Tea picking vehicle suitable for moving in complex terrains and automatic picking machine

Abstract

The utility model belongs to the technical field of automatic tea picking machine equipment, and discloses a movable tea picking vehicle suitable for complex terrains and an automatic picking machine. The tea picking vehicle comprises a vehicle frame, front wheel moving mechanisms arranged on the left side and the right side of the front end of the vehicle frame and rear wheel moving mechanisms arranged on the left side and the right side of the rear end of the vehicle frame. The front wheel moving mechanism adopts gear-shaped wheels; the rear wheel moving mechanism adopts crawler wheels. According to the rear wheel moving mechanism of the tea-picking vehicle, the crawler wheels are adopted, the terrain trafficability is good, the rear wheel moving mechanism can adapt to complex terrains such as stepped terrains and mountainous terrains, and the advancing stability and safety of the tea-picking vehicle are greatly improved; the front wheel moving mechanism adopts a gear-shaped wheel, so that the friction force between the front wheel and the ground can be effectively increased, the road holding force is strong, and when the crawler wheel only close to the rear side cannot pass through the complex terrain, the crawler wheel can safely and smoothly pass through the complex terrain by means of the advantage of strong road holding force of the gear-shaped wheel on the front side.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic tea picking machine equipment, and particularly relates to a tea picking vehicle and an automatic tea picking machine suitable for moving on complex terrain. Background Art

[0002] Over 60% of China's tea plantations are located in hilly and mountainous areas. These areas are characterized by small, scattered plots, steep terrain, and uneven, potholed ridges. Tea tree height, canopy surface, and ridge dimensions vary significantly across tea-producing regions. A lack of suitable mechanized roads makes large-scale ploughing difficult. Small and medium-sized tea-picking equipment is typically handheld, carrying bags, and often uses single- or two-person picking machines, such as the 4CD-30B single-person handheld tea plucker and the SV-100 two-person hand-lift tea plucker. However, these machines suffer from low efficiency and high labor intensity. Riding tea pluckers imported directly from abroad are unsuitable for the complex, hilly terrain and non-standardized characteristics of my country's tea gardens.

[0003] Chinese patent CN115336471A discloses an automatic tea leaf picking device, comprising guide rails disposed at the furrows on either side of a tea ridge, a frame disposed on the guide rails, a picking mechanism disposed on the frame, a drive mechanism disposed at the rear of the frame for driving the frame forward and backward along the guide rails, the frame comprising a mounting bracket and a telescopic mechanism, two connecting frames disposed at the front bottom of the frame, the two connecting frames correspondingly disposed above the two sets of guide rails, an arc-shaped detection plate disposed between the connecting frames, a plurality of pressure sensors uniformly disposed on the inner bottom surface of the arc-shaped detection plate, a microcontroller chip disposed within the frame, the picking mechanism and the telescopic mechanism being electrically connected to the microcontroller chip, and the drive mechanism and the pressure sensors being signal-connected to the microcontroller chip. The automatic tea picking machine of this patent can automatically pick tea leaves without manual labor, achieving high efficiency and low labor intensity, making it suitable for large-scale tea plantations. However, the automatic tea picking machine of this patent moves along pre-set guide rails, making it unsuitable for tea picking in hilly tea gardens with complex terrain or non-standardized tea gardens.

[0004] Therefore, it is urgent to provide an automatic tea picking machine with a tea picking vehicle suitable for moving in complex terrain, targeting the complex terrain and hilly tea gardens and the characteristics of non-standard tea gardens. Utility Model Content

[0005] The utility model aims to address the technical problems existing in the background technology and provide a tea picking vehicle suitable for moving in complex terrain. It can adapt to the terrain characteristics of complex terrain hilly tea gardens and non-standardized tea gardens, and is conducive to the realization of automatic picking mechanized operations of automatic picking machines in complex terrain hilly tea gardens and non-standardized tea gardens.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] A tea picking vehicle suitable for moving on complex terrain comprises a vehicle frame, front wheel moving mechanisms arranged on the left and right sides of the front end of the vehicle frame, and rear wheel moving mechanisms arranged on the left and right sides of the rear end of the vehicle frame;

[0008] The front wheel moving mechanism adopts a gear-shaped wheel; the rear wheel moving mechanism adopts a crawler wheel.

