Automatic tea leaf picking machine

Abstract

The application discloses a kind of tea automatic picking machine, it is related to tea picking technical field;Tea automatic picking machine includes main body frame, main linkage plate, first linkage assembly, vice linkage plate, second linkage assembly, picking unit and flexible cutter belt;Main linkage plate is connected with main body frame, and a plurality of first linkage assemblies are provided on main linkage plate, first linkage assembly is connected with corresponding vice linkage plate and can drive vice linkage plate to move along vertical direction;Second linkage assembly is provided on vice linkage plate, second linkage assembly is connected with corresponding picking unit and can adjust the height and horizontal roll angle of picking unit;Driving device is provided on main linkage plate, flexible cutter belt sequentially passes through a plurality of picking units and is drivingly connected with driving device to form closed transmission system.The application can adjust the height and horizontal roll attitude of picking, realize high-precision shearing, and can reduce picking energy consumption and operating noise.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tea picking, in particular to a tea automatic picking machine. BACKGROUND

[0002] With the continuous advancement of the mechanization process of the tea industry, mechanized tea picking equipment has become an important means for tea gardens to improve production efficiency and reduce labor costs. The reciprocating cutting mechanism widely used at present achieves tea shearing by driving the upper and lower blades to reciprocate through bearings and eccentric wheels, and the sheared tea is blown into the collecting device by a fan. Although this traditional equipment has improved picking efficiency to some extent, it still has certain problems in actual application.

[0003] Insufficient shearing accuracy: The cutting tools of traditional picking mechanisms are mostly fixed or simply arranged horizontally, which is difficult to adapt to the natural diversity of tea shoot growth and cannot achieve precise fitting shearing of irregular canopies, resulting in poor picking quality, uneven tea length, and especially the inability to meet the strict requirements of premium tea picking for the consistency and integrity of the tender shoots.

[0004] Excessive operating noise and high energy consumption: The existing reciprocating picking mechanism generates a large amount of noise during operation, which can easily lead to mechanical wear and increased burden on the power system during long-term operation. This problem is more pronounced in the application of tea gardens in complex terrains such as hills and mountains, severely restricting the widespread promotion and application of mechanized tea picking equipment.

[0005] In view of the above problems existing in the prior art, the present application provides a tea automatic picking machine. SUMMARY

[0006] The purpose of the present application is to provide a tea automatic picking machine to solve the above-mentioned problems existing in the prior art, which can adjust the height and roll attitude of picking, achieve high-precision shearing, and reduce picking energy consumption and operating noise.

[0007] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0008] The present application provides a tea automatic picking machine, which comprises a main frame, a main linkage plate, a first linkage assembly, a secondary linkage plate, a second linkage assembly, a picking unit and a flexible cutter belt; the main linkage plate is connected with the main frame, and a plurality of first linkage assemblies are arranged on the main linkage plate, the first linkage assembly is connected with the corresponding secondary linkage plate and can drive the secondary linkage plate to move in the vertical direction; the secondary linkage plate is provided with the second linkage assembly, the second linkage assembly is connected with the corresponding picking unit and can adjust the height and roll angle of the picking unit; the main linkage plate is provided with a driving device, and the flexible cutter belt passes through a plurality of picking units in sequence and is drivingly connected with the driving device to form a closed transmission system.

[0009] In some embodiments, the first linkage assembly comprises a plurality of first racks and a plurality of first steering gears; the plurality of first steering gears are arranged on the main linkage plate, and the plurality of first racks are in one-to-one correspondence with the plurality of first steering gears and are connected by gear meshing transmission; one end of each of the first racks penetrates through the main linkage plate and is fixedly connected with the corresponding secondary linkage plate.

[0010] In some embodiments, the second linkage assembly comprises two second racks and two second steering gears; the two second steering gears are arranged on the secondary linkage plate, and the two second racks are in one-to-one correspondence with the two second steering gears and are connected by gear meshing transmission; one end of each of the two second racks penetrates through the secondary linkage plate and is connected with the two sides of the corresponding picking unit; the two second steering gears can respectively drive the two sides of the picking unit to move in the vertical direction through the corresponding second racks to adjust the height and roll angle of the picking unit.

