Self-adapting automatic tea picking machine for complex tea tree bushes

Abstract

The application discloses a complex tea tree cluster self-adaptive automatic tea picking machine, which comprises a width-adjustable vehicle body mechanism (1), a walking mechanism (2) is installed at the bottom of the width-adjustable vehicle body mechanism (1), a rotary table mechanism (3) is installed at the middle of the top surface of the width-adjustable vehicle body mechanism (1), a horizontal lifting and leveling mechanism (6), a tea leaf collecting mechanism (7), a hydraulic power unit (8) and a battery pack (9) are installed on the rotary table mechanism (3), a belt conveyor (5) is installed on the horizontal lifting and leveling mechanism (6), and a tea picking machine head (4) is installed at the end of the belt conveyor (5). The mechanical connection structure of the application is simple and reliable, the walking mechanism has the technical characteristics of width adjustment, adjustable picking height and horizontal posture and can conveniently realize left-right transverse movement, and can effectively adapt to the working environment characteristics of a large part of tea gardens in China, that is, relatively flat, straight and light load.

Description

Technical Field

[0001] This invention relates to the technical field of tea-picking machinery, specifically to an adaptive automatic tea-picking machine for complex tea bushes. Background Technology

[0002] As is well known, tea trees have a harvesting lifespan of 30-40 years. Currently, a large number of tea gardens in my country are still laid out according to traditional methods that facilitate manual harvesting. This results in inconsistent spacing and width between ridges, as well as inconsistent tree canopy heights, making them unsuitable for the large-scale tea-harvesting machines used in other countries. Currently, the most common two-person handheld tea-harvesting machines on the market require at least three people to operate: two to carry the machine and one to hold the tea bags for collecting the tea leaves. This not only increases the overall labor intensity but also correspondingly raises the overall tea-making cost. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive automatic tea-harvesting machine for complex tea bushes, which can effectively solve the problems existing in the background technology.

[0004] To address the problems existing in the background art, it includes a width-adjustable vehicle body mechanism 1, a walking mechanism 2 installed at the bottom of the width-adjustable vehicle body mechanism 1, a turntable mechanism 3 installed at the middle of the top surface of the width-adjustable vehicle body mechanism 1, a horizontal lifting and leveling mechanism 6, a tea collecting mechanism 7, a hydraulic power unit 8 and a battery pack 9 installed on the turntable mechanism 3, a belt conveyor 5 installed on the horizontal lifting and leveling mechanism 6, and a tea picking machine head 4 installed at the end of the belt conveyor 5;

[0005] The width-adjustable vehicle body mechanism 1 includes a support frame 11. A left frame 12 and a right frame 13 are symmetrically arranged on the left and right sides of the support frame 11. A frame crossbeam 122 is vertically installed on the inner side of the left frame 12 and the right frame 13. A support frame crossbeam 111, which can be sleeved with the frame crossbeam 122 and slide with clearance, is fixedly installed at the front and rear ends of the support frame 11. A cylinder lug 141 is installed on the inner side of the left frame 12 and the right frame 13. A piston rod 142 of a vehicle width adjusting cylinder 14 is hinged to the cylinder lug 141. The end of the vehicle width adjusting cylinder 14 is fixedly installed on the support frame 11.

[0006] The turntable mechanism 3 includes a slewing bearing 31 mounted on a support frame 11. The slewing bearing 31 consists of an inner slewing bearing ring 311 and an outer slewing bearing ring 312 that can rotate relative to each other. The inner slewing bearing ring 311 is fixedly mounted on the support frame 11, and the outer slewing bearing ring 312 is fixedly mounted on the bottom surface of the support platform frame 32. The horizontal lifting and leveling mechanism 6, the tea collecting mechanism 7, the hydraulic power unit 8, and the battery pack 9 are all mounted on the support platform frame 32. A gear ring 313 is provided on the outer circular surface of 2. A drive gear 35 is provided on one side of the gear ring 313 and meshes with it. The drive gear 35 is fixedly installed on the power output shaft end of the worm gear reducer motor 34. The worm gear reducer motor 34 is fixedly installed on the support frame 11. A push-pull electromagnet 36 is installed on the other end of the slewing bearing 31 opposite to the worm gear reducer motor 34. A positioning hole corresponding to the electromagnet core shaft in the push-pull electromagnet 36 is provided on the bottom surface of the outer ring 312 of the slewing bearing.

[0007] The tea collection mechanism 7 includes a tea collection frame 71 installed on the support platform frame 32 for placing tea collection bags. The tea collection frame 71 is a rectangular frame structure with an opening at the top, and the rear of the tea collection frame 71 is provided with an openable frame door 72.

[0008] The horizontal lifting and leveling mechanism 6 includes two symmetrically arranged first hydraulic single scissor lift platforms 61 and second hydraulic single scissor lift platforms 62. Both the first hydraulic single scissor lift platforms 61 and the second hydraulic single scissor lift platforms 62 are mounted on the support platform frame 32. Two symmetrical first small hinge supports 63 are installed on the top surface of the first hydraulic single scissor lift platform 61, and two symmetrical second small hinge supports 64 are installed on the top surface of the second hydraulic single scissor lift platform 62. A long support connecting rod 65 is provided between two adjacent first small hinge supports 63 and second small hinge supports 64. The two ends of the long support connecting rod 65 are connected to the first small hinge supports 63 and the second small hinge supports 64 respectively through hinge shafts 66. A guide groove 651 is provided on the long support connecting rod 65, which can slide with the hinge shafts 66 on the first small hinge supports 63 with clearance.

