CN115088476A - Tea leaf harvesting machine - Google Patents
Tea leaf harvesting machine Download PDFInfo
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- CN115088476A CN115088476A CN202210828023.6A CN202210828023A CN115088476A CN 115088476 A CN115088476 A CN 115088476A CN 202210828023 A CN202210828023 A CN 202210828023A CN 115088476 A CN115088476 A CN 115088476A
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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
-
- 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
-
- 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
Abstract
The invention belongs to the technical field of harvesting and mowing in agriculture or forestry, and particularly relates to a tea leaf harvesting machine, which comprises a door-shaped base frame, wherein a negative pressure collecting box and a traveling mechanism are respectively connected to two sides of the door-shaped base frame, and a vertical sliding assembly is connected below the top of the door-shaped base frame; the vertical sliding assembly is connected with two transverse sliding assemblies at intervals from left to right; the transverse sliding assembly is connected with the rotating base through a transverse and vertical moving fine adjustment assembly; the rotary base is rotatably connected with a cutting knife assembly, the cutting knife assembly extends forwards and backwards along the door-shaped base frame, the rear end of the cutting knife assembly is rotatably connected with the rotary base, a rotary motor for driving the cutting knife assembly is arranged in the rotary base, and the cutting acting direction of the cutting knife assembly faces towards the inner side of the door-shaped base frame; the door-shaped base frame is also provided with a power supply, a controller and a plurality of cameras so as to collect the graphic information of the tea tree awning surface and output and control the information. The invention can ensure that the cutting knife assembly can perform profile cutting from outside to inside along the arc tangency of the tea tent surface, thereby improving the harvesting quality of fresh tea leaves.
Description
Technical Field
The invention belongs to the technical field of harvesting and mowing in agriculture or forestry, and particularly relates to a tea leaf harvester.
Background
Tea trees of output tealeaves grow on the mountain more, follow domatic inclination plastic and discharge a row of ridge, be the furrow between the adjacent ridge, tea tree 500 corresponds the row of planting on ridge 600, and its cross section can refer to figure 4, and ridge 600 is mostly trapezoidal, and furrow 601 then corresponds to be the triangle-shaped or the trapezoidal appearance of similar inversion between two adjacent ridges 600. Tea growers mostly shape the tea tree fluffy surface 501 in autumn, and harvest fresh tea leaves with two buds and one leaf, one bud and one leaf and tender leaves until sprouting in spring.
When tea farmers pick tea, the tea is picked manually in the traditional mode, but the traditional mode consumes time and labor and has high cost. In order to reduce the picking cost, mechanized operation is adopted, and a tool such as a reciprocating cutter disclosed in CN208300303U is adopted for manual operation cutting by a single person; in order to reduce the operation difficulty of the cutter, the cutter frame and the cutter are correspondingly designed into the radian form of the tea tree canopy surface 501, when the tea tree canopy is used, two persons respectively hold one end of the cutter frame and the cutter, and the two persons move along the furrow 601 together to cut; the tea harvester which adopts a special tea-picking machine, such as the tea harvester disclosed in CN 212851840U, adopts a portal frame structure, and moves forward along furrows 601 at two sides of a ridge 600 through a traveling mechanism at the lower end, a main harvesting bucket and a side harvesting bucket which are in an isosceles trapezoid shape and approximately correspond to the radian of a tea plant canopy surface 501 in the portal frame face the forward direction, and fresh tea leaves are cut along with the forward movement of the machine. In the process, the height of the main harvesting hopper and the height of the side harvesting hoppers can be adjusted, and the angles of the side harvesting hoppers on the two sides and the main harvesting hopper can be adjusted, namely the angles of the two sides of the isosceles trapezoid are changed, so that the tea tree canopy surface shape 501 is more suitable for the appearance of the tea tree canopy surface. It can be seen that the existing cutting mode is basically that the tea tree canopy surface 501 is pushed along the length direction of the ridge 600 and cut with a knife, but the actual growth state of the cross section of the tea tree canopy surface 501 is arc-shaped, and due to sunshine reasons and the existence of sun and shade surfaces, the growth arcs on the two sides of the tea tree canopy surface 501 are not symmetrical, and have height difference, and the arc shape itself also has arc-shaped irregular parts such as a pit and the like caused by growth difference of a plant body. With the demand for high-quality fresh tea leaves being increased, the fresh tea leaves cut by the existing cutting mode hardly meet the quality requirement, and the cutting mode needs to be optimized and improved.
