Tea pruning machine for tea planting

Abstract

The application discloses a tea pruning machine for tea planting, which comprises a pruning machine, a track unit, a connecting unit and a track unit, wherein the track unit comprises a track group fixedly arranged on a hillside and a sliding assembly guided to slide in the track group by a power unit, and the connecting unit comprises a connecting frame rotatably arranged on the sliding assembly, and the pruning machine is provided with a supporting seat matched with the connecting frame. The application provides a tea pruning machine, which realizes safe and automatic row changing of a mountain tea garden through track guidance, and solves the problem that the row changing of a slope is prone to falling. The butt joint mounting and unlocking separation of the pruning machine and the track are both automatically executed, which greatly improves the automation degree of the equipment, and enables the mountain tea tree pruning to be reliably completed by the automatic equipment.

Description

Technical Field

[0001] This invention relates to the field of tea pruning machine technology, and in particular to a tea pruning machine for tea cultivation. Background Technology

[0002] Tea plantations in my country are mostly located in the hilly and mountainous areas of the south. Tea gardens are built along the slopes, with gradients generally ranging from 15° to 30°, and some steep plots even exceeding 35°. Due to the limitations of the terrain, tea rows are mostly arranged along contour lines, with significant differences in elevation or slope between rows, and the spacing between rows varies, resulting in extremely limited space at the edge of the field.

[0003] With the development of agricultural mechanization, automated pruning devices (such as self-propelled pruners) have been gradually applied to tea garden operations. These devices typically use wheeled or tracked walking mechanisms, enabling them to travel along the tea rows and complete pruning. However, after completing the pruning of one row of tea trees, the device must move to an adjacent row to continue working. But when facing sloping or stepped terrain, directly climbing uphill or turning around can cause the equipment to tip over, making automatic row switching impossible and damaging the equipment.

[0004] Therefore, for the working environment of mountain tea gardens, how to provide a device or system that can completely eliminate the risk of tipping over and achieve safe, efficient and automatic lane changing has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing a tea pruning machine for tea cultivation. This application utilizes a fixed track erected on mountainous terrain to drive the pruning machine, allowing it to change rows of tea bushes.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a tea pruning machine for tea cultivation, comprising a pruning machine, a track unit, the track unit comprising a track assembly fixedly configured on a hillside and a sliding component pulled by a power unit and guided within the track assembly, and a connecting unit comprising a connecting frame rotatably configured on the sliding component. The pruning machine is provided with a support seat that cooperates with the connecting frame, so that the pruning machine is locked on the connecting frame by a locking device. The power unit pulls the sliding component to move the pruning machine along the track assembly, thereby changing the path of the pruning machine on the hillside.

[0007] Its beneficial effect is that by setting up a fixed track on the mountain and automatically connecting and unlocking the trimmer to the track, the moving parts on the track can drive the trimmer to change the path, thereby avoiding the trimmer from tipping over when climbing the slope and improving the automation level of the equipment.

[0008] In the above scheme, preferably, the track group is equipped with multiple position sensors, and the position sensors correspond to the trails on the mountain for the pruning machine to move and perform pruning operations.

[0009] In the above scheme, preferably, the trimmer includes a track base for walking, the track base including a first track set and a second track set, both configured to adjust the spacing to adapt to the width of the mountain trail.

[0010] In the above scheme, preferably, the support base is raised and lowered on the track base by a lifting device, and the support base is equipped with a pruning component for pruning tea trees. The support base can be adjusted up and down relative to the track base to adjust the pruning height of the pruning component.

[0011] In the above scheme, preferably, the connecting frame includes an insertion cavity, a first opening at the front end of the insertion cavity for allowing the support seat to enter, and a second opening at the lower end for allowing the lifting device to move. The side bottom plates on both sides of the second opening are located at the lower end of the support seat. When the lifting device retracts, the side bottom plates are used to support the support seat.

