Automatic tea picking machine

Abstract

The invention discloses an automatic tea leaf picking machine, and relates to the technical field of tea leaf picking. The automatic tea leaf picking machine comprises a main body frame, a main linkage plate, a first linkage assembly, an auxiliary linkage plate, a second linkage assembly, a picking unit and a flexible cutter belt. The main linkage plate is connected with the main body frame, a plurality of first linkage assemblies are arranged on the main linkage plate, and the first linkage assemblies are connected with the corresponding auxiliary linkage plates and can drive the auxiliary linkage plates to move in the vertical direction; a second linkage assembly is arranged on the auxiliary linkage plate, and the second linkage assembly is connected with the corresponding picking unit and can adjust the height and the rolling angle of the picking unit; a driving device is arranged on the main linkage plate, and the flexible cutter belt sequentially passes through the picking units and is in transmission connection with the driving device to form a closed transmission system. The picking height and the rolling posture can be adjusted, high-precision shearing is achieved, and picking energy consumption and operation noise can be reduced.

Description

Technical Field

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

[0002] With the continuous advancement of mechanization in the tea industry, mechanized tea-picking equipment has become an important means for tea gardens to improve production efficiency and reduce labor costs. Currently, the widely used reciprocating cutting mechanism uses bearings and eccentric wheels to drive the upper and lower blades in reciprocating motion to cut the tea leaves. The cut tea leaves are then blown into a collection device by a fan. While this traditional equipment improves picking efficiency to some extent, certain problems still exist in practical applications.

[0003] Insufficient cutting precision: The blades of traditional picking institutions are mostly fixed or simply horizontally arranged, which makes it difficult to adapt to the natural diversity of tea tree shoot growth and to achieve precise cutting of irregular canopies. This results in poor picking quality and uneven tea leaf length, especially failing to meet the strict requirements of uniformity and integrity of shoot length for picking premium teas.

[0004] Excessive operating noise and high energy consumption: Existing reciprocating picking mechanisms are noisy during operation, and long-term operation can easily lead to mechanical wear and increased burden on the power system. This problem is even more prominent when applied in tea gardens with complex terrain such as hills and mountains, which seriously restricts the widespread promotion and application of mechanized tea picking equipment.

[0005] In view of the problems existing in the above-mentioned prior art, those skilled in the art urgently need an automatic tea picking machine. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic tea picking machine to solve the problems existing in the prior art. It can adjust the picking height and rolling posture to achieve high-precision cutting, and can reduce picking energy consumption and operating noise.

[0007] To achieve the above objectives, the present invention provides the following solution: This invention provides an automatic tea picking machine, comprising a main frame, a main linkage plate, a first linkage component, a secondary linkage plate, a second linkage component, picking units, and a flexible blade belt. The main linkage plate is connected to the main frame, and multiple first linkage components are provided on the main linkage plate. Each first linkage component is connected to a corresponding secondary linkage plate and can drive the secondary linkage plate to move vertically. The secondary linkage plate is provided with a second linkage component, which is connected to a corresponding picking unit and can adjust the height and roll angle of the picking unit. A drive device is provided on the main linkage plate, and the flexible blade belt passes sequentially through multiple picking units and is connected to the drive device to form a closed transmission system.

[0008] In some embodiments, the first linkage component includes a plurality of first racks and a plurality of first servo motors; the plurality of first servo motors are all disposed on the main linkage plate, the plurality of first racks correspond one-to-one with the plurality of first servo motors and are connected by gear meshing transmission, and one end of each first rack passes through the main linkage plate and is connected and fixed to the corresponding secondary linkage plate.

[0009] In some embodiments, the second linkage component includes two second racks and two second servos; both second servos are mounted on the sub-linkage plate, and the two second racks correspond one-to-one with the two second servos and are connected by gear meshing. One end of each of the two second racks passes through the sub-linkage plate and is respectively connected to both sides of the corresponding harvesting unit; the two second servos can drive both sides of the harvesting unit to move vertically through the corresponding second racks to adjust the height and roll angle of the harvesting unit.

