A profiling tea leaf picking device and tea picking machine

Abstract

The application provides a profiling tea leaf picking device and a tea picking machine, and aims to solve the problems of fixed arc of an arc-shaped blade, poor picking and collecting effect and no sorting function in the prior art. The device comprises a main body module, a picking module, a negative pressure feeding module and a blowing anti-falling module. The main body module comprises a horizontal frame, two swing arms hingedly connected to the two ends of the horizontal frame, and a vertical plate fixedly connected to the lower part of the horizontal frame. The picking module is arranged between the two swing arms away from the horizontal frame. The picking module comprises a plurality of picking units and a plurality of angle adjusting units for independently adjusting the angle between adjacent picking units and the angle between the picking units and the swing arms. The picking unit comprises a picking arm, an arc-shaped plate and a cutting part. The arc-shaped plate is provided with a suction port. The negative pressure feeding module is in communication with the suction port. The blowing anti-falling module blows air to the obliquely upward rear direction, and the blown air flow blows the tea leaves picked by the picking unit to the negative pressure feeding module. The device can accurately cut the tea tree tea piaos in profile, and can improve the tea picking quality and the collecting effect.

Description

Technical Field

[0001] This invention belongs to the field of tea picking technology, and in particular relates to a contour-following tea picking device and tea picking machine. Background Technology

[0002] my country is a major producer and consumer of tea. As a natural and green beverage, tea has a long cultural tradition in my country. It not only boasts the most famous varieties, but also has excellent quality, unique and beautiful shapes, and great artistic appreciation value, making it increasingly popular among people.

[0003] To increase the speed of tea picking and reduce manual labor intensity, tea picking machines were designed and widely used. These machines are used by manual hand-held operators to pick tender tea leaves from the top of tea trees.

[0004] However, current tea-picking machines still have shortcomings, specifically: 1. The top of the tea tree is mostly curved, requiring the operator to hold the machine back and forth many times to complete the harvesting of fresh leaves from a single row of tea trees. This can easily lead to high-intensity, long-term work by a single person, which is time-consuming, labor-intensive, and inefficient. In addition, the fixed curvature of the curved blades used can cause some fresh leaves to be missed or picked incorrectly due to the different growth conditions of each tea tree. 2. During the tea-cutting process, the tea leaves were not secured, making them prone to shaking and affecting the quality of the harvested tea leaves. 3. During the tea-cutting process, the cut tea leaves are prone to falling to the ground, resulting in poor collection efficiency; 4. The quality of the tea leaves picked varies, and manual sorting is still required, which still results in a waste of labor. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a contour-following tea picking device and tea picking machine to solve the problems of fixed arc blade curvature, poor picking and collection effect, and lack of sorting function in the prior art.

[0006] To achieve the above and other related objectives, the present invention provides a contour-following tea leaf picking device, comprising: 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.

[0007] Optionally, the angle adjustment unit includes a worm gear, and one end of the picking arm has an inwardly recessed blind hole, the worm gear being rotatably installed in the blind hole; 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.

[0008] Optionally, 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.

[0009] Optionally, the negative pressure forming section includes an air intake contraction section, which is disposed within the longitudinal block and communicates with 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.

[0010] Optionally, the air-blowing anti-fall module includes two partitioned air outlet pipes, and a rotating air chamber is opened inside the harvesting arm. Both partitioned air outlet pipes are fixedly installed on the harvesting arm and are respectively connected to the rotating air 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.

[0011] Optionally, it also includes a pose module comprising four motion units disposed around the crossbeam, 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.

[0012] Optionally, it also includes a sorting and collection module, which is used to collect tea leaves separately while sorting them; 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.

[0013] Optionally, 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, and 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.

[0014] Optionally, 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.

[0015] A tea-picking machine, including the aforementioned contour-following tea-picking device.