[0009] Furthermore, the front wheel moving mechanism includes connecting rods fixedly connected to the left and right sides of the front end of the frame, the upper end of the connecting rod is fixedly connected to the frame, and the gear-shaped wheel is installed at the lower end of the connecting rod.

[0010] Furthermore, the connecting rod is tilted forward at a certain angle so that the bottom of the gear-shaped wheel is higher than the bottom of the track wheel.

[0011] Furthermore, the gear-shaped wheel is installed on the front side or the outside of the connecting rod.

[0012] Furthermore, the rear wheel moving mechanism includes two track wheels, and the two track wheels are sleeved with track to form a track wheel.

[0013] Furthermore, among the track wheels, the radius of the track wheel close to the rear side is larger than the radius of the track wheel close to the front side.

[0014] Furthermore, the tracked wheels on the rear side of the rear wheel moving mechanism are driving wheels, and the tracked wheels on the front side are driven wheels;

[0015] The gear-shaped wheels of the front wheel moving mechanism and the track wheels on the rear side of the rear wheel moving mechanism are both driven by independently controlled electric wheels.

[0016] Furthermore, a storage box is provided at the upper end of the frame.

[0017] Furthermore, an accommodating cavity is downwardly opened at the upper end of the frame to serve as a storage box.

[0018] At the same time, the utility model also provides an automatic picking machine, including a tea picking vehicle as described in any of the above items, and also including a picker, which is arranged on the vehicle frame and is used for automatically picking tea leaves.

[0019] Compared with the prior art, the beneficial effects produced by the present invention are:

[0020] (1) The tea picking vehicle of the present invention has a rear wheel moving mechanism using crawler wheels. Compared with ordinary wheel structures, it has the advantage of good terrain passability and can better adapt to complex terrains such as steps and mountains, greatly improving the stability and safety of the tea picking vehicle and ensuring the smooth progress of tea picking. At the same time, the front wheel moving mechanism uses gear-shaped wheels, which can effectively increase the friction between the front wheels and the ground and have strong grip. When the rear crawler wheels alone cannot pass through complex terrain, the front gear-shaped wheels can take advantage of the strong grip to pass through the complex terrain safely and smoothly.

[0021] (2) The gear-shaped wheel has a certain forward inclination angle, so that the bottom of the gear-shaped wheel is higher than the bottom of the track wheel, and the climbing ability is better; at the same time, the gear-shaped wheel is installed on the front side or outside of the connecting rod, compared with the gear-shaped wheel installed on the inside of the connecting rod: when the gear-shaped wheel is installed on the front side of the connecting rod, it is more conducive to the transmission of driving force along a straight line, and the climbing ability is stronger; when the gear-shaped wheel is installed on the outside of the connecting rod, the wheelbase between the two sets of front wheel moving mechanisms is larger, the load-bearing capacity of the front end of the tea picking vehicle is stronger, and at the same time, it is also conducive to improving the grip of the front wheel moving mechanism;

[0022] (3) In addition, the rear wheel moving mechanism adopts track wheels, which have a relatively simple structure and good durability, and are suitable for long-term high-intensity work, greatly meeting the time requirements of tea picking work;

[0023] (4) A storage box for tea leaves is provided on the vehicle frame. The rear wheel moving mechanism of the tea picking vehicle adopts track wheels, and the radius of the track wheels near the rear side is larger than the radius of the track wheels near the front side, so that the rear wheel moving mechanism has a stronger load-bearing capacity, can withstand a large load and maintain a good driving ability, and can better ensure that the tea picking vehicle can better adapt to complex terrain for movement or climbing after being loaded with heavy tea leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a tea picking vehicle according to an embodiment of the present invention;

[0025] Figure 2 A top view of a tea picking vehicle according to an embodiment of the present invention;

[0026] Figure 3 A side view of a tea picking vehicle according to an embodiment of the present invention;

[0027] Figure 4 This is a structural diagram of an automatic picking machine according to an embodiment of the present utility model;

[0028] Explanation of the markings in the figure: 1-frame; 2-connecting rod; 3-gear-shaped wheel; 4-track wheel; 5-track; 6-storage box; 7-mechanical arm; 8-picking clamp; 9-tea storage cylinder. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "two ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0032] Example 1

[0033] Combine Figure 1-3 As shown, an embodiment of the utility model provides a tea picking vehicle suitable for moving on complex terrain, including a frame 1, a front wheel moving mechanism arranged on the left and right sides of the front end of the frame 1, and a rear wheel moving mechanism arranged on the left and right sides of the rear end of the frame 1; the front wheel moving mechanism adopts a gear-shaped wheel 3, and the rear wheel moving mechanism adopts a crawler wheel.