[0010] In some embodiments, the harvesting unit includes a main structure, rolling element assemblies, and rack and pinion rods; a harvesting channel is formed in the middle of the main structure, the rolling element assemblies are respectively arranged on both sides of the front end of the main structure, and the rack and pinion rods are respectively arranged on both sides of the rear end of the main structure; each rolling element assembly includes two rolling elements arranged opposite to each other, and the flexible cutter belt passes sequentially between the two rolling elements in each rolling element assembly; one end of each of the two second racks passing through the secondary linkage plate is respectively sleeved and connected to the corresponding rack and pinion rod.

[0011] In some embodiments, the system further includes a tea collection box, a fan, an air guide duct, and a tea suction nozzle; the tea collection box is mounted on the main frame; the air guide duct is located at the front of the main structure, and the tea suction nozzle is located at the rear end of the picking channel of the main structure, with the outlet of the air guide duct and the inlet of the tea suction nozzle facing each other; the air guide duct is connected to the outlet of the fan via a pipe, the tea suction nozzle is connected to one side of the tea collection box via a pipe, and the inlet of the fan is connected to the other side of the tea collection box.

[0012] In some embodiments, the system further includes a lidar module, a camera module, a walking device, and a control system; the main frame includes two symmetrically arranged vertical frames and a horizontal frame connected to the two vertical frames; the walking device is respectively disposed below the two vertical frames, and the lidar module and the camera module are disposed in the middle of the horizontal frame; the lidar module, the camera module, the first servo motor, the second servo motor, and the drive device are all connected to the control system.

[0013] In some embodiments, the closed transmission system further includes multiple tension wheels, guide wheels, and drive wheels; the guide wheels are respectively provided at both ends of the main linkage plate, and multiple tension wheels and drive wheels are provided on the main linkage plate between two guide wheels; the drive device is connected to the flexible tool belt through the drive wheels, and the two guide wheels and multiple tension wheels are all in rolling contact with the flexible tool belt.

[0014] In some embodiments, the harvesting unit further includes an auxiliary blade assembly and a guide component; the front end of the main structure is provided with a plurality of the guide components and a plurality of the auxiliary blade assemblies; a guide channel is formed between two adjacent guide components; each auxiliary blade assembly includes two oppositely arranged auxiliary shearing blades, and the flexible blade strip passes sequentially between the two auxiliary shearing blades of each auxiliary blade assembly.

[0015] In some embodiments, the walking device includes a track assembly, a track cover, and a power battery module; the bottom end of the vertical frame is connected and fixed to the track cover, the track cover is mounted on the track assembly, and the power battery module is mounted on the track cover.

[0016] In some embodiments, one end of one of the two second racks of the second linkage assembly is a first collar, and one end of the other second rack is a second collar. The first collar has a circular hole, and the second collar has an oblong hole. The first collar and the second collar are respectively sleeved and connected to the corresponding rack rod.

[0017] The present invention achieves the following technical effects compared to the prior art: The automatic tea-picking machine of the present invention uses a first linkage component on the main linkage plate to drive the vertical coarse lifting and lowering of the secondary linkage plate, meeting the picking needs of different heights over a wide range; and the second linkage component on the secondary linkage plate realizes precise height and lateral rolling posture control of the picking unit to adapt to different tea tree top positions and crown shape changes, achieving precise cutting; and a flexible blade belt is driven by a drive device to sequentially pass through multiple picking units to achieve multiple picking units to pick tea leaves, which can reduce picking energy consumption and operating noise. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is one of the three-dimensional structural schematic diagrams of an automatic tea picking machine in some embodiments of the present invention; Figure 2 This is a second three-dimensional structural schematic diagram of an automatic tea picking machine according to some embodiments of the present invention; Figure 3 This is a schematic diagram showing the connection of the main linkage plate, the secondary linkage plate, the flexible blade belt, and the picking unit in some embodiments of the present invention; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is one of the schematic diagrams showing the connection between the secondary linkage plate and the picking unit in some embodiments of the present invention; Figure 6 This is a second schematic diagram showing the connection between the secondary linkage plate and the picking unit in some embodiments of the present invention; Figure 7 This is one of the structural schematic diagrams of the harvesting unit in some embodiments of the present invention; Figure 8 This is a second schematic diagram of the structure of the harvesting unit in some embodiments of the present invention; Figure 9 This is a schematic diagram showing the positions of the air guide groove, tea leaf suction nozzle, and picking unit in some embodiments of the present invention; Figure 10 This is a schematic diagram of the structure of the lidar module and camera module in some embodiments of the present invention; Figure 11 This is a schematic diagram of a structure in some embodiments of the present invention, showing that a first ring is provided on the second rack; Figure 12 This is a schematic diagram of a structure in some embodiments of the present invention, showing a second ring provided on the second rack.

