CN114642122A - Tea-leaf picker - Google Patents
Tea-leaf picker Download PDFInfo
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- CN114642122A CN114642122A CN202210138315.7A CN202210138315A CN114642122A CN 114642122 A CN114642122 A CN 114642122A CN 202210138315 A CN202210138315 A CN 202210138315A CN 114642122 A CN114642122 A CN 114642122A
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- arm
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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
- A01D46/30—Robotic devices for individually picking crops
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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
- A01D46/22—Baskets or bags attachable to the picker
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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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Tea And Coffee (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the technical field of tea picking machinery, and provides a tea picking machine. The tea-leaf picker provided by the invention comprises: a traveling mechanism; the first end of the mechanical arm is connected with the top surface of the walking mechanism, the mechanical arm can rotate around the longitudinal axis of the mechanical arm, and the mechanical arm can stretch and retract; the pose adjusting mechanism is rotationally connected with the second end of the mechanical arm; the picking mechanism is connected with the pose adjusting mechanism; part of the detection mechanism is arranged on the mechanical arm, and the rest part of the detection mechanism is arranged on the pose adjusting mechanism; the controller is used for controlling the mechanical arm and the pose adjusting mechanism to act according to the signal sent by the detection mechanism. The tea plucking machine provided by the invention can adjust the length of the mechanical arm and the angle of the pose adjusting mechanism in real time according to the detection result of the detection mechanism, so that the height, the transverse position and the angle of the plucking mechanism can be adjusted in real time, and the plucking quality is improved. The tea plucking machine provided by the invention can adjust the posture of the plucking mechanism in real time and has strong adaptability.
Description
Technical Field
The invention relates to the technical field of tea picking machinery, in particular to a tea picking machine.
Background
At present, most of tea gardens in China still pick tea leaves manually, the picking mode is low in efficiency and high in labor intensity, and along with the fact that a large amount of rural labor force is rushed into a city, the problems of labor force shortage, labor cost increase and the like are brought to tea picking operation, and the sustainable development of the tea industry is severely restricted. Therefore, mechanization of tea-picking is particularly important.
In recent years, tea plucking machines in China are gradually developed, and single-person tea plucking machines, double-person tea plucking machines, cross-row self-propelled tea plucking machines and the like are available. The tea plucking machine reduces the operation intensity of tea plucking personnel to a certain extent, and improves the tea plucking efficiency, thereby shortening the tea plucking period and increasing the economic benefit.
However, the existing tea plucking machine needs a driver to operate the machine, the driver can be tired due to long-time operation, the operation quality is affected, meanwhile, the road condition in a tea garden is complex and rugged, the tea plucking machine jolts when walking, the risk of rollover is easy to generate, and great hidden danger is brought to the safety of the driver. Meanwhile, the existing tea plucking machine has poor adaptability, and the height and the posture of the cutter cannot be adjusted in real time when the ground is uneven or the surface shape of the tea tree fluctuates greatly, so that the tea plucking quality cannot be guaranteed.
Disclosure of Invention
The invention provides a tea-leaf picker, which is used for solving the defect that the position of a cutter of the tea-leaf picker in the prior art cannot be adjusted in real time.
The invention provides a tea-leaf picker, comprising: a traveling mechanism; the first end of the mechanical arm is connected with the top surface of the walking mechanism, the mechanical arm can rotate around the longitudinal axis of the mechanical arm, and the mechanical arm can stretch and retract; the pose adjusting mechanism is rotatably connected with the second end of the mechanical arm; the picking mechanism is connected with the pose adjusting mechanism; a detection mechanism, a part of which is provided at the robot arm, and the remaining part of which is provided at the pose adjustment mechanism; and the controller is used for controlling the mechanical arm and the pose adjusting mechanism to act according to the signal sent by the detection mechanism.