[0034] Specifically, the front wheel moving mechanism includes a connecting rod 2 fixedly connected to the left and right sides of the front end of the frame 1, the upper end of the connecting rod 2 is fixedly connected to the frame 1, and the lower end of the connecting rod 2 is installed with the gear-shaped wheel 3; the connecting rod 2 is tilted forward at a certain angle so that the bottom of the gear-shaped wheel 3 is higher than the bottom of the track wheel to facilitate climbing.

[0035] The rear wheel moving mechanism includes two crawler wheels 4, and the two crawler wheels 4 are sleeved with crawler tracks 5 to form crawler wheels.

[0036] In an embodiment of the present invention, the track wheel 4 located at the rear side of the rear wheel moving mechanism is a driving wheel, and the track wheel 4 located at the front side is a driven wheel; the gear-shaped wheel 3 of the front wheel moving mechanism and the track wheel 4 at the rear side of the rear wheel moving mechanism are all controlled by independently controlled electric wheel drives, which not only enables the tea picking vehicle to move automatically, but also adopts independently controlled electric wheel drives to control the front and rear drive controls, which can make the walking control of the tea picking vehicle higher in freedom and stronger in controllability.

[0037] The tea-picking vehicle of the embodiment of the present invention has a rear-wheel moving mechanism using track wheels. Compared with ordinary wheel structures, it has the advantage of good terrain passability and can better adapt to complex terrains such as steps and mountains, greatly improving the stability and safety of the tea-picking vehicle and ensuring the smooth progress of tea picking. At the same time, the front-wheel moving mechanism uses gear-shaped wheels, which can effectively increase the friction between the front wheels and the ground and have strong grip. The gear-shaped wheels have a certain caster angle and good climbing ability. When the rear track wheels alone cannot pass through complex terrain, the front gear-shaped wheels can take advantage of their grip and strong climbing ability to pass through the complex terrain safely and smoothly. In addition, the track wheel structure is relatively simple and has good durability, which is suitable for long-term high-intensity work and greatly meets the time requirements of tea picking.

[0038] Example 2

[0039] The present invention is based on the first embodiment and has the following improvements:

[0040] The gear-shaped wheel 3 is installed on the front side or outside of the connecting rod 2.

[0041] Compared with the case where the gear-shaped wheel 3 is installed on the inner side of the connecting rod 2: when the gear-shaped wheel 3 is installed on the front side of the connecting rod 2, it is more conducive to the transmission of driving force along a straight line and the climbing ability is stronger; when the gear-shaped wheel 3 is installed on the outer side of the connecting rod 2, the wheelbase between the two sets of front wheel moving mechanisms is larger, and the load-bearing capacity of the front end of the tea picking vehicle is stronger. At the same time, it is also beneficial to improve the grip of the front wheel moving mechanism.

[0042] The upper end of the frame 1 is provided with a storage box 6 for storing the picked tea leaves. Specifically, a accommodating cavity can be opened downwardly from the upper end of the frame 1 as the storage box 6.

[0043] As a further improvement, among the track wheels, the radius of the track wheel 4 close to the rear side is larger than the radius of the track wheel 4 close to the front side.

[0044] The purpose of this arrangement is: the storage box 6 is used to hold tea leaves, and the rear wheel moving mechanism of the tea picking vehicle adopts track wheels, and the radius of the track wheel 4 near the rear side is larger than the radius of the track wheel 4 near the front side, so that the rear wheel moving mechanism has a stronger carrying capacity, can withstand a larger heavy load and maintain a better driving ability, which can better ensure that the tea picking vehicle can better adapt to complex terrain for movement or climbing after loading heavier tea leaves.

[0045] Example 3

[0046] An embodiment of the present utility model provides an automatic tea picking machine, comprising the tea picking vehicle described in embodiment 2, and further comprising a picking device.

[0047] like Figure 4 As shown, the picker is arranged on a frame 1 located at the rear side of a storage box 6 , and the picker includes a mechanical arm 7 , a picking clamp 8 and a tea storage cylinder 9 .

