CN109220202A - A kind of Famous High-quality Tea tea picking machine and its picking method - Google Patents
A kind of Famous High-quality Tea tea picking machine and its picking method Download PDFInfo
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- CN109220202A CN109220202A CN201811454900.8A CN201811454900A CN109220202A CN 109220202 A CN109220202 A CN 109220202A CN 201811454900 A CN201811454900 A CN 201811454900A CN 109220202 A CN109220202 A CN 109220202A
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- 241001122767 Theaceae Species 0.000 title claims abstract 17
- 238000000034 method Methods 0.000 title claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 58
- 239000010959 steel Substances 0.000 claims abstract description 58
- 230000010365 information processing Effects 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 12
- 238000013508 migration Methods 0.000 claims description 12
- 230000005012 migration Effects 0.000 claims description 12
- 239000000203 mixture Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 235000013616 tea Nutrition 0.000 description 91
- 244000269722 Thea sinensis Species 0.000 description 63
- 239000002994 raw material Substances 0.000 description 5
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- 240000007594 Oryza sativa Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
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- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 235000009566 rice Nutrition 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 1
- 240000003553 Leptospermum scoparium Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 235000015459 Lycium barbarum Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000009569 green tea Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
A kind of Famous High-quality Tea tea picking machine, including picker, collection leaf device and control device, it is characterized by: the picker includes bottom edge equilateral triangle susceptor plate facing forward, it is respectively provided with the band groove steel wheel by steel wheel axis connection on three angles of susceptor plate, is equipped with an annular wire rope in the groove of steel wheel；Steel wheel axis positioned at equilateral triangle susceptor plate vertex is equipped with the high-speed motor for driving steel wheel rotation, drives two steel wheels on susceptor plate equilateral triangle bottom edge to rotate by annular wire rope；It is additionally provided with spud pile on susceptor plate, the scalable mechanical arm for driving picker to advance is equipped on the spud pile；Spud pile is equipped with a positioning and level identification camera on the inside of susceptor plate.The length of quasi- picking bud slightly is determined by preset cutting-height, and bud slightly length consistant mass is good, and picking efficiency is high.
Description
Technical field
The invention belongs to agricultural machinery technological field more particularly to a kind of Famous High-quality Tea tea picking machines and its picking method.
Background technique
Tealeaves is one of China Important Economic crop, is the important way of vast mountain area especially central and west regions increasing peasant income
Diameter is the mainstay of tea area rural economy.According to statistics, the whole nation has 10 production tea provinces, 300 counties Duo Gechancha (city) by tea industry
It is classified as the pillar industry of agricultural.However in recent years, a large amount of to coastal and city with the adjustment of the industrial structure and rural laborer
Second and third industry transfer of town, China's tealeaves " adopting work famine " grow in intensity, and famous green tea adopts work shortage, loses and adopt seriously.It is estimated that
Only Zhejiang Province picks labour's notch at recruitment peak more than 500,000 people, the costs Continued such as picking expenses of labour.There is part tea
Due to lacking enough tea picking works, a large amount of tealeaves stay can not adopt down in time in the tree for leaf enterprise, and it is insufficient that some even adopts lower part
1/10th, cause resource serious waste.Since tealeaves can not be adopted down in time, tea-enterprise benefit variation is not only resulted in,
Resulting in tea-enterprise, middle tea garden management also further increases the production cost of tealeaves, therefore without return in this year
Labor cost increases the important bottleneck for having become and restricting tea industry top bar again, plays to entire tealeaves industry vital
It influences.
China's tealeaves benefit mostlys come from Famous High-quality Tea and high grade tea.Wherein, Famous High-quality Tea refers to one leaf of a bud or a bud
Two leaves are that raw material is fabricated to quality preferably tealeaves.Since Famous High-quality Tea standard of plucking is excessively tender, by the machinery of current non-selectivity
It is very difficult for changing Softening to pick the fresh tea leaves under adopting by normal size and separate.