[0011] In some embodiments, the picking unit comprises a main body structure, a rolling body group, and a rack pull rod; the middle part of the main body structure is formed with a picking channel, the two sides of the front end of the main body structure are respectively provided with the rolling body group, and the two sides of the rear end of the main body structure are respectively provided with the rack pull rod; each of the rolling body groups comprises two rolling bodies arranged oppositely, and the flexible cutter belt passes between the two rolling bodies of each of the rolling body groups in turn; one end of each of the two second racks penetrating through the secondary linkage plate is connected with the corresponding rack pull rod.

[0012] In some embodiments, it further comprises a tea leaf collecting box, a fan, a wind guide groove, and a tea leaf suction nozzle; the tea leaf collecting box is arranged on the main body frame; the wind guide groove is located in front of the main body structure, the rear end of the picking channel of the main body structure is provided with the tea leaf suction nozzle, and the outlet of the wind guide groove and the air inlet of the tea leaf suction nozzle are oppositely arranged; the wind guide groove is in communication with the air outlet of the fan through a pipeline, the tea leaf suction nozzle is in communication with one side of the tea leaf collecting box through a pipeline, and the air inlet of the fan is in communication with the other side of the tea leaf collecting box.

[0013] In some embodiments, it further comprises a laser radar module, a camera module, a walking device, and a control system; the main body frame comprises two vertical frames arranged symmetrically and a horizontal frame connected with the two vertical frames; the walking device is arranged below each of the two vertical frames, and the laser radar module and the camera module are arranged in the middle part of the horizontal frame; the laser radar module, the camera module, the first steering gear, the second steering gear, and the driving device are connected with the control system.

[0014] In some embodiments, the closing transmission system further comprises a plurality of tensioning wheels, guide wheels and driving wheels; the two ends of the main linkage plate are respectively provided with the guide wheels, and a plurality of the tensioning wheels and the driving wheels are arranged on the main linkage plate between the two guide wheels; the driving device is in transmission connection with the flexible cutter belt through the driving wheel, and the two guide wheels and the plurality of tensioning wheels are in rolling contact with the flexible cutter belt.

[0015] In some embodiments, the picking unit further comprises auxiliary cutter groups and guide components; the front end of the main body structure is provided with a plurality of the guide components and a plurality of the auxiliary cutter groups; a guide channel is formed between adjacent two of the guide components; each of the auxiliary cutter groups comprises two oppositely arranged auxiliary shearing cutters, and the flexible cutter belt sequentially passes between the two auxiliary shearing cutters of each of the auxiliary cutter groups.

[0016] In some embodiments, the walking device comprises a track device, a track cover and a power battery module; the bottom end of the vertical frame is fixedly connected with the track cover, the track cover covers the track device, and the power battery module is arranged on the track cover.

[0017] In some embodiments, one end of one of the two second racks of the second linkage assembly is a first collar, and the other end of the other second rack is a second collar, a circular hole is arranged on the first collar, and a waist-shaped hole is arranged on the second collar; the first collar and the second collar are respectively sleeved with the corresponding rack pull rod.

[0018] The present application has the following technical effects relative to the prior art:

[0019] The automatic tea picking machine can realize the precise height and roll attitude control of the picking unit through the second linkage assembly on the auxiliary linkage plate, so as to adapt to different tea tree top positions and crown shape changes and realize precise cutting; and the flexible cutter belt is driven by the driving device to sequentially pass through a plurality of picking units, so that the plurality of picking units can pick tea leaves, thereby reducing picking energy consumption and operating noise. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 Figure 1 is a schematic diagram of a perspective view of a tea leaf automatic picking machine according to some embodiments of the present application;

[0022] Figure 2 Figure 2 is a schematic diagram of a perspective view of a tea leaf automatic picking machine according to some embodiments of the present application;

