Intelligent tea picking machine for summer and autumn tea

Abstract

The utility model discloses an intelligent tea-leaf picker for summer and autumn tea, belongs to the technical field of tea-leaf pickers, and solves the problem that the existing tea-leaf picker cannot detect the distance between a picking head and a tea tree, so that the tea-leaf picking length difference is large. A plurality of cameras used for collecting road condition information are arranged on the carrying table, a lifting assembly is arranged on the carrying table, an electric tea picking assembly and a leaf collecting assembly are fixed to the lifting assembly, a stand column is arranged on the electric tea picking assembly, a cross beam is fixedly arranged on the stand column, and a linear guide rail module is arranged on the cross beam. A binocular camera is fixed on the linear guide rail module; and an upper computer electrically connected with the binocular camera is fixed on the carrying table. The binocular camera is used for collecting information of tea trees under the electric tea picking assembly in real time, so that the height of the lifting assembly can be adjusted according to the information of the tea trees, the relative distance between the electric tea picking assembly and the tea trees can be conveniently kept, the consistency of the tea picking length of the electric tea picking assembly is improved, and it is ensured that the tea picking quality meets the requirement.

Description

Technical Field

[0001] The utility model relates to the technical field of tea plucking machines, in particular to an intelligent tea plucking machine for summer and autumn tea. Background Art

[0002] When the existing single- or double-person tea picking machine is in operation, the tea picking machine needs to be carried by a person or lifted by two people, resulting in high labor intensity and large labor demand. At the same time, since the operation mainly relies on manual labor, the picking quality is easily affected by human factors, making it difficult to ensure consistent and high-quality tea picking.

[0003] At the same time, most self-propelled tea picking machines are straddle-type, and have poor adaptability in tea gardens with steep slopes or hilly and mountainous areas, or even cannot enter for operation at all. This limits the practical application of the machine under different terrain and environmental conditions, making it insufficiently adaptable to tea production in specific areas. Therefore, existing tea picking operations have problems such as high labor demand, high labor intensity, and low operating efficiency.

[0004] In order to solve the above problems, a Chinese patent with announcement number CN117678423B discloses a self-propelled bulk tea picking machine and a control method thereof. The tea picking machine collects the real-time pressure of the inner contact ceiling surface, the real-time pressure of the outer contact ceiling surface and the real-time pressure of the middle contact ceiling surface through a contact ceiling surface pressure signal acquisition device, and adjusts the positions of the screw module and the electric push rod according to the real-time contact ceiling surface pressure to ensure that the contact force between the picking head and the tea tree is within a predetermined range, which helps to optimize the tea picking operation and ensure the accuracy of picking and the health of the tea trees.

[0005] However, the contact force between the picking head and the tea tree cannot directly and accurately reflect the distance between the picking head and the tea tree like a camera, which results in the screw module being unable to accurately adjust the height of the picking head, causing the picking length to be inconsistent and too different. The picking length is directly related to the quality and type of tea, and is a very important indicator. Utility Model Content

[0006] In view of the above problems in the prior art, the utility model provides an intelligent tea plucking machine for summer and autumn tea, which solves the problem that the existing tea plucking machines cannot detect the distance between the plucking head and the tea tree, resulting in large differences in the length of tea plucking.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0008] Provided is an intelligent tea picking machine for summer and autumn tea, comprising a platform, an electric crawler is arranged at the bottom of the platform, a plurality of cameras for collecting road condition information are arranged on the front end surface of the platform, a lifting component is arranged on the upper surface of the platform, an electric tea picking component and a leaf collecting component are fixed on the lifting platform of the lifting component, a column is arranged on the electric tea picking component, a crossbeam is fixed on the column, a linear guide module is arranged on the bottom surface of the crossbeam, a binocular camera is fixed on the linear guide module; a control box with a host computer inside is fixed on the platform, and the host computer is electrically connected to the electric crawler, the electric tea picking component, the plurality of cameras, the linear guide module and the binocular camera respectively.