[0012] In the above scheme, preferably, the track unit further includes a reference plate disposed on each road surface, and the reference plate is located below the track assembly to provide a flat reference road surface when the trimmer is connected or separated from the connecting unit.

[0013] In the above scheme, preferably, the trimmer is equipped with an identification device to identify the width of the walkway in real time, so that the trimmer can adjust the track base spacing to match the width of the walkway.

[0014] In the above scheme, preferably, the trimming component is rotatably mounted on the support base via a rotating disk, and the unfolding angle of the trimming component is adjusted according to the spacing of the track base so that the center of gravity of the trimming component automatically matches the spacing of the track base.

[0015] In the above scheme, preferably, the connecting frame includes a hanging member and a compartment member. The hanging member is disposed on the sliding assembly and is elastically guided and slidably disposed on the upper end surface of the compartment member. The insertion cavity is disposed on the compartment member, providing elastic adaptation space for the support seat to be inserted into the insertion cavity.

[0016] In the above scheme, preferably, the front end of the support base is provided with a tongue, and the insertion cavity is elastically guided and slidably provided with a socket plate. The socket plate is provided with a socket hole that matches the tongue. After the tongue is inserted into the socket hole, the support base begins to enter the insertion cavity.

[0017] The beneficial effects of this invention are as follows: This invention provides a tea pruning machine that achieves safe and automatic row switching in mountain tea gardens through track guidance, solving the problem of easy tipping over when switching on slopes. The docking, mounting, unlocking, and disengaging of the pruning machine from the track are all performed automatically, greatly improving the automation level of the equipment and enabling reliable automated completion of mountain tea tree pruning. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the present invention.

[0019] Figure 2 This is a schematic diagram of the trimmer and connecting unit of the present invention.

[0020] Figure 3 This is a cross-sectional view of the trimmer and connecting unit of the present invention.

[0021] Figure 4 This is a schematic diagram of the locking device of the present invention.

[0022] Figure 5 This is a schematic diagram of the trimming machine of the present invention.

[0023] Figure 6 This is a schematic diagram of the connection unit of the present invention. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Example 1:

[0025] See Figures 1-6 A tea pruning machine for tea planting includes a pruning machine 1, a track unit 2 and a connecting unit, wherein the track unit 2 includes a track assembly 21, a sliding component 22 and a reference plate 23, the track assembly 21 is fixedly supported on a hillside planted with rows of tea trees by a fixed support rod, and the inclination angle of the track assembly 21 is consistent with the hillside.

[0026] The sliding component 22 is guided and slidably disposed within the track assembly 21 by guide wheels. The track assembly 21 has blocking members disposed on its upper and lower end faces so that the sliding component 22 can only move within the track assembly 21. At the same time, one end of the pull rope is disposed at the upper end of the sliding component 22, and the other end of the pull rope is disposed on a winch connected to a power motor. The winch rotates to make the sliding component 22 move upward or downward along the track assembly 21.

[0027] The reference plate 23 is fixedly disposed on the walkway of the hillside and located below the track assembly 21. The upper surface of the reference plate 23 is horizontal, which provides a reference surface fixed relative to the track assembly 21 when the trimmer 1 is positioned on the reference plate 23, facilitating better connection or separation between the trimmer 1 and the connecting unit located on the track unit 2. A position sensor is disposed at each position on the track assembly 21 corresponding to the reference plate 23 to identify when the sliding component 22 moves to the position of the reference plate 23, i.e., when the trimmer 1 moves to the walkway position.

[0028] The connecting unit includes a connecting frame 31 for connecting with the trimmer 1 and a locking device 32 disposed on the connecting frame 31 for locking the trimmer 1. The connecting frame 31 includes a hanging member 312 and a housing member 313. A rotating shaft 221 is disposed on the sliding assembly 22. The hanging member 312 is rotatably disposed on the rotating shaft 221, and a braking device is also disposed on the hanging member 312 to lock the hanging member 312 to the rotating shaft 221, so that the hanging member 312 no longer rotates relative to the rotating shaft 221.