[0023] Figure 3 Figure 3 is a schematic diagram of a connection between a main linkage plate, a secondary linkage plate, a flexible cutter belt and a picking unit according to some embodiments of the present application;

[0024] Figure 4 Figure 4 is a schematic diagram of a perspective view of a laser radar module and a camera module according to some embodiments of the present application; Figure 3 Figure 5 is a schematic diagram of a partial enlarged view of A in Figure 4;

[0025] Figure 5 Figure 6 is a schematic diagram of a connection between a secondary linkage plate and a picking unit according to some embodiments of the present application;

[0026] Figure 6 Figure 7 is a schematic diagram of a connection between a secondary linkage plate and a picking unit according to some embodiments of the present application;

[0027] Figure 7 Figure 8 is a schematic diagram of a structure of a picking unit according to some embodiments of the present application;

[0028] Figure 8 Figure 9 is a schematic diagram of a structure of a picking unit according to some embodiments of the present application;

[0029] Figure 9 Figure 10 is a schematic diagram of a position of a wind guide groove, a tea leaf suction nozzle and a picking unit according to some embodiments of the present application;

[0030] Figure 10 Figure 11 is a schematic diagram of a structure of a laser radar module and a camera module according to some embodiments of the present application;

[0031] Figure 11 Figure 12 is a schematic diagram of a structure of a second rack provided with a first collar according to some embodiments of the present application;

[0032] Figure 12 Figure 13 is a schematic diagram of a structure of a second rack provided with a second collar according to some embodiments of the present application.

[0033] In the figure: 1-main body frame; 2-main linkage plate; 3-first linkage assembly; 4-secondary linkage plate; 5-second linkage assembly; 6-picking unit; 7-flexible cutter belt; 8-driving device; 9-tea leaf collecting box; 10-fan; 11-air guide groove; 12-tea leaf suction nozzle; 13-laser radar module; 14-camera module; 15-driving wheel; 16-tensioning wheel; 17-guide wheel; 18-track device; 19-track cover; 20-power battery module; 21-control electrical box; 22-stand column; 31-first rack; 32-first steering engine; 51-second rack; 52-second steering engine; 61-main body structure; 62-rolling body; 63-rack pull rod; 64-assistant cutter group; 65-guiding component; 511-first ring; 512-second ring. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0035] The purpose of the present application is to provide a tea leaf automatic picking machine to solve the problems existing in the prior art, which can adjust the picking height and roll attitude, realize high-precision shearing, and reduce picking energy consumption and operating noise.

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0037] The present application provides a tea leaf automatic picking machine, as shown in Figures 1 to 12As shown, it comprises a main body frame 1, a main linkage plate 2, a first linkage assembly 3, a secondary linkage plate 4, a second linkage assembly 5, a picking unit 6, a flexible cutter belt 7 and a driving device 8; wherein the main linkage plate 2 is connected with the main body frame 1 through a stand column 22 and a plurality of first linkage assemblies 3 are arranged on the main linkage plate 2, the secondary linkage plate 4 is located below the main linkage plate 2; the first linkage assembly 3 is connected with the corresponding secondary linkage plate 4 and can drive the secondary linkage plate 4 to move along the vertical direction, so as to adjust the height of the secondary linkage plate 4; the picking unit 6 is located below the corresponding secondary linkage plate 4, the second linkage assembly 5 is arranged on the secondary linkage plate 4, the second linkage assembly 5 is connected with the corresponding picking unit 6 and can adjust the height and the horizontal roll angle of the picking unit 6, here the horizontal roll angle refers to the angle of the picking unit 6 rotating around the horizontal symmetry line of itself, that is, the second linkage assembly 5 can drive the picking unit 6 to rotate and move along the vertical direction; the driving device 8 is arranged on the main linkage plate 2, the flexible cutter belt 7 passes through the plurality of picking units 6 in sequence and is drivingly connected with the driving device 8 to form a closed transmission system, here the closed transmission system refers to that the flexible cutter belt 7 passes through the plurality of picking units 8 in sequence from the driving device 8 and returns to the driving device 8 to form a closed transmission path.