To the collection of the tealeaves that the cutting dropped, in the above-mentioned two kinds of preceding modes, still need the special messenger to be responsible for packing into in the storage bag, the concrete mode is with the storage bag along with cutting equipment removes, the sack is faced to the cutting edge of a knife, keep blowing in the sack towards the cutting edge of a knife and cutting edge of a knife rear through the hair-dryer, collect the storage bag with the bright tealeaves that the cutting dropped in, but the bright tealeaves is light and the area is big usually, piles up the looks mutual friction easily and influence mobility, so the power of hair-dryer is generally great, and the operation travelling comfort to operating personnel and cutting personnel influences greatly. The latter harvester special for picking tea adopts the fan with smaller power to form negative pressure in the collecting box and collects tea leaves which are collected on the top plate and slide obliquely, but the negative pressure formed by the fan with reduced power is difficult to form acting force on fresh tea leaves collected in an open collecting form, and the mobility of the stacked fresh tea leaves is poor, so that the effect of collecting the tea leaves into the box is influenced.
In addition, the shape of the furrows 601 is irregular, the heights of the furrows on two sides of the ridge on the slope are also inconsistent, and the spans are different, so that the stability of the tea harvester advancing along the furrows as disclosed in CN 212851840U is limited, and the adaptability of the travelling mechanism is poor; moreover, the tea trees are not usually positioned at the centers of two adjacent furrows, even if the tea harvester stably walks between the two furrows, the left-right matching performance of the cutting knife and the fluffy surface of the tea trees is not good, left-right adjustment is needed, and the current walking mechanism cannot meet the requirements of actual use scenes, so that the quality of harvested fresh tea leaves is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a tea leaf harvester, which solves the problem that the quality of fresh tea leaves harvested by the existing tea leaf harvester is not high, and achieves the effects of profile cutting and improving the harvesting quality of the fresh tea leaves.
In order to solve the technical problems, the invention adopts the following technical scheme:
a tea leaf harvesting machine comprises a gate-type base frame, wherein the gate-type base frame comprises two side frames which are respectively positioned on the left side and the right side and are oppositely arranged in parallel and a top plate connected between the upper ends of the two side frames; the two side frames are respectively connected with a negative pressure collecting box, the bottom ends of the two side frames are respectively connected with a traveling mechanism, and a liftable vertical sliding assembly is connected below the top plate; two transverse sliding assemblies capable of sliding left and right are connected to the vertical sliding assembly at intervals left and right, and the transverse sliding assemblies are positioned below the vertical sliding assemblies; the two transverse sliding assemblies are correspondingly connected with a rotating base through a transverse moving fine adjustment assembly and a vertical moving fine adjustment assembly, and the rotating base is positioned below the transverse sliding assemblies; the rotating base is rotatably connected with a cutting and collecting device; the cutting and collecting device comprises a cutting knife assembly, the cutting knife assembly extends along the front and back directions of the door-shaped base frame, the rear end of the cutting knife assembly is rotatably connected with the rotating base, the rotating axis corresponds to the front and back directions of the door-shaped base frame, a rotating motor for driving the cutting knife assembly to rotate is arranged in the rotating base, and the cutting acting direction of the cutting knife assembly faces towards the inner side of the door-shaped base frame, so that the two cutting knife assemblies can respectively cut the corresponding half sides of the tea tree canopy surface;
still be equipped with a plurality of cameras on the door type bed frame so that gather the graphics information of the fluffy face of tea tree, a plurality of camera signal connection controller on the door type bed frame still are equipped with the power on the door type bed frame.
Further perfecting the technical scheme, the cutting and collecting device also comprises a tea collecting tank with the length direction corresponding to the cutting knife assembly, the tea collecting tank is arranged adjacent to the cutting knife assembly and is positioned above the cutting knife assembly, and the notch of the tea collecting tank faces to the direction corresponding to the cutting action direction of the cutting knife assembly so as to receive tea cut by the cutting knife assembly; the tea collecting grooves on the same side are communicated with the negative pressure collecting box.
Further, the cutter assembly comprises a lower cutter and an upper cutter which move in a reciprocating manner; a plurality of tea leaf recovery holes are arranged on the wall of the tea leaf collecting tank at intervals along the length direction of the tea leaf collecting tank, each tea leaf recovery hole is externally connected with a recovery pipeline one by one, the free ends of the recovery pipelines are communicated with the main recovery port in a unified manner and are connected with the negative pressure collecting tank through the main recovery port, and each recovery pipeline is provided with a valve body for independently controlling the on-off of the corresponding recovery pipeline; the controller controls the connecting valve body, the vertical sliding assembly, the transverse moving fine-tuning assembly, the vertical moving fine-tuning assembly and the rotating motor.