[0029] The lower end of the hanging member 312 is provided with a guide block 3121, and the upper surface of the compartment member 313 is provided with a guide groove 3131 adapted to the guide block 3121. The hanging member 312 is guided and slidably disposed on the guide groove 3131 of the compartment member 313 by the guide block 3121. Elastic members are provided at the front and rear ends of the guide block 3121 so that it is elastically locked in the middle position of the guide groove 3131 in the initial state. Electric telescopic members are provided at the front and rear ends of the guide groove 3131 to make the guide block 3121 return to the middle position.

[0030] The compartment 313 has an insertion cavity 311 for connecting to the trimmer 1. The front end of the insertion cavity 311 has a first opening 3111 and the lower end has a second opening 3112. The lower end of the insertion cavity 311 is divided into two side bottom plates 3113 by the second opening 3112. The side wall inside the insertion cavity 311 has a rearwardly extending guide groove. An insertion plate 314 is elastically guided and slidably disposed on the guide groove. Under the action of the elastic member at its rear end, the insertion plate 314 is initially located at the first opening 3111 of the insertion cavity 311. When subjected to an inward thrust, it elastically retracts into the insertion cavity 311.

[0031] The trimmer 1 includes a track base 11, a support base 12, a lifting device 13, a rotating disk 14, and a trimming assembly 15. The track base 11 consists of a first track group 111 and a second track group 112 arranged parallel to each other. The second track group 112 is guided and slidably disposed on the first track group 111, and the distance between the two is adjusted by a hydraulic component. When the hydraulic component extends, it controls the second track group 112 to move outward, thereby increasing the distance between it and the first track group 111. When the hydraulic component retracts, the second track group 112 moves inward, thereby decreasing the distance between it and the first track group 111.

[0032] The support base 12 and the track base 11 are connected by a lifting device 13, wherein the lifting device 13 includes a guide component for guiding and a hydraulic component or an electric telescopic component for providing lifting force, so that the support base 12 can move up and down relative to the track base 11.

[0033] The rotating disk 14 is disposed on the support base 12, and one end of the trimming assembly 15 is rotatably disposed on the support base 12, with the rotation axis being consistent with the rotation axis of the rotating disk 14. The connecting block on the rotating disk 14 is connected to the frame member on the trimming assembly 15, thereby rotating the rotating disk 14 to drive the trimming assembly 15 to rotate, thereby adjusting the center of gravity position of the trimming assembly 15.

[0034] The spacing adjustment between the first track group 111 and the second track group 112 on the track base 11 is linked to the angle adjustment of the rotating disk 14. When the spacing between the second track group 112 and the first track group 111 is at its maximum value, the rotating disk 14 drives the pruning component 15 to rotate to a 90-degree angle with the second track group 112. At this time, the pruning guide on the pruning component 15 is consistent with the forward direction of the pruning machine 1, so that the pruning component 15 is at the optimal pruning angle. When the spacing between the second track group 112 and the first track group 111 is at its minimum value, the rotating disk 14 drives the pruning component 15 to rotate to a 45-60 degree angle with the second track group 112. At this time, the pruning component 15 can still prune normally, but its pruning efficiency decreases. Therefore, when the second track group 112 retracts inward, the traveling speed of the pruning machine 1 also decreases, so that the pruning component 15 can prune the tea trees better.

[0035] The spacing between the first track group 111 and the second track group 112 is adjusted to adapt to the width of different trails on the mountain. The change in the spacing between the first track group 111 and the second track group 112 directly affects the stability of the trimmer 1. Therefore, when the spacing between the first track group 111 and the second track group 112 decreases, the trimming component 15 also needs to be adjusted accordingly so that the center of gravity of the trimming component 15 is close to the position of the first track group 111, so as to ensure that the trimmer 1 maintains a stable center of gravity during the trimming process.

[0036] The support base 12 is provided with a tongue 121, and the socket plate 314 is provided with a socket 3141 adapted to the tongue 121. The front circumferential side wall of the tongue 121 is designed with a bevel so that it can be better inserted into the socket 3141 when it is combined with the socket 3141.