[0009] In this solution, the binocular camera collects the tea tree information under the electric tea picking component in real time and feeds it back to the host computer. The host computer can adjust the height of the lifting component according to the tea tree information, so as to facilitate the electric tea picking component to maintain a relative distance from the tea tree. Compared with the existing tea picking machine that adjusts the height of the electric tea picking component through a contact-type canopy pressure signal collection device, this solution improves the consistency of the tea picking length of the electric tea picking component and ensures that the tea picking quality meets the requirements. The setting of the linear guide module not only facilitates the adjustment of the front and rear positions of the binocular camera, but also increases the collection range of the binocular camera.

[0010] Furthermore, the specific structure of the guide rail module is that the linear guide rail module includes a linear guide rail arranged on a crossbeam, a slider is slidably arranged on the linear guide rail, the binocular camera is fixed on the slider, and the moving direction of the slider is the same as the traveling direction of the electric track; the middle part of the slider is threadedly connected to the lead screw, the lead screw is fixedly connected to the output shaft of the first motor, the first motor is fixed on the crossbeam and electrically connected to the upper computer.

[0011] Furthermore, the specific structure of the lifting assembly is that the lifting assembly includes two guide rods vertically fixed on the carrier, a ball screw is vertically arranged between the two guide rods, the lifting platform is slidably arranged on the two guide rods and is fixedly connected to the nut seat on the ball screw, and the bottom end of the ball screw is transmission-connected to the second motor fixed on the carrier.

[0012] Furthermore, a support is provided on the lifting platform, a bracket is fixed on the bottom of the support, the top of the support is hinged to one end of a pull rod, the other end of the pull rod is hinged to the middle of the bracket, and the electric tea picking assembly is fixed to the bracket. The setting of the pull rod improves the connection strength between the bracket and the support.

[0013] Furthermore, the bracket includes two cross bars fixed on the support and in the shape of isosceles ladders, baffles are fixed at both ends of the two cross bars, the middle parts of the two cross bars are fixedly connected by a connecting rod, and the middle part of the connecting rod is hinged to the pull rod.

[0014] Furthermore, the electric tea picking assembly includes a shearing machine and a driving motor fixed on a bracket, and an input shaft of the shearing machine is drivingly connected to the driving motor.

[0015] Furthermore, the electric tea picking assembly also includes an air duct fixed on the bracket, and a plurality of L-shaped branch pipes are arranged on the outer wall of the air duct, and the air outlets of the plurality of branch pipes are all located on one side above the shearing machine; one end of the air duct close to the lifting platform is connected to the air inlet of the blower, the blower is fixed on the bracket, and the impeller shaft of the blower is connected to the driving motor. The wind force of the blower is transmitted to the plurality of branch pipes through the air duct, so that the plurality of branch pipes can blow the tea leaves into the leaf collecting assembly.

[0016] Furthermore, the leaf collecting assembly comprises a leaf collecting bag, an opening end of which is arranged on the bracket and located on the opposite side of the air outlet of each branch pipe, and the other end of the leaf collecting bag is fixed on the carrier.

[0017] Furthermore, the two sides of the upper surface of the leaf collecting bag away from the open end are respectively fixedly connected to two connecting rods, and the two connecting rods are respectively fixed on the horizontal sections of the fixed rod, the fixed rod is in an inverted L shape, and the vertical section of the fixed rod is fixed on the carrier.

[0018] Furthermore, the opening end of the leaf collecting bag is rectangular, the bottom surface of the leaf collecting bag is flat, and the side projection of the top surface is streamlined. The top surface of the leaf collecting bag is arranged in this way to reduce air resistance and increase the accommodation space of the sealed end of the leaf collecting bag.

[0019] The utility model discloses an intelligent tea picking machine for summer and autumn tea, and its beneficial effects are:

[0020] The utility model utilizes a binocular camera to collect tea tree information under an electric tea picking component in real time, and feeds the tea tree information back to a host computer, so that the host computer can adjust the height of the lifting component according to the tea tree information, thereby facilitating the maintenance of the relative distance between the electric tea picking component and the tea tree. Compared with the existing tea picking machine that adjusts the height of the electric tea picking component through a contact-type canopy pressure signal collection device, this solution improves the consistency of the tea picking length of the electric tea picking component, thereby ensuring that the tea picking quality meets the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the intelligent tea picking machine for summer and autumn tea;

[0022] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0023] Figure 3 This is a front view of the intelligent tea picking machine for summer and autumn tea;