[0020] In the diagram: 1-Main frame; 2-Main linkage plate; 3-First linkage component; 4-Secondary linkage plate; 5-Second linkage component; 6-Harvesting unit; 7-Flexible cutter belt; 8-Drive device; 9-Tea tea collection box; 10-Fan; 11-Air guide duct; 12-Tea tea suction nozzle; 13-LiDAR module; 14-Camera module; 15-Drive wheel; 16-Tension wheel; 17-Guide wheel; 18-Crawler device; 19-Crawler cover; 20-Power battery module; 21-Control electrical box; 22-Column; 31-First rack; 32-First servo motor; 51-Second rack; 52-Second servo motor; 61-Main structure; 62-Rolling element; 63-Rack tie rod; 64-Auxiliary cutter group; 65-Guiding component; 511-First collar; 512-Second collar. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The purpose of this invention is to provide an automatic tea picking machine to solve the problems existing in the prior art. It can adjust the picking height and rolling posture to achieve high-precision cutting; and it can reduce picking energy consumption and operating noise.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] This invention provides an automatic tea picking machine, such as... Figures 1 to 12 As shown, the system includes a main frame 1, a main linkage plate 2, a first linkage component 3, a secondary linkage plate 4, a second linkage component 5, a picking unit 6, a flexible blade belt 7, and a driving device 8. The main linkage plate 2 is connected to the main frame 1 via a column 22, and multiple first linkage components 3 are mounted on the main linkage plate 2. The secondary linkage plate 4 is located below the main linkage plate 2. Each first linkage component 3 is connected to a corresponding secondary linkage plate 4 and can drive the secondary linkage plate 4 to move vertically, thereby adjusting the height of the secondary linkage plate 4. The picking unit 6 is located below a corresponding secondary linkage plate 4, and a second linkage component 5 is mounted on the secondary linkage plate 4. The second linkage component 5 is connected to the corresponding picking unit 6 and can adjust the height and roll angle of the picking unit 6. Here, the roll angle refers to the angle at which the picking unit 6 rotates around its own horizontal symmetry line. That is, the second linkage component 5 can drive the picking unit 6 to rotate and move in the vertical direction. The main linkage plate 2 is equipped with a drive device 8. The flexible blade belt 7 passes through multiple picking units 6 in sequence and is connected to the drive device 8 to form a closed transmission system. Here, the closed transmission system refers to the flexible blade belt 7 passing through multiple picking units 8 from the drive device 8 and returning to the drive device 8 to form a closed transmission path.

[0025] It should be noted that the main frame 1 of the present invention can move under the drive of the walking device, and multiple picking units 6 are connected in series by flexible blade belts 7, and the shearing surface formed by the flexible blade belts 7 is perpendicular to the moving direction of the main frame 1; and, those skilled in the art can specifically set the number of picking units 6, and the present invention does not make specific limitations in this regard.

[0026] In some embodiments, such as Figures 3 to 5As shown, the first linkage component 3 includes multiple first racks 31 and multiple first servo motors 32; the multiple first servo motors 32 are all disposed on the main linkage plate 2, the multiple first racks 31 correspond one-to-one with the multiple first servo motors 32 and are connected by gear meshing transmission, and one end of each first rack 31 passes through the main linkage plate 2 and is connected and fixed to the corresponding secondary linkage plate 4.

[0027] It should be noted that the first drive gear is provided on the output shaft of the first servo motor 32 of the present invention. The first drive gear is adapted to mesh with the first rack 31. The main linkage plate 2 is provided with a first through hole for the first rack 31 to pass through. One end of the first rack 31 passes through the first through hole and is connected and fixed to the secondary linkage plate 4. The rotation of the first servo motor 32 can drive the first rack 31 and the secondary linkage plate 4 to move together in the vertical direction. Furthermore, the number of the first linkage component 3 and the secondary linkage plate 4 of the present invention is the same. Those skilled in the art can specifically set the number of the first linkage component 3 and the secondary linkage plate 4. The present invention does not make a specific limitation in this regard.