[0037] When the trimmer 1 needs to change lanes, it travels to the reference plate 23 of its lane. At this time, the support base 12 is at the same height as the insertion cavity 311 on the housing 313, and the trimming assembly 15 rotates to be in the same direction as the track base 11. The support base 12 of the trimmer 1 moves toward the insertion cavity 311 so that the tongue 121 is inserted into the insertion hole 3141. The housing 313 and the hanging member 312 are guided and slidably configured to provide left and right movement space for the tongue 121 to be inserted into the insertion hole 3141. During the process of inserting the tongue 121 into the insertion hole 3141, the housing 313 moves relative to the hanging member 312 so that the support base 12 is aligned with the insertion cavity 311. At this time, the trimmer 1 continues to move toward the housing 313 so that the support base 12 is fully inserted into the insertion cavity 311.

[0038] The locking device 32 is disposed within the insertion cavity 311 and includes a telescopic member 321, a telescopic head 322, and a telescopic seat 323. A through sliding cavity 3114 is provided at the first opening 3111 of the insertion cavity 311. The telescopic seat 323 is slidably disposed within the sliding cavity 3114. The telescopic member 321 is fixedly disposed within the cavity wall of the insertion cavity 311, and the front end of its telescopic rod is fixedly disposed on the telescopic seat 323. The telescopic head 322 is elastically slidably disposed on the telescopic seat 323. When the telescopic member 321 extends, the telescopic head 322 retracts into the cavity of the insertion cavity 311. Inside the wall, when the telescopic member 321 retracts, the telescopic head 322 extends out of the cavity wall of the insertion cavity 311. The front end of the telescopic head 322 is inclined. When the support seat 12 is inserted into the insertion cavity 311, it presses against the inclined surface of the front end of the telescopic head 322. The telescopic head 322 elastically retracts into the cavity wall of the insertion cavity 311. After the support seat 12 is fully inserted into the insertion cavity 311, the telescopic head 322 is located behind the support seat 12 and is no longer pressed. Therefore, it elastically extends to limit the support seat 12, locking the support seat 12 inside the insertion cavity 311.

[0039] After the support base 12 is inserted into place, the lifting device 13 begins to retract, causing the track base 11 to move upwards and off the ground. At this time, the weight of the trimmer 1 is supported by the side base plate 3113. During the retraction of the lifting device 13, the track base 11 has retracted to its minimum spacing. At this time, the electric telescopic components located at both ends of the guide groove 3131 extend, pushing the guide block 3121 back to the middle position of the guide groove 3131.

[0040] At this time, the pull rope connected to the upper end of the sliding component 22 begins to be wound by the winch, thereby pulling the sliding component 22 upward so that the pruning machine 1 moves upward together. After reaching above the adjacent reference plate 23, the movement stops. At this time, the brake device holding the hanging member 312 is released first, so that the connecting unit and the pruning machine 1 hang naturally under the action of gravity, and then become perpendicular to the reference plate 23 below. After the hanging member 312 stops swinging, the brake device clamps the hanging member 312 again to lock the hanging member 312. At this time, the lifting device 13 on the pruning machine 1 begins to descend, so that the track base 11 presses against the reference plate 23, and stores the height position at this time in the central control computer. This is the first height recording position. The pruning machine 1 is equipped with an identification device to identify the width of the road and the height of the tea tree. The locking device 32 is unlocked, that is, the telescopic head 322 retracts into the cavity wall, so that the limitation on the support seat 12 is released.

[0041] The identification device can identify the height of the road and tea trees in real time, and then adjust the distance between the first track group 111 and the second track group 112 and change the pruning height in real time.

