of the elastic conveying pipe 135, which facilitates the conveying of the tea leaves in the elastic conveying pipe 135 and avoids the blockage caused by the adhesion of the tea leaves to the elastic conveying pipe 135. The elastic feeding pipe 134 and the elastic conveying pipe 135 have certain elasticity and hardness, so that the stable conveying of the gas and the tea leaves can be ensured during the stretching process.

[0027] The high-pressure gas flow generated by the gas source 131 enters the negative pressure forming part 133 in the longitudinal block 132 through the gas conveying pipe 136. When the high-speed gas flow flows through the channel, the local air pressure in the channel is reduced, and a negative pressure is formed at the connecting port of the elastic feeding pipe 134 and the negative pressure forming part 133. The negative pressure is transmitted to the suction port 12121 of the arc-shaped plate 1212 of the picking unit 121 through the elastic feeding pipe 134. First, the uncut tea leaves are provided with a pulling force upward and backward, and then the tea leaves are cut by the cutter of the cutting part 1213. Then, the cut tea leaves are pulled upward and backward, and the tea leaves are sucked into the elastic feeding pipe 134 from the cutting area. The gas flow generated by the gas source 131 is mixed with the sucked tea leaves in the negative pressure forming part 133 to form a gas-solid two-phase flow, and the tea leaves are conveyed through the elastic conveying pipe 135 to complete the continuous process from picking to conveying. The conveying efficiency is high, the tea leaves are less retained, the non-destructive conveying can be realized, and the conveying quality is improved. The on-off electromagnetic valve on each elastic feeding pipe 134 can be controlled to be on or off, and the corresponding pipeline can be closed according to the working state of the picking unit 121 to reduce the invalid energy consumption.

[0028] In the embodiment, please refer to Figure 4 The negative pressure forming part 133 includes an air inlet contraction section 1331 arranged in the longitudinal block 132 and communicated with the gas conveying pipe 136. a throat 1332 arranged in the longitudinal block 132 and communicated with the air inlet contraction section 1331, and the plurality of elastic feeding pipes 134 are communicated with the throat 1332. An air outlet expansion section 1333 is in communication with the throat 1332 and the elastic conveying pipe 135 at both ends, and the size of the air outlet expansion section 1333 is greater than that of the throat 1332. When the gas source 131 is connected to the gas inlet contraction section 1331 through the gas pipe 136, a negative pressure is formed in the throat 1332 to provide a lifting force to the tea leaves through the elastic inlet pipe 134, and the cut tea leaves are sucked into the throat 1332 along the elastic inlet pipe 134 and blown into the elastic conveying pipe 135 together with the gas.

[0029] In this embodiment, please refer to Figure 2 and Figure 5 The air blowing anti-falling module 14 includes two sub-zone air outlet pipes 141, and the picking arm 1211 is provided with a gas turning cavity, and the two sub-zone air outlet pipes 141 are fixedly installed on the picking arm 1211 and in communication with the gas turning cavity, respectively. A plurality of elastic air blowing pipes 143, one end of each of the plurality of elastic air blowing pipes 143 is in communication with the gas turning cavity on the picking arm 1211; the elastic air blowing pipe 143 has a certain elasticity and hardness, so that the stable conveying of the gas can be ensured during the air blowing process. A transfer main pipe 144 is fixedly installed on the vertical plate 113, and the plurality of elastic air blowing pipes 143 are in communication with the transfer main pipe 144. An air blowing member 145 is used to provide gas to the transfer main pipe 144, and the air blowing member 145 includes but is not limited to a blower.