[0016] As described above, the tea-picking device and tea-picking machine of the present invention have at least the following beneficial effects: Through the coordinated operation of multiple modules—the main module, the picking module, the negative pressure feeding module, and the air-blowing anti-drop module—it is possible to both precisely cut the tea bushes and tea buds according to their shape, and efficiently collect and transport them without damage, thus improving the quality and efficiency of tea picking. The swing arm of the main module can be hinged and rotated, working in conjunction with the angle adjustment unit of the picking module. This allows multiple picking units to automatically adjust their angles according to the curvature of the tea bushes and tea buds, achieving a close and conformal fit. The cutting section of each picking unit cuts the tea leaves with a rotating blade. Adjacent picking units cut at time intervals, while intermittent picking units cut synchronously, avoiding mechanical interference between adjacent blades and ensuring comprehensive cutting coverage. The negative pressure feeding module generates negative pressure through the suction port of the curved plate, creating a backward and upward pull on the tea leaves, enabling precise and rapid cutting without shaking. Simultaneously, the air-blowing anti-drop module blows air diagonally upward and backward, pushing the cut tea leaves towards the negative pressure area of ​​the suction port. Together, these two components achieve efficient tea leaf intake and transport. Attached Figure Description

[0017] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention. Figure 2 The diagram shown is a three-dimensional structural schematic of the harvesting module of the present invention. Figure 3 The diagram shown is an exploded view of the angle adjustment unit of the present invention. Figure 4 The image shown is a cross-sectional view of the negative pressure feeding module of the present invention. Figure 5 The diagram shown is a three-dimensional structural schematic of the air-blowing anti-fall module of the present invention. Figure 6 The diagram shown is a three-dimensional structural schematic of the motion unit of the present invention. Figure 7 The diagram shown is a schematic diagram of the sorting and collecting mechanism module structure of the present invention. Figure 8 The diagram shown is a three-dimensional structural illustration of the internal structure of the sorting and collecting module of the present invention. Figure 9 The diagram shown is a three-dimensional structural schematic of the sorting section of the present invention.

[0018] Component designation explanation Main module 11, horizontal frame 111, swing arm 112, vertical plate 113; Harvesting module 12, harvesting unit 121, harvesting arm 1211, arc plate 1212, suction port 12121, cutting part 1213, angle adjustment unit 122, second U-shaped block 1221, connecting hole 12211, T-block 1222, angle shaft 1223, internal gear 1224, external gear 1225, angle drive component 1226. Negative pressure feeding module 13, air source 131, longitudinal block 132, negative pressure forming part 133, air inlet contraction section 1331, throat 1332, air outlet expansion section 1333, elastic feed pipe 134, elastic conveying pipe 135, air conveying pipe 136. Air blowing anti-fall module 14, partitioned air outlet pipe 141, flexible air blowing pipe 143, transfer main pipe 144, air blowing component 145; Pose module 15, motion unit 151, telescopic arm 1511, universal joint 1512; The components include: a sorting and collecting module 21, a frame 211, a container trough 2111, a first ring body 212, a lifting ring body 213, an annular groove 2131, a partition 214, a tea transport space 215, a collection box 216, a second ring body 217, a sorting section 218, a roller 2181, a connecting pipe 2182, a drive shaft 2183, a leaf chute 2184, a first sorting trough 2185, a second sorting trough 2186, an inclined waste channel 2187, a co-drive section 219, a drive shaft 2191, a drive gear 2192, a driven gear 2193, an annular transmission component 2194, and a drive power component 2195. Detailed Implementation