[0009] Conveyor connecting plates 67 are installed on both sides of the discharge port of the belt conveyor 5. The bottom of each conveyor connecting plate 67 is installed on the end of the long support rod 65 on the corresponding first hydraulic single scissor lift platform 61 or second hydraulic single scissor lift platform 62. An arc-shaped transition plate 44 is installed at the feed port of the belt conveyor 5. Harvester head connecting plates 45 are welded and fixed on both sides of the arc-shaped transition plate 44. A cutting blade 43 is installed at the feed port of the arc-shaped transition plate 44. A duct 42 parallel to the cutting blade 43 is set above the cutting blade 43. Both ends of the duct 42 are fixedly installed on the inner side of the harvester head connecting plate 45. A blower 41 connected to the duct 42 is installed at one end of the duct 42. A level detector 68 is installed on the blower 41. Several comb teeth are arranged at equal intervals between the duct 42 and the cutting blade 43. The comb teeth are fixedly installed at the feed port of the arc-shaped transition plate 44.

[0010] The traveling mechanism 2 includes main drive wheels 24 and driven wheels 25 respectively disposed at both ends of the left frame 12 and the right frame 13. The pair of main drive wheels 24 and the pair of driven wheels 25 are arranged axially symmetrically with respect to the center of the support frame 11. A driven wheel fork 26 is mounted on the driven wheel 25 and rotatably connected to it. The driven wheel fork 26 is rotatably connected to a driven wheel bracket sleeve 27 respectively mounted at the end of the left frame 12 or the right frame 13. The main drive wheels 24 are mounted on the main drive motor fixed support frame 23. The shaft of the main drive wheel 24 is connected to the power output shaft end of the main drive motor 21. The main drive motor 21 is fixedly mounted on one side of the main drive motor fixed support frame 23. A drive wheel 24 is fixedly mounted on one end of the left frame 12 and the right frame 13. A drive wheel support column tube 22 has a drive wheel shaft 214 concentrically arranged inside it, which can be rotatably connected to it. The lower end of the drive wheel shaft 214 is fixedly connected to the main drive motor fixed support frame 23, and the upper end of the drive wheel shaft 214 passes through the drive wheel support column tube 22 and connects with the large gear 29. A fixed support 213 is fixedly installed on the top of the drive wheel support column tube 22. A drive gear 28 is provided on one side of the large gear 29 and meshes with it. The drive gear 28 is installed on the power output shaft end of the worm gear reducer motor 221. A worm gear reducer motor mounting plate 210 is installed on one side of the worm gear reducer motor 221 and is fixedly installed on the end of the fixed support 213.

[0011] The drive wheel support column tube 22 is a hollow tubular structure. The upper and lower ends of the drive wheel shaft 214 are connected to the drive wheel support column tube 22 through the upper sliding bearing 215 and the lower sliding bearing 216, respectively. The fixed support 213 is rotatably connected to the spline transition plate 212 through the bearing. A spline shaft 211 is installed on the top of the drive wheel shaft 214. The spline shaft 211 and the spline transition plate 212 are splined together. The spline transition plate 212 is connected to the large gear 29 by bolts. A limit washer 223 is provided between the drive wheel shaft 214 and the spline shaft 211.

[0012] A locking mechanism is provided on the outer side of the drive wheel support column tube 22. This locking mechanism consists of an electric push rod 217, a locking push rod 218, a front hinge bracket 219, and a rear hinge bracket 224. The electric push rod 217 is rotatably connected to the rear hinge bracket 224 via a hinge shaft. The rear hinge bracket 224 is located on the outer side of the drive wheel support column tube 22. A first oblong groove 400 is formed on the piston shaft 2172 of the electric push rod 217. The locking push rod 218 has a Z-shaped structure. The middle part of the locking push rod 218 is connected to the front hinge bracket 219 through a hinge shaft. A torsion spring 220 is sleeved on the hinge shaft. One end of the locking push rod 218 is equipped with a positioning shaft that can slide with the first waist-shaped groove 400. The end of the locking push rod 218 opposite to the positioning shaft can pass through the drive wheel support column tube 22 and the lower sliding bearing 216 in sequence and be embedded in the second waist-shaped groove 300 at the lower end of the drive wheel shaft 214.

[0013] The bottom of the drive wheel shaft 214 extends outward radially to form a boss that can slide with the lower sliding bearing 216 with clearance. A compression spring 222 is sleeved on the drive wheel shaft 214, and the two ends of the compression spring 222 are respectively pressed between the upper sliding bearing 215 and the boss.

[0014] Due to the adoption of the above technical solutions, the present invention has the following beneficial effects: the mechanical connection structure is simple and reliable, and the walking mechanism it is equipped with has the technical characteristics of adjustable width, adjustable harvesting height and horizontal posture, and convenient left and right lateral movement, which can effectively adapt to the relatively flat, straight and light load environment of a large part of tea gardens in my country. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0016] Figure 1 This is the front view of the present invention;

[0017] Figure 2 This is a perspective view of the width-adjustable vehicle body mechanism and turntable mechanism in this invention;

[0018] Figure 3 This is an exploded structural diagram of the support frame, left frame, and right frame in this invention;

[0019] Figure 4 This is a three-dimensional structural diagram of the top of the turntable in this invention;

[0020] Figure 5 This is a perspective view of the horizontal lifting and leveling mechanism in this invention;

[0021] Figure 6 In this invention Figure 5 A magnified view of a portion of the image;

[0022] Figure 7 This is a schematic diagram of the walking mechanism structure in this invention;

[0023] Figure 8 This is a state diagram of the walking mechanism in this invention when it begins to move laterally;

[0024] Figure 9 This is a cross-sectional view of the upper limit position of the main drive wheel in this invention;

[0025] Figure 10 This is a cross-sectional view of the lower limit position of the main drive wheel in this invention;

[0026] Figure 11 This is a diagram showing the working state of the horizontal lifting and leveling mechanisms in this invention when they are at their upper and lower limit positions, respectively.