[0042] The track base 11 begins to rotate, causing the support seat 12 to move out of the insertion cavity 311. After it moves out, the pruning machine 1 determines the height of the tea tree through the identification device, controls the lifting device 13 to drive the pruning unit 15 to raise the pruning height, and then makes the pruning unit 15 unfold to the minimum unfolding angle. At this time, the track base 11 begins to move along the path, and during the movement, the distance between the first track group 111 and the second track group 112 is adjusted to match the path. The pruning unit 15 adjusts its angle synchronously, and then begins the pruning operation.

[0043] When a change of direction is required, first rotate the trimming unit 15 to face the track base 11, then move the lifting device 13 to the first height position, and then start moving towards the reference plate 23.

[0044] The track unit 2 is fixed, while the pruning machine 1 can move between different mountainous areas.

[0045] Its working principle or usage method is as follows: In the initial state, the sliding component 22 first moves the trimmer 1 to above the initial path. At this time, the brake device holding the hanging member 312 is released first, so that the connecting unit and the trimmer 1 hang down naturally under the action of gravity and are perpendicular to the reference plate 23 below. After the hanging member 312 stops swinging, the brake device clamps the hanging member 312 again to lock the hanging member 312.

[0046] The lifting device 13 on the pruning machine 1 begins to descend, causing the track base 11 to press against the reference plate 23, and storing the current height position in the central control unit as the first height recording position. The locking device 32 unlocks, and the telescopic head 322 retracts into the cavity wall, releasing the limit on the support seat 12. The track base 11 begins to rotate, driving the support seat 12 to move out of the insertion cavity 311. After moving out, the pruning machine 1 determines the height of the tea tree through the identification device, controls the lifting device 13 to drive the pruning unit 15 to rise in pruning height, and then makes the pruning unit 15 unfold to the minimum unfolding angle. At this time, the track base 11 begins to move along the path, and during the movement, the distance between the first track group 111 and the second track group 112 is adjusted to match the path. The pruning unit 15 simultaneously adjusts its angle, and then begins the pruning operation.

[0047] After the tea trees along this path are pruned, the pruning unit 15 is rotated to align with the track base 11. The lifting device 13 is then moved to the first height position and begins to move towards the reference plate 23. Once on the reference plate 23, the support base 12 is at the same height as the insertion cavity 311 on the cabin 313. The track base 11 begins to move, causing the support base 12 to move towards the insertion cavity 311. The insertion tongue 121 is inserted into the insertion hole 3141. The cabin 313 and the hanging... The guide sliding configuration of component 312 provides lateral movement space for the tongue component 121 to be inserted into the insertion hole 3141. During the insertion of the tongue component 121 into the insertion hole 3141, the compartment component 313 moves relative to the hanging component 312 so that the support seat 12 is aligned with the insertion cavity 311. At this time, the trimmer 1 continues to move towards the compartment component 313 so that the support seat 12 is fully inserted into the insertion cavity 311. The locking device 32 locks and limits the inserted support seat 12.

[0048] After the support base 12 is inserted into place, the lifting device 13 begins to retract, causing the track base 11 to move upwards and off the ground. At this time, the weight of the trimmer 1 is supported by the side base plate 3113. During the retraction of the lifting device 13, the track base 11 has retracted to its minimum spacing. At this time, the electric telescopic components located at both ends of the guide groove 3131 extend, pushing the guide block 3121 back to the middle position of the guide groove 3131.

[0049] The winch starts to rotate, winding the rope and pulling the sliding component 22 upward, which in turn moves the pruning machine 1 upward. After reaching above the adjacent reference plate 23, it stops moving. At this point, the starting steps are repeated to prune the next row of tea trees.

[0050] Example 2:

[0051] This embodiment makes the following further improvements based on Embodiment 1. The reference plate 23 is equipped with an identification code recording information about the path and tea trees. The pruning machine 1 is equipped with a scanning device. When the pruning machine 1 reaches above the reference plate 23, it automatically scans the identification code to provide the pruning machine 1 with previous travel data for this path, thus providing path guidance for the pruning machine 1 when traveling along this path. During the descent of the lifting device 13, the spacing of the track base 11 is directly adjusted to match the width of the path. When the pruning unit 15 is removed from the reference plate 23, it is unfolded to match the spacing of the track base 11.