[0019] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0020] Please see Figures 1 to 9 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0021] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0022] In this embodiment, please refer to Figures 1 to 9 The present invention provides a contour-following tea leaf picking device, comprising: The main module 11, the picking module 12, the negative pressure feeding module 13 and the air blowing anti-fall module 14, the main module 11 includes a cross frame 111, two swing arms 112 respectively hinged to both ends of the cross frame 111, and a vertical plate 113 fixed to the bottom of the cross frame 111. The picking module 12 is located between the two swing arms 112 at the ends away from the cross frame 111. The picking module 12 includes multiple picking units 121 and multiple angle adjustment units 122, which are used to independently adjust the adjacent picking units 121 and the angle between the picking unit 121 and the swing arm 112. The picking unit 121 includes a picking arm 1211, an arc-shaped plate 1212 fixed to the upper rear of the picking arm 1211, and a cutting part 1213 for cutting tea leaves. The arc-shaped plate 1212 has a suction port 12121. The cutting part 1213 includes a cutting shaft, a cutter, and a cutting power component. The cutting power component includes, but is not limited to, a motor. The picking arm 1211 has 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. The cutting power component drives the cutting shaft to rotate to pick the tea leaves. During rotational cutting, the cutting actions of two adjacent picking units 121 can have a time interval, while the intermittent picking units 121 can cut synchronously. This allows for complete and efficient cutting even when the tea tree foliage is modeled after the leaves. It avoids interference between the cutters of adjacent picking units 121 and ensures that all tea leaves are picked and cut, preventing missed picking. The swing arm 112, located away from the crossbeam 111, has sufficient space for the curved plate 1212 to adjust its curvature during contouring, preventing interference. It also includes a resilient cover plate located on the top surface of the multiple picking arms 1211 to prevent tea leaves from getting stuck between the picking units 121 during contouring. An elastic guard is provided between adjacent curved plates 1212 to efficiently collect the tea leaves and prevent them from falling backward. The negative pressure feeding module 13 is connected to the suction port 12121. The negative pressure generated by the negative pressure feeding module 13 above and behind each picking unit 121 provides a lifting force upward and backward on the tea leaves, allowing the cutting part 1213 to cut and pick the tea leaves before sucking them in and conveying them through the suction port 12121. The number of air-blowing anti-drop modules 14 is equal to the number of picking units 121, and they are each correspondingly installed on the picking unit 121. The air-blowing anti-drop modules 14 blow air in an upward and rearward direction, that is, in the direction of the suction port 12121, and the airflow blows the tea leaves picked by the picking unit 121 toward the negative pressure feeding module 13. In use, the negative pressure generated by the negative pressure feeding module 13 can be greater than the air pressure blown out by the air-blowing anti-drop modules 14.

[0023] Through the coordinated operation of multiple modules including the main module 11, the picking module 12, the negative pressure feeding module 13, and the air-blowing anti-fall module 14, the tea tree and tea bushes can be precisely cut according to their shape, and efficiently collected and transported without damage, thus improving the quality and efficiency of tea picking. The swing arm 112 of the main module 11 can be hinged and rotated, and in conjunction with the angle adjustment unit 122 of the picking module 12, multiple picking units 121 can automatically adjust their angles according to the curvature of the tea tree and tea bushes, achieving a close fit to the shape of the tea tree. The cutting part 1213 of each picking unit 121 cuts the tea leaves with a rotating cutter. The cutting of adjacent picking units 121 is timed, and the intermittent picking units 121 cut synchronously, which avoids mechanical interference when adjacent cutters move and ensures that the cutting coverage is without dead corners. The negative pressure feeding module 13 generates negative pressure through the suction port 12121 of the arc plate 1212, which pulls the tea leaves upward and backward, enabling the cutting part 1213 to cut the tea leaves accurately and quickly without shaking. At the same time, the air blowing anti-drop module 14 blows air diagonally upward and backward, pushing the cut tea leaves towards the negative pressure area of ​​the suction port 12121. The two work together to achieve efficient suction and delivery of tea leaves.

[0024] In this embodiment, please refer to Figure 2 and Figure 3 The angle adjustment unit 122 includes a worm gear, and one end of the picking arm 1211 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 1211; 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. The angle-adjusting power component includes, but is not limited to, a motor. During operation, the angle-adjusting power component drives the worm gear to rotate. The worm gear meshes with the turbine, converting the rotational motion of the horizontal axis into the rotational motion of the turbine. The turbine drives the next-stage harvesting arm 1211 or the swing arm 112 connected to it, thereby realizing the relative angle adjustment between the two harvesting units 121 or between the swing arm 112 and the harvesting unit 121.