Furthermore, the valve bodies are uniformly arranged on the segmented recovery control assembly, the segmented recovery control assembly comprises a channel base body, the channel base body is provided with recovery channels, the number of the recovery channels corresponds to the number of the tea recovery holes, each recovery pipeline is connected with one end of each recovery channel in a one-to-one mode, and the other ends of all the recovery channels are connected with the total recovery port; each valve body is connected on the channel base body and controls the on-off of each recovery channel one by one;
the valve body comprises a recovery motor which is fixedly connected to the channel base body; a chute is vertically formed in the middle of the recovery channel on the channel base body, a valve plate is arranged in the chute in a sliding mode, one end of the valve plate is a closed end, and the other end of the valve plate is a communication end with a through hole; the output end of the recovery motor is in threaded connection with the valve plate through a screw rod so as to drive the valve plate to slide in the sliding groove in a reciprocating manner through the rotation of the screw rod;
the lower cutting knife and the upper cutting knife are slidably arranged in the cutting knife seat, two cutting knife driving motors which respectively drive the lower cutting knife and the upper cutting knife are arranged in the cutting knife seat, the cutting knife seat is connected to the base seat, and one end of the base seat in the length direction is provided with a rotating extension part and is rotatably connected with the rotating base through the rotating extension part;
the base body seat comprises a bottom plate, a front end plate and a rear end plate, wherein the two ends of the bottom plate are vertically protruded; the cutter seat comprises a web plate and two wing plates which are connected to the web plate in a parallel and right-to-right mode, the lower cutting knife and the upper cutting knife are slidably mounted between the two wing plates, the concave cavity is formed in the inner side face of each wing plate, the concave cavity extends along the length direction of each wing plate, and the lower cutting knife and the upper cutting knife are arranged on the opposite sides of the lower cutting knife and the upper cutting knife in a protruding mode respectively, and the step protrusions fall into the concave cavities of the corresponding wing plates to avoid falling off.
Optionally, the cutter assembly comprises a plurality of rotary cutters arranged at intervals along the length direction, and one ends of the rotary cutters are synchronously and rotatably connected to the driving shaft so as to cut the tea leaves through free ends thereof when rotating along with the driving shaft;
the wall of the tea collecting tank is provided with a plurality of tea recovery holes at intervals along the length direction, the tea recovery holes are connected with a segmented recovery control assembly, the segmented recovery control assembly comprises a flow distribution bin, the flow distribution bin comprises a circle of side wall and a sealing plate connected to one end of the side wall in a sealing mode, and the other end of the side wall is connected with a sealing cover with a main recovery port in a sealing mode and is connected with a negative pressure collecting box through the main recovery port; the sealing plate is provided with through holes corresponding to the tea leaf recovery holes in number, the through holes are circumferentially arranged on the sealing plate at intervals, and the tea leaf recovery holes are respectively connected with the through holes in a one-to-one manner through pipelines; the outer side of the sealing plate is connected with a rotary motor, an output shaft of the rotary motor penetrates through the sealing plate and is synchronously and rotatably connected with a flow distribution plate attached to the inner side of the sealing plate, the flow distribution plate covers all the through holes, and a flow distribution hole corresponding to any one through hole is formed in the flow distribution plate in a penetrating mode; the controller is connected with the rotary motor, the vertical sliding assembly, the transverse moving fine-tuning assembly, the vertical moving fine-tuning assembly and the rotary motor in a controlling mode.
Furthermore, the plurality of rotary cutters are arranged in the cutter seat, a driving motor for driving each rotary cutter is arranged in the cutter seat, the output end of the driving motor is in transmission connection with the driving shaft, the rotating tracks of each rotary cutter are positioned on the same plane, the cutter seat is provided with a yielding groove for the rotary yielding of the rotary cutter, and the free end of the rotary cutter extends out of the yielding groove; the cutting knife seat is connected to the base seat, and one end of the base seat in the length direction is provided with a rotating extension part and is rotatably connected with the rotating base through the rotating extension part;
the base member seat includes bottom plate and the perpendicular bellied front end plate in bottom plate both ends and back end plate, rotate the outside that the back end plate was located to the extension, the cutter seat is located between front end plate and the back end plate, and the one side with the groove of stepping down back on the cutter seat is connected on the bottom plate, and the both sides of bottom plate still are protruding respectively to be equipped with the backplate and enclose the cutter seat and establish between it.