[0038] It should be noted that the main body frame 1 of the present application can be driven by the walking device to move, the plurality of picking units 6 are arranged in series through the flexible cutter belt 7, and the shearing surface formed by the flexible cutter belt 7 is perpendicular to the moving direction of the main body frame 1; and the number of the picking units 6 can be specifically set by the person skilled in the art, which is not specifically limited in the present application.

[0039] In some embodiments, as shown in the drawings, Figures 3 to 5 The first linkage assembly 3 comprises a plurality of first racks 31 and a plurality of first steering gears 32; the plurality of first steering gears 32 are arranged on the main linkage plate 2, the plurality of first racks 31 correspond to the plurality of first steering gears 32 one by one and are drivingly connected through gear engagement, one end of each first rack 31 penetrates through the main linkage plate 2 and is connected and fixed with the corresponding secondary linkage plate 4.

[0040] It should be noted that the first driving gear is arranged on the output shaft of the first steering gear 32 of the present application, the first driving gear is adapted to engage with the first rack 31, the first through hole is arranged on the main linkage plate 2 for the first rack 31 to penetrate through, one end of the first rack 31 penetrates through the first through hole and is connected and fixed with the secondary linkage plate 4; the rotation of the first steering gear 32 can drive the first rack 31 and the secondary linkage plate 4 to move along the vertical direction together; and the number of the first linkage assembly 3 and the secondary linkage plate 4 of the present application is consistent, the number of the first linkage assembly 3 and the secondary linkage plate 4 can be specifically set by the person skilled in the art, which is not specifically limited in the present application.

[0041] In some embodiments, as shown in the drawings, Figure 5 andFigure 6 As shown, the second linkage assembly 5 includes two second racks 51 and two second steering gears 52; the two second steering gears 52 are both arranged on the sub linkage plate 4, the two second racks 51 correspond to the two second steering gears 52 one by one and are connected through gear meshing transmission, one end of the two second racks 51 both passes through the sub linkage plate 4 and is connected with the two sides of the corresponding picking unit 6 respectively; the two second steering gears 52 can drive the two sides of the picking unit 6 to move along the vertical direction through the corresponding second rack 51 to adjust the height and roll angle of the picking unit 6.

[0042] It should be noted that the output shaft of the second steering gear 52 of the present application is provided with a second driving gear which is adapted to mesh with the second rack 51, the sub linkage plate 4 is provided with a second through hole through which the second rack 51 passes, and one end of the two second racks 51 is connected with the rack pull rod 63 on the two sides of the picking unit 6 after passing through the corresponding second through hole; the two second steering gears 52 can drive the corresponding second rack 51 and the two sides of the picking unit 6 to move along the vertical direction respectively, so as to adjust the height of the two sides of the picking unit 6 respectively, and further adjust the roll angle of the picking unit 6; in the embodiment of the present application, two groups of second linkage assemblies 5 are arranged on each sub linkage plate 4, that is, each sub linkage plate 4 can control two picking units 6 through two groups of second linkage assemblies 5; and, as shown in Figure 3 and Figure 4 As shown, a hole or groove structure for avoiding the second rack 51 is arranged on the main linkage plate 2 to avoid interference with the main linkage plate 2 during the movement of the second rack 51 along the vertical direction.

[0043] In some embodiments, as shown in Figure 7 and Figure 8 As shown, the picking unit 6 includes a main body structure 61, a rolling body group and a rack pull rod 63; the middle part of the main body structure 61 is formed with a picking channel, the two sides of the front end of the main body structure 61 are respectively provided with a rolling body group, and the two sides of the rear end of the main body structure 61 are respectively provided with a rack pull rod 63; each rolling body group includes two rolling bodies 62 arranged oppositely, and the flexible cutter belt 7 passes between the two rolling bodies 62 of each rolling body group in sequence; one end of the two second racks 51 passing through the sub linkage plate 4 is connected with the corresponding rack pull rod 63 in a sleeved manner.