Since current more common tea picking machine is all blade reciprocation type tea picking machine, this loom can only be edge in picking
Crown surface some height, the bud-leaf above the edge of a knife is all adopted down, and can not differentiate this bud-leaf picked be simple bud,
Even three or four leaf of a bud or old leaf of one bud, one leaf, two leaves and a bud, but it is all mixed in together, so as to cause Famous High-quality Tea original
The size of material mixes, or even because has old leaf and stalk to be mingled in interior and tealeaves finished product is caused thick old taste occur, to significantly drop
The quality and price of low Famous High-quality Tea.Current people in the industry is also continuously improving tea picking machine, so that it adapts to Famous High-quality Tea
Raw material picking.But these improvement have focused largely on following three aspects: long blade is such as changed to short and small by the 1) change of blade length
Blade, to improve its flexibility ratio；2) height adjustment for changing the edge of a knife, allows it to raise as far as possible, avoided as far as possible by mature leaf
It adopts into wherein；3) gasoline engine driving is changed to lithium battery driving, to mitigate the weight of picking machine, improves its mobility.But this three
A aspect all or based on blade reciprocation type picks principle, is still the problem of can't resolve non-selectivity.Although imaging at present
Head identification aspect also has more research, but since the color consistency of tealeaves young sprout is preferable, color contrast is smaller, so
Correct identification aspect efficiency is lower.Even simultaneously identify, the three-dimensional localization of picking hands be still it is very difficult and slow, from reality
Border production application is had got long long way to go.
Summary of the invention
In order to overcome technical problem present in background technique, the object of the present invention is to provide it is a kind of it is flexible, with
" intelligent recognition+filament cutting+wind inhale integrates leaf " can be really achieved intelligence as a kind of Famous High-quality Tea tea picking machine of core and its picking method
Can, quick, good picking effect, quality material needed for obtaining Famous High-quality Tea.
The present invention is achieved through the following technical solutions:
A kind of Famous High-quality Tea tea picking machine, including picker, collection leaf device and control device, it is characterised in that: the picker
Including bottom edge equilateral triangle susceptor plate facing forward, one is respectively provided on three angles of susceptor plate by steel wheel axis connection
Band groove steel wheel, be equipped with an annular wire rope in the groove of steel wheel；Steel positioned at equilateral triangle susceptor plate vertex
Wheel shaft is equipped with the high-speed motor for driving steel wheel rotation, is driven on susceptor plate equilateral triangle bottom edge by annular wire rope
Two steel wheel rotations；It is additionally provided with spud pile on susceptor plate, is equipped on the spud pile for driving picker to advance
Scalable mechanical arm；Spud pile is equipped with a positioning and level identification camera on the inside of susceptor plate.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the following above and of the susceptor plate, which is equipped with, to be used for
Three axis fixed strips of fixed steel wheel axis.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the susceptor plate and a wherein steel wheel shaft connection place
Equipped with card slot, the lock for locking steel wheel axis is equipped on card slot, by steel wheel axis in the mobile realization annular in card slot both ends
The handling of wirerope.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the collection leaf device mainly by Ji Yekou, vortex fan,
Collect leaf air hose and leaf collecting box is constituted, the vortex fan is arranged on the tube wall of collection leaf air hose, and the middle and back of collection leaf air hose is equipped with
Air exhausting net；The vortex fan lower end is equipped with the support rod being connected with scalable mechanical arm.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the collection leaf air hose includes the scalable collection leaf of front middle part
The non-telescoping arc collection leaf air hose of air hose and middle and back, the air exhausting net are arranged in outside the curved portion of arc collection leaf air hose
Side.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the control device includes the fortune realizing tea picking machine and advancing
Carrying platform is arranged in shifting system, migration system top；Being equipped between migration system and carrying platform keeps carrying platform holding horizontal
Balancing device；Elevating lever is fixedly connected on the carrying platform；Be additionally provided on carrying platform power generator, battery unit,
Image Information Processing and picking control system and X-by-Wire device；The elevating lever is flexibly connected with scalable mechanical arm.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the migration system is each by two pairs of front and back driving wheel, left and right
One crawler belt, four driving wheeling supporting frames, four four part of driving wheel carrying platform compositions.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the balancing device is gyroscopic equilibrium instrument.
