Tea picking machine with posture regulating function and picking method

Abstract

The application provides a tea picking machine with a posture control function and a picking method, and aims to solve the problems that the picking posture cannot be adjusted according to the terrain, the arc of the arc-shaped blade is fixed, the picking and collecting effect is poor, and there is no sorting function in the prior art. It comprises a walking mechanism, a sorting and collecting mechanism, a tea picking mechanism and an information acquisition mechanism. The walking mechanism comprises a rack, height adjustment modules arranged around the rack, a walking module arranged below the height adjustment modules, and a balance control module arranged on the rack for controlling the center of gravity of the rack. When the rack position is adjusted by the four sets of height adjustment modules, the balance control module is used to control the center of gravity of the rack. The sorting and collecting mechanism is used for sorting and collecting tea leaves at the same time. The tea picking mechanism is used for picking tea leaves in a profiled posture and conveying the picked tea leaves to the sorting and collecting mechanism. The machine can adjust the profiled posture of tea picking and the posture of the rack, and can improve the quality of tea picking and the collecting effect.

Description

Technical Field

[0001] This invention belongs to the field of tea picking technology, and in particular relates to a tea picking machine with posture control function and a tea picking method. 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, tea-picking machines were designed and widely used. However, current tea-picking machines still have shortcomings, specifically: 1. Due to the topography of my country, tea trees are generally planted on mountains with complex terrain and steep slopes. The roads in tea gardens are rugged and uneven. As a result, existing tea picking machines usually do not adjust their body posture according to changes in terrain when working in complex mountainous environments. The tilting of the body not only affects the quality of tea picking, but also makes it easy to slip and overturn. 2. The top of the tea tree is mostly curved, and the curvature of the curved blade used is fixed. Due to the different growth status of each tea tree, some fresh leaves may be missed or picked incorrectly. 3. 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. 4. During the tea-cutting process, the cut tea leaves are prone to falling to the ground, resulting in poor collection efficiency; 5. The quality of the tea leaves picked is uneven, and manual sorting is still required, which still results in a waste of labor. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a tea-picking machine and picking method with posture control function, which solves the problems of the prior art, such as the inability to adjust the picking posture according to the terrain, the fixed curvature of the curved blade, poor picking and collection effect, and lack of sorting function.

[0005] To achieve the above and other related objectives, the present invention provides a tea-picking machine with posture control function, comprising: The walking mechanism includes a frame, height adjustment modules arranged around the frame, a walking module located below the height adjustment modules, and a balance control module located on the frame for adjusting the center of gravity of the frame. When the frame position is adjusted by the four sets of height adjustment modules working together, the center of gravity of the frame is adjusted by the balance control module. The height adjustment module includes a top plate and a bottom plate fixedly connected to the frame, two sets of support units symmetrically arranged along the top plate, a linear power component for driving the support units to rise and fall, and an intermediate shaft. Each support unit includes a first arm and a second arm that crosses the first arm. One end of the first arm and the second arm are respectively hinged to the top plate and the bottom plate. Both the top plate and the bottom plate have rolling grooves. The other end of the first arm and the second arm have rollers that roll in cooperation with the rolling grooves. The first arm and the second arm of the two support units are rotatably connected at their intersection positions through the intermediate shaft. The walking module is located below the bottom plate. The sorting and collecting mechanism is used to sort and collect tea leaves separately. A tea-picking mechanism that conforms to the shape of a tea tree to pick tea leaves and transports the picked tea leaves to a sorting and collection mechanism. An information collection mechanism is used to collect real-time images of tea leaves and tea bushes, as well as to obtain road surface information and road surface smoothness in the trajectory of the walking mechanism.

[0006] Optionally, the balance control module includes a frame, which is fixedly mounted on the frame; A balance block, wherein the frame has a movement space, and the balance block is slidably disposed within the movement space; A longitudinal telescopic unit is mounted on the frame, and the telescopic end of the longitudinal telescopic unit extends into the motion space; A sliding table, which is slidably disposed within the motion space and fixedly connected to the telescopic end of the longitudinal telescopic unit; A lateral telescopic unit is provided, wherein the slide has a lateral sliding groove along its own lateral direction, and the lateral telescopic unit is mounted on the slide. A horizontal sliding body is slidably engaged with the horizontal sliding groove, a balance block is fixedly connected to the horizontal sliding body, and the horizontal sliding body is fixedly connected to the telescopic end of the horizontal telescopic unit.