Furthermore, the cross section of the tea collecting tank is U-shaped, two ends of the tea collecting tank in the length direction are sealed, the tea recovery hole penetrates through the bottom wall of the tea collecting tank, and the tea collecting tank is connected with the cutting knife seat or the base seat through the side wall.
Furthermore, the travelling mechanism comprises two roller assemblies which are spaced from each other front and back, each roller assembly comprises a roller body, the axial direction of each roller body corresponds to the left and right direction of the door-shaped base frame, two circles of travelling parts are convexly arranged on the outer circumferential surface of each roller body, the two circles of travelling parts are spaced from each other along the axial direction of each roller body, and each circle of travelling part comprises a plurality of hydraulic travelling rods which are uniformly distributed in the circumferential direction and can radially extend and retract along the roller bodies;
the hydraulic walking rods of each circle of walking parts are driven by an independent hydraulic system to be connected and synchronously extend and retract.
Furthermore, the hydraulic system comprises an oil cavity arranged in the roller body, the oil cavity is positioned in the center of the corresponding circle of hydraulic walking rods, the oil cavity is communicated with a plurality of radial oil ducts which penetrate through the roller body in the radial direction, the plurality of radial oil ducts correspond to the corresponding circle of hydraulic walking rods one by one, and the inner ends of the hydraulic walking rods are connected in the radial oil ducts in a sliding manner;
the centers of two end faces of the roller body are respectively provided with a wheel shaft in a protruding mode, an axial oil duct is arranged in each wheel shaft and extends towards the roller body to be communicated with an oil cavity at the corresponding end, and a wheel side arm is movably sleeved on each wheel shaft through a circle of groove and connected with the side frame through the wheel side arm; the bottom wall of the circle of groove is provided with a circle of oil passing ring groove, the oil passing ring groove is communicated with the axial oil duct through an oil hole, a side arm oil way is arranged in a side arm of the wheel, one end of the side arm oil way is communicated with the oil passing ring groove, and the other end of the side arm oil way is externally connected with an oil pipe; the oil pipe is connected with an oil pump, and the suction end of the oil pump is connected with an oil tank through a floating filter; the oil tank is fixedly connected to the lower surface of the side frame and is positioned between the front roller assembly and the rear roller assembly;
the floating filter is positioned in the oil tank and comprises a floating body, the lower end of the floating body is connected with a hollow oil absorption hemisphere, the wall of the oil absorption hemisphere is provided with a plurality of filtering holes, and the suction end of the oil pump extends into the oil absorption hemisphere.
Furthermore, a circle of linkage part is convexly arranged between the two circles of walking parts on the outer circumferential surface of the roller body; the circle of linkage pieces comprise a plurality of linkage rods which are uniformly distributed in the circumferential direction and can stretch and retract along the radial direction of the roller body, and two sides of each linkage rod are respectively provided with a hydraulic walking rod correspondingly; the linkage rod is provided with a linkage device for connecting the hydraulic walking rods on the two sides of the linkage rod;
after the linkage rod is connected with the hydraulic walking rods on the two sides of the linkage rod through the linkage device, the linkage rod can drive the hydraulic walking rods on the two sides of the linkage rod to synchronously extend and retract, the free ends of the hydraulic walking rods on the two sides are flush, and the free end of the linkage rod is not higher than the free ends of the walking rods on the two sides;
a telescopic driving motor is fixedly arranged in the linkage rod, the output of the telescopic driving motor is connected with a driving screw rod, the linkage rod is in a square sleeve shape, the inner end of the linkage rod can be inserted into a corresponding sliding chute formed in the roller body in a sliding manner, the driving screw rod is positioned in the linkage rod and coaxial with the linkage rod, and the inner end of the driving screw rod is in threaded connection with a corresponding inner threaded hole formed in the roller body;
the linkage device comprises two linkage lock pins which penetrate through the side wall of the free end of the linkage rod in a sliding manner, the outer ends of the two linkage lock pins respectively face the hydraulic walking rods on the two sides of the linkage rod, and counter bores matched with the linkage lock pins are formed in the hydraulic walking rods; the inner end of the linkage lock pin is provided with a convex edge, a spiral pressure spring is sleeved on the linkage lock pin and compressed between the inner wall of the linkage rod and the convex edge at the inner end of the linkage lock pin; the free end of the linkage rod is connected with a sealed cover, the inner side of the sealed cover is connected with an elliptical shaft through a motor drive which is fixedly connected, the elliptical shaft is located between the two linkage lock pins, and the inner ends of the two linkage lock pins are in butt joint with the elliptical shaft under the action force of the helical compression spring so as to control the stretching of the linkage lock pins through the rotation of the elliptical shaft.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the tea leaf harvester, the camera can be used for collecting the graphic information of the canopy surface of the tea tree to be cut and transmitting the graphic information to the controller, and the controller correspondingly controls the action of each moving component through a built-in program algorithm; through vertical slip subassembly, the linkage of lateral sliding subassembly, can drive the cutting collection device in order to move with the corresponding orbit of the cross-section arc of the fluffy face of tea tree, the cutting direction of doing work of cutting knife subassembly is towards the inboard of door type bed frame simultaneously, in addition, the rotation of the relative rotation base of cutting knife subassembly, the cutting direction of doing work that can keep cutting knife subassembly is tangent with the arc of the fluffy face of tea tree all the time, the realization is to the profile modeling cutting of the fluffy face of tea tree, the cutting length of the fresh tea leaf obtains better control, effectively guarantee the quality of the fresh tea leaf. To the fluffy face of tea tree because of the both sides growth height difference that the actual growth difference caused is different, the fluffy face arc of tea tree circumstances such as irregular, can correspond the adaptation through lateral shifting fine setting subassembly and vertical removal fine setting subassembly and adjust the movement track of cutting knife subassembly to the quality of the fresh leaf of tea of further guarantee cutting.