[0025] And / or, the angle adjustment unit 122 includes a second U-shaped block 1221, which is fixedly installed at one end of the picking arm 1211; T-shaped block 1222, the horizontal part of which is fixedly connected to the other end of the picking arm 1211, when two adjacent picking arms 1211 or when the picking arm 1211 is connected to the swing arm 112, the vertical part of the T-shaped block 1222 is embedded in the second U-shaped block 1221; Angle axis 1223, the vertical part of the T-block 1222 and the second U-block 1221 both have coaxially arranged connecting holes 12211; The device comprises two internal gears 1224 and two external gears 1225. The two internal gears 1224 are coaxially fixedly engaged with the connecting hole 12211 on the second U-shaped block 1221. The two external gears 1225 are coaxially fixedly engaged with both ends of the angle shaft 1223. The internal gears 1224 and external gears 1225 mesh and transmit power. The middle portion of the angle shaft 1223 is connected to the connecting hole 12211 on the vertical portion of the T-shaped block 1222. 211 are coaxially rotated; or one of the internal gear 1224 and the external gear 1225 is provided, wherein the internal gear 1224 is coaxially fixedly engaged with the connecting hole 12211 on the vertical part of the T-block 1222, and the external gear 1225 is coaxially fixedly engaged with the angle shaft 1223, wherein both ends of the angle shaft 1223 are coaxially rotatedly engaged with the connecting hole 12211 on the second U-block 1221, and the internal gear 1224 and the external gear 1225 mesh and transmit power. An angle drive component 1226 is used to drive the angle shaft 1223 to rotate and conform to the shape of the tea tree. The angle drive component 1226 includes, but is not limited to, a motor. During operation, the angle drive component 1226 drives the angle shaft 1223 to rotate, and the external gear 1225 on the angle shaft 1223 rotates accordingly. The external gear 1225 meshes with the internal gear 1224 fixed to another picking arm 1211 to achieve angle adjustment. Through the double gear design, the contact area is large, the transmission rigidity is good, it can withstand greater bending moment and torque, has a long service life, and 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, which is installed behind the vertical plate 113; the air source 131 can be one of a blower, a centrifugal fan or an air compressor. Vertical block 132, which is perpendicular to and fixedly connected to vertical plate 113; A negative pressure forming part 133 is disposed inside the longitudinal block 132 and is connected to the gas source 131 through a gas supply pipe 136; Multiple elastic feed tubes 134 are provided, one end of which is connected to the negative pressure forming part 133, and the other end of which passes through the vertical plate 113 and is connected to the suction port of the arc plate 1212 of the multiple harvesting units 121 respectively. Each elastic feed tube 134 is equipped with a switching solenoid valve; each elastic feed tube 134 may also be equipped with a throttling valve. An elastic conveying tube 135 is connected to the negative pressure forming section 133. Air is blown into the air supply tube 136 by the air source 131, creating negative pressure in the negative pressure forming section 133 to provide lifting force for the tea leaves. Simultaneously, the cut tea leaves are fed into the elastic conveying tube 135 along the elastic feed tube 134 and are conveyed out of the elastic conveying tube 135 together with the air blown out by the air source 131. The elastic conveying tube 135 has several elastic protrusions along its circumference and axial direction to facilitate the conveying of tea leaves within the elastic conveying tube 135 and prevent them from adhering to the tube and causing blockages. The elastic feed tube 134 and the elastic conveying tube 135 have a certain degree of elasticity and rigidity, ensuring stable conveying of gas and tea leaves even during the stretching process.