[0048] One end of the robotic arm 7 is connected to the frame 1 on the rear side of the storage box 6 through a ball-jointed connecting arm, and the other end is fixedly connected to the picking clamp 8. The robotic arm 7 adopts the robotic arm structure in the prior art, and is composed of components such as a motor, a joint, and a transmission device. It uses a camera or other sensor equipment (not shown) equipped on the tea-picking vehicle to monitor the changes in the position of the tea leaves to be picked in real time, accurately locks the position of the tea leaves to be picked through image processing and recognition technology, and automatically controls the movement of the robotic arm 7, thereby controlling the movement of the picking clamp 8, so that the picking clamp 8 is accurately positioned to the position of the tea leaves to be picked for picking.

[0049] The picking clamp 8 includes an upper jaw and a lower jaw hinged to each other, and the upper jaw and the lower jaw are meshed up and down to form an engaging cavity, and the middle and rear part of the engaging cavity is hollowed out. The picking clamp 8 is an automatic picking clamp in the prior art, and the automatic opening and closing of the upper and lower jaws can be directly controlled by a robotic arm, or can be achieved by motor drive, gear and connecting rod transmission, or by cylinder drive, which will not be repeated here; the bottom of the picking clamp 8 is detachably connected to the tea storage cylinder 9, and the middle and rear part of the engaging cavity of the picking clamp 8 is hollowed out and connected to the tea storage cylinder 9, which is used to automatically drop the tea picked by the picking clamp 8 into the tea storage cylinder 9 for storage; when the tea storage cylinder 9 is full, it can be replaced with an empty tea storage cylinder, and the full tea storage cylinder 9 is placed in the storage box 6.

[0050] At the same time, in order to better place the full tea storage tube 9 and prevent it from tipping over and spilling the tea leaves, the storage box 6 is provided with an upwardly protruding positioning tube or a sunken positioning hole (not shown) for positioning and placing the tea storage tube 9; the tea storage tube 9 is also equipped with a tube cover (not shown) for sealing and preventing the tea leaves from overflowing during the mobile picking process.

[0051] It should be additionally explained that the tea picking vehicle according to the embodiment of the present invention may also be equipped with existing pickers of other structural forms to achieve automatic tea picking.

[0052] The above description is only an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the scope of application of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A tea picking vehicle suitable for moving in complex terrain, characterized in that: It includes a vehicle frame, a front wheel moving mechanism arranged on the left and right sides of the front end of the vehicle frame, and a rear wheel moving mechanism arranged on the left and right sides of the rear end of the vehicle frame; The front wheel moving mechanism adopts a gear-shaped wheel; the rear wheel moving mechanism adopts a track wheel.

2. The tea picking vehicle according to claim 1, characterized in that: The front wheel moving mechanism comprises connecting rods fixedly connected to the left and right sides of the front end of the frame, the upper end of the connecting rod is fixedly connected to the frame, and the gear-shaped wheel is installed at the lower end of the connecting rod.

3. The tea picking vehicle according to claim 2, characterized in that: The connecting rod is tilted forward at a certain angle so that the bottom of the gear-shaped wheel is higher than the bottom of the track wheel.

4. The tea picking vehicle according to claim 3, characterized in that: The gear-like wheel is installed on the front side or the outer side of the connecting rod.

5. The tea picking vehicle according to claim 1, characterized in that: The rear wheel moving mechanism comprises two crawler wheels, and crawler tracks are sleeved on the two crawler wheels to form crawler wheels together.

6. The tea picking vehicle according to claim 5, characterized in that: In the track wheels, the radius of the track wheel close to the rear side is greater than the radius of the track wheel close to the front side.

7. The tea picking vehicle according to claim 5, characterized in that: The tracked wheels at the rear side of the rear wheel moving mechanism are driving wheels, and the tracked wheels at the front side are driven wheels; The gear-shaped wheels of the front wheel moving mechanism and the track wheels at the rear side of the rear wheel moving mechanism are both driven by independently controlled electric wheels.

8. The tea picking vehicle according to claim 1, characterized in that: A storage box is arranged at the upper end of the frame.

9. The tea picking vehicle according to claim 8, characterized in that: The upper end of the frame is downwardly provided with an accommodating cavity as a storage box.

10. An automatic tea picking machine, comprising the tea picking vehicle according to any one of claims 1 to 9, characterized in that: The vehicle also comprises a picker, which is arranged on the vehicle frame and is used for automatically picking tea leaves.

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