[0027] The components include: 1. Width-adjustable body mechanism; 11. Support frame; 111. Support frame crossbeam; 12. Left frame; 122. Frame crossbeam; 13. Right frame; 14. Width-adjusting cylinder; 141. Cylinder lug; 142. Piston rod; 2. Traveling mechanism; 21. Main drive motor; 210. Worm gear reducer motor mounting plate; 211. Splined shaft; 212. Splined transition plate; 213. Fixed support; 214. Drive wheel vertical shaft; 215. Upper sliding bearing. 216. Lower sliding bearing; 217. Electric push rod; 2172. Piston shaft; 218. Locking push rod; 219. Front hinge bracket; 22. Drive wheel support column tube; 220. Torsion spring; 221. Worm gear reducer motor; 222. Compression spring; 223. Limit washer; 224. Rear hinge bracket; 23. Main drive motor fixed support frame; 24. Main drive wheel; 25. Driven wheel; 26. Driven wheel fork; 27. Driven wheel bracket sleeve; 28. Drive gear. 29. Wheel, Large Gear, 300. Second Waist-shaped Groove, 400. First Waist-shaped Groove, 3. Turntable Mechanism, 31. Slewing Bearing, 311. Inner Ring of Slewing Bearing, 312. Outer Ring of Slewing Bearing, 313. Gear Ring, 32. Support Platform Frame, 34. Worm Gear Reducer Motor, 35. Drive Gear, 36. Push-Pull Electromagnet, 4. Tea Picking Machine Head, 41. Blower, 42. Air Duct, 43. Cutting Blade, 44. Arc-shaped Transition Plate, 45. Tea Picking Machine Head Connecting Plate 5. Belt conveyor; 6. Horizontal lifting and leveling mechanism; 61. First hydraulic single scissor lift platform; 62. Second hydraulic single scissor lift platform; 63. First small hinge support; 64. Second small hinge support; 65. Long support connecting rod; 651. Guide chute; 66. Hinge shaft; 67. Conveyor connecting plate; 68. Level detector; 7. Tea collecting mechanism; 71. Tea collecting frame; 72. Frame door; 8. Hydraulic power unit; 9. Battery pack. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0029] See Figure 1-11 The specific implementation method is achieved by the following technical solution, which includes a width-adjustable vehicle body mechanism 1, a walking mechanism 2 installed at the bottom of the width-adjustable vehicle body mechanism 1, a turntable mechanism 3 installed in the middle of the top surface of the width-adjustable vehicle body mechanism 1, a horizontal lifting and leveling mechanism 6, a tea collecting mechanism 7, a hydraulic power unit 8 and a battery pack 9 installed on the turntable mechanism 3, a belt conveyor 5 installed on the horizontal lifting and leveling mechanism 6, and a tea picking machine head 4 installed at the end of the belt conveyor 5;

[0030] The width-adjustable vehicle body mechanism 1 includes a support frame 11. A left frame 12 and a right frame 13 are symmetrically arranged on the left and right sides of the support frame 11, respectively. A frame crossbeam 122 is vertically installed on the inner side of the left frame 12 and the right frame 13, respectively. Support frame crossbeams 111, which can be sleeved and slidably fitted with the frame crossbeams 122, are fixedly installed at the front and rear ends of the support frame 11. A cylinder lug 141 is installed on the inner side of the left frame 12 and the right frame 13, respectively. A piston rod 142 of a vehicle width adjusting cylinder 14 is hinged to the cylinder lug 141. The end of the vehicle width adjusting cylinder 14 is fixedly installed on the support frame 11. In this specific embodiment, the vehicle width adjusting cylinder 14 drives the left frame 12 and the right frame 13 to offset relative to the support frame 11 by adjusting the extension and retraction of the piston rod 142, thereby adjusting the width of the vehicle body.

[0031] The turntable mechanism 3 includes a slewing bearing 31 mounted on a support frame 11. The slewing bearing 31 consists of an inner slewing bearing ring 311 and an outer slewing bearing ring 312 that can rotate relative to each other. The inner slewing bearing ring 311 is fixedly mounted on the support frame 11, and the outer slewing bearing ring 312 is fixedly mounted on the bottom surface of the support platform frame 32. The horizontal lifting and leveling mechanism 6, the tea collecting mechanism 7, the hydraulic power unit 8, and the battery pack 9 are all mounted on the support platform frame 32. A toothed ring 313 is provided on the outer circumference of the outer slewing bearing ring 312, and one side of the toothed ring 313 has a meshing part. The drive gear 35 is fixedly mounted on the power output shaft end of the worm gear reducer motor 34, which is fixedly mounted on the support frame 11. A push-pull electromagnet 36 is mounted on the lower end of the slewing bearing 31 opposite to the worm gear reducer motor 34. A positioning hole corresponding to the electromagnet core shaft of the push-pull electromagnet 36 is provided on the lower bottom surface of the outer ring 312 of the slewing bearing. When the turntable mechanism 3 does not need to rotate, the push-pull electromagnet 36 is de-energized, and its electromagnet core shaft is inserted into the corresponding hole below the outer ring 312 of the slewing bearing by the spring force, thereby achieving the purpose of locking. When the turntable mechanism 3 needs to rotate, the push-pull electromagnet 36 is first energized, causing the electromagnet core shaft to retract, so that the worm gear reducer motor 34 can drive the outer ring 312 of the slewing bearing and all its components to rotate.