[0027] The high-pressure airflow generated by the air source 131 enters the negative pressure forming part 133 in the longitudinal block 132 through the air delivery pipe 136. When the high-speed airflow passes through, the local air pressure in the channel decreases, and a negative pressure is formed at the connection between the elastic feed pipe 134 and the negative pressure forming part 133. The negative pressure is transmitted through the elastic feed pipe 134 to the suction port 12121 of the arc plate 1212 of the picking unit 121. First, a lifting force is provided to the uncut tea leaves, and the tea leaves are cut by the cutter of the cutting part 1213. Then, the cut tea leaves are lifted backward and upward, and the tea leaves are sucked into the elastic feed pipe 134 from the cutting area. The airflow generated by the air source 131 mixes with the sucked tea leaves in the negative pressure forming part 133 to form a gas-solid two-phase flow. The tea leaves are transported through the elastic conveying pipe 135, completing the continuous process from picking to conveying. The conveying efficiency is high, the tea leaves are reduced, and the conveying is lossless, thus improving the conveying quality. Each flexible feed pipe 134 has an on / off solenoid valve that can be individually controlled to close the corresponding pipe according to the working status of the harvesting unit 121, thereby reducing ineffective energy consumption.

[0028] In this embodiment, please refer to Figure 4 The negative pressure forming part 133 includes an air intake contraction section 1331, which is located inside the longitudinal block 132 and is connected to the air supply pipe 136. The throat 1332 is located inside the longitudinal block 132 and is connected to the air intake contraction section 1331. The plurality of elastic feed pipes 134 are all connected to the throat 1332. The air outlet expansion section 1333 is connected at both ends to the throat 1332 and the elastic conveying pipe 135, respectively. The size of the air outlet expansion section 1333 is larger than that of the throat 1332. When gas is introduced into the air inlet contraction section 1331 through the air supply pipe 136 via the air source 131, a negative pressure is formed in the throat 1332 to provide a lifting force to the tea leaves through the elastic feed pipe 134. At the same time, the cut tea leaves are sucked into the throat 1332 along with the elastic feed pipe 134 and blown out and conveyed together with the gas from the air outlet expansion section 1333 into the elastic conveying pipe 135.

[0029] In this embodiment, please refer to Figure 2 and Figure 5 The air-blowing anti-fall module 14 includes two partitioned air outlet pipes 141. The harvesting arm 1211 has a rotating air chamber. The two partitioned air outlet pipes 141 are fixedly installed on the harvesting arm 1211 and are respectively connected to the rotating air chamber. Multiple flexible air blowing tubes 143, one end of each of the multiple flexible air blowing tubes 143 is respectively connected to the air transfer chamber on the harvesting arm 1211; the flexible air blowing tubes 143 have a certain elasticity and hardness, so as to ensure stable gas delivery during the blowing process. A transfer main pipe 144 is fixedly installed on the vertical plate 113, and multiple elastic air tubes 143 are all connected to the transfer main pipe 144; An air blowing component 145 is used to supply gas to the transfer main pipe 144. The air blowing component 145 includes, but is not limited to, a blower.

[0030] During operation, compressed gas generated by the air blowing component 145 enters the transfer main pipe 144 fixed on the vertical plate 113. The transfer main pipe 144 evenly distributes the airflow to multiple elastic air blowing pipes 143. The elastic air blowing pipes 143 transport the gas from the transfer main pipe 144 to the air transfer chamber inside the picking arm 1211. The gas in the air transfer chamber is blown out through two partitioned air outlet pipes 141. The blowing direction is diagonally upward and backward, directly acting on the cut tea leaves and pushing them to the suction port 12121 area of ​​the negative pressure feeding module 13. Together with the pulling force of the negative pressure, it forms a combined force to prevent the tea leaves from falling or lingering, thereby improving the tea leaf collection effect.