[0030] In operation, the compressed gas generated by the air blowing member 145 enters the transfer main pipe 144 fixed on the vertical plate 113, the transfer main pipe 144 uniformly divides the gas flow into the plurality of elastic air blowing pipes 143, the elastic air blowing pipe 143 conveys the gas from the transfer main pipe 144 to the gas turning cavity in the picking arm 1211, and the gas in the gas turning cavity is blown out through the two sub-zone air outlet pipes 141, the blowing direction is obliquely upward and backward, and directly acts on the cut tea leaves to push them to the suction port 12121 area of the negative pressure feeding module 13, and cooperates with the pulling force of the negative pressure to form a resultant force, preventing the tea leaves from falling or staying, and improving the tea leaf collection effect.

[0031] In this embodiment, please refer to Figure 1 and Figure 6 The pose module 15 also includes four movement units 151 arranged around the horizontal frame, and the four movement units 151 cooperatively adjust the pose of the picking module 12. Each of the movement units 151 comprises a telescopic arm 1511 and a universal joint 1512, the telescopic end of the telescopic arm 1511 being connected with the cross frame 111 through the universal joint 1512. The universal joint 1512 can be a spherical hinge. The telescopic arm 1511 is a hydraulic rod, a pneumatic cylinder or an electric push rod.

[0032] The cooperation of the four movement units 151 enables the picking module 12 to have the movement ability of lifting, tilting, pitching, deflecting and the like in three-dimensional space, so that on a slope or a rugged tea ridge, the ideal working height and posture of the cross frame 111 and the picking module 12 can be maintained by adjusting the lengths of the four telescopic arms 1511, thereby ensuring the stability of the picking quality.

[0033] In the embodiment, please refer to Figure 1 、 Figures 7 to 9 The picking device further comprises a sorting and collecting module 21 for sorting and collecting tea leaves respectively. The sorting and collecting module 21 comprises a frame 211 and a first ring body 212 fixedly installed on the frame 211. At least two lifting ring bodies 213 coaxially arranged with and rotatably connected with the first ring body 212. A plurality of partition plates 214, each of the lifting ring bodies 213 having an annular groove 2131 on the inner wall, and a plurality of the partition plates 214 being arranged in the annular groove 2131. A plurality of tea blocking plates, the plurality of tea blocking plates being arranged in the rotation direction of the lifting ring body 213, and the adjacent partition plate 214, tea blocking plate and bottom of the annular groove 2131 together forming a tea conveying space 215. At least two collecting boxes 216, the frame 211 having a box accommodating groove 2111 on the top, and the two collecting boxes 216 being arranged in the box accommodating groove 2111. A second ring body 217, the outer wall of the second ring body 217 being tangential to and fixedly connected with the inner wall bottom of the first ring body 212. A sorting part 218 arranged on the second ring body 217 for sorting the tea leaves sent by the negative pressure feeding module 13. A same driving part 219 for simultaneously driving the sorting part 218 and the lifting ring body 213 to rotate.

[0034] The sorting and collecting module 21 further comprises a pressing part, which comprises a pressing plate rotatably installed at the rear of the upper part of the frame 211, and a linear power element for driving the pressing plate to move, wherein the linear power element is one of a hydraulic cylinder, a pneumatic cylinder or an electric push rod. When the collecting box 216 is installed, the linear power element is extended, the pressing plate is turned by a certain angle, the collecting box 216 is placed conveniently, the linear power element is retracted, and the pressing plate presses the collecting box 216 in the box accommodating groove 2111.

[0035] The mixed tea leaves sent from the negative pressure feeding module 13 enter the sorting part 218, the same driving part 219 drives the sorting part 218 and the lifting ring body 213 to rotate at the same time, the tea leaves are sorted and fall into the tea conveying space 215 of the lifting ring body 213 when the sorting part 218 rotates, the tea conveying space 215 carries the tea leaves to move upward with the rotation of the ring body, and when the tea conveying space 215 rotates to the opening facing the collecting box 216, the tea leaves in the tea conveying space 215 fall out under the action of gravity, so that the classification and collection of tea leaves are realized. The sorting and collecting are integrated, the efficiency is high, the structure layout is compact, and the space utilization rate is high.