2. According to the tea leaf harvester, the traditional reciprocating saw-toothed cutting knife can be adopted, the negative pressure containing box can still adopt a fan form with lower power, and the influence of noise and the like on the use comfort of operators is reduced; during the use, switch through tealeaves recovery hole, switch on the negative pressure in proper order alone, can form sufficient negative pressure in solitary tealeaves recovery hole and return the suction, make the fresh tea leaf of collecting in the tealeaves collecting vat can flow, and be inhaled corresponding tealeaves recovery hole nearby, avoid piling up in the tealeaves collecting vat, effective timely carry out the recovery of fresh tea leaf, ensure the quality of fresh tea leaf. Also can adopt the cutting mode of gyration cutting knife, compare the form of traditional reciprocal cockscomb structure cutting blade, the cutting scope of cutting knife is bigger, and the shearing incision position that the corresponding position of gyration cutting knife and cutting knife subassembly formed can be more close to the tealeaves collecting vat, does benefit to tealeaves and falls into the tealeaves collecting vat in, is convenient for collect.
3. According to the tea leaf harvester, because the width of the door-shaped base frame cannot be adjusted, two groups of walking parts are arranged on the roller body of the walking mechanism at intervals in the axial direction, and the hydraulic walking rods of each group of walking parts are driven by an independent hydraulic system to be connected and synchronously extend and retract; when the device is used, the purpose of stable landing walking is combined, two groups of hydraulic walking rods of the walking pieces at the outer side or the inner side of the whole device can be simultaneously selected to extend out for contacting with furrows for walking, so that the effect of span adjustment is achieved; the matching mode of extending out of the hydraulic walking rods of the walking piece on the inner side of the side frame on one side and the walking piece on the outer side of the side frame on the other side can be selected, so that the left and right positions of the door-shaped base frame and the middle tea tree can be adjusted to be adaptive; the hydraulic walking rods of the proper walking parts on the two sides of the whole equipment are selected to extend or retract, and the equipment can be adapted to use scenes that the heights of furrows on the two sides of the ridge platform on the slope are different and the shapes of the furrows are irregular, and is flexible to use. The problem that the travelling mechanism of the existing tea harvester cannot meet the use requirements of the actual conditions of furrows is avoided, the adaptability is better, and the running stability of equipment and the quality of harvested fresh tea leaves can be improved.
4. According to the tea leaf harvester, the circle of linkage part is arranged between the two circles of walking parts, so that when furrows are relatively regular or move on a flat road, the linkage rods are used for driving the hydraulic walking rods on the two sides to synchronously extend and retract, the hydraulic walking rods work together to land, the contact area is larger, the driving is more stable, the linkage rods are used for driving the hydraulic walking rods on the two sides to synchronously move and be in an extending state, the wheel diameter is larger, and the tea leaf harvester can move on the flat road more quickly.