According to the tea plucking machine provided by the present invention, the robot arm includes: the first arm is connected with the top surface of the travelling mechanism and is perpendicular to the travelling mechanism, the first arm can rotate around the axis of the first arm, and the first arm can stretch and retract; the second arm is vertically arranged with the first arm and connected with the first arm, and the second arm can stretch and retract; wherein, the position and posture adjusting mechanism is connected with the second arm in a rotating way.
According to the present invention there is provided a tea-leaf picker, said first arm comprising: the first arm section is connected with the top surface of the travelling mechanism and can rotate around the axis of the first arm section; a first motor disposed within the first arm section; the second arm section is sleeved with the first arm section, and the second arm section can stretch along the first arm section under the driving of the first motor.
According to the present invention there is provided a tea-leaf picker, said second arm comprising: the third arm section is vertically arranged with the second arm section and is connected with the second arm section; a second motor disposed within the third arm section; the fourth arm section is sleeved with the third arm section and can stretch along the third arm section under the drive of the second motor; and the fourth arm section is rotationally connected with the pose adjusting mechanism.
According to the tea plucking machine provided by the present invention, the posture adjusting mechanism comprises: the third motor is connected with the fourth arm section; the connecting piece is connected with a rotating shaft of the third motor; the push rod can stretch out and draw back, the both ends of push rod respectively with the connecting piece with picking mechanism connects.
According to the tea plucking machine provided by the present invention, the detection mechanism comprises: the laser radar is arranged on the first arm and used for detecting the distance between the first arm and the side face of the tea tree; the controller is used for controlling the second motor to act according to the signal sent by the laser radar.
According to the tea plucking machine provided by the invention, the detection mechanism further comprises: the ultrasonic radar is arranged on the bottom surface of the connecting piece and is used for detecting the distance between the connecting piece and the surface of the tea tree; the controller is used for controlling the first motor, the third motor and the push rod to act according to signals sent by the ultrasonic radar.
According to a tea plucker provided by the present invention, the plucking mechanism comprises: the fixing frame is connected with the push rod, and a cutter is arranged on the fixing frame; the air blowing assembly is arranged on the fixed frame and is parallel to the cutter; the air pipe, the air pipe with the air-blast subassembly is connected, wherein, the air-blast subassembly is used for with tealeaves that the cutter was picked insufflates in the air pipe.
According to the tea-leaf picker that the invention provides, still include: the collecting mechanism is connected with the ventilating pipeline and arranged on the traveling mechanism.
According to the tea plucking machine provided by the invention, by arranging the mechanical arm, the pose adjusting mechanism, the detection mechanism and the controller, the length of the mechanical arm and the angle of the pose adjusting mechanism can be adjusted in real time according to the detection result of the detection mechanism, so that the height, the transverse position and the angle of the plucking mechanism can be adjusted in real time, and the plucking quality of tea leaves is improved. The tea-leaf picker provided by the invention can adjust the posture of the picking mechanism in real time, has strong adaptability, does not need a driver to sit on the tea-leaf picker for operation, and avoids potential safety hazards to the driver caused by the side turning of the tea-leaf picker.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a front view of a tea-leaf picker provided by the present invention;
FIG. 2 is a side view of the tea plucker provided by the present invention;
FIG. 3 is a schematic view of the picker mechanism shown in FIG. 1;
FIG. 4 is a flow chart of the operation of the tea plucker provided by the present invention;
reference numerals:
10: a traveling mechanism; 21: a first arm; 22: a second arm; 30: a third motor; 41: a connecting member; 42: a push rod; 51: an ultrasonic radar; 52: a laser radar; 60: a picking mechanism; 61: a fixed mount; 62: a cutter; 63: a blower assembly; 64: a ventilation duct; 70: and a collecting mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The features of the terms first and second in the description and in the claims of the invention may explicitly or implicitly include one or more of these features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The tea plucking machine of the present invention will be described below with reference to fig. 1 to 4.