[0028] In some embodiments, such as Figure 5 and Figure 6 As shown, the second linkage component 5 includes two second racks 51 and two second servo motors 52; both second servo motors 52 are mounted on the sub-linkage plate 4, and the two second racks 51 correspond one-to-one with the two second servo motors 52 and are connected by gear meshing transmission. One end of each of the two second racks 51 passes through the sub-linkage plate 4 and is connected to both sides of the corresponding picking unit 6 respectively; the two second servo motors 52 can drive the two sides of the picking unit 6 to move vertically through the corresponding second racks 51 to adjust the height and roll angle of the picking unit 6.

[0029] It should be noted that the output shaft of the second servo motor 52 of the present invention is provided with a second drive gear, which is adapted to mesh with the second rack 51. The secondary linkage plate 4 is provided with a second through hole for the second rack 51 to pass through. One end of each of the two second racks 51 passes through the corresponding second through hole and is connected to the rack tie rods 63 on both sides of the picking unit 6. The rotation of the two second servo motors 52 can respectively drive the corresponding second rack 51 and the two sides of the picking unit 6 to move in the vertical direction, thereby adjusting the height of the two sides of the picking unit 6, and thus adjusting the roll angle of the picking unit 6. In this embodiment of the present invention, each secondary linkage plate 4 is provided with two sets of second linkage components 5, that is, each secondary linkage plate 4 can control two picking units 6 through two sets of second linkage components 5; and, as Figure 3 and Figure 4 As shown, the main linkage plate 2 is provided with a hole or groove structure to avoid the second rack 51, so as to avoid interference between the second rack 51 and the main linkage plate 2 during the vertical movement.

[0030] In some embodiments, such as Figure 7and Figure 8 As shown, the harvesting unit 6 includes a main structure 61, rolling element groups, and rack and pinion rods 63; a harvesting channel is formed in the middle of the main structure 61, rolling element groups are respectively arranged on both sides of the front end of the main structure 61, and rack and pinion rods 63 are respectively arranged on both sides of the rear end of the main structure 61; each rolling element group includes two rolling elements 62 arranged opposite to each other, and the flexible cutter belt 7 passes between the two rolling elements 62 of each rolling element group in sequence; two second racks 51 pass through one end of the auxiliary linkage plate 4 and are respectively sleeved and connected to the corresponding rack and pinion rods 63.

[0031] It should be noted that the front end of the main structure 61 refers to the front end along the forward direction of the main frame 1, and the other end corresponding to the front end is the rear end; during the picking, the flexible cutter belt 7 is rotatably connected to multiple rolling bodies 62, and the flexible cutter belt 7 cuts and picks the tea leaves between the two sets of rolling bodies in each picking unit 6, as well as the tea leaves between two adjacent picking units 6.

[0032] In some embodiments, see further reference. Figure 7 and Figure 8 As shown, the harvesting unit 6 also includes an auxiliary blade group 64 and a guide component 65; the front end of the main structure 61 is provided with multiple guide components 65 and multiple auxiliary blade groups 64; a guide channel is formed between two adjacent guide components 65, and the guide components 65 are arranged parallel or approximately parallel to the forward direction of the main frame 1; each auxiliary blade group 64 includes two oppositely arranged auxiliary shearing blades, which are arranged parallel or approximately parallel to the forward direction of the main frame 1, and the flexible blade belt 7 passes sequentially between the two auxiliary shearing blades of each auxiliary blade group 64.

[0033] It should be noted that the plurality of guide components 65 of the present invention include a tapered guide structure located on both sides and a plate-shaped guide structure located in the middle; the auxiliary cutter group 64 can be connected to the main structure 61 or to the plate-shaped guide component 65, and the two auxiliary shearing cutters of the auxiliary cutter group 64 are opposite to each other and spaced apart.