[0031] In this embodiment, please refer to Figure 1 and Figure 6 It also includes a pose module 15 comprising four motion units 151 disposed around the crossbeam, the four motion units 151 working together to adjust the pose of the picking module 12; Each of the motion units 151 includes a telescopic arm 1511 and a universal joint 1512. The telescopic end of the telescopic arm 1511 is connected to the crossbar 111 through the universal joint 1512. The universal joint 1512 can be a ball joint. The telescopic arm 1511 can be a hydraulic rod, a cylinder, or an electric actuator.

[0032] The four motion units 151 work together to enable the picking module 12 to move in three-dimensional space with multiple degrees of freedom, such as lifting, tilting, pitching, and turning. Thus, on slopes or rugged tea ridges, by adjusting the length of the four telescopic arms 1511, the horizontal frame 111 above and the picking module 12 can always maintain the ideal working height and posture, thereby ensuring the stability of the picking quality.

[0033] In this embodiment, please refer to Figure 1 , Figures 7 to 9 It also includes a sorting and collection module 21, which is used to sort and collect tea leaves separately. The sorting and collecting module 21 includes a frame 211 and a first ring 212, wherein the first ring 212 is fixedly installed on the frame 211; At least two lifting rings 213, the two lifting rings 213 being coaxially arranged and rotatably connected to the first ring 212; A plurality of partitions 214, each of the lifting rings 213 having an annular groove 2131 on its inner wall, and the plurality of partitions 214 being spaced apart within the annular groove 2131; A plurality of tea-blocking plates are arranged in the rotation direction of the lifting ring 213, and the adjacent partition 214, the tea-blocking plates and the bottom of the annular groove 2131 together form a tea-carrying space 215; At least two collection boxes 216, the frame 211 has a container slot 2111 at the top, and the two collection boxes 216 are disposed in the container slot 2111; The second ring body 217 has an outer wall that is tangent to and fixedly connected to the bottom of the inner wall of the first ring body 212; Sorting section 218, which is provided on the second ring body 217 for sorting the tea leaves fed by the negative pressure feeding module 13. The co-drive unit 219 drives the sorting unit 218 and the lifting ring 213 to rotate simultaneously.

[0034] The sorting and collecting module 21 also includes a clamping part, which includes a clamping plate rotatably mounted on the upper rear of the frame 211 and a linear power component for driving the clamping plate. At this time, the clamping plate serves as the rear plate of the receiving groove 2111. The linear power component is one of a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. When the collecting box 216 is installed, the linear power component extends, and the clamping plate flips at a certain angle to facilitate the placement of the collecting box 216. When the linear power component retracts, the clamping plate presses the collecting box 216 against the receiving groove 2111.

[0035] Mixed tea leaves fed from the negative pressure feeding module 13 enter the sorting section 218. The co-drive section 219 drives the sorting section 218 and the lifting ring 213 to rotate simultaneously. When the sorting section 218 rotates, it sorts the tea leaves and they fall into the tea transport space 215 of the lifting ring 213. As the ring rotates, the tea transport space 215 carries the tea leaves upward. When the tea transport space 215 rotates until its opening faces the collection box 216, the tea leaves fall out under the action of gravity, thus realizing the classification and collection of tea leaves. The sorting and collection are integrated, which is highly efficient, has a compact structure, and high space utilization.

[0036] In this embodiment, please refer to Figures 7 to 9 The sorting section 218 includes a roller 2181, which is coaxially rotatably coupled 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 connected to the negative pressure feeding module 13 through a connecting pipe 2182 installed on the frame 211. The connecting pipe 2182 is rotatably connected to the elastic conveying pipe 135. The closed end of the roller 2181 is connected to the driving unit through a transmission shaft 2183. The roller 2181 has a broken leaf drop trough 2184, a first sorting trough 2185 and a second sorting trough 2186 in sequence from the open end to the closed end along its own axial direction. The width of the first sorting trough 2185 is greater than the width of the broken leaf drop trough 2184. The width of the first sorting trough 2185 is less than the width of the second sorting trough 2186. The length of both the first sorting trough 2185 and the second sorting trough 2186 is less than the length of the tea transport space 215. An inclined waste channel 2187 is inclined within the frame 211, with the higher end of the channel lower than the lower end. The higher end of the inclined waste channel 2187 is located below the leaf chute 2184. It may also include a spiral plate, which rotates synchronously with the drum 2181 to accelerate the movement of the tea leaves.