A kind of Famous High-quality Tea tea picking machine, it is characterised in that: the scalable mechanical arm is equipped with elevating lever and controls horse
Up to hydraulic push rod motor.
The method that a kind of Famous High-quality Tea tea picking machine carries out picking tealeaves, it is characterised in that: its picking method is as follows: picking
The tree crown in tea place selects horizontal tree crown；When picking bud-leaf young sprout accounts for the 70-80% of the bud tip in tree body with a bud one and two leaves and a bud
Or bud tip average height is picking optimum period when being 4.5-5cm；It is fixed when tea picking machine, which migrates to tea place, need to pick capable picking position
Position and level identification camera, which send instructions, commands picker to extension at tea row tree crown, picks the bud tip and wirerope when taking
When contact, Image Information Processing and picking control system send instructions picking head are made to halt, and measure the height of the bud tip immediately,
And it issues a command to mechanical arm and picking position, immediately image information is adjusted to according to the height or preset height of the measured bud tip
Processing and picking control system to high-speed motor and collection leaf air hose on motor issue instruction, high-speed motor drive immediately steel wheel and
Wirerope starts to run at high speed, and the bud tip for touching wirerope, which is cut off, to be adopted down, and the bud tip under adopting is immediately by the Ji Yekou on top
Negative pressure inspiration leaf collecting box；When positioning and the detection of level identification camera are less than young sprout, picker is retracted, and according to setting
Fixed program moves inward the picking of next section of continuation.
A kind of above-mentioned Famous High-quality Tea tea picking machine is faced artificial in short supply but current mainly for the picking of current Famous High-quality Tea
Reciprocation type tea picking machine can not really solve the problems, such as the Mechaniaed harvest of Famous High-quality Tea again, invented it is a kind of it is flexible, with " intelligence
Energy identification+filament cutting+wind, which is inhaled, integrates leaf " as the picking mechanical of core equipment and Softening, to solve current general knife
Piece reciprocation type tea picking machine can not it is selective caused by bud slightly length be unable to control, bud tip base portion is torn and become by cutting position
The technological deficiencies such as red.The present invention realizes the ecosystem of bud-leaf in Famous High-quality Tea Mechaniaed harvest, bud-leaf size optionalization, adopts
Process intelligence, picking rate high efficiency are plucked, specifically has the following beneficial effects: (1) in a manner of single line cutting picking
It replaces original blade to cut back and forth, reduces the damage of bud-leaf.This patent uses one and is mounted on three steel wheels
Annular high-ductility steel cord replaces conventional blades, and wirerope is under the drive of high-speed motor around three steel wheel high speed rotations, shape
At cutting force, this linear incision has cutting fastly to reduce bud tip base portion in part existing for conventional blades by cutting position
The problem of being torn and being reddened, therefore its bud-leaf damage picked is smaller than the loss that blade is cut, to make fresh tea leaves
Quality is more preferably；(2) the blowing collection leaf that negative wind pressure collection leaf replaces traditional tea picking machine is formed with vortex fan, simultaneously because every side steel wire
The length of rope only has 7cm, and the bud-leaf under adopting every time is usually no more than 3, and can further subtract rapidly by wind sucking leaf collecting box
The shock and friction between the picking bud tip are lacked, simultaneously as wind can be rapidly from the air exhausting net for being located at collection leaf air hose pipeline middle and back
Middle blowout, and picking bud-leaf will not be continued by wind, to keep the freshness for picking raw material more preferable；(3) picking head body
Product is small, and flexible property is good, positioning is fast, and picking efficiency is high.Using small and exquisite equilateral triangle steel plate structure as picking head
Pedestal, steel plate thickness 0.3cm, side length 6cm.Bottom plate both as the picking interim collection location of leaf, was also used as entire picking head