[0007] Optionally, the tea-picking mechanism includes a main body module and a pose module. The main body module is installed below the frame via the pose module. The main body 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.

[0008] 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.

[0009] 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.

[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, the posture module includes four motion units disposed around the crossbeam, and the four motion units cooperate to adjust the posture of the picking module. Each of the motion units includes a telescopic arm and a universal joint. The telescopic end of the telescopic arm is connected to the crossbeam via the universal joint, and the fixed end of the telescopic arm is installed at the bottom of the frame.

[0012] Optionally, the sorting and collecting mechanism includes a frame and a first ring body. The frame is mounted on the frame, and the first ring body is fixedly mounted on the frame. The frame has a through slot through which the balance control module passes from front to back. 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] A tea-picking method using a tea-picking machine with posture control function, comprising the following steps: Information acquisition steps: The information acquisition mechanism collects real-time images of tea leaves and tea bushes, as well as information on the road surface and its flatness. The control mechanism processes the data acquired by the information acquisition mechanism to obtain the target postures of the walking mechanism and the tea picking mechanism. Posture control steps: The posture control steps include posture control of the walking mechanism and posture control of the picking mechanism; When the walking mechanism is in posture control, the height adjustment module and the balance control module are controlled based on the target posture so that the posture of the walking mechanism is adjusted to the target posture. When adjusting the posture of the tea-picking mechanism, the tea-picking mechanism is controlled based on the target posture to adjust the posture of the tea-picking mechanism to the target posture.

[0015] As described above, the tea-picking machine and method with posture control function of the present invention have at least the following beneficial effects: 1. Through the coordinated operation of the walking mechanism, tea-picking mechanism, sorting and collection mechanism, and information collection mechanism, the entire process from identification to picking to sorting and collection is fully automated and integrated, actively adjusting its posture to follow the curvature of the tea tree canopy and layers. This high degree of automation significantly improves tea-picking efficiency and quality while reducing labor costs. Four independent height adjustment mechanisms and a balance control module work together to actively adjust the height of each walking module, ensuring the machine remains level on uneven tea garden surfaces. This guarantees stability during picking, sorting, and collection, preventing tipping on slopes or when crossing obstacles, greatly enhancing operational safety in complex environments. The first and second arms are connected via an intermediate shaft, utilizing rollers and chute mechanisms to reduce frictional resistance during lifting, improving lifting accuracy. The linear power components provide flexible drive, allowing for individual / coordinated height adjustments on one side based on tea tree height or road surface undulations, adapting to different tea tree canopy heights or uneven road surfaces.

[0016] 2. Through the coordinated operation of multiple modules, including the posture module, main body module, picking module, negative pressure feeding module, and air-blowing anti-drop module, the system can not only control the shape and posture of the tea tree and tea buds for precise cutting, but also efficiently collect and transport the tea leaves without damage, improving the quality and collection effect of tea picking. The swing arm of the main body module can be hinged and rotated, and in conjunction with the angle adjustment unit of the picking module, multiple picking units can automatically adjust their angles according to the curvature of the tea tree and tea buds, achieving a close fit to the shape of the tea tree. The cutting part of each picking unit cuts the tea leaves with a rotating cutter. The cutting of adjacent picking units is timed, and the intermittent picking units 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 generates negative pressure through the suction port of the arc plate, which pulls the tea leaves backward and upward, enabling the cutting part to cut the tea leaves accurately and quickly without shaking. At the same time, 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. The two work together to achieve efficient suction and delivery of tea leaves. 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 height adjustment module of the present invention. Figure 3 The diagram shown is an exploded view of the balance control module of the present invention. Figure 4 The diagram shows a three-dimensional structural illustration of the tea-picking mechanism and the sorting and collecting mechanism of the present invention. Figure 5 The diagram shown is a three-dimensional structural schematic of the harvesting module of the present invention. Figure 6 The diagram shown is an exploded view of the angle adjustment unit of the present invention. Figure 7 The image shown is a cross-sectional view of the negative pressure feeding module of the present invention. Figure 8 The diagram shown is a three-dimensional structural schematic of the air-blowing anti-fall module of the present invention. Figure 9 The diagram shown is a three-dimensional structural schematic of the motion unit of the present invention. Figure 10 The diagram shown is a three-dimensional structural schematic of the sorting and collecting mechanism of the present invention. Figure 11 The diagram shown is a three-dimensional structural illustration of the internal structure of the sorting and collecting mechanism of the present invention. Figure 12 The diagram shown is a three-dimensional structural schematic of the sorting section of the present invention.