As shown in fig. 1, in one embodiment of the present invention, a tea plucking machine includes: a walking mechanism 10, a mechanical arm, a pose adjusting mechanism, a picking mechanism 60, a detection mechanism and a controller. The first end of the robot arm is connected to the top surface of the traveling mechanism 10, the robot arm can rotate around its longitudinal axis, and at the same time, the robot arm can telescope. The pose adjusting mechanism is rotatably connected with the second end of the mechanical arm, and the picking mechanism 60 is connected with the pose adjusting mechanism. The controller is used for controlling the mechanical arm and the pose adjusting mechanism to act according to signals sent by the detection mechanism.
Particularly, the tea-leaf picker provided by the embodiment of the invention does not need to be driven by a driver, and can walk along tea rows after the tea-leaf picker is driven into a tea garden. In this embodiment, the arm can stretch out and draw back in order to adjust the distance between picking mechanism and the tea tree surface, and position appearance adjustment mechanism rotates with the arm to be connected, and position appearance adjustment mechanism can adjust the angle between picking mechanism and the tea tree surface, is convenient for tea-leaf picker to pick tealeaves. Specifically, the detection mechanism can be a plurality of sensors, the sensors arranged on the mechanical arms are used for detecting the distance between the mechanical arms and the side faces of the tea trees, the controller processes signals sent by the sensors and then generates control instructions through algorithms to control the mechanical arms to stretch and retract, the distance between the mechanical arms and the side faces of the tea trees is further adjusted, and therefore the transverse position of the picking mechanism 60 is adjusted. The sensor arranged on the in-place posture adjusting mechanism is used for detecting the distance between the posture adjusting mechanism and the surface of the tea tree, and the controller processes signals sent by the sensor and generates control instructions through an algorithm to control the mechanical arm to stretch and the posture adjusting mechanism to rotate so as to adjust the height and the angle between the picking mechanism and the surface of the tea tree.
Alternatively, the detection mechanism may be a distance sensor, and in this embodiment, the detection mechanism is a laser radar or an ultrasonic radar.
According to the tea plucking machine provided by the embodiment of the invention, by arranging the mechanical arm, the pose adjusting mechanism, the detection mechanism and the controller, the length of the mechanical arm and the angle of the pose adjusting mechanism can be adjusted in real time according to the detection result of the detection mechanism, so that the height, the transverse position and the angle of the plucking mechanism can be adjusted in real time, and the plucking quality of tea leaves is improved. The tea-leaf picker provided by the embodiment of the invention can adjust the posture of the picking mechanism in real time, has strong adaptability, does not need a driver to sit on the tea-leaf picker for operation, and avoids potential safety hazards to the driver caused by the side turning of the tea-leaf picker.
Further, in the present embodiment, the robot arm includes a first arm 21 and a second arm 22 which are vertically arranged, the first arm 21 is a vertical arm, the first arm 21 is connected to the top surface of the traveling mechanism 10 and is vertically arranged with the traveling mechanism 10, and the first arm 21 is rotatable about the axis of the first arm 21. The second arm 22 is a cross arm, the second arm 22 is vertically arranged and connected with the first arm 21, and the second arm 22 is connected with the posture adjusting mechanism.
Specifically, when the tea plucking machine walks in the tea row, the first arm 21 can be rotated, so that the second arm 22 is parallel to the walking direction of the walking mechanism 10, the transverse length of the tea plucking machine is reduced, and the tea plucking machine can conveniently pass through the tea row; when the tea plucking machine starts to operate, the first arm 21 can be rotated, so that the second arm 22 is perpendicular to the traveling direction of the traveling mechanism 10, and tea leaves can be plucked conveniently. Both the first arm 21 and the second arm 22 can be telescopic to be telescopic according to the detection result of the detection mechanism so as to adjust the height and the transverse position of the picking mechanism 60.