The fixed support of accessory.For picking head using the angle where the driving wheel equipped with high-speed motor as apex angle (position backwards), spud pile is close
A positioning and level identification camera are equipped on the inside of susceptor plate, to determine apart from nearest bud position slightly and height,
The length of quasi- picking bud slightly is determined by preset cutting-height, and high-efficient, bud slightly length is consistent, high-quality.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of picker of the present invention；
Fig. 2 is the present invention looks up structural representation of picker of the present invention；
Fig. 3 is structural schematic diagram of the invention；
Fig. 4 is the enlarged drawing in the area Tu3Zhong M；
The travelling route schematic diagram of picker when Fig. 5 is picking；
In figure: 1- picker；1-1- susceptor plate；1-2- steel wheel；1-3- wirerope；1-4- high-speed motor；1-5- positioning and
Level identification camera；1-6- spud pile；1-7- card slot；Tri- axis fixed strip of 1-8-；The scalable mechanical arm of 1-9-；1-9-1- lifting
Bar controls motor；1-9-2- hydraulic push rod motor；1-10- support rod；2- collection leaf device；2-1- Ji Yekou；2-2- vortex fan；
2-3- collection leaf air hose；2-4- air exhausting net；2-5- leaf collecting box；3- control device；3-1- migration system；3-2- balancing device；3-3-
Carrying platform；3-4- power generator；3-5 battery unit；3-6- Image Information Processing and picking control system；3-7- lifting
Bar；3-1-1- driving wheel；3-1-2- crawler belt；3-1-3- support frame；3-1-4- carrying platform；3-1-5- X-by-Wire device.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
The present invention devises a kind of Famous High-quality Tea tea picking machine (picture 1-4), mainly includes picker 1, collection leaf device 2 and behaviour
Control the big module of device 3 three.Wherein: picker 1 includes bottom edge equilateral triangle susceptor plate 1-1 facing forward, susceptor plate
Three angles on be respectively provided with the band groove steel wheel 1-2 by steel wheel axis connection, be equipped with a ring in the groove of steel wheel
Shape wirerope 1-3；It is equipped with positioned at the steel wheel axis of equilateral triangle susceptor plate vertex (A point in Fig. 1) and drives the steel wheel (actively
Wheel) rotation high-speed motor 1-4, the susceptor plate equilateral triangle bottom edge (company of B, C two o'clock in Fig. 1 is driven by annular wire rope
Line) on two steel wheels rotation (that is: two steel wheels are located at the point of the B in Fig. 1 and C point, be driven wheel)；The rule of three steel wheels
Lattice are best are as follows: diameter is the groove that 2cm and outer diameter have deep 1mm, and groove is for installing stationary annular high-ductility steel cord 1-
3, the wire cross-section face diameter of annular high-ductility steel cord is preferably 0.3mm.Spud pile 1-6 is additionally provided on susceptor plate, it is described
The scalable mechanical arm 1-9 for driving picker to advance is equipped on spud pile；In order to obtain more firm fixed effect
Fruit, spud pile 1-6 are preferably provided 2 (see Fig. 1, Fig. 2)；Spud pile is equipped with a camera lens forward (i.e. on the inside of susceptor plate
Towards the midpoint of BC) positioning and level identification camera 1-5(see Fig. 1).Susceptor plate 1-1 and a wherein steel wheel axis connection
Place is equipped with card slot 1-7, and the lock for locking steel wheel axis is equipped on card slot, by steel wheel axis in the mobile realization in card slot both ends
The handling of annular wire rope；By the card slot 1-7 inner terminal for first moving to the steel wheel for being located at C point (Fig. 1), wire line thimble is installed
After 1-3, steel wheel is locked at card slot outermost end, to tense annular wire rope.The wherein best ruler of equilateral triangle susceptor plate 1-1
It is very little are as follows: thickness 0.3cm, side length 6cm.This bottom plate is both as the picking interim collection location of leaf, also as entire picking head accessory
Fixed support place.In order to make steel wheel axis have better stability, the following above and of susceptor plate 1-1 is equipped with for solid
Determine three axis fixed strip 1-8 of steel wheel axis.Scalable mechanical arm 1-9 is equipped with the scalable mechanical arm of control in elevating lever drop
The hydraulic push rod that the elevating lever control motor 1-9-1 and a regulation picker for moving up and down and swinging are moved forwards, backwards
Motor 1-9-2.
