Self-propelled cantilever type tea-leaf picker capable of adjusting posture of cutting knife

Abstract

The utility model provides a self-propelled cantilever type tea-leaf picker capable of adjusting the posture of a cutting knife. The self-propelled cantilever type tea-leaf picker specifically comprises a fixed shaft electric cylinder, an electric push rod I, an electric push rod II, a power motor, a lifting outer support, a lifting inner support, a cutting knife mechanism and the like, the lifting inner support is sleeved with the lifting outer support and plays a good guiding role, and the vertical lifting stability of a mechanism carried on the lifting inner support is guaranteed when the fixed shaft electric cylinder works. The power motor and the cutting knife mechanism are located on the two sides of the device correspondingly, the weight balancing effect is achieved, and the electric push rod can adjust the operation inclination angle of the cutting knife mechanism conveniently. The electric push rod I, the electric push rod II and the fixed shaft electric cylinder can work at the same time, the operation inclination angle and the operation height of the cutting knife mechanism can be rapidly adjusted, time is saved, and efficiency is improved; the posture adjusting device is used for adjusting the posture of the cutting knife of the tea-leaf picker, and effectively improves the conditions of poor neatness and many old leaves and old stalks in the current mechanized harvesting process of bulk tea.

Description

Technical Field

[0001] The utility model belongs to the field of intelligent tea picking machinery, and relates to a self-propelled cantilever tea picking machine with adjustable cutter posture for harvesting large quantities of fresh tea leaves. Background Art

[0002] my country is the world's largest tea producer and consumer, ranking first globally in both tea cultivation area and production. Currently, fresh tea leaves used for bulk tea harvesting rely primarily on hand-held, single- or two-person tea pluckers (which utilize mechanically driven blades to rapidly cut and collect the leaves). These typically require multiple strong workers, resulting in high labor intensity and often inconsistent coordination, making it difficult to ensure quality and timely harvesting. Self-propelled tea pluckers, while reducing labor intensity, can only adjust the height of the blade mechanism above the ground, not its tilt. This makes it difficult to adapt to varying angles of the tea bush head, resulting in uneven harvested buds and leaves, poor integrity, and damage to the tea shoots. This severely impacts both the quality of bulk tea harvest and the growth of new shoots.

[0003] With the development of the economy, the demand for the tea industry continues to increase. In order to improve the quality and efficiency of bulk tea harvesting and reduce the cost of tea picking and labor intensity, the utility model designs a self-propelled cantilever tea picking machine with adjustable cutting knife posture, which is used to adjust the height and tilt angle of the cutting knife mechanism from the ground, effectively improving the current situation of low fresh leaf integrity rate, poor uniformity, and many old leaves and old stems in the mechanized harvesting process of bulk tea. Utility Model Content