[0024] Figure 4 This is a top view of the intelligent tea picking machine for summer and autumn tea;

[0025] Figure 5 is a schematic diagram of the internal structure of the lifting assembly;

[0026] Among them: 1. Electric crawler; 2. Carrier; 21. Camera; 3. Lifting assembly; 31. Lifting platform; 32. Support; 33. Guide rod; 34. Ball screw; 4. Control box; 5. Electric tea picking assembly; 51. Shearing machine; 52. Air duct; 521. Branch pipe; 53. Drive motor; 6. Binocular camera; 61. Crossbeam; 62. Column; 7. Bracket; 71. Pull rod; 72. Connecting rod; 73. Cross rod; 8. Leaf collecting assembly; 81. Leaf collecting bag; 82. Connecting rod; 83. Fixed rod. DETAILED DESCRIPTION

[0027] The specific implementation methods of the utility model are described below to facilitate technical personnel in this technical field to understand the utility model, but it should be clear that the utility model is not limited to the scope of the specific implementation methods. For ordinary technical personnel in this technical field, as long as various changes are within the spirit and scope of the utility model defined and determined by the attached claims, these changes are obvious, and all utility model creations using the concept of the utility model are protected.

[0028] refer to Figure 1 This embodiment provides an intelligent tea picking machine for summer and autumn tea, including a carrier 2.

[0029] An electric crawler 1 is provided at the bottom of the platform 2, and the electric crawler 1 is used to drive the entire device to move.

[0030] A plurality of cameras 21 for collecting road condition information are arranged on the front end surface of the platform 2 .

[0031] The upper surface of the carrier 2 is provided with a lifting assembly 3, and an electric tea picking assembly 5 and a leaf collecting assembly 8 are fixed on the lifting platform 31 of the lifting assembly 3. The upgrading assembly is used to drive the electric tea picking assembly 5 and the leaf collecting assembly 8 to lift and lower according to the tea picking length requirement.

[0032] The electric tea picking assembly 5 is provided with a column 62, a beam 61 is fixedly provided on the column 62, a linear guide rail module is provided on the bottom surface of the beam 61, a binocular camera 6 is fixed on the linear guide rail module, and the setting of the linear guide rail module not only facilitates the adjustment of the front and rear positions of the binocular camera 6, but also improves the collection range of the binocular camera 6.

[0033] A control box 4 with a host computer inside is fixed on the platform 2, and the host computer is electrically connected to the electric crawler 1, the electric tea picking assembly 5, multiple cameras 21, the linear guide module and the binocular camera 6. The host computer collects road condition information through the camera 21, so that the electric crawler 1 can move on the road surface in the tea shed.

[0034] In this embodiment, the host computer is preferably a computer, and the binocular camera 6 collects the tea tree information under the electric tea picking component 5 in real time and feeds it back to the host computer. The host computer can adjust the height of the lifting component 3 according to the tea tree information, so as to help the electric tea picking component 5 maintain a relative distance from the tea tree, improve the consistency of the tea picking length of the electric tea picking component 5, and ensure that the tea picking quality meets the requirements.

[0035] As the specific structure of the linear guide module of this embodiment, the linear guide module includes a linear guide arranged on the crossbeam 61, a slider is slidably arranged on the linear guide, the binocular camera 6 is fixed on the slider, and the moving direction of the slider is the same as the traveling direction of the electric crawler 1; the middle part of the slider is threadedly connected to the lead screw, the lead screw is fixedly connected to the output shaft of the first motor, the first motor is fixed on the crossbeam 61 and electrically connected to the upper machine. Since the linear guide module is a prior art, this embodiment will not repeat its specific working principle and connection relationship.

[0036] refer to Figure 5 As the specific structure of the lifting component 3 of this embodiment, the lifting component 3 includes two guide rods 33 vertically fixed on the carrier 2, a ball screw 34 is vertically arranged between the two guide rods 33, the lifting platform 31 is slidably arranged on the two guide rods 33 and is fixedly connected to the nut seat on the ball screw 34, the bottom end of the ball screw 34 is transmission-connected to the second motor fixed on the carrier 2, and the second motor is electrically connected to the upper computer.