Drawings
Fig. 1 is a schematic structural view of a tea leaf harvester according to an embodiment;
fig. 2 is a perspective view of a tea leaf harvester according to an embodiment;
FIG. 3 is a perspective view of another angle of a tea harvester according to an embodiment;
fig. 4 is a schematic view of the use effect of a tea leaf harvester according to an embodiment;
FIG. 5 is an exploded view of the base portion of FIG. 3 with longitudinal, lateral fine adjustment, vertical fine adjustment, and rotation;
FIG. 6 is a schematic view of the display of FIG. 5 from another angle;
FIG. 7 is a front view of the cutting and collecting device according to the first embodiment;
fig. 8 is a perspective view of a cutting and collecting device according to the first embodiment;
FIG. 9 is a perspective view of another angle of the cutting collection device according to the first embodiment;
FIG. 10 is a perspective view of a cutting and collecting device according to the first embodiment at a further angle;
FIG. 11 is a schematic view of the first cutting blade base shown in FIG. 10 with the interior thereof hidden;
FIG. 12 is a left side view of FIG. 7;
FIG. 13 is a cross-sectional view A-A of FIG. 12;
fig. 14 is a schematic view of a first segment recycling control assembly in the cutting and collecting device according to the first embodiment;
FIG. 15 is a schematic view of a valve plate in the cutting and collecting device according to the first embodiment;
FIG. 16 is a schematic view of the roller assembly of FIG. 2 taken alone (with the front wheel-side arm hidden);
FIG. 17 is a front view of FIG. 16;
FIG. 18 is a cross-sectional view A-A of FIG. 17;
FIG. 19 is a schematic view of the linkage rod of FIG. 18 taken alone;
FIG. 20 is a schematic view of an elliptical axis in a separate illustrative embodiment;
FIG. 21 is an internal schematic view of the fuel tank of FIG. 2;
FIG. 22 is a front view of the cutting and collecting device of the second embodiment;
fig. 23 is a perspective view of a cutting and collecting device according to the second embodiment;
FIG. 24 is a perspective view of the cutting and collecting device of the second embodiment at another angle;
FIG. 25 is a left side elevational view of FIG. 22 (with the second segmented recovery control assembly lid hidden for ease of illustration of the interior);
wherein, the cutting knife component 1, the lower cutting knife 2, the upper cutting knife 3, the step bulge 4, the first cutting knife seat 5, the motor installation section 6, the cutting knife driving motor 7, the cutting knife installation section 8, the web 9, the wing plate 10, the base seat 11, the bottom plate 12, the front end plate 13, the rear end plate 14, the guard plate 15, the rotating base 16, the tea leaf collecting groove 17, the side wall 18, the bottom wall 19, the tea leaf recovery hole 20, the recovery pipeline 21, the first subsection recovery control component 22, the channel base 23, the recovery channel 24, the chute 25, the total recovery port 26, the valve body 27, the recovery motor 28, the valve plate 29, the closed end 30, the communicating end 31, the through hole 32, the screw 33, the rotary cutting knife 34, the second cutting knife seat 35, the abdicating groove 36, the second subsection recovery control component 37, the closing plate 38, the vent hole 39, the splitter plate 40, the splitter hole 41, the sealing cover 42, the recovery port 43, the gate 50, the base frame 51, the top plate 52, the device comprises a negative pressure collecting box 53, a vertical sliding component 54, a longitudinal sliding component 55, a transverse sliding component 56, a transverse movement fine-tuning component 57, a vertical movement fine-tuning component 58, a cutting collecting device 59, a walking mechanism 60, a roller assembly 61, a roller body 62, an oil cavity 63, a radial oil channel 64, a buffer pressure spring 65, an axle 66, an axial oil channel 67, a groove 68, an oil passing ring groove 69, a walking member 70, a hydraulic walking rod 71, a counter bore 72, a linkage member 73, a linkage rod 74, a driving screw 75, a linkage device 76, a linkage locking pin 77, a spiral pressure spring 78, a sealing cover 79, an elliptical shaft 80, a wheel side arm 81, a stop valve 82, an oil pressure sensor 83, a wheel base 84, an oil pipe 85, an oil pump 86, an oil tank 87, a floating body 88, an oil suction hemisphere 89, a camera 90, a controller 91, a power supply 92, a tea tree 500, a ridge 600, a tea tree canopy 501 and a furrow 601.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Example one
Referring to fig. 1 to 3, a tea leaf harvesting machine according to an embodiment includes a gate-type base frame 50, where the gate-type base frame 50 includes two side frames 51 respectively located at the left and right sides and facing each other in parallel, and a top plate 52 connected between the upper ends of the two side frames 51, the two side frames 51 are respectively connected with a negative pressure collecting box 53, and the bottom ends of the two side frames 51 are respectively connected with a traveling mechanism 60; a liftable vertical sliding assembly 54 is connected below the top plate 52; in the width direction of the gate-shaped base frame 50, the vertical sliding assembly 54 is symmetrically connected with two horizontal sliding assemblies 56 capable of sliding left and right at intervals, and the horizontal sliding assemblies 56 are positioned below the vertical sliding assembly 54; the two transverse sliding assemblies 56 are correspondingly connected with a rotating base 16 through a transverse moving fine-tuning assembly 57 and a vertical moving fine-tuning assembly 58, and the rotating base 16 is positioned below the transverse sliding assemblies 56; the rotating base 16 is rotatably connected with a cutting and collecting device 59; cutting collection device 59 includes cutting knife subassembly 1, cutting knife subassembly 1 extends along door type bed frame 50's fore-and-aft direction, and cutting knife subassembly 1's rear end rotates with rotation base 16 and links to each other, and cutting knife subassembly 1's free end is towards the place ahead of door type bed frame 50, and cutting knife subassembly 1's cutting acting direction is towards the inboard of door type bed frame 50, and two cutting knife subassembly 1's cutting acting direction is relative so that cut the operation to the half side of correspondence of tea tree canopy face 501 respectively promptly. Still be equipped with a plurality of cameras 90 on the door type bed frame 50 so that gather the image information of the fluffy face 501 of tea tree, a plurality of cameras 90 signal connection controller 91 on the door type bed frame 1 still is equipped with power 92 on the door type bed frame 1.