Further, in one embodiment of the present invention, the first arm 21 includes: the first arm section, first motor and second arm section. Particularly, first arm section is connected with running gear 10's top surface, and first arm section can be rotatory around its axis, and first motor setting is in first arm section, and second arm section cup joints with first arm section, can drive second arm section and stretch out and draw back along first arm section at first motor during operation to the height of mechanism 60 is picked in the adjustment.
The second arm 22 includes: third arm section, second motor and fourth arm section. Particularly, the third arm section is perpendicular to the second arm section, the second motor is arranged in the third arm section, the fourth arm section is sleeved with the third arm section, and the fourth arm section can stretch along the third arm section under the driving of the second motor so as to adjust the transverse position of the picking mechanism 60.
Optionally, in an embodiment of the present invention, the first motor and the second motor are both screw motors, the screw motors can convert their own rotational motion into linear motion of the second arm section and the fourth arm section, and the structural design that the screw motors drive the second arm section and the fourth arm section to extend and retract is the prior art, and is not described herein again.
As shown in fig. 1, in one embodiment of the present invention, the posture adjustment mechanism includes a third motor 30, a connecting member 41, and a push rod 42, the third motor 30 is connected to the fourth arm joint, the connecting member 41 is connected to a rotating shaft of the third motor 30, the push rod 42 is capable of extending and retracting, and both ends of the push rod 42 are respectively connected to the connecting member 41 and the picking mechanism 60.
Specifically, third motor 30 sets up the tip at the fourth arm section, and third motor 30 can drive connecting piece 41 when rotating and rotate, and then drives picking mechanism 60 and rotate to the angle between adjustment picking mechanism 60 and the tea tree surface.
Specifically, the connecting piece 41 is connected with the rotating shaft of the third motor 30, the connecting piece 41 can be driven to rotate when the third motor 30 rotates, two ends of the push rod 42 are respectively connected with the connecting piece 41 and the picking mechanism 60 through fixing pieces, and then the picking mechanism 60 can be driven to rotate, so that the large-angle coarse adjustment between the picking mechanism 60 and the surface of the tea tree is realized. In this embodiment, picker mechanism 60 has a degree of freedom to prevent jamming during pose adjustment of picker mechanism 60. The push rod 42 comprises a first rod and a second rod which are sleeved, and the second rod can stretch and retract along the first rod, so that the pose of the picking mechanism 60 can be finely adjusted, and the picking quality of the picking mechanism 60 can be improved. It can be understood that: the telescopic structure of the push rod 42 may employ the design principle of the first arm 21.
Further, the number of the push rods 42 may be plural according to the size of the picking mechanism 60, and in the embodiment shown in fig. 1, the number of the push rods 42 is two, and when the pose of the picking mechanism 60 is finely adjusted, the telescopic amount of the two push rods 42 may be different, so that the picking mechanism 60 has multiple postures, and picking of tea leaves at different positions is facilitated.
Alternatively, in the present embodiment, the third motor 30 is a stepping motor.
In one embodiment of the invention, as shown in figure 2, the detection means comprises a lidar 52, the lidar 52 being arranged on the first arm 21, the lidar 52 being arranged to detect the distance between the first arm 21 and the side of the tea tree.
As shown in fig. 1, the detection mechanism further comprises an ultrasonic radar 51, the ultrasonic radar 51 is arranged on the bottom surface of the connecting piece 41, and the ultrasonic radar 51 is used for detecting the distance between the connecting piece 41 and the surface of the tea tree.
Specifically, the laser radar 52 sends the detected data to the controller, and the controller processes the data to generate a control command through an internal algorithm, so as to control the second motor to move, and further control the second arm 22 to extend and retract, so as to adjust the transverse position of the picking mechanism 60. Ultrasonic radar 51 will detect data transmission to the controller, the controller is handled data and is generated control command through inside algorithm, the first motor action of control, and then control first arm 21 is flexible, in order to adjust picking mechanism 60's height, and simultaneously, the controller also controls third motor 30 action, third motor 30 rotates and drives picking mechanism 60 and rotate, in order to carry out the coarse adjustment to the angle between picking mechanism 60 and the tea tree surface, the controller still is used for the data control push rod 42 action according to ultrasonic radar 51 detection, and then finely tunes the angle between picking mechanism 60 and the tea tree surface, make picking mechanism 60's cutter 62 more laminate the surface.