[0036] In the embodiment, referring to Figures 7 to 9 , the sorting part 218 comprises a roller 2181 which is coaxially rotatably matched with the second ring body 217, one end of the roller 2181 is open and the other end is closed, the open end of the roller 2181 is rotatably communicated with the negative pressure feeding module 13 through a communication pipe 2182 installed on the frame 211, the communication pipe 2182 is rotatably communicated with the elastic conveying pipe 135, the closed end of the roller 2181 is drivingly connected with the driving part through a transmission shaft 2183, and the roller 2181 has a leaf falling groove 2184, a first sorting groove 2185 and a second sorting groove 2186 in sequence along the axial direction thereof from the open end to the closed end, the width size of the first sorting groove 2185 is greater than that of the leaf falling groove 2184, the width size of the first sorting groove 2185 is smaller than that of the second sorting groove 2186, and the length sizes of the first sorting groove 2185 and the second sorting groove 2186 are both smaller than that of the tea conveying space 215. An inclined waste channel 2187 is obliquely arranged in the frame 211 from high at the front to low at the rear, and the high end of the inclined waste channel 2187 is located below the leaf falling groove 2184. A spiral plate can also be included, which rotates synchronously with the roller 2181 to accelerate the moving speed of the tea leaves.

[0037] The tea transported by the negative pressure feeding module 13 enters the inside of the roller 2181 through the connecting pipe 2182. The roller 2181 rotates under the driving of the driving part. The tea inside rotates with the roller 2181 and moves along the axis from the open end to the closed end. During the movement, the tea is separated according to the size through different groove bodies: the smallest broken tea or impurities first fall through the broken tea falling groove 2184 which is the narrowest, and then fall into the inclined waste channel 2187 which is arranged in front high and back low. The tea is automatically discharged by gravity; the tea with a slightly larger size cannot pass through the broken tea falling groove 2184, and continues to move to the first sorting groove 2185 which is wider. The tea falls from the groove into the tea conveying space 215 of the corresponding lifting ring body 213; the largest or most complete tea falls through the second sorting groove 2186 which is the widest, and then falls into the tea conveying space 215 of another group of lifting ring bodies 213. The continuous sorting has high efficiency, and the whole process from the tea entering the roller 2181 to the classification and waste discharge is automated, without the need for manual sorting of broken tea, thereby reducing labor cost. The length of the first sorting groove 2185 and the second sorting groove 2186 is less than the length of the tea conveying space 215 of the lifting ring body 213, so as to ensure that the tea falling from the groove can completely fall into the tea conveying space 215, avoiding material leakage.

[0038] In the embodiment, please refer to Figure 8 The same driving part 219 includes a driving shaft 2191 which is rotatably installed in the frame 211. At least two driving gears 2192 are coaxially and fixedly matched with the driving shaft 2191, and the number of the driving gears 2192 is equal to the number of the lifting ring bodies 213. At least two driven gears 2193 are coaxially arranged in the annular grooves of the lifting ring bodies 213, and the driving gears 2192 and the driven gears 2193 are in meshing transmission. An annular transmission component 2194 transmits the driving shaft 2191 and the sorting part 218. The annular transmission component 2194 is a chain wheel set or a belt wheel set.

[0039] A driving power member 2195 is used to drive the rotation of the driving shaft 2191. The driving power member 2195 includes but is not limited to a motor.

[0040] The driving shaft 2191 is driven to rotate by the driving power piece 2195, and at least two driving gears 2192 are coaxially fixed on the driving shaft 2191, each of which is engaged with a driven gear 2193 in the annular groove on the outer wall of the lifting ring body 213. When the driving shaft 2191 rotates, the driving gears 2192 drive the driven gears 2193 to rotate through engagement, thereby driving the lifting ring body 213 to rotate around its own axis to realize the lifting function of tea leaves. At the same time, the driving shaft 2191 is in transmission connection with the transmission shaft 2183 of the sorting part 218 through the annular transmission part 2194: if it is a chain wheel set, the driving chain wheel on the driving shaft 2191 drives the driven chain wheel on the transmission shaft 2183 of the sorting part 218 through the chain; if it is a belt wheel set, the driving belt wheel drives the driven belt wheel through the synchronous belt, and finally drives the roller 2181 of the sorting part 218 to rotate synchronously to realize the sorting function of tea leaves. The sorting part 218 and the lifting ring body 213 are synchronously driven by the same driving shaft 2191 through mechanical transmission, have strong synchronism, and ensure the cooperation precision of sorting and lifting.