Collection leaf device 2 is mainly made of collection leaf mouth 2-1, vortex fan 2-2, collection leaf air hose 2-3 and leaf collecting box 2-5, described
In collection leaf air hose 2-3, the middle and back of collection leaf air hose is equipped with air exhausting net 2-4 for vortex fan 2-2 setting；The vortex fan 2-2
Lower end is equipped with the support rod 1-10 being connected with scalable mechanical arm.Collect leaf mouth 2-1(bore 6cm) it is circle, it is punished in steel wheel axis
(see figure 4) is not fixedly connected with picker.When use state, negative pressure is formed in collection leaf mouth 2-1 by vortex fan 2-2, from
And the bud tip picked is sucked into collection leaf air hose from Ji Yekou and then enters in leaf collecting box 2-5, the wind that vortex fan 2-2 is generated
It is quickly discharged from air exhausting net 2-4, to not influence the wind pressure of Ji Yekou, decreases picking young sprout in leaf collecting box and continue by wind
Risk, maintain the freshness of the bud tip.The size dimension of leaf collecting box can be with are as follows: long 50cm* wide 50cm* high 30cm.As excellent
Choosing collects leaf air hose 2-3 preferably by the non-telescoping arc collection leaf air hose two of the scalable collection leaf air hose of front middle part and middle and back
Part is constituted, at this point, (see figure 3) on the outside of the curved portion of arc collection leaf air hose is arranged in air exhausting net 2-4.
Control device 3 includes the migration system 3-1 for realizing tea picking machine and advancing, and carrying platform 3-3 is arranged above migration system,
Mainly it is made of one block of steel plate；The balancing device 3-2 for making carrying platform holding level is equipped between migration system and carrying platform；
Elevating lever 3-7(is fixedly connected on the carrying platform 3-3 for adjusting the height of picker, height 80cm)；Carrying platform
Power generator 3-4, battery unit 3-5, Image Information Processing and picking control system 3-6 and X-by-Wire are additionally provided on 3-3
Device 3-1-5；Elevating lever 3-7 is flexibly connected with scalable mechanical arm 1-9.Power generator 3-4 is mainly the picker of tea picking machine
Power source is provided；Battery unit 3-5 is mainly used for the high-speed motor 1-4 to tea picking machine, positioning and level identification camera
The driving of 1-5, vortex fan 2-2, Image Information Processing and four picker control system 3-6, tea picking machine driving wheel 3-1-1
The equipment such as motor and X-by-Wire device 3-1-5 provide electric power.Image Information Processing and picker control system 3-6 mainly include
Video information process system, picking head positioning and highly regulated system, tea picking machine direction of motion signal processing system composition, wherein
Positioning and height control for picking head are equipped with manual operation mode and two kinds of automatic control mode, tea picking machine under artificial mode
Level identification camera 1-5 and the control to corresponding control motor, the front and rear, left and right of picker 1 and upper and lower shifting can be closed
It is dynamic arbitrarily to be controlled by operator；Automatically control the position of lower picker 1 by controlled level in scalable mechanical arm 1-9 with
Two motors (elevating lever control motor 1-9-1 and hydraulic push rod motor 1-9-2) of up and down direction control.