[0004] The utility model provides a self-propelled cantilever tea plucking machine with adjustable cutting blade posture, so as to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A self-propelled cantilever tea plucking machine with adjustable blade posture comprises: a crawler chassis, a height lifting mechanism, a posture adjustment mechanism, and a cutter mechanism. The height lifting mechanism comprises a fixed-axis electric cylinder, an outer lifting support, an inner lifting support, and a pull-wire displacement sensor; the bottom of the fixed-axis electric cylinder is fixedly connected to the outer lifting support by bolts, the inner lifting support is nested in the outer lifting support, the upper end of the inner lifting support is fixedly connected to the screw of the fixed-axis electric cylinder by a nut, the pull-wire displacement sensor is fixed to the outer lifting support by bolts, and its pull head is fixed to the inner lifting support by bolts; the collector ring is fixed to the bottom of the outer lifting support by bolts, the outer lifting support is fixed to the rotary driven gear by bolts, the rotary driven gear is fixed to the base plate by bolts, the base plate is fixed to the crawler chassis by U-bolts, the rotary driving gear meshes with the rotary driven gear, the rotary driving gear is fixedly connected to the rotating shaft of the rotary motor, and the rotary motor is fixed to the base plate by bolts. The posture adjustment mechanism includes a universal joint, an inclined plate, a power motor, an electric push rod I, an electric push rod II and a screw rod; one end of the universal joint is fixed to the lifting inner support by a bolt, and the other end is fixedly connected to the inclined plate by a bolt, and the inclination sensor is fixed to the inclined plate by a bolt; the push rods of the electric push rod I and the electric push rod II are respectively matched with the belt bearing through a pin shaft, and the belt bearing is fixed to the inclined plate by bolts, and the bottoms of the electric push rod I and the electric push rod II are respectively fixed to the mounting bracket through a fisheye joint, and the mounting bracket is fixed to the lifting inner support by bolts; the power motor is fixed to one end of the inclined plate by bolts, and the cutting knife mechanism is fixed to the other end of the inclined plate by bolts, the driving wheel is fixedly connected to the rotating shaft of the power motor, and is transmitted to the driven wheel through a synchronous belt, and the driven wheel is fixedly connected to the fan in the cutting knife mechanism by bolts; both ends of the screw rod are respectively fixed to the cutting knife connecting piece and the inclined plate connecting piece by bolts, and the cutting knife connecting piece and the inclined plate connecting piece are respectively fixed to the cutting knife and the inclined plate by bolts.

[0007] As an optimal technical solution of the present invention, the universal joint, electric push rod I and electric push rod II jointly determine the posture of the tilting plate, thereby determining the posture of the cutting knife mechanism fixed on the tilting plate; according to the principle of "three points determine a plane", the universal joint, electric push rod I and electric push rod II are used to support the tilting plate. While simplifying the mechanism and control algorithm, it avoids the situation of "virtual legs" that occurs when multiple points of support are used, causing the supported tilting plate to lose stability, making the cutting knife mechanism fixed on the tilting plate unable to work normally.

[0008] As a preferred technical solution of the present invention, the height lifting mechanism, the posture adjustment mechanism, and the cutter mechanism are all directly or indirectly fixed to the rotary driven gear; when the fresh leaves of the tea tree row on one side are harvested, and the fresh leaves of the tea tree row on the other side of the road where the present invention is located are to be harvested, but the space at the end of the field is small and the crawler chassis cannot make a 180° turn, the rotary motor can be rotated to drive the rotary driving gear to rotate, and the rotary driving gear can be rotated to drive the rotary driven gear and the device carried thereon to rotate 180°, thereby harvesting the fresh leaves of the tea tree row on the other side. In addition, when harvesting a large amount of fresh tea leaves from a certain tea tree row, if the road conditions between the tea tree rows on one side are poor, the rotary motor can be rotated to drive the cutter mechanism to rotate 180°, and the crawler chassis can be poured from the road between the adjacent tea tree rows on the other side until the end of the tea trees in the row, and then the crawler chassis can move forward to drive the cutter mechanism to harvest the fresh leaves of this tea tree row.

[0009] As an optimal technical solution of the present invention, the collector ring is fixed to the bottom of the lifting outer support by bolts. The collector ring is divided into two parts, a stator and a rotor. The stator can rotate with the lifting outer support. The rotor is connected to the power supply of the crawler chassis through a cable. The stator supplies power to the inclination sensor, the wire-type displacement sensor, the fixed-axis electric cylinder, the power motor, the electric push rod I, and the electric push rod II through the cable respectively, thereby avoiding the situation that when the rotary motor rotates to drive the rotary driving gear to rotate, the rotary driven gear and the mechanism carried thereon rotate, the cable that supplies power to the above components cannot rotate, resulting in the cable being disconnected, so that the corresponding components cannot work due to power failure.

[0010] As an optimal technical solution of the present invention, the power motor and the cutter mechanism are respectively located on both sides of the inclined plate, which plays a role in weight balance and is conducive to the electric push rods I and II to adjust the posture of the cutter mechanism.