[0032] In this specific embodiment, the worm gear reducer motor 34 drives the outer ring 312 of the slewing bearing to rotate via the drive gear 35, thereby causing the support platform frame 32 and all components above it to rotate relative to the vehicle body below. At the opposite end of the slewing bearing 31 from the worm gear reducer motor 34, a push-pull electromagnet 36 is installed, with its housing fixedly connected to the support frame 11. Normally, when the turntable mechanism 3 does not require rotation, the push-pull electromagnet 36 is de-energized, and its electromagnet core shaft is inserted into the corresponding hole below the outer ring 312 of the slewing bearing by the spring force for reliable locking. When the turntable mechanism 3 needs to rotate, the push-pull electromagnet 36 is first energized, causing the electromagnet core shaft to retract. This allows the worm gear reducer motor 34 to drive the outer ring 312 of the slewing bearing and all components above it to rotate, achieving the requirement of turning around for harvesting in place.

[0033] The tea collecting mechanism 7 includes a tea collecting frame 71 installed on the support platform frame 32 for placing tea collecting bags. The tea collecting frame 71 is a rectangular frame structure with an opening at the top. The rear of the tea collecting frame 71 is provided with an openable frame door 72. During operation, the tea collecting bag is fitted around the four sides of the tea collecting frame 71 and clamped with clips. The tea collecting frame 71 is surrounded by thin cables to prevent the tea in the tea collecting bag from bulging out of the tea collecting frame 71 and damaging the collecting bag.

[0034] During tea picking operations, it is generally required that the cutting blade 43 on the tea picking machine head 4 always remain horizontal to the ground, especially in the length direction of the blade (i.e., Figure 5 The tea-picking machine must be level in the y-direction (direction) and a certain distance below the top of the tea tree canopy. This requires the machine to adjust its level according to the height of the canopy during harvesting. Furthermore, on uneven ground, the machine head can easily tilt along the length of the cutting blades, significantly affecting harvesting quality and causing over-cutting on one side of the canopy while leaving the other side uncut. Therefore, the machine must adjust quickly and promptly to maintain the cutting blades level along their length.

[0035] There are many mechanisms with horizontal lifting functions, and parallelogram lifting mechanisms are commonly used in agricultural machinery. This type of mechanism uses the lever principle to produce a large displacement with a small actuation, meeting the requirements for rapid height adjustment. However, when using this type of mechanism in pairs to adjust the horizontal lifting, while the driving component produces a displacement in the height direction, it also produces a small displacement in the forward and backward direction (i.e.,...). Figure 5The displacement in the x-direction. If the pair of parallelogram lifting mechanisms lift and lower simultaneously with the same amplitude, the combined displacement generated at the top will not affect the structure that keeps the top component horizontal; however, when the lifting amplitudes of the left and right parallelogram height adjustment mechanisms are inconsistent, in addition to the height deviation between the tops of these two sets of mechanisms, a small misalignment in the x-direction will also occur. This will bring significant difficulties to the design and reliability of the connection structure between the top component and the horizontal lifting adjustment mechanism.

[0036] Other commonly used horizontal lifting mechanisms, such as direct push by hydraulic cylinders on both sides, direct push by a drive motor and ball screw nut, or movement by a drive motor and rack and pinion, can meet the above-mentioned requirements for horizontal lifting and leveling functions, and there is no displacement misalignment in the front-to-back direction (i.e., the x-direction) during horizontal lifting. However, these mechanisms share a common problem: when the required height adjustment range is large, the drive motor needs to generate a large displacement, which leads to poor dynamic performance in quickly responding to leveling needs.

[0037] Therefore, this specific embodiment employs a pair of single scissor-type horizontal adjustment mechanisms, which can meet the functional requirements of horizontal lifting and leveling. When the two single scissor-type horizontal adjustment mechanisms are adjusted vertically, they will not produce forward or backward (i.e., x-direction) displacement. This prevents misalignment of the mechanisms, thus simplifying and ensuring a reliable connection between the top component and the adjustment structure. Furthermore, a small driving displacement can produce a relatively large displacement of the top of the mechanism (taking one implementation of this invention as an example, such as...). Figure 11 As shown, a 100mm cylinder displacement can produce a 400mm horizontal lifting adjustment at the top. Figure 11 The solid line represents the horizontal lifting and leveling mechanism in its lower limit position (the double-dotted line represents its upper limit position), which significantly improves the dynamic performance of the mechanism in quickly responding to leveling requirements.

[0038] The horizontal lifting and leveling mechanism 6 includes two symmetrically arranged first hydraulic single scissor lift platforms 61 and second hydraulic single scissor lift platforms 62. Both the first hydraulic single scissor lift platforms 61 and 62 are mounted on a support platform frame 32. Two symmetrical first small hinge supports 63 are installed on the upper surface of the first hydraulic single scissor lift platform 61, and two symmetrical second small hinge supports 64 are installed on the upper surface of the second hydraulic single scissor lift platform 62. A long support connecting rod 65 is provided between two adjacent first small hinge supports 63 and second small hinge supports 64. The two ends of the long support connecting rod 65 are connected to the first small hinge supports 63 and the second small hinge supports 64 respectively via hinge pins 66. A guide groove 651 is provided on the long support connecting rod 65, which can slide with the hinge pins 66 on the first small hinge supports 63. The first hydraulic single scissor lift platform 61 and the second hydraulic single scissor lift platform 62 are mounted on a support platform frame 32. The hydraulic cylinders in the forklift platform 62 are connected to the hydraulic power units 8 via oil circuits. Both hydraulic power units 8 are fixedly installed on the support platform frame 32. When the hydraulic power units 8 drive the cylinders on the first hydraulic single scissor lift platform 61 and the second hydraulic single scissor lift platform 62 to extend and retract at the same amplitude, the lifting height of the first hydraulic single scissor lift platform 61 and the second hydraulic single scissor lift platform 62 can be kept consistent. When encountering a sloping road surface, if the belt conveyor 5 needs to rise to the side closer to the first hydraulic single scissor lift platform 61, the corresponding hydraulic power unit 8 controls the first hydraulic single scissor lift platform 61 to lift, which will drive one end of the long support connecting rod 65 to lift upward. Since the long support connecting rod 65 is provided with a guide groove 651 that can slide with the hinge shaft 66 on the first small hinge support 63, one end of the long support connecting rod 65 can achieve the purpose of vertical upward displacement, but will not produce displacement in the front-back direction (i.e., the x direction).