[0037] A support 32 is provided on the lifting platform 31, a bracket 7 is fixed on the bottom of the support 32, the top of the support 32 is hinged to one end of a pull rod 71, the other end of the pull rod 71 is hinged to the middle of the bracket 7, and the electric tea picking assembly 5 is fixed to the bracket 7. The setting of the pull rod 71 improves the connection strength between the bracket 7 and the support 32.

[0038] Specifically, refer to Figure 2 to Figure 4 The bracket 7 includes two isosceles trapezoidal cross bars 73 fixed on the support 32 , and baffles are fixed at both ends of the two cross bars 73 . The middle parts of the two cross bars 73 are fixedly connected by a connecting rod 72 , and the middle part of the connecting rod 72 is hinged to the pull rod 71 .

[0039] As the specific structure of the electric tea picking component 5 of this embodiment, the electric tea picking component 5 includes a shearing machine 51 and a driving motor 53 fixed on the bracket 7. The two ends of the shearing machine 51 are fixed on the two end baffles of the bracket 7, and the input shaft of the shearing machine 51 is transmission-connected to the driving motor 53.

[0040] The electric tea picking assembly 5 also includes an air duct 52 fixed on the bracket 7, the air duct 52 is located above the shearing machine 51, and a plurality of L-shaped branch pipes 521 are arranged on the outer wall of the air duct 52, and the air outlets of the plurality of branch pipes 521 are all located on one side above the shearing machine 51; one end of the air duct 52 close to the lifting platform 31 is connected to the air inlet of the blower, the blower is fixed on the bracket 7, and the impeller shaft of the blower is connected to the driving motor 53. The wind force of the blower is transmitted to the plurality of branch pipes 521 through the air duct 52, so that the plurality of branch pipes 521 can blow the tea leaves into the leaf collecting assembly 8.

[0041] The driving motor 53 is electrically connected to the upper machine, and the driving motor 53 is transmission-connected to the impeller shaft through a belt, and the impeller shaft is fixedly connected to the input shaft of the shearing machine 51 through a coupling.

[0042] As a specific structure of the leaf collecting assembly 8 of this embodiment, the leaf collecting assembly 8 includes a leaf collecting bag 81, the open end of the leaf collecting bag 81 is arranged on the bracket 7 and is located on the opposite side of the air outlet of each branch pipe 521, and the other end of the leaf collecting bag 81 is fixed on the carrier 2. As a specific way of setting the leaf collecting bag 81 on the bracket 7, the open end of the leaf collecting bag 81 can be hung on the bracket 7 by a plurality of hanging ropes. The open end of the leaf collecting bag 81 can also be provided with a fixing hole, and fixed to the bracket 7 by bolts passing through the fixing hole.

[0043] The two sides of the upper surface of the leaf collecting bag 81 away from the open end are fixedly connected to two connecting rods 82 respectively, and the two connecting rods 82 are respectively fixed on the horizontal sections of the fixing rod 83, the fixing rod 83 is in an inverted L shape, and the vertical section of the fixing rod 83 is fixed on the carrier 2.

[0044] The opening end of the leaf collecting bag 81 is rectangular, the bottom surface of the leaf collecting bag 81 is flat, and the side projection of the top surface is streamlined. The top surface of the leaf collecting bag 81 is arranged in this way to reduce air resistance and increase the accommodation space of the sealed end of the leaf collecting bag 81.

[0045] In summary, the beneficial effects of this solution compared with the prior art are as follows:

[0046] This solution uses a binocular camera 6 to collect tea tree information under the electric tea picking component 5 in real time, and feeds the tea tree information back to the host computer, so that the host computer can adjust the height of the lifting component 3 according to the tea tree information, so as to maintain the relative distance between the electric tea picking component 5 and the tea tree. Compared with the existing tea picking machine that adjusts the height of the electric tea picking component 5 through a contact-type canopy pressure signal collection device, this solution improves the consistency of the tea picking length of the electric tea picking component 5, ensuring that the tea picking quality meets the requirements.