[0041] In this embodiment, please refer to Figures 1 to 9 A tea picking machine comprising the profiled tea leaf picking device.

[0042] Working principle: through the swing arm 112 of the main body module 11 can be articulated rotation, cooperate with the angle adjusting unit 122 of the picking module 12, make multiple picking units 121 can automatically adjust the angle according to the arc of tea tree tea pheasant, realize the fitting profile of tea tree shape, the cutting part 1213 of each picking unit 121 is cut by rotary cutter, the cutting of adjacent picking units 121 has time interval, interval picking units 121 cut synchronously, which not only avoids mechanical interference when adjacent cutters move, but also ensures that there is no dead angle in cutting coverage; through the negative pressure feeding module 13, the negative pressure is generated through the suction port 12121 of the arc plate 1212, which forms a backward upward pulling force on the tea leaves, so that the cutting part 1213 can cut accurately and quickly when cutting tea leaves, and avoid shaking; at the same time, the air blowing anti-falling module 14 blows air obliquely upward and backward, pushes the cut tea leaves to the negative pressure area of the suction port 12121, and the two cooperate to realize efficient suction and conveying of tea leaves; The mixed tea leaves sent from the negative pressure feeding module 13 enter the sorting part 218, the same driving part 219 drives the sorting part 218 and the lifting ring body 213 to rotate at the same time, the tea leaves are sorted and fall into the tea conveying space 215 of the lifting ring body 213 when the sorting part 218 rotates, and the tea conveying space 215 carries the tea leaves upward with the rotation of the ring body, when the tea conveying space 215 rotates to the opening facing the collecting box 216, the tea leaves in it fall out under the action of gravity, so that the classification and collection of tea leaves are realized, and the sorting and collection are integrated, and the efficiency is high. As described above, the main body module 11, the picking module 12, the negative pressure feeding module 13 and the blowing anti-falling module 14 are cooperated, so that the tea tree tea puffs can be accurately cut by profiling, and the non-damaged tea leaves can be efficiently collected and transported, the tea picking quality and the collection effect are improved. The swing arm 112 of the main body module 11 can be hingedly rotated, and the angle adjusting unit 122 of the picking module 12 is matched, so that the plurality of picking units 121 can automatically adjust the angle according to the curvature of the tea tree tea puffs, the profile fitting of the shape of the tea tree is realized, the cutting part 1213 of each picking unit 121 cuts the tea leaves by rotating the cutter, the cutting of the adjacent picking units 121 has a time interval, and the cutting of the interval picking units 121 is synchronous, which avoids mechanical interference when the adjacent cutters move, and ensures that the cutting covers no dead angle. The negative pressure feeding module 13 generates negative pressure through the suction port 12121 of the arc plate 1212, forms a backward upward pulling force on the tea leaves, so that the cutting part 1213 can accurately and quickly cut the tea leaves when cutting, and avoids shaking; meanwhile, the blowing anti-falling module 14 blows air obliquely upward and backward, pushes the cut tea leaves to the negative pressure area of the suction port 12121, and realizes efficient suction and transportation of the tea leaves. Therefore, the present application effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0043] The above examples only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above examples without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A contour-following tea-picking device, characterized in that, include: The main module includes a cross frame, two swing arms respectively hinged to both ends of the cross frame, and a vertical plate fixed to the bottom of the cross frame; A picking module is located between the two swing arms at the ends away from the cross frame. The picking module includes multiple picking units and multiple angle adjustment units for independently adjusting the angle between adjacent picking units and the angle between the picking units and the swing arms. The picking unit includes a picking arm, an arc-shaped plate fixed to the upper rear of the picking arm, and a cutting part for cutting tea leaves. The arc-shaped plate has a suction port. A negative pressure feeding module is connected to the suction port. The negative pressure generated by the negative pressure feeding module above and behind each picking unit provides a lifting force to the tea leaves, so that the tea leaves are cut and picked by the cutting part and then sucked into the suction port for conveying. The number of air-blowing anti-drop modules is equal to that of the picking units, and they are installed one-to-one on the picking units. The air-blowing anti-drop modules blow air in an upward and backward direction, and the airflow blows the tea leaves picked by the picking units toward the negative pressure feeding module.