[0039] Conveyor connecting plates 67 are installed on both sides of the discharge port of the belt conveyor 5. The bottom of each conveyor connecting plate 67 is installed on the end of the long support rod 65 on the corresponding first hydraulic single scissor lift platform 61 or second hydraulic single scissor lift platform 62. An arc-shaped transition plate 44 is installed at the feed port of the belt conveyor 5. Harvester head connecting plates 45 are welded and fixed on both sides of the arc-shaped transition plate 44. A cutting blade 43 is installed at the feed port of the arc-shaped transition plate 44. A duct 42 parallel to the cutting blade 43 is arranged above the cutting blade 43. The two ends of the duct 42 are fixedly installed on the harvester head connecting plate 45. On the inner side, a blower 41 communicating with one end of the air duct 42 is installed. A level detector 68 is installed on the blower 41. Several equidistant comb teeth are arranged between the air duct 42 and the cutting blade 43. The comb teeth are fixedly installed at the feed inlet end of the arc transition plate 44. When the level detector 68 detects in real time that the tea picking machine head 4 is tilted horizontally in the y direction, the hydraulic power unit 8 controls the extension and retraction of the cylinders of the first hydraulic single scissor lift platform 61 or the second hydraulic single scissor lift platform 62, thereby controlling the first hydraulic single scissor lift platform 61 and the second hydraulic single scissor lift platform 62 to produce different lifting heights. At this time, relative rotation occurs between the right end of the long support rod 65 and the hole on the second small hinge support 64. Meanwhile, in addition to relative rotation, relative displacement also occurs between the guide groove 651 at the left end of the long support rod 65 and the pin on the first small hinge support 63 along the length of the guide groove 651. This causes the pair of long support rods 65 to tilt relative to the horizontal direction of the y-axis, which in turn drives the belt conveyor 5 and the tea-picking machine head 4 to tilt relative to the y-axis direction via the conveyor connecting plate 67. Closed-loop control compensates for the tilt angle of the tea-picking machine head in the y-direction. Since this mechanism can achieve a large-amplitude platform lifting effect from a small-amplitude cylinder extension and retraction, it meets the functional requirements for rapid response leveling.

[0040] The characteristics of tea garden operations on flat land are "relatively flat, relatively straight, and relatively light," meaning the terrain is relatively flat, the operating route is relatively straight, and the weight of the tea leaves being harvested is relatively light. However, due to the complexity and limitations of many tea garden environments, tea harvesters are required to frequently and quickly switch between forward and backward harvesting modes, and to quickly move laterally to the side before moving forward or backward again. The tracked walking mechanisms commonly used in many agricultural and forestry machines clearly cannot meet the requirements for lateral movement.

[0041] Given the relatively flat, straight, and light working environment of tea plantations, dual-drive wheels meet the requirements. However, existing dual-drive wheel mechanisms are mostly front-wheel drive or rear-wheel drive, similar to a typical electric wheelchair. These mechanisms are mainly suitable for situations where forward movement is the primary mode, with only occasional backward movement. They are not suitable for prolonged backward movement because the vehicle's movement characteristics and control methods differ significantly from forward movement. The tea-picking machine in this application requires approximately equal forward and backward movement time. Furthermore, dual-front-wheel drive or dual-rear-wheel drive mechanisms struggle to achieve lateral movement on the spot. Besides, many four-wheel drive mechanisms exist, offering strong driving capabilities and theoretically enabling lateral movement, but their steering control methods are complex and costly. In contrast, the special diagonal dual-drive system used in this application is lower in cost. By employing a steering control strategy similar to that of an electric wheelchair, simple control of the speed difference between the two drive wheels allows for turning within a certain range. While this steering control method is not suitable for sharp turns, it is well-suited to the relatively straight paths required in tea gardens. Because of this diagonal drive layout, the operating characteristics and control methods of the walking mechanism are completely identical for both forward and backward operations of the tea-picking machine. Furthermore, the walking control methods and characteristics are also the same when moving laterally to the left and right, thus significantly reducing the complexity of steering control.

[0042] The traveling mechanism 2 includes a main drive wheel 24 and a driven wheel 25 respectively disposed at both ends of the left frame 12 and the right frame 13. The pair of main drive wheels 24 and the pair of driven wheels 25 are arranged axially symmetrically with respect to the center of the support frame 11. A driven wheel fork 26 is mounted on the driven wheel 25 and is rotatably connected to it. The driven wheel fork 26 is rotatably connected to a driven wheel bracket sleeve 27 respectively installed at the end of the left frame 12 or the right frame 13. The main drive wheel 24 is mounted on the main drive motor fixed support frame 23. The shaft of the main drive wheel 24 is connected to the power output shaft end of the main drive motor 21. The main drive motor 21 is fixedly mounted on one side of the main drive motor fixed support frame 23. A main drive wheel 24 is fixedly mounted on one end of the left frame 12 and the right frame 13. A drive wheel support column tube 22 has a drive wheel shaft 214 concentrically arranged inside it, which can be rotatably connected to it. The lower end of the drive wheel shaft 214 is fixedly connected to the main drive motor fixed support frame 23, and the upper end of the drive wheel shaft 214 passes through the drive wheel support column tube 22 and connects with the large gear 29. A fixed support 213 is fixedly installed on the top of the drive wheel support column tube 22. A drive gear 28 is provided on one side of the large gear 29 and meshes with it. The drive gear 28 is installed on the power output shaft end of the worm gear reducer motor 221. A worm gear reducer motor mounting plate 210 is installed on one side of the worm gear reducer motor 221, and the worm gear reducer motor mounting plate 210 is fixedly installed on the end of the fixed support 213; see reference. Figure 7 When the main drive motors 21 on both the left and right sides rotate simultaneously, in the same direction, and at the same speed, they will drive the entire tea-picking machine to move forward or backward in a straight line. When the main drive motors 21 on both sides turn in the same direction but at different speeds, while driving the tea-picking machine forward, they will also cause the vehicle to turn with a certain curvature towards the side with the slower speed. By controlling the speed difference between the two main drive motors 21, the turning radius of the tea-picking machine can be easily controlled.