[0018] Component designation explanation Tea-picking mechanism 1, 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-shaped block 1222, angle shaft 1223, internal gear 1224, external gear 1225, angle driving 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; Sorting and collecting mechanism 2, frame 211, container trough 2111, first ring body 212, lifting ring body 213, annular groove 2131, partition 214, tea transport space 215, collection box 216, second ring body 217, sorting section 218, roller 2181, connecting pipe 2182, drive shaft 2183, broken leaf chute 2184, first sorting trough 2185, second sorting trough 2186, inclined waste channel 2187, co-drive section 219, drive shaft 2191, drive gear 2192, driven gear 2193, annular transmission component 2194, drive power component 2195 Walking mechanism 3, frame 31, height adjustment module 32, top plate 321, roller groove 3211, bottom plate 322, support unit 323, first support arm 3231, second support arm 3232, roller 3233, linear power component 324, intermediate shaft 325, walking module 33, balance control module 34, frame 341, balance block 342, longitudinal telescopic unit 343, slide table 344, lateral telescopic unit 345, transverse slide body 346; Information collection agency 4, control agency 5. 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 12 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 12 This invention provides a tea-picking machine with posture control function, comprising: The system comprises a walking mechanism 3, a sorting and collecting mechanism 2, a tea picking mechanism 1, and an information collection mechanism 4. The walking mechanism 3 includes a frame 31, height adjustment modules 32 arranged around the frame 31, a walking module 33 located below the height adjustment modules 32, and a balance control module 34 located on the frame 31 for adjusting the center of gravity of the frame 31. When the position of the frame 31 is adjusted by the four sets of height adjustment modules 32 working together, the center of gravity of the frame 31 is controlled by the balance control module 34. The walking module 33 is a hub motor that directly drives the wheels to roll and move, which has high transmission efficiency, compact structure, fast response speed, can quickly adjust the walking speed, and each wheel can be independently controlled in speed, which is convenient for small-range turning to adapt to the row spacing of the tea garden. The height adjustment module 32 includes a top plate 321 and a bottom plate 322 fixedly connected to the frame 31, two sets of support units 323 symmetrically arranged along the top plate 321, a linear power component 324 for driving the support units 323 to rise and fall, and an intermediate shaft 325. Each support unit 323 includes a first arm 3231 and a second arm 3232 intersecting the first arm 3231. One end of the first arm 3231 and the second arm 3232 are respectively connected to the top plate 321 and the bottom plate 322. The base plate 322 is hinged, and both the top plate 321 and the base plate 322 have rolling grooves 3211. The other end of the first support arm 3231 and the second support arm 3232 have rollers 3233 that roll in cooperation with the rolling grooves 3211. The first support arm 3231 and the second support arm 3232 of the two support units 323 are rotatably connected by the intermediate shaft 325 at their intersection positions. The walking module 33 is located below the base plate 322. The linear power component 324 includes, but is not limited to, a hydraulic cylinder. The sorting and collecting mechanism 2 is used to sort and collect tea leaves separately. The tea-picking mechanism 1 conforms to the shape of the tea tree to pick tea leaves and transports the picked tea leaves to the sorting and collection mechanism 2. The information acquisition mechanism 4 is used to acquire real-time images of tea leaves and tea bushes, as well as road surface information and road surface smoothness in the trajectory of the walking mechanism 3. The information acquisition mechanism 4 includes an image acquisition unit, a lidar, and an tilt sensor. The image acquisition unit and lidar are both connected to a tripod in front of the frame 31. The image acquisition unit is used to acquire road surface information and tea tree / tea bush information in the direction of travel of the walking mechanism 3. The image acquisition unit can be a depth camera or a camera. The lidar acquires the road surface smoothness in real time through which the walking mechanism 3 passes. After processing, it predicts the unevenness of the road surface, the position coordinates of the target object, and the spatial shape data in the trajectory of the walking module 33. The target object refers to the bumps and potholes of the road surface. There are two tilt sensors, which are respectively set on the tea picking mechanism 1 and the frame 31. The tilt sensor model can be SINDT-485 and is installed at the center of the frame 31. The sensor measures static gravitational acceleration through a built-in accelerometer and converts it into angle change to measure the tilt angle relative to the horizontal plane, i.e., the tilt angle.

[0023] It also includes a control mechanism 5, which is electrically connected to the walking module 33, the balance control module, the height adjustment module 32, the sorting and collecting mechanism 2, and the tea picking mechanism 1.