[0044] It should be noted that the front end of the main body structure 61 refers to the front end in the forward direction of the main body frame 1, and the other end corresponding to the front end is the rear end; during picking, the flexible cutter belt 7 is rotationally connected with the plurality of rolling bodies 62, and the flexible cutter belt 7 shears and picks the tea leaves between the two rolling body groups of each picking unit 6 and the tea leaves between the adjacent two picking units 6.

[0045] In some embodiments, continuing to refer to Figure 7And Figure 8 As shown in the drawings, the picking unit 6 further comprises an auxiliary cutter group 64 and a guide component 65; the front end of the main body structure 61 is provided with a plurality of guide components 65 and a plurality of auxiliary cutter groups 64; a guide channel is formed between two adjacent guide components 65, and the guide component 65 is parallel or substantially parallel to the forward direction of the main body frame 1; each auxiliary cutter group 64 comprises two oppositely arranged auxiliary shearing cutters, which are parallel or substantially parallel to the forward direction of the main body frame 1, and the flexible cutter belt 7 sequentially passes between the two auxiliary shearing cutters of each auxiliary cutter group 64.

[0046] It should be noted that the plurality of guide components 65 of the present application comprises a guide structure in a conical structure on both sides and a guide structure in a plate structure in the middle; the auxiliary cutter group 64 can be connected with the main body structure 61 or connected with the guide component 65 in a plate structure, and the two auxiliary shearing cutters of the auxiliary cutter group 64 are oppositely arranged and spaced apart.

[0047] In some embodiments, as shown in Figure 11 And Figure 12 As shown in the drawings, one end of one of the two second racks 51 of the second linkage assembly 5 is a first collar 511, and the other 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 a waist-shaped hole; the first collar 511 and the second collar 512 are respectively connected with the corresponding rack pull rod 63.

[0048] During the movement of the two second racks 51 along the vertical direction to drive the rack pull rod 63 to move, the roll angle of the picking unit 6 changes, at this time, the horizontal distance between the two rack pull rods 63 changes, by setting the second collar 512 of one of the two second racks 51 as a waist-shaped hole structure, the second collar 512 can be sleeved with the corresponding rack pull rod 63 and can slide relatively to adapt to the change of the horizontal distance between the two rack pull rods 63.

[0049] In some embodiments, as shown in Figure 1 And Figure 9 As shown in the drawings, it further comprises a tea leaf collecting box 9, a fan 10, a wind guide groove 11 and a tea leaf suction nozzle 12; the tea leaf collecting box 9 is arranged on the main body frame 1; the wind guide groove 11 is located in front of the main body structure 61, the rear end of the picking channel of the main body structure 61 is provided with the tea leaf suction nozzle 12, and the outlet of the wind guide groove 11 and the inlet of the tea leaf suction nozzle 12 are oppositely arranged; the wind guide groove 11 is communicated with the air outlet of the fan 10 through a pipeline, the tea leaf suction nozzle 12 is communicated with one side of the tea leaf collecting box 9 through a pipeline, and the air inlet of the fan 10 is communicated with the other side of the tea leaf collecting box 9. The auxiliary Figure 1 And the auxiliary Figure 2The connecting pipeline of the air guide groove 11 and the fan 10, the connecting pipeline of the tea suction nozzle 12 and the tea collecting box 9, and the upper cover plate of the tea collecting box 9 are omitted.

[0050] It should be noted that, after the tea is cut off, the air guide groove 11 blows the tea into the tea suction nozzle 12 through the picking channel by using high-speed airflow, the tea collecting box 9 is a closed structure, and a plurality of inlets are arranged on one side and are in communication with a plurality of tea suction nozzles 12, and the other side is in communication with a plurality of fans 10, a negative pressure channel is formed in the tea suction nozzle 12, and the tea collecting box 9 is high-speed suctioned by using the blowing and suction mode, so that the tea is prevented from being retained, and the work efficiency is improved; and the person skilled in the art can connect the air guide groove 11 with the guide component 65 of the picking unit 6, so that the air guide groove 11 and the picking unit 6 are synchronously moved or rotated.