[0037] Tea leaves conveyed by the negative pressure feeding module 13 enter the interior of the drum 2181 through the connecting pipe 2182. The drum 2181 rotates under the drive of the drive unit, and the tea leaves inside rotate with the drum 2181 and move axially from the open end to the closed end. During the movement, the tea leaves are separated according to their size through different troughs: the smallest broken tea leaves or impurities first fall through the narrowest broken leaf drop trough 2184 and enter the inclined waste channel 2187, which is set at a higher front and lower back, and are automatically discharged by gravity; slightly larger tea leaves cannot pass through the broken leaf drop trough 2184 and continue to move to the wider first sorting trough 2. 185, the tea leaves fall from the trough into the corresponding tea transport space 215 of the lifting ring 213; the largest or most complete tea leaves fall through the widest second sorting trough 2186 and enter another set of tea transport spaces 215 of the lifting ring 213. The continuous sorting is highly efficient, and the entire process from the tea leaves entering the drum 2181 to grading and waste discharge is automated, eliminating the need for manual sorting of broken tea leaves and reducing labor costs. The lengths of the first sorting trough 2185 and the second sorting trough 2186 are less than the length of the tea transport space 215 of the lifting ring 213, ensuring that the tea leaves falling from the trough can completely fall into the tea transport space 215 and avoid leakage.

[0038] In this embodiment, please refer to Figure 8 The co-drive unit 219 includes a drive shaft 2191, which is rotatably mounted within the frame 211; At least two drive gears 2192, both of which are coaxially fixedly engaged with the drive shaft 2191, and the number of drive gears 2192 is equal to the number of lifting rings 213; At least two driven gears 2193, the outer wall of the lifting ring 213 has an annular groove, and the at least two driven gears 2193 are respectively coaxially arranged in the annular groove of the lifting ring 213, and the driving gear 2192 meshes with the driven gears 2193 for transmission; The annular transmission component 2194 connects the drive shaft 2191 to the sorting section 218; the annular transmission component 2194 is a sprocket assembly or a pulley assembly.

[0039] A drive power component 2195 is used to drive the drive shaft 2191 to rotate. The drive power component 2195 includes, but is not limited to, a motor.

[0040] The drive shaft 2191 is driven to rotate by the drive power component 2195. At least two drive gears 2192 are coaxially fixed on the drive shaft 2191, and each drive gear 2192 meshes with a driven gear 2193 in the annular groove on the outer wall of the corresponding lifting ring 213. When the drive shaft 2191 rotates, the drive gears 2192 drive the driven gears 2193 to rotate through meshing, thereby driving the lifting ring 213 to rotate around its own axis to achieve the tea lifting function. At the same time, the drive shaft 2191 is connected to the transmission shaft 2183 of the sorting section 218 through the annular transmission component 2194: if it is a sprocket assembly, the drive sprocket on the drive shaft 2191 drives the driven sprocket on the transmission shaft 2183 of the sorting section 218 through a chain; if it is a pulley assembly, the drive pulley drives the driven pulley through a synchronous belt, ultimately driving the roller 2181 of the sorting section 218 to rotate synchronously to achieve the tea sorting function. The sorting unit 218 and the lifting ring 213 are driven synchronously by the same drive shaft 2191 through mechanical transmission, which has strong synchronization and ensures the accuracy of sorting-lifting coordination.

[0041] In this embodiment, please refer to Figures 1 to 9 A tea-picking machine, including the aforementioned contour-following tea-picking device.