[0024] Through the coordinated operation of the walking mechanism 3, tea-picking mechanism 1, sorting and collection mechanism 2, and information collection mechanism 4, the entire process from identification to picking to sorting and collection is fully automated and integrated, actively adjusting its posture to follow the curvature of the tea tree canopy. This high degree of automation significantly improves tea-picking efficiency and quality while reducing labor costs. The coordinated operation of four independent height adjustment mechanisms and a balance control module 34 allows for the active adjustment of the height of each walking module 33, ensuring that the walking mechanism 3 maintains the horizontal position of the frame 31 on uneven tea garden surfaces. This guarantees the stability of picking, sorting, and collection operations, preventing tipping on slopes or when crossing obstacles, and greatly enhancing operational safety in complex environments. The first arm 3231 and the second arm 3232 are rotatably connected via an intermediate shaft 325, engaging with a roller groove 3211 and rollers 3233. This reduces frictional resistance during lifting and improves lifting accuracy. The linear power component 324 provides flexible drive, allowing for individual / coordinated height adjustments on one side based on tea tree height or road surface undulations, adapting to different tea tree canopy heights or uneven road surfaces.

[0025] In this embodiment, please refer to Figure 1 and Figure 3 The balance control module 34 includes a frame 341, which is fixedly mounted on the frame 31. The frame 341 has a movement space, and the balance block 342 is slidably disposed within the movement space. A longitudinal telescopic unit 343 is mounted on the frame 341, and the telescopic end of the longitudinal telescopic unit 343 extends into the motion space; The slide table 344 is slidably disposed in the motion space and is fixedly connected to the telescopic end of the longitudinal telescopic unit 343; both the bottom of the balance block 342 and the slide table 344 have ball bearings, which makes the movement of the balance block 342 in the motion space smoother and can quickly respond to the commands of the control mechanism 5. The transverse telescopic unit 345 is mounted on the slide table 344, which has a transverse sliding groove along its own transverse direction. The longitudinal telescopic unit 343 and the transverse telescopic unit 345 include, but are not limited to, hydraulic cylinders, wherein the hydraulic cylinders may be multi-stage hydraulic cylinders. The transverse sliding body 346 is slidably engaged with the transverse sliding groove, the balance block 342 is fixedly connected to the transverse sliding body 346, and the transverse sliding body 346 is fixedly connected to the telescopic end of the transverse telescopic unit 345.

[0026] The control mechanism 5 controls the longitudinal telescopic unit 343 to extend and retract, pushing the slide table 344 to slide backward or forward along the movement space of the frame 341. The movement range of the slide table 344 is limited by the movement space of the frame 341 and the stroke of the longitudinal telescopic unit 343. When the slide table 344 reaches the longitudinal target position, the control mechanism 5 controls the transverse telescopic unit 345 to extend and retract, pushing the transverse slide body 346 to slide right or left along the transverse sliding groove of the slide table 344. Since the balance block 342 is fixedly connected to the transverse slide body 346, the movement of the transverse slide body 346 directly drives the balance block 342 to complete the transverse position adjustment. During the movement of the balance block 342, the tilt sensor continuously feeds back the tilt angle of the frame 31. The control mechanism 5 compares the actual angle with the target angle until the tilt angle of the frame 31 is within the allowable range, completing one center of gravity control closed loop.

[0027] In this embodiment, please refer to Figures 1 to 9 The tea-picking mechanism 1 includes a main module 11 and a pose module 15. The main module 11 is installed below the frame 31 via the pose module 15. 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. An inclination sensor is installed at the center 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 units 121 and the swing arms 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 end of the swing arm 112 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. Resilient guards are located between adjacent curved plates 1212 to ensure efficient tea leaf collection and prevent it from falling backward.

[0028] The negative pressure feeding module 13 is connected to the suction port 12121. The negative pressure feeding module 13 forms a negative pressure above and behind each picking unit 121 to provide a lifting force to the tea leaves, so that the cutting part 1213 cuts and picks the tea leaves and then sucks them in and transports them from the suction port 12121. The air-blowing anti-drop module 14 is provided in equal numbers to the picking units 121, and is installed on each picking unit 121 in a one-to-one correspondence. The air-blowing anti-drop module 14 blows air diagonally upward and backward, that is, towards 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 module 14.