[0011] Beneficial effects of the utility model:

[0012] When harvesting large quantities of fresh tea leaves in hilly and steep-slope tea-producing areas, the cutter mechanism's left and right tilt angles, front and back tilt angles, and operating height are adjusted manually by controlling the movements of electric push rods I, II, and a fixed-axis electric cylinder, based on the inclination of the tea shed and the height of the tea trees. This ensures that the cutting blade line aligns with the outer envelope of the tea row's cross-section. Simultaneously, the fixed-axis electric cylinder, push rods I, and II operate simultaneously, enabling the cutter mechanism to quickly move to the correct operating position, saving time and improving efficiency. The universal joint, push rods I, and II jointly determine the tilting plate's posture, simplifying the mechanism and control algorithm while avoiding the "false leg" problem that occurs when using multiple supports, which can lead to instability of the supported tilting plate. The inner lift support, housed within the outer lift support, provides excellent guidance, ensuring the stability of the mechanism mounted on the inner lift support during vertical lifting when the fixed-axis electric cylinder is operating. If the road between a row of tea trees becomes unsuitable, the slewing motor drives the cutter mechanism to rotate 180°, allowing access from another road adjacent to the row to harvest fresh leaves. The slip ring also ensures stable power supply to the various electrical components during the rotation of the height adjustment mechanism, attitude adjustment mechanism, and cutter mechanism. A screw rod further strengthens the rigidity of the connection between the cutter mechanism and the tilting plate, reducing the shake of the cutter mechanism caused by the cantilever. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view of the structure of the utility model;

[0014] Figure 2 It is a rear view of the structure of the utility model;

[0015] Figure 3 This is a structural diagram of the height lifting mechanism of the utility model;

[0016] Figure 4 This is a structural diagram of the posture adjustment mechanism of the utility model;

[0017] Figure 5 This is a schematic structural diagram of the cutting knife mechanism of the utility model;

[0018] Notes on the attached drawings:

[0019] 1. Crawler chassis; 2. U-bolt; 3. Slewing motor; 4. Bottom plate; 5. Slewing driven gear; 6. Slewing driving gear; 7. Synchronous belt; 8. Driving pulley; 9. Tilt plate; 10. Driven pulley; 11. Cutter connector; 12. Screw; 13. Collector ring; 14. Fixed-axis electric cylinder; 15. Lifting outer support; 16. Wire-type displacement sensor; 17. Lifting inner support; 18. Fisheye connector; 19. Power motor; 20. Mounting bracket; 21. Electric push rod I; 22. Electric push rod II; 23. Bearing with seat; 24. Universal joint; 25. Inclination sensor; 26. Tilt plate connector; 27. Cutter mechanism; 28. Fan. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and cannot be understood as limiting the specific scope of protection of the present invention.