[0034] In some embodiments, such as Figure 11 and Figure 12 As shown, one end of one of the two second racks 51 in the second linkage component 5 is a first collar 511, and one end of the other second rack 51 is a second collar 512. The first collar 511 is provided with a circular hole, and the second collar 512 is provided with an oblong hole. The first collar 511 and the second collar 512 are respectively sleeved and connected to the corresponding rack rod 63.

[0035] As the two second racks 51 drive the rack rods 63 to move vertically, the rolling angle of the picking unit 6 changes. At this time, the horizontal distance between the two rack rods 63 changes. By setting the second ring 512 of one of the second racks 51 to a waist-shaped hole structure, the second ring 512 can be sleeved with the corresponding rack rod 63 and can slide relative to it to adapt to the change in the horizontal distance between the two rack rods 63.

[0036] In some embodiments, such as Figure 1 and Figure 9 As shown, the system also includes a tea collection box 9, a fan 10, an air guide duct 11, and a tea suction nozzle 12. The tea collection box 9 is mounted on the main frame 1. The air guide duct 11 is located in front of the main structure 61, and the tea suction nozzle 12 is located at the rear end of the picking channel of the main structure 61. The outlet of the air guide duct 11 and the inlet of the tea suction nozzle 12 are opposite to each other. The air guide duct 11 is connected to the outlet of the fan 10 through a pipe, and the tea suction nozzle 12 is connected to one side of the tea collection box 9 through a pipe. The inlet of the fan 10 is connected to the other side of the tea collection box 9. (The appendix of this invention...) Figure 1 and attached Figure 2 The connecting pipes between the air guide duct 11 and the fan 10, the connecting pipes between the tea spout 12 and the tea collection box 9, and the top cover of the tea collection box 9 are omitted.

[0037] It should be noted that, in this invention, after the tea leaves are cut, the air guide 11 uses high-speed airflow to blow the tea leaves through the picking channel into the tea leaf suction nozzle 12. The tea leaf collection box 9 is a sealed structure, with multiple inlets on one side connected to multiple tea leaf suction nozzles 12, and multiple fans 10 on the other side. A negative pressure channel is formed inside the tea leaf suction nozzle 12, and the tea leaves are drawn into the tea leaf collection box 9 at high speed by blowing and sucking, avoiding tea leaf retention and improving work efficiency. Furthermore, those skilled in the art can connect the air guide 11 to the guide component 65 of the picking unit 6 so that the air guide 11 and the picking unit 6 move or rotate synchronously.

[0038] In some embodiments, such as Figure 1 and Figure 10 As shown, it also includes a lidar module 13, a camera module 14, a control system, and a walking device; the main frame 1 includes two symmetrically arranged vertical frames and a horizontal frame connected to the two vertical frames; a walking device is respectively installed below the two frames, and the lidar module 13 and the camera module 14 are located at the front middle of the horizontal frame; the lidar module 13, the camera module 14, the first servo motor 32, the second servo motor 52, and the drive device 8 are all connected to the control system.

[0039] This invention uses a lidar module 13 and an industrial camera module 14 installed on the main frame 1 to monitor the shape of the tea tree canopy in real time, calculate the optimal height and posture parameters of the clamp, and automatically adjust the clamp; that is, the lidar module 13 and the camera module 14 of this invention send the monitoring data to the control system, and the control system controls the first servo motor 32 and the second servo motor 52 to adjust the height and posture of the picking unit 6 according to the monitoring data.

[0040] In some embodiments, such as Figure 1 and Figure 2 As shown, the walking device includes a track device 18, a track cover 19, and a power battery module 20; the bottom end of the vertical frame is connected and fixed to the track cover 19, the track cover 19 covers the track device 18, and the power battery module 20 is disposed on the track cover 19.

[0041] The present invention uses multiple track devices 18 to drive the harvester to move as a whole, and a power battery module 20 is used to provide power; and a control electrical box 21 is also provided on the track cover 19, which contains a control system.

[0042] In some embodiments, such as Figure 3 As shown, the closed transmission system also includes multiple tensioning wheels 16, guide wheels 17, and drive wheels 15; guide wheels 17 are respectively provided at both ends of the main linkage plate 2, and multiple tensioning wheels 16 and drive wheels 15 are provided on the main linkage plate 2 between the two guide wheels 17; the drive device 8 is connected to the flexible tool belt 7 through the drive wheel 15, and the two guide wheels 17 and multiple tensioning wheels 16 are all in rolling contact with the flexible tool belt 7.