As shown in fig. 1, 2 and 3, in one embodiment of the present invention, picker mechanism 60 comprises: a fixed frame 61, a cutter 62, a blowing assembly 63 and a ventilation duct 64. The fixing frame 61 is connected with the push rod 42, the cutter 62 is arranged on the fixing frame 61, the air blowing assembly 63 is arranged on the fixing frame 61 and is parallel to the cutter 62, and the ventilation pipeline 64 is connected with the air blowing assembly 63, wherein the air blowing assembly 63 is used for blowing the tea leaves cut by the cutter 62 into the ventilation pipeline 64.
As shown in fig. 2, in one embodiment of the present invention, the tea plucking machine further comprises a collecting mechanism 70, the collecting mechanism 70 is connected with the ventilation duct 64, and the collecting mechanism 70 is disposed on the traveling mechanism 10.
Fig. 4 is a flowchart illustrating the operation of the tea plucker according to the embodiment of the present invention, and the following describes the operation of the tea plucker according to the present invention in detail.
Before the tea picking operation starts, the tea picking machine walks among tea rows in the tea garden, and in the walking process, the second arm 22 of the mechanical arm is parallel to the walking direction of the tea picking machine; during tea plucking operation, the second arm 22 of the mechanical arm is perpendicular to the traveling direction of the tea plucker.
Before the tea picking operation, the laser radar 52 detects the distance between the first arm 21 and the side face of the tea tree in real time, the ultrasonic radar 51 detects the distance between the picking mechanism 60 and the surface of the tea tree in real time, the two send detected data to the controller, the controller processes the data to generate a control instruction through an internal algorithm, and sends the instruction to the first motor, the second motor, the third motor 30 and the push rod 42. After receiving the command, the first motor and the second motor respectively control the first arm 21 and the second arm 22 to extend and retract, so that the picking mechanism 60 reaches the proper height and transverse position. The third motor 30 rotates under the control of the instruction to drive the picking mechanism 60 to rotate to a rough angle, and after the third motor 30 stops rotating, the push rod 42 stretches under the control of the instruction to finely adjust the angle of the picking mechanism 60, so that the picking mechanism is more attached to the surface of a tea tree, and the operation quality of the tea plucking machine is improved. After the picking mechanism 60 is positioned, tea leaves are picked, the travelling mechanism 10 travels forward, the cutter 62 cuts the tea leaves and the cut tea leaves are blown by the blowing assembly 63 into the ventilation duct 64 and finally into the collecting mechanism 70. In the operation process of the tea plucking machine, the plucking mechanism 60 can adjust the pose in real time through the cooperation of each part for the tea tree surface with fluctuation in height, thereby completing the plucking operation of tea leaves with high quality. In the line-changing operation, if the line-changing space is relatively small, the traveling mechanism 10 cannot complete the line-changing, and the first arm 21 of the mechanical arm can rotate 180 degrees around the axis to perform the next line of tea leaf picking operation.