[0043] The tea-picking machine's traveling mechanism 2 of this invention can also switch on-site from forward / backward movement to left / right lateral movement according to on-site operational needs. When the traveling mechanism 2 of this invention is ready to lateralize, the tea-picking machine first stops moving, and then... Figure 7 As shown, two worm gear reducers 221 drive the main gear 28 to rotate, which in turn drives the large gear 29 to rotate through gear meshing. This, in turn, drives the drive wheel shaft 214 and the fixed support frame 23 of the main drive motor via the splined shaft 211, causing the main drive wheel 24 to rotate in place. To ensure the vehicle body remains relatively stable during this process, the two main drive wheels 24 rotate in opposite directions relative to the ground. When the main drive wheel 24 rotates 90 degrees around the axis of the drive wheel support column tube 22, the worm gear reducers 221 stop driving, completing the preparatory work before lateral movement. At this time, the state of the traveling mechanism 2 is as follows: Figure 8As shown, the two driven wheels 25 are still perpendicular to the main drive wheel 24. Then, similar to the forward and backward movement of the tea-picking machine, the two main drive motors 21 start running simultaneously, in the same direction, and at the same speed. Due to the offset e between the axis of the driven wheel 25 and the axis of the driven wheel support sleeve 27, the driven wheel support 26 will sway and follow along the direction of travel of the main drive wheel 24, gradually bringing the driven wheel 25 and the main drive wheel 24 into the same direction of travel. This achieves the lateral movement of the tea-picking machine.

[0044] exist Figure 8 In the indicated state, the vehicle width can be easily adjusted. At this time, the two main drive motors 21 are stopped, and the two width adjustment cylinders 14 extend and retract simultaneously with the same amplitude, driving the left frame 12 and right frame 13 to open or close relative to the support frame 11 with the same amplitude. During this process, the driven wheels will gradually move in the same direction as the main drive wheels on the same side. Because the main drive motor 21 is always stopped during the width adjustment process, and it will passively rotate with the movement of the frame, it is required that this type of main drive motor 21 cannot be a drive motor with a self-locking function, such as a worm gear reducer motor.

[0045] The drive wheel support column tube 22 is a hollow tubular structure. The upper and lower ends of the drive wheel shaft 214 are connected to the drive wheel support column tube 22 through the upper sliding bearing 215 and the lower sliding bearing 216, respectively. The fixed support 213 is rotatably connected to the spline transition plate 212 through the bearing. A spline shaft 211 is installed on the top of the drive wheel shaft 214. The spline shaft 211 and the spline transition plate 212 are splined together. The spline transition plate 212 is connected to the large gear 29 by bolts. A limit washer 223 is provided between the drive wheel shaft 214 and the spline shaft 211.

[0046] The bottom of the drive wheel shaft 214 extends radially outwards with a boss that can slide smoothly with the lower sliding bearing 216. A compression spring 222 is fitted onto the drive wheel shaft 214, with its two ends resting between the upper sliding bearing 215 and the boss. When the bottom of the main drive wheel 24 encounters a depression and is suspended in the air, the compression spring 222 pushes the drive wheel shaft 214 downwards through its spring force until the bottom of the main drive wheel 24 touches the ground. At this point, the driving force of the main drive wheel 24 will be effectively transmitted to propel the vehicle forward. The extreme downward position of the main drive wheel 24 is as follows: Figure 10 As shown. At this time, because a portion of the lower outer surface of the limiting washer 223 abuts against the upper sliding bearing 215, the drive wheel shaft 214 is restricted from continuing to descend. Conversely, when the drive wheel passes the boss surface, the boss surface at the lower end of the drive wheel shaft 214 will compress the compression spring 222, causing the main drive wheel 24 to rise, with its upper limit position as shown. Figure 9 As shown.

[0047] While the drive wheel vertical shaft 214 rises and falls with the terrain, it also needs to perform steering movements according to the lateral movement requirements of the vehicle body. For example... Figure 9 The structure shown meets this requirement. In the figure, the length of the spline portion of the spline shaft 211 is significantly longer than the length of the spline hole of the spline transition plate 212, so that the mechanism can simultaneously transmit steering torque and steering motion during the lifting and lowering of the spline shaft 211 within a certain range.

[0048] The vehicle body of this invention has two main states of movement: forward (reverse) and left (right) lateral movement. After each state transition, the direction of travel of the main drive wheels must remain constant for a certain period of time and cannot oscillate freely. This requires... Figure 9 The drive wheel shaft 214 shown must be reliably self-locking after reversing to the correct position. As one implementation method, this application selects a drive wheel steering drive motor as follows: Figure 7 The worm gear reducer motor 221 shown has a self-locking capability due to its mechanical characteristics. However, since the self-locking position is far from the point of application of the yaw force applied by the ground when the drive wheel is moving, relying solely on this self-locking structure would cause significant torsional deformation of the entire drive wheel structure, making the self-locking unreliable. Therefore, this invention provides another locking mechanism near the lower end of the drive wheel support column tube 22.