[0021] See also Figure 1-Figure 5The utility model provides a self-propelled cantilever tea plucking machine with adjustable cutting blade posture, comprising: a crawler chassis 1, a height lifting mechanism, a posture adjustment mechanism and a cutting blade mechanism 27. The height lifting mechanism includes a fixed-axis electric cylinder 14, a lifting outer support 15, a lifting inner support 17 and a wire-drawing displacement sensor 16; the bottom of the fixed-axis electric cylinder 14 is fixedly connected to the lifting outer support 15 by bolts, the lifting inner support 17 is nested in the lifting outer support 15, and the upper end of the lifting inner support 17 is fixedly connected to the screw of the fixed-axis electric cylinder 14 by a nut, and the wire-drawing displacement sensor 16 is fixed to the lifting outer support 15 by bolts, and its pulling head is fixed to the lifting inner support 17 by bolts; the collector ring 13 is fixed to the bottom of the lifting outer support 15 by bolts, and the lifting outer support 15 is fixed to the rotary driven gear 5 by bolts, and the rotary driven gear 5 is fixed to the base plate 4 by bolts, and the base plate 4 is fixed to the crawler chassis 1 by U-bolts 2, and the rotary driving gear 6 is meshed with the rotary driven gear 5, and the rotary driving gear 6 is fixedly connected to the rotating shaft of the rotary motor 3, and the rotary motor 3 is fixed to the base plate 4 by bolts. The posture adjustment mechanism includes a universal joint 24, a tilting plate 9, a power motor 19, an electric push rod I 21, an electric push rod II 22 and a screw 12; one end of the universal joint 24 is fixed to the lifting inner support 17 by a bolt, and the other end is fixedly connected to the tilting plate 9 by a bolt, and the inclination sensor 25 is fixed to the tilting plate 9 by a bolt; the push rods of the electric push rod I 21 and the electric push rod II 22 are respectively matched with the seat bearing 23 through a pin shaft, and the seat bearing 23 is fixed to the tilting plate 9 by a bolt, and the bottom of the electric push rod I 21 and the electric push rod II 22 are respectively fixed to the mounting frame 20 by a fisheye joint 18 On the upper part, the mounting frame 20 is fixed to the lifting inner support 17 by bolts; the power motor 19 is fixed to one end of the inclined plate 9 by bolts, and the cutter mechanism 27 is fixed to the other end of the inclined plate 9 by bolts. The driving wheel 8 is fixedly connected to the rotating shaft of the power motor 19 and is transmitted to the driven wheel 10 through the synchronous belt 8. The driven wheel 10 is fixedly connected to the fan 28 in the cutter mechanism 27 by bolts; the two ends of the screw rod 12 are respectively fixed to the cutter connecting member 11 and the inclined plate connecting member 26 by bolts, and the cutter connecting member 11 and the inclined plate connecting member 26 are respectively fixed to the cutter mechanism 27 and the inclined plate 9 by bolts.

[0022] Furthermore, the universal joint 24, electric push rod I 21 and electric push rod II 22 jointly determine the posture of the tilting plate 9, thereby determining the posture of the cutting knife mechanism 27 fixed on the tilting plate 9; according to the principle of "three points determine a plane", the universal joint 24, electric push rod I 21 and electric push rod II 22 are used to support the tilting plate 9. While simplifying the mechanism and control algorithm, it avoids the situation of "virtual legs" that occurs when using multiple points of support, causing the supported tilting plate 9 to lose stability, making the cutting knife mechanism 27 fixed on the tilting plate 9 unable to work normally.

[0023] Furthermore, the height lifting mechanism, the posture adjustment mechanism, and the cutter mechanism 27 are all directly or indirectly fixed to the rotary driven gear 5. When the fresh leaves of the tea tree row on one side are harvested, and the fresh leaves of the tea tree row on the other side of the road where the utility model is located are to be harvested, but the space at the end of the field is small and the crawler chassis 1 cannot make a 180° turn, the rotary motor 3 can be rotated to drive the rotary driving gear 6 to rotate, and the rotary driving gear 6 can be rotated to drive the rotary driven gear 5 and the device carried thereon to rotate 180°, thereby harvesting the fresh leaves of the tea tree row on the other side. In addition, when harvesting a large amount of fresh tea leaves from a certain tea tree row, if the road condition between the tea tree rows on one side is poor, the rotary motor 3 can be rotated to drive the cutter mechanism 27 to rotate 180°, and the crawler chassis 1 can be poured from the road between the adjacent tea tree rows on the other side until the end of the tea trees in the row, and then the crawler chassis 1 can move forward to drive the cutter mechanism 27 to harvest the fresh leaves of this tea tree row.