[0051] In some embodiments, as shown in Figure 1 and Figure 10 , the laser radar module 13, the camera module 14, the control system and the walking device are further included; the main body frame 1 includes two vertical frames arranged symmetrically and a horizontal frame connected with the two vertical frames; the walking device is arranged below each of the two frames, and the laser radar module 13 and the camera module 14 are arranged at the front middle part of the horizontal frame; the laser radar module 13, the camera module 14, the first steering engine 32, the second steering engine 52 and the driving device 8 are connected with the control system.

[0052] The laser radar module 13 and the industrial camera module 14 installed on the main body frame 1 are used to monitor the tea tree crown layer shape in real time, calculate the optimal height and attitude parameters of the clamp, and automatically adjust the clamp; that is, the laser radar module 13 and the camera module 14 of the present application send the monitoring data to the control system, and the control system controls the first steering engine 32 and the second steering engine 52 to operate to adjust the height and attitude of the picking unit 6 according to the monitoring data.

[0053] In some embodiments, as shown in Figure 1 and Figure 2 , the walking device includes the track device 18, the track cover 19 and the power battery module 20; the bottom end of the vertical frame is connected and fixed with the track cover 19, the track cover 19 covers the track device 18, and the power battery module 20 is arranged on the track cover 19.

[0054] The present application moves the picking machine as a whole by the plurality of track devices 18, and the power battery module 20 is used to provide electric energy; and the control electrical box 21 is further arranged on the track cover 19, and the control system is arranged in the control electrical box 21.

[0055] In some embodiments, as shown in Figure 3As shown, the closed transmission system further comprises a plurality of tensioning wheels 16, guide wheels 17 and drive wheels 15; the two ends of the main linkage plate 2 are respectively provided with guide wheels 17, and a plurality of tensioning wheels 16 and drive wheels 15 are arranged on the main linkage plate 2 between the two guide wheels 17; the driving device 8 is in transmission connection with the flexible cutter belt 7 through the drive wheel 15, and the two guide wheels 17 and the plurality of tensioning wheels 16 are all in rolling contact with the flexible cutter belt 7.

[0056] It should be noted that the main linkage plate 2 of the present application is provided with a guide wheel mounting bracket and a tensioning wheel mounting bracket, the tensioning wheel 16 is mounted on the tensioning wheel mounting bracket, the guide wheel 17 is mounted on the guide wheel mounting bracket, and the tensioning wheel mounting bracket is provided with a sliding groove in the vertical direction, the middle shaft of the tensioning wheel 16 is in sliding connection with the sliding groove, and a spring is arranged in the sliding groove, which can exert an elastic force on the tensioning wheel 16 to adjust the tensioning degree of the flexible cutter belt 7, that is, the tensioning wheel 16 of the present application adopts a spring type tensioning wheel structure, after the flexible cutter belt 7 is loosened, the position of the tensioning wheel 16 is adjusted through the spring, so that the flexible cutter belt 7 can maintain a certain tensioning force again; the tensioning wheel 16 ensures that the flexible cutter belt 7 has a certain tension during the height adjustment of the picking unit 6, so as to prevent slipping or loosening; and the number of tensioning wheels 16 can be specifically set by those skilled in the art, which is not specifically limited in the present application.

[0057] In some embodiments, the flexible cutter belt 7 is a flexible saw belt, the rolling body 62 is a bearing structure, and the driving device 8 is a motor.

[0058] The automatic tea picking machine of the present application can improve the precision of tea picking while reducing the energy consumption and noise of the equipment operation, and has the functions of self-adaptive adjustment of the height and roll angle of the picking unit 6, realization of shearing by connecting the flexible cutter belt 7 with a plurality of picking units 6 in series, automatic tensioning of the flexible cutter belt 7, and self-adaptive adjustment of the forward speed of the picking machine.