[0042] Working principle: The swing arm 112 of the main module 11 can be hinged and rotated, and together with the angle adjustment unit 122 of the picking module 12, multiple picking units 121 can automatically adjust their angles according to the curvature of the tea tree and tea bush, so as to achieve a close fit to the shape of the tea tree. The cutting part 1213 of each picking unit 121 cuts the tea leaves with a rotating cutter. The cutting of adjacent picking units 121 is timed, and the intermittent picking units 121 cut synchronously, which avoids mechanical interference when adjacent cutters move and ensures that the cutting coverage is without dead corners. The negative pressure feeding module 13 generates negative pressure through the suction port 12121 of the arc plate 1212, which forms a backward and upward pulling force on the tea leaves, so that the cutting part 1213 can cut the tea leaves accurately and quickly and avoid shaking. At the same time, the air blowing anti-drop module 14 blows air diagonally upward and backward, pushing the cut tea leaves towards the negative pressure area of ​​the suction port 12121. The two work together to achieve efficient suction and delivery of tea leaves. Mixed tea leaves fed from the negative pressure feeding module 13 enter the sorting section 218. The co-drive unit 219 drives the sorting section 218 and the lifting ring 213 to rotate simultaneously. As the sorting section 218 rotates, the tea leaves are sorted and fall into the tea-carrying space 215 of the lifting ring 213. With the ring rotating, the tea-carrying space 215 carries the tea leaves upwards. When the tea-carrying space 215 rotates until its opening faces the collection box 216, the tea leaves fall out under gravity, thus achieving the classified collection of tea leaves. The sorting and collection are integrated, resulting in high efficiency. In summary, this invention, through the coordinated operation of multiple modules—the main module 11, the picking module 12, the negative pressure feeding module 13, and the air-blowing anti-fall module 14—enables both precise, contour-following cutting of tea bushes and tea buds, and efficient, damage-free collection and transportation, improving tea-picking quality and collection efficiency. The swing arm 112 of the main module 11 can be hinged and rotated, and in conjunction with the angle adjustment unit 122 of the picking module 12, multiple picking units 121 can automatically adjust their angles according to the curvature of the tea tree canopy, achieving a close fit to the shape of the tea tree. The cutting part 1213 of each picking unit 121 cuts the tea leaves with a rotating cutter. The cutting of adjacent picking units 121 is timed, and the intermittent picking units 121 cut synchronously, which avoids mechanical interference when adjacent cutters move and ensures that the cutting coverage is without dead corners. The negative pressure feeding module 13 generates negative pressure through the suction port 12121 of the arc plate 1212, which forms a backward and upward pulling force on the tea leaves, so that the cutting part 1213 can cut the tea leaves accurately and quickly and avoid shaking. At the same time, the air blowing anti-drop module 14 blows air diagonally upward and backward, pushing the cut tea leaves towards the negative pressure area of ​​the suction port 12121. The two work together to achieve efficient suction and delivery of tea leaves. Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0043] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

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. 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 gears and two 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 gears and external gears mesh and drive each other. The middle portion of the angle shaft is coaxially rotatably engaged with the connecting holes on the vertical portion of the T-shaped block. Alternatively, the device comprises one internal gear and one external gear. The internal gear is coaxially fixedly engaged with the connecting holes 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 are coaxially rotatably engaged with the connecting holes on the second U-shaped block, and the internal gear and external gear mesh and drive each other. An angle drive component, the angle drive component being used to drive the angle axis to rotate so as to conform to the shape above the tea tree; 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.

2. 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.

3. The contour-following tea-picking device according to claim 2, 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.

4. 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.

5. 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.

6. The contour-following tea-picking device according to claim 5, 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 co-drive unit through a drive shaft. The roller has a broken leaf drop 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 drop 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.

7. The contour-following tea-picking device according to claim 5 or 6, 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.

8. A tea-picking machine, characterized in that: Includes the tea-picking device according to any one of claims 1-7.

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