[0043] It should be noted that the main linkage plate 2 of the present invention is provided with a guide wheel mounting bracket and a tension wheel mounting bracket. The tension wheel 16 is mounted on the tension wheel mounting bracket, and the guide wheel 17 is mounted on the guide wheel mounting bracket. The tension wheel mounting bracket is provided with a sliding groove in the vertical direction. The central rotating shaft of the tension wheel 16 is slidably connected to the sliding groove, and a spring is provided in the sliding groove. The spring can apply an elastic force to the tension wheel 16 to adjust the tension of the flexible blade belt 7. That is, the tension wheel 16 of the present invention adopts a spring-type tension wheel structure. After the flexible blade belt 7 loosens, the position of the tension wheel 16 is adjusted by the spring, so that the flexible blade belt 7 can regain a certain tension. The tension wheel 16 ensures that the flexible blade belt 7 has a certain tension when the height of the picking unit 6 is adjusted, preventing slippage or loosening. Furthermore, those skilled in the art can specifically set the number of tension wheels 16, and the present invention does not make a specific limitation in this regard.

[0044] In some embodiments, the flexible cutter belt 7 is a flexible saw belt, the rolling element 62 is a bearing structure, and the drive device 8 is a motor.

[0045] The automatic tea picking machine of the present invention can improve the accuracy of tea picking while reducing the energy consumption and noise of equipment operation. Its functions include: adaptive adjustment of the height and rolling angle of the picking unit 6, flexible blade belt 7 connecting multiple picking units 6 to achieve cutting, automatic tensioning of the flexible blade belt 7, and adaptive adjustment of the forward speed of the picking machine.

[0046] The main frame 1 of the present invention is a rigid frame structure, with four independently driven track devices 18 at the bottom, and reinforcing beams on both sides of the main frame 1 to increase rigidity and stability.

[0047] The main linkage plate 2 of this invention is connected to the main frame 1 via four columns 22, and remains stationary. The main linkage plate 2 carries a DC brushless motor to drive the flexible saw blade. Furthermore, the main linkage plate 2 is equipped with eight tensioning wheel structures, using springs to adjust the saw blade tension in real time to adapt to the dynamic adjustments of the harvesting unit 6 and prevent the saw blade from detaching from the harvesting unit 6. Five first servo motors 32 are mounted on the main linkage plate 2, connected to five lower auxiliary linkage plates 4 via five first racks 31, enabling vertical lifting and lowering movements. During the movement of the harvesting unit 6, the main linkage plate 2 remains stationary, while each auxiliary linkage plate 4 can move independently up and down.

[0048] The five auxiliary linkage plates 4 of this invention are numbered B1~B5, and the ten harvesting units 6 are numbered D1~D10. Two harvesting units 6 form a group, where B1 connects D1 and D2, B2 connects D3 and D4, and so on. Each auxiliary linkage plate 4 is equipped with four first servo motors 32, which control two harvesting units 6 respectively through independent rack and pinion mechanisms. The harvesting units 6 are numbered Di, i=1, 2, ..., 10; each harvesting unit Di is controlled by two second servo motors 52, which control the extension height h of the left rack respectively. L i And the telescopic height h of the right rack R i Each rack can be controlled independently, with a maximum stroke h. max =110mm, and the difference in extension and retraction height between the left and right second racks 51 is no greater than 50mm, that is, the lateral roll angle of a single picking unit 6 is less than 30°.

[0049] This invention completely changes the traditional control method of fixing the entire clamp by adjusting the rolling posture of each picking unit 6 in real time and independently. It can finely adapt to the local structural undulations of the tea tree canopy and greatly improve accuracy. It can achieve real-time and precise matching of the position of the cutting point of the tea tree tender shoots. In particular, it can track the local spatial tilt trend of the canopy and avoid the height difference and angle misalignment caused by the fixed curvature of the clamp in the traditional picking method.