[0059] The main body frame 1 of the present application is a rigid frame type structure as a whole, and is provided with four independently driven track devices 18 at the bottom, and reinforcing beams are arranged on both sides of the main body frame 1 to increase rigidity and stability.

[0060] The main linkage plate 2 of the present application is connected with the main body frame 1 through four vertical columns 22 and is fixed as a whole. The main linkage plate 2 carries a direct-current brushless motor for driving the flexible saw belt to run. Furthermore, eight tensioning wheel structures are arranged on the main linkage plate 2, and springs are used to adjust the saw belt tension in real time to adapt to the dynamic adjustment of the picking unit 6 and prevent the saw belt from separating from the picking unit 6. Five first steering gears 32 are arranged on the main linkage plate 2 and are connected to the five sub linkage plates 4 below through five first racks 31 to perform vertical lifting action; during the movement of the picking unit 6, the main linkage plate 2 remains stationary, and each sub linkage plate 4 can independently move up and down.

[0061] 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°.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The present application can realize efficient linkage of the conveying system, and the shearing action is synchronized and coordinated with the conveying system. The turbine fan 10 is started and generates airflow at the beginning of picking, and the tea leaves cut by the saw belt are sucked into the tea leaf collecting box 9 at high speed through blowing and sucking, so as to avoid tea leaf retention and improve work efficiency.

[0066] The present application can realize coarse adjustment and fine adjustment cooperation. The first steering wheel 32 on the main linkage plate 2 is responsible for the vertical rough lifting of the auxiliary linkage plate 4, which meets the picking demand of different heights in a large range. The rack mechanism on the auxiliary linkage plate 4 realizes the accurate height and roll attitude control of the picking unit 6, so as to adapt to different tea tree top positions and crown shape changes, and realize accurate cutting. That is, the present application adopts a double-layer linkage structure of fixed main linkage plate 2, movable auxiliary linkage plate 4 and independent double-rack clamps. Each two picking units 6 share an auxiliary linkage plate 4. Each auxiliary linkage plate 4 can move up and down relative to the main linkage plate 2 within the range of 0-105mm. Each picking unit 6 is connected with the auxiliary linkage plate 4 through two independent racks with a maximum extension range of 110mm. The moving height of the auxiliary linkage plate 4 is determined by the highest shearing point of the two picking units 6 controlled by the auxiliary linkage plate 4. The body attitude of the picking unit 6, i.e. the roll attitude, is independently adjusted by the left and right racks, so as to realize high-precision and low-interference control of the attitude and height under the condition of space limitation.

[0067] The present application can realize real-time feedback and dynamic adaptation. The laser radar module 13 and the industrial camera module 14 installed on the top of the main frame 1 can monitor the tea tree crown shape in real time, calculate the optimal height and attitude parameters of the clamp, and automatically adjust the clamp state. The control electrical box 21 can accurately coordinate the actions of the steering wheel and the motor according to the real-time data feedback, adapt to the tea tree crown shape and density in real time, and realize efficient and accurate automatic picking.

[0068] The tea picking machine has the following advantages:

[0069] The structure has good rigidity and high stability, can adapt to complex tea garden terrain, and has fine attitude and height adjustment, which improves the tea picking accuracy, reduces invalid shearing and tea tree damage, improves the overall efficiency through the intelligent control system, realizes automatic and unmanned operation, ensures the tea collection efficiency through the efficient conveying system, reduces tea loss, and improves the harvest quality.

[0070] The specific examples in the present application illustrate the principles and implementation modes of the present application. The above examples are only used to help understand the method and core idea of the present application. For those skilled in the art, the specific implementation modes and application ranges can be changed according to the idea of the present application. In conclusion, the content of the specification should not be understood as a limitation of the present application.

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. The second linkage component includes two second racks and two second servos; 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.

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, 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.

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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