2. The contour-following tea-picking device according to claim 1, characterized in that: The angle adjustment unit includes a worm gear, and one end of the picking arm has an inwardly recessed blind hole, in which the worm gear is rotatably installed. The first U-shaped block is fixedly installed at the other end of the harvesting arm; A turbine is rotatably mounted inside the first U-shaped block, and the worm gear meshes with the turbine for transmission. An angle-adjusting power component is used to drive the worm gear to rotate. And / or, the angle adjustment unit includes a second U-shaped block, which is fixedly installed at one end of the harvesting arm; The T-shaped block has its horizontal portion fixedly connected to the other end of the harvesting arm. When two adjacent harvesting arms or when the harvesting arm is connected to the swing arm, the vertical portion of the T-shaped block is embedded in the second U-shaped block. Angle axis, the vertical portion of the T-block and the second U-block both have coaxially arranged connecting holes; The device comprises two internal and external gears. The two internal gears are coaxially fixedly engaged with the connecting holes on the second U-shaped block, and the two external gears are coaxially fixedly engaged with both ends of the angle shaft. The internal and external gears mesh and drive each other. The middle portion of the angle shaft rotates coaxially with the connecting holes on the vertical portion of the T-shaped block. Alternatively, the device comprises one internal and external gear. The internal gear is coaxially fixedly engaged with the connecting hole on the vertical portion of the T-shaped block, and the external gear is coaxially fixedly engaged with the angle shaft. Both ends of the angle shaft rotate coaxially with the connecting holes on the second U-shaped block, and the internal and external gear mesh and drive each other. An angle drive component is used to drive the angle axis to rotate so as to conform to the shape of the tea tree.

3. The contour-following tea-picking device according to claim 1, characterized in that: The negative pressure feeding module includes an air source, which is installed behind the vertical plate; A vertical block, which is perpendicular to and fixedly connected to the vertical plate; A negative pressure forming section is provided inside the longitudinal block and is connected to the gas source through a gas supply pipe; Multiple elastic feed tubes, one end of each elastic feed tube is connected to the negative pressure forming part, and the other end of each elastic feed tube passes through the vertical plate and is connected to the suction port of the arc plate of the multiple harvesting units respectively. Each elastic feed tube is equipped with a switch solenoid valve. An elastic conveying pipe is connected to the negative pressure forming part. Air is blown into the air conveying pipe by the air source to form a negative pressure in the negative pressure forming part to provide lifting force for the tea leaves. At the same time, the cut tea leaves enter the elastic conveying pipe along the elastic feeding pipe and are blown out of the elastic conveying pipe together with the air blown out by the air source.