[0050] In this invention, the saw blade and shearing mechanism consist of a single flexible saw blade connected in series for all picking units 6. The saw blade is driven by a brushless DC motor, and a tensioning wheel 16 ensures that the saw blade maintains a certain tension during height adjustments of the picking unit 6, preventing slippage or loosening. Each picking unit 6 has four tea leaf guide channels to secure the tender tea shoots for easy cutting by the saw blade. Three auxiliary cutter sets work in conjunction with the saw blade to cut the tea buds.

[0051] The present invention includes an air guide trough 11 and a conveying system: Each picking unit 6 has an air guide trough 11 at its front, connected to the turbine fan 10 of the top tea collection box 9 via a flexible hose. High-speed airflow blows the cut tea leaves into the picking unit, and a tea suction nozzle 12 is installed at the rear of the unit, connected to the air inlet of the top tea collection box 9, forming a negative pressure airflow conveying channel. The cut tea leaves are quickly sucked into the tea collection box 9 through the flexible hose. The tea collection box 9 is located at the top of the main frame 1, and has five built-in turbine fans 10 to generate a strong airflow, ensuring that the picked tea leaves quickly enter the tea collection box 9. The tea collection box 9 has a sealed structure, with the air inlet and tea suction nozzle 12 sealed together to prevent air leakage, allowing the blowing and suction of tea leaves to be completed using only one set of fans.

[0052] This invention enables efficient linkage of the conveying system, with the shearing action synchronized and coordinated with the conveying system. The turbine fan 10 starts and generates airflow at the beginning of picking, which draws the tea leaves cut by the saw band into the tea collection box 9 at high speed through a blowing and sucking action, avoiding tea leaf retention and improving work efficiency.

[0053] This invention enables a combination of coarse and fine adjustments. The first servo motor 32 on the main linkage plate 2 is responsible for the coarse vertical lifting and lowering of the secondary linkage plate 4, meeting the harvesting needs at different heights over a wide range. The rack and pinion mechanism on the secondary linkage plate 4 achieves precise height and roll posture control of the harvesting unit 6 to adapt to different tea tree top positions and crown shape changes, achieving precise cutting. That is, this invention adopts a double-layer linkage structure of a fixed main linkage plate 2, a movable secondary linkage plate 4, and an independent double rack and pinion clamp. Every two harvesting units 6 share one secondary linkage plate 4. Each secondary linkage plate 4 can move up and down relative to the main linkage plate 2 within a range of 0~105mm. Each harvesting unit 6 is connected to the secondary linkage plate 4 through two independent racks with a maximum extension range of 110mm. The moving height of the secondary linkage plate 4 is determined by the highest shearing point of the two harvesting units 6 it controls, while the posture of the harvesting unit 6, i.e., the roll posture, is independently adjusted by differential adjustment of the left and right racks, achieving high-precision, low-interference control of posture and height under space-constrained conditions.

[0054] This invention enables real-time feedback and dynamic adaptation. A lidar module 13 and an industrial camera module 14 mounted on the top of the main frame 1 monitor the shape of the tea tree canopy in real time, calculate the optimal height and posture parameters of the clamp, and automatically adjust the clamp's state. The control electrical box 21 precisely coordinates the actions of the servo motors and motors based on real-time data feedback, adapting to the shape and density of the tea tree canopy in real time, achieving efficient and precise automatic harvesting.

[0055] The beneficial effects of the tea-picking machine of this invention: With good structural rigidity and high stability, it can adapt to complex tea garden terrain; precise posture and height adjustment improve the accuracy of tea picking and reduce ineffective shearing and tea tree damage; intelligent control system improves overall efficiency and realizes automated and unmanned operation; efficient conveying system ensures tea picking efficiency, reduces tea loss, and improves harvest quality.

[0056] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An automatic tea-picking machine, characterized in that, It includes the main frame, main linkage plate, first linkage component, secondary linkage plate, second linkage component, picking unit, and flexible blade belt; The main linkage plate is connected to the main frame, and the main linkage plate is provided with a plurality of first linkage components. The first linkage components are connected to the corresponding secondary linkage plates and can drive the secondary linkage plates to move in the vertical direction. The secondary linkage plate is provided with the second linkage component, which is connected to the corresponding picking unit and can adjust the height and roll angle of the picking unit. The main linkage plate is equipped with a driving device, and the flexible blade belt passes through multiple harvesting units in sequence and is connected to the driving device to form a closed transmission system.