[0049] A locking mechanism is provided on the outer side of the drive wheel support column tube 22. This locking mechanism consists of an electric push rod 217, a locking push rod 218, a front hinge bracket 219, and a rear hinge bracket 224. The electric push rod 217 is rotatably connected to the rear hinge bracket 224 via a hinge shaft. The rear hinge bracket 224 is located on the outer side of the drive wheel support column tube 22. A first oblong groove 400 is formed on the piston shaft 2172 of the electric push rod 217. The locking push rod 218 has a Z-shaped structure. The middle part of the locking push rod 218 is connected to the front hinge bracket 219 through a hinge shaft. A torsion spring 220 is sleeved on the hinge shaft. One end of the locking push rod 218 is equipped with a positioning shaft that can slide with the first waist-shaped groove 400. The end of the locking push rod 218 opposite to the positioning shaft can pass through the drive wheel support column tube 22 and the lower sliding bearing 216 in sequence and be embedded in the second waist-shaped groove 300 at the lower end of the drive wheel shaft 214.

[0050] like Figure 9As shown, when the tea-picking machine is in motion, the locking device of this mechanism mainly relies on the rectangular block at one end of the locking push rod 218 to sequentially embed into the second oblong groove 300 at the lower end of the drive wheel support column tube 22, the lower sliding bearing 216, and the drive wheel shaft 214, thereby restricting the rotation between the drive wheel shaft 214 and the drive wheel support column tube 22. Because the second oblong groove 300 of the drive wheel shaft 214 is relatively long, it can accommodate the lifting and lowering of the drive wheel shaft 214 without affecting the locking effect of the mechanism. When the main drive wheel 24 needs to turn laterally, the piston shaft 2172 of the electric push rod 217 retracts, pulling the left end of the locking push rod 218 to the right, disengaging it from the embedded position, thereby releasing the mechanism's locking, allowing the main drive wheel 24 to turn. Once the steering motion is complete, the piston shaft 2172 of the electric push rod 217 extends forward. At this time, the spring force of the torsion spring 220 at the hinge point between the locking push rod 218 and the front hinge bracket 219 is used to push the locking push rod 218 back to the engaged locking position. Since the piston shaft 2172 of the electric push rod 217 and the locking push rod 218 are connected by a slot, if the locking push rod 218 cannot fully return to the engaged locking position due to other reasons, the piston shaft 2172 of the electric push rod 217 will travel a short distance without moving, thus preventing the drive motor of the electric push rod 217 from stalling and being damaged.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these 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. An adaptive automatic tea-harvesting machine for complex tea bushes, characterized in that... It includes a width-adjustable vehicle body mechanism (1), a walking mechanism (2) is installed at the bottom of the width-adjustable vehicle body mechanism (1), a turntable mechanism (3) is installed at the middle of the top surface of the width-adjustable vehicle body mechanism (1), a horizontal lifting and leveling mechanism (6), a tea collecting mechanism (7), a hydraulic power unit (8) and a battery pack (9) are installed on the turntable mechanism (3), a belt conveyor (5) is installed on the horizontal lifting and leveling mechanism (6), and a tea picking head (4) is installed at the end of the belt conveyor (5). The width-adjustable vehicle body mechanism (1) includes a support frame (11). A left frame (12) and a right frame (13) are symmetrically arranged on the left and right sides of the support frame (11). A frame crossbeam (122) is vertically installed on the inner side of the left frame (12) and the right frame (13). A support frame crossbeam (111) that can be sleeved with the frame crossbeam (122) and slide with clearance is fixedly installed at the front and rear ends of the support frame (11). A cylinder lug (141) is installed on the inner side of the left frame (12) and the right frame (13). A piston rod (142) of a width-adjusting cylinder (14) is hinged on the cylinder lug (141). The end of the width-adjusting cylinder (14) is fixedly installed on the support frame (11). The turntable mechanism (3) includes a slewing bearing (31) mounted on a support frame (11). The slewing bearing (31) consists of a slewing bearing inner ring (311) and a slewing bearing outer ring (312) that can rotate relative to each other. The slewing bearing inner ring (311) is fixedly mounted on the support frame (11), and the slewing bearing outer ring (312) is fixedly mounted on the bottom surface of the support platform frame (32). The horizontal lifting and leveling mechanism (6), the tea collecting mechanism (7), the hydraulic power unit (8), and the battery pack (9) are all mounted on the support platform frame (32). A toothed ring (313) is provided on the outer circular surface of (312). A drive gear (35) meshes with the toothed ring (313) on one side. The drive gear (35) is fixedly installed on the power output shaft end of the worm gear reducer motor (34). The worm gear reducer motor (34) is fixedly installed on the support frame (11). A push-pull electromagnet (36) is installed on the other end of the slewing bearing (31) opposite to the worm gear reducer motor (34). A positioning hole corresponding to the electromagnet core shaft in the push-pull electromagnet (36) is provided on the bottom surface of the outer ring (312) of the slewing bearing. The tea collection mechanism (7) includes a tea collection frame (71) installed on a support platform frame (32) for placing tea collection bags. The tea collection frame (71) is a rectangular frame structure with an opening at the top. The rear of the tea collection frame (71) is provided with a frame door (72) that can be opened and closed. The horizontal lifting and leveling mechanism (6) includes two symmetrically arranged first hydraulic single scissor lift platforms (61) and second hydraulic single scissor lift platforms (62). Both the first hydraulic single scissor lift platforms (61) and the second hydraulic single scissor lift platforms (62) are mounted on a support platform frame (32). Two symmetrical first small hinge supports (63) are installed on the upper top surface of the first hydraulic single scissor lift platform (61), and the second hydraulic single scissor lift platform (62) has two symmetrical first small hinge supports (63) on its upper top surface. Two symmetrical second small hinge supports (64) are installed. A long support rod (65) is provided between two adjacent first small hinge supports (63) and second small hinge supports (64). The two ends of the long support rod (65) are connected to the first small hinge supports (63) and the second small hinge supports (64) respectively through hinge pins (66). A guide groove (651) is provided on the long support rod (65) so as to slide with the hinge pins (66) on the first small hinge supports (63) with clearance. Conveyor connecting plates (67) are respectively installed on both sides of the discharge port end of the belt conveyor (5). The bottom of each conveyor connecting plate (67) is installed on the end of the long support connecting rod (65) on the corresponding first hydraulic single scissor lift platform (61) or second hydraulic single scissor lift platform (62). An arc-shaped transition plate (44) is installed at the feed port end of the belt conveyor (5). Harvester head connecting plates (45) are respectively welded and fixed on both sides of the arc-shaped transition plate (44). A harvester head connecting plate (45) is installed at the feed port end of the arc-shaped transition plate (44). A cutting blade (43) is provided above the cutting blade (43) and a duct (42) parallel to it is provided above the cutting blade (43). The two ends of the duct (42) are respectively fixedly installed on the inner side of the harvester head connecting plate (45). A blower (41) connected to the duct (42) is installed at one end of the duct (42). A level detector (68) is installed on the blower (41). Several comb teeth are arranged at equal intervals between the duct (42) and the cutting blade (43). The comb teeth are fixedly installed at the feed inlet end of the arc transition plate (44). The walking mechanism (2) includes a main drive wheel (24) and a driven wheel (25) respectively disposed at both ends of the left frame (12) and the right frame (13). The pair of main drive wheels (24) and the pair of driven wheels (25) are arranged symmetrically with respect to the center of the support frame (11). A driven wheel fork (26) is mounted on the driven wheel (25) and rotates therewith. The driven wheel fork (26) rotates therewith with a driven wheel bracket sleeve (27) respectively installed at the end of the left frame (12) or the right frame (13). The main drive wheel (24) is mounted on the main drive motor fixed support frame (23). The shaft of the main drive wheel (24) is connected to the power output shaft end of the main drive motor (21). The main drive motor (21) is fixedly mounted on one side of the main drive motor fixed support frame (23). One end of the left frame (12) and the right frame (13) are respectively fixed. A drive wheel support column tube (22) is installed, and a drive wheel shaft (214) is concentrically arranged inside the drive wheel support column tube (22) and can be rotatably connected to it. The lower end of the drive wheel shaft (214) is fixedly connected to the main drive motor fixed support frame (23). The upper end of the drive wheel shaft (214) passes through the drive wheel support column tube (22) and connects with the large gear (29). A fixed support (213) is fixedly installed on the top of the drive wheel support column tube (22). A drive gear (28) is provided on one side of the large gear (29) and meshes with it. The drive gear (28) is installed at the power output shaft end of the worm gear reducer motor (221). A worm gear reducer motor mounting plate (210) is installed on one side of the worm gear reducer motor (221) and the worm gear reducer motor mounting plate (210) is fixedly installed at the end of the fixed support (213).