Referring to fig. 4, by linkage of the vertical sliding assembly 54 and the horizontal sliding assembly 56, the cutting and collecting device 59 can be driven to move along a track corresponding to the arc of the cross section of the tea tree canopy surface 501, meanwhile, the cutting acting direction of the cutting knife assembly 1 faces to the inner side of the portal base frame 50, and by rotation of the cutting knife assembly 1 relative to the rotating base 16, the cutting acting direction of the cutting knife assembly 1 can be kept tangent to the arc of the tea tree canopy surface 501 all the time, profiling cutting of the tea tree canopy surface 501 is realized, the cutting length of fresh tea leaves is better controlled, and the quality of the fresh tea leaves is effectively guaranteed; to the two sides growth height difference that tea tree fluffy face 501 caused because of the actual growth difference, the condition such as tea tree fluffy face 501 arc is irregular can correspond the adaptation through lateral shifting fine setting subassembly 57 and vertical removal fine setting subassembly 58 and adjust the movement track of cutting knife subassembly 1 to the quality of the fresh leaf of tea that further ensures cut.
With continued reference to fig. 3, the vertical sliding component 54 is connected to the two lateral sliding components 56 through a longitudinal sliding component 55, the longitudinal sliding component 55 is connected to the vertical sliding component 54 and can slide along the front-back direction of the gate-type base frame 50, and the longitudinal sliding component 55 is located below the vertical sliding component 54; two lateral slide assemblies 56 are attached to the longitudinal slide assembly 55 and are positioned below the longitudinal slide assembly 55.
Thus, the number of times of walking of the gate base frame 50 can be reduced, and the work efficiency can be improved. To facilitate understanding, the process of cutting and harvesting by the tea harvester is further described, in general, the tea harvester walks in furrows on two sides of a ridge 600 by a walking mechanism 60, a gate-shaped base frame 50 is erected above a tea tree 500, and the two cutting knife assemblies 1 are relatively closed from outside to inside to respectively cut corresponding half sides of a tea tree canopy surface 501; the method comprises the following specific steps:
1) the height of the cutting knife assembly 1 is matched with the tea tree canopy surface through the lifting of the vertical sliding assembly 54; if the half side of the tea tree canopy surface is lower in height, the cutting knife assembly 1 is further lowered through the vertical movement fine adjustment assembly 58 on the corresponding side until the height of the half side of the tea tree canopy surface is matched with that of the lower half side of the tea tree canopy surface;
2) the vertical sliding assembly 54 is lifted, and meanwhile, the two transverse sliding assemblies 56 move oppositely to drive the cutting knife assembly 1 to move along a track matched with the arc shape of the tea tree canopy surface, and in the process, the cutting knife assembly 1 rotates on the rotating base 16 and keeps the cutting acting direction of the cutting knife assembly 1 tangent to the arc shape of the tea tree canopy surface; if the arc of the tea tree canopy surface is provided with a concave or a convex, the movement track of the cutting knife assembly 1 is correspondingly adjusted through the transverse movement fine adjustment assembly 57 and the vertical movement fine adjustment assembly 58, and the length of the cut fresh tea leaves is matched with the set length.