2. The automatic tea-picking machine according to claim 1, characterized in that, The first linkage component includes multiple first racks and multiple first servo motors; Multiple first servos are mounted on the main linkage plate. Multiple first racks correspond one-to-one with multiple first servos and are connected by gear meshing. One end of each first rack passes through the main linkage plate and is connected and fixed to the corresponding secondary linkage plate.

3. The automatic tea picking machine according to claim 2, characterized in that, The second linkage component includes two second racks and two second servos; Both second servo motors are mounted on the sub-linkage plate. The two second racks correspond one-to-one with the two second servo motors and are connected by gear meshing. One end of each of the two second racks passes through the sub-linkage plate and is connected to both sides of the corresponding harvesting unit. The two second servo motors can drive the two sides of the picking unit to move vertically through the corresponding second racks to adjust the height and roll angle of the picking unit.

4. The automatic tea picking machine according to claim 3, characterized in that, The harvesting unit includes a main structure, a rolling element assembly, and a rack and pinion rod. A picking channel is formed in the middle of the main structure, the rolling element group is respectively arranged on both sides of the front end of the main structure, and the rack and pinion rod is respectively arranged on both sides of the rear end of the main structure. Each of the rolling element groups includes two rolling elements arranged opposite each other, and the flexible cutter belt passes sequentially between the two rolling elements of each rolling element group; The two second racks are respectively connected to the corresponding rack tie rods by passing through one end of the secondary linkage plate.

5. The automatic tea-picking machine according to claim 4, characterized in that, It also includes a tea collection box, a fan, an air guide duct, and a tea suction nozzle; The tea collection box is mounted on the main frame; The air guide trough is located in front of the main structure, and the tea leaf suction nozzle is provided at the rear end of the picking channel of the main structure. The outlet of the air guide trough and the air inlet of the tea leaf suction nozzle are arranged opposite to each other. The air guide channel is connected to the air outlet of the fan through a pipe, the tea suction nozzle is connected to one side of the tea collection box through a pipe, and the air inlet of the fan is connected to the other side of the tea collection box.

6. The automatic tea picking machine according to claim 3, characterized in that, It also includes a lidar module, a camera module, a walking device, and a control system; The main frame includes two symmetrically arranged vertical frames and a horizontal frame connected to the two vertical frames; The walking device is respectively installed below the two vertical frames, and the lidar module and the camera module are located in the middle of the horizontal frame; The lidar module, the camera module, the first servo motor, the second servo motor, and the drive device are all connected to the control system.

7. The automatic tea picking machine according to claim 1, characterized in that, The closed transmission system also includes multiple tension wheels, guide wheels, and drive wheels; The main linkage plate is provided with guide wheels at both ends, and a plurality of tension wheels and drive wheels are provided on the main linkage plate between the two guide wheels; The drive device is connected to the flexible cutter belt via the drive wheel, and the two guide wheels and the plurality of tension wheels are in rolling contact with the flexible cutter belt.

8. The automatic tea picking machine according to claim 4, characterized in that, The harvesting unit also includes an auxiliary blade assembly and a guiding component; The front end of the main structure is provided with multiple guide components and multiple auxiliary tool sets; A guide channel is formed between two adjacent guide components; Each of the auxiliary tool sets includes two oppositely arranged auxiliary shearing tools, and the flexible tool belt passes sequentially between the two auxiliary shearing tools in each of the auxiliary tool sets.

9. The automatic tea picking machine according to claim 6, characterized in that, The walking device includes a track system, track covers, and a power battery module; The bottom end of the vertical frame is connected and fixed to the track cover, the track cover is placed on the track device, and the power battery module is placed on the track cover.

10. The automatic tea picking machine according to claim 4, characterized in that, In the second linkage component, one end of one of the two second racks is a first collar, and one end of the other second rack is a second collar. The first collar has a circular hole, and the second collar has an oblong hole. The first and second collars are respectively sleeved and connected to the corresponding rack and pinion rods.

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