[0024] Furthermore, the collector ring 13 is fixed to the bottom of the lifting outer support 15 by bolts. The collector ring 13 is divided into two parts, a stator and a rotor. The stator can rotate with the lifting outer support 15. The rotor is connected to the power supply of the crawler chassis 1 through a cable. The stator supplies power to the inclination sensor 25, the pull-wire displacement sensor 16, the fixed-axis electric cylinder 14, the power motor 19, the electric push rod I 21, and the electric push rod II 22 through the cable, thereby avoiding the situation where the cable supplying power to the above components cannot rotate when the rotary motor 3 rotates to drive the rotary driving gear 6 to rotate, causing the rotary driven gear 5 and the mechanism carried thereon to rotate, resulting in the cable being disconnected, so that the corresponding components cannot work due to power outage.

[0025] Furthermore, the power motor 19 and the cutter mechanism 27 are respectively located on both sides of the inclined plate 9 , which plays a role in weight balance, and is conducive to the electric push rod I 21 and the electric push rod II 22 to adjust the posture of the cutter mechanism 27.

[0026] The operating principle of the present invention is as follows: When harvesting fresh tea leaves from a row of tea bushes, the present invention first adjusts the left and right inclination and fore and aft inclination of the tea bushes' canopy surface by controlling the electric push rods II 22 and I 21. Then, the fixed-axis electric cylinder 14 is manually controlled according to the height of the tea bushes to vertically raise and lower the cutter mechanism 27 to the harvesting height of the young buds of the row of tea bushes, ensuring that the cutting edge of the cutter in the cutter mechanism 27 coincides with the outer envelope of the cross-section of the tea bushes. During this process, the fixed-axis stepper motor 27, electric push rod II 10, and electric push rod I 5 operate simultaneously, rapidly moving the cutter mechanism 27 to the correct harvesting position. The power motor 19 then operates, driving the cutter mechanism 27 and controlling the crawler chassis 1 to advance, harvesting the fresh tea leaves from the row. After harvesting the fresh tea leaves from the row, the crawler chassis 1 moves to the next row of tea bushes to continue harvesting the fresh tea leaves.

[0027] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A self-propelled cantilever tea plucking machine with adjustable blade posture, characterized in that: include: A crawler chassis (1), a height lifting mechanism, a posture adjustment mechanism and a cutting knife mechanism (27); the height lifting mechanism comprises a fixed-axis electric cylinder (14), a lifting outer support (15), a lifting inner support (17) and a wire-type displacement sensor (16); the bottom of the fixed-axis electric cylinder (14) is fixedly connected to the lifting outer support (15) by bolts, the lifting inner support (17) is nested in the lifting outer support (15), the upper end of the lifting inner support (17) is fixedly connected to the screw of the fixed-axis electric cylinder (14) by a nut, the wire-type displacement sensor (16) is fixed to the lifting outer support (15) by bolts, and its pulling head is fixed to the lifting inner support (17) by bolts. ); the collector ring (13) is fixed to the bottom of the lifting outer support (15) by bolts, the lifting outer support (15) is fixed to the rotary driven gear (5) by bolts, the rotary driven gear (5) is fixed to the base plate (4) by bolts, the base plate (4) is fixed to the crawler chassis (1) by U-bolts (2), the rotary driving gear (6) is meshed with the rotary driven gear (5), the rotary driving gear (6) is fixedly connected to the rotating shaft of the rotary motor (3), and the rotary motor (3) is fixed to the base plate (4) by bolts; the posture adjustment mechanism includes a universal joint (24), a tilting plate (9), a power motor (19), an electric push rod I (21), an electric The electric push rod Ⅱ (22) and the screw rod (12); one end of the universal joint (24) is fixed to the lifting inner support (17) by bolts, and the other end is fixedly connected to the tilting plate (9) by bolts, and the inclination sensor (25) is fixed to the tilting plate (9) by bolts; the push rods of the electric push rod Ⅰ (21) and the electric push rod Ⅱ (22) are respectively matched with the seat bearing (23) through the pin shaft, and the seat bearing (23) is fixed to the tilting plate (9) by bolts, and the bottom of the electric push rod Ⅰ (21) and the electric push rod Ⅱ (22) are respectively fixed to the mounting frame (20) through the fisheye joint (18), and the mounting frame (20) is fixed to the lifting inner support (17) by bolts. 7); the power motor (19) is fixed to one end of the inclined plate (9) by bolts, the cutter mechanism (27) is fixed to the other end of the inclined plate (9) by bolts, the driving wheel (8) is fixedly connected to the rotating shaft of the power motor (19), and is driven by the driven wheel (10) through the synchronous belt (7), and the driven wheel (10) is fixedly connected to the fan (28) in the cutter mechanism (27) by bolts; the two ends of the screw rod (12) are respectively fixed to the cutter connecting member (11) and the inclined plate connecting member (26) by bolts, and the cutter connecting member (11) and the inclined plate connecting member (26) are respectively fixed to the cutter mechanism (27) and the inclined plate (9) by bolts.