2. The adaptive automatic tea-harvesting machine for complex tea bushes according to claim 1, characterized in that... The drive wheel support column tube (22) is a hollow tubular structure. The upper and lower ends of the drive wheel shaft (214) are connected to the drive wheel support column tube (22) through the upper sliding bearing (215) and the lower sliding bearing (216) respectively. The fixed support (213) is rotatably connected to the spline transition plate (212) through the bearing. A spline shaft (211) is installed on the top of the drive wheel shaft (214). The spline shaft (211) is connected to the spline transition plate (212) through spline engagement. The spline transition plate (212) is connected to the large gear (29) by bolts. A limit washer (223) is provided between the drive wheel shaft (214) and the spline shaft (211).

3. The adaptive automatic tea-harvesting machine for complex tea bushes according to claim 2, characterized in that... A locking mechanism is provided on the outer side of the drive wheel support column tube (22). The locking mechanism consists of an electric push rod (217), a locking push rod (218), a front hinge bracket (219), and a rear hinge bracket (224). The electric push rod (217) is rotatably connected to the rear hinge bracket (224) through a hinge shaft. The rear hinge bracket (224) is located on the outer side of the drive wheel support column tube (22). A first waist-shaped groove (400) is provided on the piston shaft (2172) of the electric push rod (217). The locking push rod (218) has a Z-shaped structure. The middle part of the locking push rod (218) is connected to the front hinge bracket (219) through a hinge shaft. A torsion spring (220) is sleeved on the hinge shaft. One end of the locking push rod (218) is equipped with a positioning shaft that can slide with the first waist-shaped groove (400) with clearance. The end of the locking push rod (218) opposite to the positioning shaft can pass through the drive wheel support column tube (22) and the lower sliding bearing (216) in sequence and be embedded in the second waist-shaped groove (300) at the lower end of the drive wheel shaft (214).

4. The adaptive automatic tea-harvesting machine for complex tea bushes according to claim 3, characterized in that... The bottom of the drive wheel shaft (214) extends outward radially to form a boss that can slide with the lower sliding bearing (216) with clearance. A compression spring (222) is sleeved on the drive wheel shaft (214), and the two ends of the compression spring (222) are respectively pressed between the upper sliding bearing (215) and the boss.

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