[0029] Through the coordinated operation of multiple modules including the posture module 15, the main body module 11, the picking module 12, the negative pressure feeding module 13, and the air-blowing anti-drop module 14, the tea tree and tea bushes can be precisely cut by conforming to their posture, and the tea canopy can be efficiently collected and transported without damage, thus improving the quality and efficiency of tea picking. The swing arm 112 of the main body 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 conformity 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 angles. 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.

[0030] In this embodiment, please refer to Figure 5 and Figure 6 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.

[0031] 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.

[0032] In this embodiment, please refer to Figure 4 and Figure 7 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.

[0033] 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.

[0034] 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.

[0035] In another embodiment, the number of negative pressure generating units, elastic feed pipes 134, elastic conveying pipes 135, and picking units 121 are equal. The air source 131 is connected to the main pipe. The negative pressure generating units are connected to the main pipe through air supply pipes 136. The tea leaves picked by each picking unit 121 are sucked in through the elastic feed pipe 134 and then conveyed to the sorting and collecting mechanism 2 through the elastic conveying pipe 135. The elastic feed pipe 134 is equipped with a switching solenoid valve and a throttle valve.

[0036] In this embodiment, please refer to Figure 5 and Figure 8 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.

[0037] 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.

[0038] In this embodiment, please refer to Figure 4 and Figure 9 The posture module 15 includes four motion units 151 disposed around the cross frame, and the four motion units 151 cooperate to adjust the posture 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 crossbeam 111 via the universal joint 1512, and the fixed end of the telescopic arm 1511 is installed at the bottom of the frame 31. The universal joint 1512 can be a ball joint. The telescopic arm 1511 can be a hydraulic rod, a cylinder, or an electric actuator.

[0039] 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.

[0040] In this embodiment, please refer to Figure 1 , Figure 4 , Figures 10 to 12 The sorting and collecting mechanism 2 includes a frame 211 and a first ring 212. The frame 211 is mounted on the frame 31, and the first ring 212 is fixedly mounted on the frame 211. The frame 211 has a through slot through which the balance control module 34 passes from front to back. 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.

[0041] The sorting and collecting mechanism 2 also includes a clamping part, which includes a clamping plate rotatably mounted on the upper rear of the frame 211 and a linear power member 324 for driving the movement of the clamping plate. At this time, the clamping plate serves as the rear plate of the receiving groove 2111. The linear power member 324 is one of a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. When the collecting box 216 is installed, the linear power member 324 extends, and the clamping plate flips at a certain angle to facilitate the placement of the collecting box 216. When the linear power member 324 retracts, the clamping plate clamps the collecting box 216 against the receiving groove 2111.

[0042] 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.

[0043] In this embodiment, please refer to Figures 10 to 12The 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 roller 2181 to accelerate the movement of the tea leaves.

[0044] 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.

[0045] 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 2192, the outer wall of the lifting ring 213 has an annular groove, and the at least two driven gears 2192 are respectively coaxially arranged in the annular groove of the lifting ring 213, and the driving gear 2192 meshes with the driven gear 2192 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.

[0046] 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.

[0047] 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 2192 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 2192 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.

[0048] In this embodiment, please refer to Figures 1 to 12 A tea-picking method using a tea-picking machine with posture control function, comprising the following steps: Information acquisition steps: The information acquisition mechanism 4 collects images of tea leaves and tea bushes, as well as information on the road surface and its flatness in real time. The control mechanism 5 processes the data acquired by the information acquisition mechanism 4 to obtain the target postures of the walking mechanism 3 and the tea picking mechanism 1. Posture control steps: The posture control steps include posture control of the walking mechanism 3 and posture control of the picking mechanism; When the walking mechanism 3 is in posture control, the height adjustment module 32 and the balance control module 34 are controlled based on the target posture so that the posture of the walking mechanism 3 is adjusted to the target posture. When the tea-picking mechanism 1 is in posture control, the tea-picking mechanism 1 is controlled based on the target posture to adjust the posture of the tea-picking mechanism 1 to the target posture.