4. The contour-following tea-picking device according to claim 3, characterized in that: The negative pressure forming section includes an air intake contraction section, which is located inside the longitudinal block and is connected to the air supply pipe; The throat is located within the longitudinal block and is connected to the air intake contraction section; multiple elastic feed pipes are all connected to the throat. The air outlet expansion section is connected at both ends to the throat and the elastic conveying pipe, respectively. The size of the air outlet expansion section is larger than that of the throat. When gas is introduced into the air inlet contraction section through the air source and the air supply pipe, a negative pressure is formed in the throat to provide a lifting force to the tea leaves through the elastic feed pipe. At the same time, the cut tea leaves are sucked into the throat along the elastic feed pipe and blown out and conveyed together with the gas from the air outlet expansion section into the elastic conveying pipe.

5. The contour-following tea-picking device according to claim 1, characterized in that: The air-blowing anti-fall module includes two partitioned air outlet pipes, and the harvesting arm has an air transfer chamber. The two partitioned air outlet pipes are fixedly installed on the harvesting arm and are respectively connected to the air transfer chamber. Multiple flexible air tubes, one end of each of the multiple flexible air tubes being connected to the air-transfer chamber on the harvesting arm; A transfer main pipe is fixedly installed on the vertical plate, and multiple elastic air tubes are all connected to the transfer main pipe; An air blowing device is used to supply gas to the transfer main pipe.

6. The contour-following tea-picking device according to claim 1, characterized in that: It also includes a pose module comprising four motion units located around the cross frame, the four motion units working together to adjust the pose of the picking module; Each of the motion units includes a telescopic arm and a universal joint, wherein the telescopic end of the telescopic arm is connected to the crossbeam via the universal joint.

7. The contour-following tea-picking device according to claim 1, characterized in that: It also includes a sorting and collection module, which is used to sort and collect tea leaves separately. The sorting and collecting module includes a frame and a first ring body, the first ring body being fixedly installed on the frame; At least two lifting rings, the two lifting rings being coaxially arranged and rotatably connected to the first ring; A plurality of partitions, each of the lifting rings having an annular groove on its inner wall, the plurality of partitions being spaced apart within the annular groove; A plurality of tea-blocking plates are arranged in the direction of rotation of the lifting ring body, and the adjacent partitions, tea-blocking plates and the bottom of the annular groove together form a tea-carrying space; At least two collection boxes, the frame having a receiving slot at the top, and the two collection boxes disposed within the receiving slot; The second ring body has its outer wall tangent to and fixedly connected to the bottom of the inner wall of the first ring body; The sorting section is located on the second ring body for sorting the tea leaves fed by the negative pressure feeding module; The co-drive unit simultaneously drives the sorting unit and the lifting ring to rotate.

8. The contour-following tea-picking device according to claim 7, characterized in that: The sorting section includes a roller, which is coaxially rotatably coupled with the second ring body. One end of the roller is open and the other end is closed. The open end of the roller is rotatably connected to the negative pressure feeding module through a connecting pipe installed on the frame. The closed end of the roller is connected to the driving unit through a transmission shaft. The roller has a broken leaf trough, a first sorting trough and a second sorting trough in sequence from the open end to the closed end along its own axial direction. The width of the first sorting trough is greater than the width of the broken leaf trough. The width of the first sorting trough is less than the width of the second sorting trough. The length of both the first sorting trough and the second sorting trough is less than the length of the tea transport space. An inclined waste channel is provided within the frame, with the front end higher than the rear end, and the higher end of the inclined waste channel is located below the leaf debris chute.

9. The contour-following tea-picking device according to claim 7 or 8, characterized in that: The co-drive unit includes a drive shaft, which is rotatably mounted within the frame; At least two drive gears, both of which are coaxially fixedly engaged with the drive shaft, and the number of drive gears is equal to the number of lifting rings; At least two driven gears are provided, and an annular groove is provided on the outer wall of the lifting ring body. The at least two driven gears are respectively coaxially disposed in the annular groove of the lifting ring body, and the driving gear meshes with the driven gear for transmission. A ring-shaped transmission component that drives the drive shaft to the sorting section. A driving power component is provided for driving the drive shaft to rotate.

10. A tea-picking machine, characterized in that: Includes the tea-picking device according to any one of claims 1-9.

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