As preferred: the fuselage length of tea picking machine control device is that 80cm(does not include seed harvester and scalable machinery
Arm), width 50cm, height 60cm(do not include elevating lever height).It is double crawler belts support, wherein single crawler belt wide 20cm, two
A crawler belt gap 10cm, outside beam overall is 50cm between two crawler belts, and two crawler belts and ground contact portion length are 50cm, crawler belt
The height between row is 20cm up and down, to improve passability and applicability of the equipment in various tea places.
Preferably, above-mentioned migration system 3-1 is by two pairs of front and back driving wheel 3-1-1, left and right each crawler belt 3-1-2, four
A driving wheeling supporting frame 3-1-3, four tetra- part driving wheel carrying platform 3-1-4 compositions, with any course changing control of energy and promotion
Handling capacity, the back-and-forth motion and steering of tea picking machine are controlled by X-by-Wire device 3-1-5；Balancing device 3-2 is mainly installed
Gyroscopic equilibrium instrument, so that tea picking functional adaptation sloping fields tea garden is picked.
The cutting force formed with the wirerope to run at high speed is applied in tea picking original to replace by this patent for the first time
Blade cut back and forth, to reduce the damage of bud-leaf.Using small and exquisite equilateral triangle steel plate structure as picking head
Pedestal, three steel wheels are by an annular high-ductility steel cord connection, under the drive of high-speed motor, wirerope high speed around
Three steel wheel high speed rotations form cutting force, thus replace original blade to cut back and forth in a manner of single line cutting picking,
The bud-leaf damage picked is smaller than the loss that blade is cut.
The blowing collection leaf mode generallyd use in such a way that wind inhales collection leaf instead of current tea picking machine, which can reduce leaf
Accumulation and abrasion between piece, at the same decrease fresh leaf the wind time.Since the length of every side wirerope only has 7cm, every time
Bud-leaf under adopting is usually no more than 3, and can reduce the shock and friction between bud-leaf, more rapidly by wind sucking leaf collecting box
Be conducive to keep the freshness of the bud tip；Simultaneously because wind can be blown out from the Air outlet net for being located at collection leaf pipeline middle section rapidly, and bud
Leaf is entered in leaf collecting box in the form of freely falling body after losing wind suction, and picking bud-leaf will not be continued by wind
, to maintain the normal moisture content of blade, and keep the freshness for picking raw material more preferable.
Position and the three-dimensional feature that picking bud-leaf is quickly judged by positioning and level identification camera, calculate and sprout slightly
Highly, and by Image Information Processing and picking control system the scalable mechanical arm for feeding back to installation cutting picking head, will adopt
The bud tip is picked in cutting after plucking the altitude location of head, and siphons away the young sprout under adopting with aspiration channel moment.
Above-mentioned Famous High-quality Tea tea picking machine work step is as follows:
Requirement and picking optimum period of the tea picking machine to tree crown: the tree crown in equipment requirement picking tea place is advisable with horizontal tree crown；Work as picking
Picking when accounting for the 70-80% of the bud tip in tree body with a bud one, two leaves or when bud tip average height is 4.5-5cm of bud-leaf young sprout is
Pick optimum period.