[0052] The identification device on the trimmer 1 continues to perform real-time identification scanning during its movement, enabling the trimmer 1 to make real-time adjustments and recording the data in the central control unit. After the trimmer 1 returns to the reference plate 23, the scanning device scans the identification code again to upload the recorded road information to the central control unit for storage and updating. This provides updated road information for the trimmer 1 or other equipment after scanning.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tea pruning machine for tea cultivation, characterized in that: Including a trimmer (1); The track unit (2) includes a track assembly (21) fixedly configured on the hillside and a sliding component (22) that is pulled by a power unit to guide and slide within the track assembly (21). The connecting unit includes a connecting frame (31) rotatably mounted on a sliding assembly (22), and the trimmer (1) is provided with a support base (12) that engages with the connecting frame (31) so that the trimmer (1) is locked onto the connecting frame (31) by a locking device (32); The power unit pulls the sliding assembly (22) to move the trimmer (1) along the track assembly (21) to change the path of the trimmer (1) on the hillside.

2. The tea pruning machine for tea planting according to claim 1, characterized in that: The track assembly (21) is equipped with multiple position sensors, which correspond to the trails on the mountain where the pruning machine (1) moves to perform pruning operations.

3. The tea pruning machine for tea planting according to claim 1, characterized in that: The trimmer (1) includes a track base (11) for walking, the track base (11) including a first track set and a second track set, both configured to adjust the spacing to fit the width of the mountain trail.

4. The tea pruning machine for tea planting according to claim 1, characterized in that: The support base (12) is raised and lowered on the track base (11) by a lifting device (13). A pruning component (13) for pruning tea trees is arranged on the support base (12). The support base (12) is adjusted up and down relative to the track base (11) so that the pruning component (13) can adjust the pruning height.

5. A tea pruning machine for tea planting according to claim 4, characterized in that: The connecting frame (31) includes an insertion cavity (311). The insertion cavity (311) has a first opening (3111) at its front end for allowing the support seat (12) to enter, and a second opening (3112) at its lower end for allowing the lifting device (13) to move. The side bottom plates (3113) on both sides of the second opening (3112) are located at the lower end of the support seat (12). When the lifting device (13) retracts, the side bottom plates (3113) are used to support the support seat (12).

6. A tea pruning machine for tea planting according to claim 3, characterized in that: The track unit (2) also includes a reference plate (23) disposed on each road surface, and the reference plate (23) is located below the track group (21) to provide a flat reference road surface when the trimmer (1) is connected or separated from the connecting unit.

7. A tea pruning machine for tea planting according to claim 3, characterized in that: The trimmer (1) is equipped with an identification device to identify the width of the roadway in real time, so that the trimmer (1) can adjust the spacing of the track base (11) to match the width of the roadway.

8. A tea pruning machine for tea planting according to claim 6, characterized in that: The trimming assembly (13) is rotatably mounted on the support base (12) via a rotating disk (14). The unfolding angle of the trimming assembly (13) is adjusted according to the spacing of the track base (11) so that the center of gravity of the trimming assembly (13) automatically matches the spacing of the track base (11).

9. A tea pruning machine for tea planting according to claim 8, characterized in that: The connecting frame (31) includes a hanging member (312) and a compartment member (313). The hanging member (312) is disposed on the sliding assembly (22) and is elastically guided and slidably disposed on the upper end surface of the compartment member (313). The insertion cavity (311) is disposed on the compartment member (313) to provide elastic adaptation space for the support seat (12) to be inserted into the insertion cavity (311).

10. A tea pruning machine for tea planting according to claim 9, characterized in that: The front end of the support base (12) is provided with a tongue (121), and the insertion cavity (311) is elastically guided and slidably provided with a socket plate (312). The socket plate (312) is provided with a socket hole (313) that is adapted to the tongue (121). After the tongue (121) is inserted into the socket hole (313), the support base (12) begins to enter the insertion cavity (311).

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