[0047] Although the specific implementation of the utility model is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this patent. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. Summer and autumn tea intelligent tea picking machine, characterized by: The invention comprises a platform (2), wherein an electric crawler (1) is arranged at the bottom of the platform (2), a plurality of cameras (21) for collecting road condition information are arranged on the front end surface of the platform (2), a lifting assembly (3) is arranged on the upper surface of the platform (2), an electric tea picking assembly (5) and a leaf collecting assembly (8) are fixed on the lifting platform (31) of the lifting assembly (3), a column (62) is arranged on the electric tea picking assembly (5), a crossbeam (61) is fixed on the column (62), a linear guide module is arranged on the bottom surface of the crossbeam (61), and a binocular camera (6) is fixed on the linear guide module; A control box (4) with a host computer inside is fixed on the carrier (2), and the host computer is electrically connected to the electric crawler (1), the electric tea picking component (5), the plurality of cameras (21), the linear guide module and the binocular camera (6).

2. The intelligent tea picking machine for summer and autumn tea according to claim 1, characterized in that: The linear guide rail module comprises a linear guide rail arranged on a crossbeam (61), a slider is slidably arranged on the linear guide rail, the binocular camera (6) is fixed on the slider, and the moving direction of the slider is the same as the traveling direction of the electric crawler (1); the middle part of the slider is threadedly connected to a screw rod, the screw rod is fixedly connected to the output shaft of a first motor, and the first motor is fixed on the crossbeam (61) and electrically connected to the upper computer.

3. The intelligent tea picking machine for summer and autumn tea according to claim 1, characterized in that: The lifting assembly (3) comprises two guide rods (33) vertically fixed on the carrier (2), a ball screw (34) is vertically arranged between the two guide rods (33), the lifting platform (31) is slidably arranged on the two guide rods (33) and is fixedly connected to the nut seat on the ball screw (34), and the bottom end of the ball screw (34) is transmission-connected to a second motor fixed on the carrier (2).

4. The intelligent tea picking machine for summer and autumn tea according to claim 2, characterized in that: A support (32) is provided on the lifting platform (31), a bracket (7) is fixed on the bottom of the support (32), the top of the support (32) is hinged to one end of a pull rod (71), the other end of the pull rod (71) is hinged to the middle of the bracket (7), and the electric tea picking component (5) is fixed on the bracket (7).

5. The intelligent tea picking machine for summer and autumn tea according to claim 4, characterized in that: The bracket (7) comprises two isosceles trapezoidal cross bars (73) fixed on the support (32), baffles are fixed at both ends of the two cross bars (73), the middle parts of the two cross bars (73) are fixedly connected by a connecting rod (72), and the middle part of the connecting rod (72) is hinged to the pull rod (71).

6. The intelligent tea picking machine for summer and autumn tea according to claim 2, characterized in that: The electric tea picking assembly (5) comprises a shearing machine (51) fixed on a bracket (7) and a driving motor (53), and the input shaft of the shearing machine (51) is drivingly connected to the driving motor (53).

7. The intelligent tea picking machine for summer and autumn tea according to claim 6, characterized in that: The electric tea picking assembly (5) further comprises an air duct (52) fixed on the bracket (7), a plurality of L-shaped branch pipes (521) are arranged on the outer wall of the air duct (52), and the air outlets of the plurality of branch pipes (521) are all located on one side above the shearing machine (51); One end of the air duct (52) close to the lifting platform (31) is connected to the air inlet of the blower. The blower is fixed on the bracket (7), and the impeller shaft of the blower is drivingly connected to the driving motor (53).

8. The intelligent tea picking machine for summer and autumn tea according to claim 7, characterized in that: The leaf collecting assembly (8) comprises a leaf collecting bag (81), the opening end of the leaf collecting bag (81) being arranged on the bracket (7) and located on the opposite side of the air outlet of each branch pipe (521), and the other end of the leaf collecting bag (81) being fixed on the carrier (2).

9. The summer and autumn tea intelligent tea picking machine according to claim 8, characterized in that: The two sides of the upper surface of the leaf collecting bag (81) away from the open end are respectively fixedly connected to two connecting rods (82), and the two connecting rods (82) are respectively fixed on the horizontal sections of the fixing rod (83), and the fixing rod (83) is in an inverted L shape. The vertical section of the fixing rod (83) is fixed on the carrier (2).

10. The intelligent tea picking machine for summer and autumn tea according to claim 8, characterized in that: The opening end of the leaf collecting bag (81) is rectangular, the bottom surface of the leaf collecting bag (81) is a plane, and the side projection of the top surface is streamlined.

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