[0049] In summary, this invention, through the coordinated operation of the walking mechanism 3, tea-picking mechanism 1, sorting and collection mechanism 2, and information collection mechanism 4, enables fully automated integrated operation from identification to picking to sorting and collection, actively adjusting its posture according to the curvature of the tea tree canopy. This high degree of automation significantly improves tea-picking efficiency and quality while reducing labor costs. The coordinated operation of four independent height adjustment mechanisms and the balance control module 34 allows for the active adjustment of the height of each walking module 33, ensuring that the walking mechanism 3 maintains the horizontal position of the frame 31 on uneven tea garden surfaces. This guarantees the stability of picking, sorting, and collection operations, preventing tipping over on slopes or when crossing obstacles, greatly improving operational safety in complex environments. The first arm 3231 and the second arm 3232 are rotatably connected to the roller groove 3211 and roller 3233 via the intermediate shaft 325, reducing frictional resistance during lifting and improving lifting accuracy. The linear power component 324 provides flexible drive, allowing for individual / coordinated height adjustment on one side according to the tea tree height or road surface undulations, adapting to different tea tree canopy heights or uneven road surfaces. Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0050] 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 tea-picking machine with posture control function, characterized in that, include: The walking mechanism includes a frame, height adjustment modules arranged around the frame, a walking module located below the height adjustment modules, and a balance control module located on the frame for adjusting the center of gravity of the frame. When the frame position is adjusted by the four sets of height adjustment modules working together, the center of gravity of the frame is adjusted by the balance control module. The height adjustment module includes a top plate and a bottom plate fixedly connected to the frame, two sets of support units symmetrically arranged along the top plate, a linear power component for driving the support units to rise and fall, and an intermediate shaft. Each support unit includes a first arm and a second arm that crosses the first arm. One end of the first arm and the second arm are respectively hinged to the top plate and the bottom plate. Both the top plate and the bottom plate have rolling grooves. The other end of the first arm and the second arm have rollers that roll in cooperation with the rolling grooves. The first arm and the second arm of the two support units are rotatably connected at their intersection positions through the intermediate shaft. The walking module is located below the bottom plate. The sorting and collecting mechanism is used to sort and collect tea leaves separately. A tea-picking mechanism that conforms to the shape of a tea tree to pick tea leaves and transports the picked tea leaves to a sorting and collection mechanism. The information collection mechanism is used to collect real-time images of tea leaves and tea bushes, as well as to obtain road surface information and road surface smoothness along the route traversed by the walking mechanism. The tea-picking mechanism includes a main module and a position module. The main module is installed below the frame through the position module. 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 tea-picking machine with posture control function according to claim 1, characterized in that: The balance control module includes a frame, which is fixedly mounted on the frame; A balance block, wherein the frame has a movement space, and the balance block is slidably disposed within the movement space; A longitudinal telescopic unit is mounted on the frame, and the telescopic end of the longitudinal telescopic unit extends into the motion space; A sliding table, which is slidably disposed within the motion space and fixedly connected to the telescopic end of the longitudinal telescopic unit; A lateral telescopic unit is provided, wherein the slide has a lateral sliding groove along its own lateral direction, and the lateral telescopic unit is mounted on the slide. A horizontal sliding body is slidably engaged with the horizontal sliding groove, a balance block is fixedly connected to the horizontal sliding body, and the horizontal sliding body is fixedly connected to the telescopic end of the horizontal telescopic unit.

3. The tea-picking machine with posture control function 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 tea-picking machine with posture control function according to claim 1, characterized in that: The posture module includes four motion units located around the cross frame. The four motion units work together to adjust the posture of the picking module. Each of the motion units includes a telescopic arm and a universal joint. The telescopic end of the telescopic arm is connected to the crossbeam via the universal joint, and the fixed end of the telescopic arm is installed at the bottom of the frame.

5. The tea-picking machine with posture control function according to claim 1, characterized in that: The sorting and collecting mechanism includes a frame and a first ring body. The frame is mounted on the machine frame, and the first ring body is fixedly mounted on the frame. The frame has a through slot through which the balance control module passes from front to back. 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 tea-picking machine with posture control function 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. A tea-picking method using a tea-picking machine with posture control function, characterized in that: Using the tea-picking machine with posture control function according to any one of claims 1-6, the following steps are included: Information acquisition steps: The information acquisition mechanism collects real-time images of tea leaves and tea bushes, as well as information on the road surface and its flatness. The control mechanism processes the data acquired by the information acquisition mechanism to obtain the target postures of the walking mechanism and the tea picking mechanism. Posture control steps: The posture control steps include posture control of the walking mechanism and posture control of the picking mechanism; When the walking mechanism is in posture control, the height adjustment module and the balance control module are controlled based on the target posture so that the posture of the walking mechanism is adjusted to the target posture. When adjusting the posture of the tea-picking mechanism, the tea-picking mechanism is controlled based on the target posture to adjust the posture of the tea-picking mechanism to the target posture.

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