When machine is reached tea place the first row picking position by tea picking machine operator (such as Fig. 5), it is installed near at A and determines
Position and level identification camera, which send instructions, commands picking head (i.e. picker) to extend at tea row tree crown, when taking picking bud
When the tip and BC wirerope contact, Image Information Processing and picking control system send instructions and picking head are made to halt, and survey immediately
The height of the bud tip is measured, and issues a command to mechanical arm and picking position is adjusted to according to the height or preset height of the measured bud tip
It sets, Image Information Processing and picking control system are issued to the motor on high-speed motor and collection leaf air hose immediately instructs, high speed electricity
Machine drives wirerope to start to run at high speed immediately, touch BC sections of wirerope the bud tip be cut off adopts down, the bud tip under adopting with
I.e. by the negative pressure inspiration of the Ji Yekou on top leaf collecting box.When picking head adopts the end FG by the end DE, positioning and level identification are taken the photograph
The detection of picture head is less than young sprout, then camera can issue a command to Image Information Processing and picking control system, and picking head is retracted
To the side DE, and moves inward 6cm according to the set procedure and adjust to the picking of EH sections of next section of continuation.When tea tree reaches picking
When optimum period, equipment operator manipulates front and back and the divertical motion of tea picking machine by X-by-Wire device, and seed harvester is made to reach tea row
Specified position, the positioning of picking head 1 and level identification thecamera head location information and elevation information are to Image Information Processing
And control system is picked, signal is formed after Image Information Processing, and by controlling two groups of motors (lifting on scalable mechanical arm
Bar controls motor and hydraulic push rod motor), so that susceptor plate is quickly moved to the And Development of Tea Shoot of quasi- picking, high-speed motor energization band
Dynamic annular wire rope high-speed rotation forms cutting force, the bud tip is cut off, the bud tip cut is above under the suction function of Ji Yekou
It is inhaled into and rear end is fallen into leaf collecting box in the form of parabolical due to losing wind pressure in collection leaf air hose.
The present invention adopts Famous High-quality Tea tea picking machine designed by the phase present invention under the premise of meeting tree crown requirement, suitable, adopts
The bud tip percentage of head rice plucked is 98% or more, and the bud tip percentage of head rice that it is picked with common blade type tea picking machine is in 35-60%.Through adjusting
Discovery is looked into, in Zhejiang area, for the bud tip of main one bud of local tea variety, one leaf probably in 4cm or so, the bud tip of two leaves and a bud is high
Degree is probably in 5cm or so, therefore, picking bud can be set according to the fresh leaf standard of tea making and the corresponding height of the adopted bud tip slightly
Height, therefore the uniformity of the bud tip, uniformity are substantially better than the tea picking machine of current routine.As the picking bud tip height that sets as
4cm, then the bud tip height under adopting is able to maintain in 4cm substantially, therefore ensure that the uniformity and uniformity of Famous High-quality Tea raw material.
Claims (10)
1. a kind of Famous High-quality Tea tea picking machine, including picker (1), collection leaf device (2) and control device (3), it is characterised in that: institute
Stating picker (1) includes bottom edge equilateral triangle susceptor plate (1-1) facing forward, is respectively provided on three angles of susceptor plate
One passes through band groove steel wheel (1-2) of steel wheel axis connection, is equipped with an annular wire rope (1-3) in the groove of steel wheel；
Steel wheel axis positioned at equilateral triangle susceptor plate vertex is equipped with the high-speed motor (1-4) for driving steel wheel rotation, passes through annular
Wirerope drives two steel wheels rotation on susceptor plate equilateral triangle bottom edge；Spud pile (1-6), institute are additionally provided on susceptor plate
State the scalable mechanical arm (1-9) being equipped on spud pile for driving picker to advance；Spud pile is close to susceptor plate
Inside is equipped with a positioning and level identification camera (1-5).
2. a kind of Famous High-quality Tea tea picking machine according to claim 1, it is characterised in that: the lower section of the susceptor plate (1-1)
The three axis fixed strips (1-8) for fixing steel wheel axis are equipped with top.
3. a kind of Famous High-quality Tea tea picking machine according to claim 1, it is characterised in that: the susceptor plate (1-1) with wherein
A piece steel wheel shaft connection place is equipped with card slot (1-7), and the lock for locking steel wheel axis is equipped on card slot, is existed by steel wheel axis
The mobile handling for realizing annular wire rope in card slot both ends.