2. A self-propelled cantilever tea plucking machine with adjustable blade posture according to claim 1, characterized in that: The universal joint (24), the electric push rod I (21) and the electric push rod II (22) jointly determine the posture of the inclined plate (9), thereby determining the posture of the cutting knife mechanism (27) fixed on the inclined plate (9); according to the principle of "three points determine a plane", the universal joint (24), the electric push rod I (21) and the electric push rod II (22) are used to support the inclined plate (9), while simplifying the mechanism and control algorithm, avoiding the situation of "virtual legs" that occurs when using multiple points of support, causing the supported inclined plate (9) to lose stability, so that the cutting knife mechanism (27) fixed on the inclined plate (9) cannot work normally.

3. The self-propelled cantilever tea plucking machine with adjustable blade posture according to claim 1, characterized in that: The height lifting mechanism, the posture adjusting mechanism and the cutting knife mechanism (27) are all directly or indirectly fixed on the rotary driven gear (5); when the fresh leaves of the tea tree row on one side are harvested and the fresh leaves of the tea tree row on the other side of the road where the tea picking machine is located are harvested, but the space at the end of the field is small and the crawler chassis (1) cannot make a 180° turn, the rotary motor (3) can be used to rotate to drive the rotary driving gear (6), and the rotary driving gear (6) can be used to rotate to drive the rotary driven gear (5) and the other gears. The device carried on the upper part rotates 180 degrees to realize the harvest of fresh tea leaves from the tea tree row on the other side. In addition, when a large number of fresh tea leaves are harvested from a certain tea tree row, if the road condition between the tea tree rows on one side is poor, the rotary motor (3) can be used to rotate and drive the cutter mechanism (27) to rotate 180 degrees, and the crawler chassis (1) can be poured from the road between the tea tree rows on the other side to the end of the tea tree row, and then the crawler chassis (1) can be driven forward to drive the cutter mechanism (27) to realize the harvest of fresh tea leaves from this tea tree row.

4. The self-propelled cantilever tea plucking machine with adjustable blade posture according to claim 1, characterized in that: The collector ring (13) is fixed to the bottom of the lifting outer support (15) by bolts. The collector ring (13) is divided into two parts, a stator and a rotor. The stator can rotate along with the lifting outer support (15). The rotor is connected to the power supply of the crawler chassis (1) through a cable. The stator supplies power to the inclination sensor (25), the wire-type displacement sensor (16), the fixed-axis electric cylinder (14), the power motor (19), the electric push rod I (21), and the electric push rod II (22) through the cable, thereby preventing the cable for powering the above components from being unable to rotate when the rotary motor (3) rotates to drive the rotary driving gear (6) to rotate, causing the rotary driven gear (5) and the mechanism carried thereon to rotate. This causes the cable for powering the above components to be disconnected, so that the corresponding components cannot work due to power failure.

5. The self-propelled cantilever tea plucking machine with adjustable blade posture according to claim 1, characterized in that: The power motor (19) and the cutter mechanism (27) are respectively located on both sides of the inclined plate (9), playing a role of weight balance, which is beneficial for the electric push rod I (21) and the electric push rod II (22) to adjust the posture of the cutter mechanism (27).

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