According to the tea plucking machine provided by the embodiment of the invention, the distance between the tea plucking machine and the side surface of the tea tree and the distance between the tea plucking machine and the surface of the tea tree are detected in real time through the laser radar and the ultrasonic radar, and the pose of the plucking mechanism is adjusted according to the detection result, so that the plucking mechanism is matched with the surface of the tea tree, and the tea plucking operation is further completed with high efficiency and high quality. The tea-leaf picker provided by the embodiment of the invention can relieve the problems of low manual tea-leaf picking efficiency, high cost, labor shortage and the like, and overcomes the defects of strong dependence on manual work, high mechanical operation strength and the like of the conventional tea-leaf picker. The tea-leaf picker provided by the embodiment of the invention has the advantages of simple and reliable structure, strong practicability and strong popularization potential.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A tea plucking machine, comprising:
a traveling mechanism;
the first end of the mechanical arm is connected with the top surface of the walking mechanism, the mechanical arm can rotate around the longitudinal axis of the mechanical arm, and the mechanical arm can stretch and retract;
the pose adjusting mechanism is rotatably connected with the second end of the mechanical arm;
the picking mechanism is connected with the pose adjusting mechanism;
a detection mechanism, a part of which is provided at the robot arm, and the remaining part of which is provided at the pose adjustment mechanism;
and the controller is used for controlling the mechanical arm and the pose adjusting mechanism to act according to the signal sent by the detection mechanism.
2. The tea plucker as recited in claim 1, wherein the mechanical arm comprises:
the first arm is connected with the top surface of the travelling mechanism and is perpendicular to the travelling mechanism, the first arm can rotate around the axis of the first arm, and the first arm can stretch and retract;
the second arm is vertically arranged and connected with the first arm, and can stretch and retract;
wherein, the position and posture adjusting mechanism is connected with the second arm in a rotating way.
3. The tea-leaf picker according to claim 2, wherein the first arm comprises:
the first arm section is connected with the top surface of the travelling mechanism and can rotate around the axis of the first arm section;
a first motor disposed within the first arm section;
the second arm section is in the second arm section can be followed under the drive of the first motor the first arm section is flexible.
4. A tea-leaf picker according to claim 3, wherein the second arm comprises:
the third arm section is vertically arranged with the second arm section and is connected with the second arm section;
a second motor disposed within the third arm section;
the fourth arm section is sleeved with the third arm section and can stretch along the third arm section under the drive of the second motor;
and the fourth arm section is rotationally connected with the pose adjusting mechanism.
5. The tea plucker according to claim 4, wherein the posture adjustment mechanism comprises:
the third motor is connected with the fourth arm section;
the connecting piece is connected with a rotating shaft of the third motor;
the push rod can stretch out and draw back, the both ends of push rod respectively with the connecting piece with picking mechanism connects.
6. The tea-leaf picker according to claim 5, wherein the detection mechanism comprises:
the laser radar is arranged on the first arm and used for detecting the distance between the first arm and the side face of the tea tree;
the controller is used for controlling the second motor to act according to the signal sent by the laser radar.
7. The tea-leaf picker according to claim 6, wherein the detection mechanism further comprises:
the ultrasonic radar is arranged on the bottom surface of the connecting piece and is used for detecting the distance between the connecting piece and the surface of the tea tree;
the controller is used for controlling the first motor, the third motor and the push rod to act according to signals sent by the ultrasonic radar.
8. The tea plucker as recited in claim 5, wherein the plucking mechanism comprises:
the fixing frame is connected with the push rod, and a cutter is arranged on the fixing frame;
the air blowing assembly is arranged on the fixed frame and is parallel to the cutter;
the air pipe, the air pipe with the air-blast subassembly is connected, wherein, the air-blast subassembly is used for with tealeaves that the cutter was picked insufflates in the air pipe.
9. The tea-leaf picker according to claim 8, further comprising:
the collecting mechanism is connected with the ventilating pipeline and arranged on the traveling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138315.7A CN114642122B (en) | 2022-02-15 | 2022-02-15 | Tea picking machine |
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|---|---|---|---|
| CN202210138315.7A CN114642122B (en) | 2022-02-15 | 2022-02-15 | Tea picking machine |
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| CN114642122A true CN114642122A (en) | 2022-06-21 |
| CN114642122B CN114642122B (en) | 2023-05-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115152428A (en) * | 2022-08-26 | 2022-10-11 | 浙江省农业科学院 | Automatic profiling device of tea-leaf picker tea-leaf picking header |
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