4. a kind of Famous High-quality Tea tea picking machine according to claim 1, it is characterised in that: the collection leaf device (2) is mainly by collecting
Leaf mouth (2-1), vortex fan (2-2), collection leaf air hose (2-3) and leaf collecting box (2-5) are constituted, vortex fan (2-2) setting
On the tube wall of collection leaf air hose (2-3), the middle and back of collection leaf air hose is equipped with air exhausting net (2-4)；Vortex fan (2-2) lower end
Equipped with the support rod (1-10) being connected with scalable mechanical arm.
5. a kind of Famous High-quality Tea tea picking machine according to claim 4, it is characterised in that: before the collection leaf air hose (2-3) includes
The scalable collection leaf air hose at middle part and the non-telescoping arc collection leaf air hose of middle and back, the air exhausting net (2-4) are arranged in arc
On the outside of the curved portion of shape collection leaf air hose.
6. a kind of Famous High-quality Tea tea picking machine according to claim 1, it is characterised in that: the control device (3) includes realizing
Carrying platform (3-3) is arranged in the migration system (3-1) that tea picking machine is advanced, migration system top；Migration system and carrying platform it
Between be equipped with and make the balancing device (3-2) of carrying platform holding level；Elevating lever (3- is fixedly connected on the carrying platform (3-3)
7)；Power generator (3-4), battery unit (3-5), Image Information Processing and picking control are additionally provided on carrying platform (3-3)
System (3-6) and X-by-Wire device (3-1-5)；The elevating lever (3-7) is flexibly connected with scalable mechanical arm (1-9).
7. a kind of Famous High-quality Tea tea picking machine according to claim 6, it is characterised in that: the migration system (3-1) is by front and back
Two pairs of driving wheels (3-1-1), each crawler belt (3-1-2) in left and right, four driving wheeling supporting frames (3-1-3), four driving wheels are taken
Four part of carrying platform (3-1-4) composition.
8. a kind of Famous High-quality Tea tea picking machine according to claim 6, it is characterised in that: the balancing device (3-2) is gyro
Equilibristat.
9. a kind of Famous High-quality Tea tea picking machine according to claim 1, it is characterised in that: on the scalable mechanical arm (1-9)
Equipped with elevating lever control motor (1-9-1) and hydraulic push rod motor (1-9-2).
10. a kind of method that Famous High-quality Tea tea picking machine carries out picking tealeaves, feature described in any one of -9 according to claim 1
Be: its picking method is as follows: picking the horizontal tree crown of tree crown selection in tea place；When picking bud-leaf young sprout is with a bud of bud one and one two
It is picking optimum period when leaf accounts for the 70-80% of the bud tip in tree body or when bud tip average height is 4.5-5cm；When tea picking machine migrates to tea
When garden need to pick capable picking position, positioning and level identification camera, which send instructions, commands picker to prolonging at tea row tree crown
It stretches, when taking the picking bud tip and wirerope contacts, Image Information Processing and picking control system send instructions and stop picking head
Only advance, and measures the height of the bud tip immediately, and issue a command to height or preset height of the mechanical arm according to the measured bud tip
Degree is adjusted to picking position, and Image Information Processing and picking control system are sent out to the motor on high-speed motor and collection leaf air hose immediately
It instructing out, high-speed motor drives steel wheel and wirerope to start to run at high speed immediately, and the bud tip for touching wirerope, which is cut off, to be adopted down,
The bud tip under adopting is immediately by the negative pressure inspiration of the Ji Yekou on top leaf collecting box；When positioning and level identification camera detection less than
When young sprout, picker is retracted, and moves inward the picking of next section of continuation according to the set procedure.
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| CN201811454900.8A CN109220202B (en) | 2018-11-30 | 2018-11-30 | Famous tea picking machine and picking method thereof |
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| CN112189447A (en) * | 2020-11-03 | 2021-01-08 | 杭州市农业科学研究院 | Intelligent tea picking machine with tea sprout tips positioned at four corners and working method of intelligent tea picking machine |
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