After one-time cutting is finished, the door-shaped base frame 50 is fixed, the vertical sliding assembly 54 is lifted, the two transverse sliding assemblies 56 are mutually far away and move to two sides, the two cutting knife assemblies 1 are driven to move forwards through the longitudinal sliding assembly 55, the distance of the forward movement is equal to the length of the cutting knife assembly 1, and then the steps 1) and 2) are repeated. The longitudinal sliding assembly 55 is moved a distance at least twice to ensure cutting and then moved forward as a whole through the gate-type base frame 50.
Referring to fig. 3, 5 and 6, in practice, the vertical sliding assembly 54 may include a plate-shaped vertical sliding plate, four vertical arms with racks are protruded from the upper surface of the vertical sliding plate, and the vertical arms penetrate through the top plate 52 and are connected to the vertical arms in a one-to-one driving manner through a vertical driving motor disposed above the top plate 52; the longitudinal sliding assembly 55 may be an integral structure like the vertical sliding assembly 54, or may be a split structure that is arranged in a one-to-one manner with the transverse sliding assembly 56, and in this embodiment, the longitudinal sliding assembly 55 is a split structure, and includes a longitudinal sliding plate, and the upper surface of the longitudinal sliding plate and the lower surface of the vertical sliding plate are provided with a longitudinal sliding slot and a sliding rail that are mutually adapted, which may be a dovetail slot or a T-shaped slot, specifically but not limited, and the longitudinal sliding plate is provided with a longitudinal driving motor, which is in transmission connection with the lower surface of the vertical sliding plate, which may be in friction transmission, or in gear and rack transmission, specifically but not limited; the transverse sliding component 56 comprises a transverse sliding plate, the upper surface of the transverse sliding plate and the lower surface of the longitudinal sliding plate are provided with a transverse sliding chute and a sliding rail which are mutually matched, and the transverse sliding plate is provided with a transverse driving motor which is in transmission connection with the lower surface of the longitudinal sliding plate; the transverse moving fine-tuning component 57 comprises a transverse transition plate and a transverse fine-tuning motor, wherein a transverse sliding chute and a sliding rail which are mutually matched are arranged on the upper surface of the transverse transition plate and the lower surface of the transverse sliding plate, the transverse fine-tuning motor is fixed on the transverse sliding plate, the transverse fine-tuning motor is in driving connection with a transverse adjusting screw rod, and the adjusting screw rod is in threaded connection with the transverse transition plate; the vertical movement fine adjustment assembly 58 comprises four vertical fine adjustment motors fixedly arranged in the rotating base 16, the vertical fine adjustment motors are in driving connection with vertical adjusting screws, and the adjusting screws move upwards to penetrate out of the rotating base 16 and are in threaded connection with the transverse transition plate.
During implementation, the control of the movement track of the cutting knife assembly 1 can be controlled by a controller 91 arranged on the gate-shaped base frame 50, the controller 91 is in control connection with each motor, mainly comprises a vertical driving motor, a horizontal fine tuning motor, a vertical fine tuning motor and a rotating motor for driving the rotating extension part in the rotating base 16, the gate-shaped base frame 50 is provided with a camera 90 according to needs, in the embodiment, three cameras 90 are all arranged on the front end surface of the gate-shaped base frame 50, one of the middle parts of the top plate 52 is arranged on the two side frames 51, the two side frames 51 can move up and down respectively, the camera 90 is used for identifying the pattern of the tea tree canopy surface 501 to be cut, the camera 90 is in signal connection with the controller 91, the controller 91 outputs a moving signal through a built-in program algorithm, the controller correspondingly controls the motors to work, and the control of the movement track of the cutting knife assembly 1 is realized. And the power source 92 electrically connects the electrical components to power the electrical components.
After the fresh tea leaves are cut, the fresh tea leaves need to be effectively collected into a box. Referring to fig. 7-10, the cutting and collecting device 59 further includes a tea collecting groove 17 corresponding to the cutter assembly 1 in the length direction, the tea collecting groove 17 is disposed adjacent to the cutter assembly 1 and above the cutter assembly 1, and the opening of the tea collecting groove 17 faces the direction corresponding to the cutting work direction of the cutter assembly 1 so as to receive the tea cut by the cutter assembly 1; the tea collecting groove 17 and the negative pressure collecting box 53 on the same side are communicated. In the embodiment, the cutter assembly 1 comprises a lower cutter 2 and an upper cutter 3 which relatively reciprocate; the wall of the tea collecting tank 17 is provided with a plurality of tea recovery holes 20 at intervals along the length direction, each tea recovery hole 20 is externally connected with a recovery pipeline 21 one by one, the free end of each recovery pipeline 21 is communicated with a main recovery port 26 in a unified way so as to be connected with a negative pressure collecting tank 53 through the main recovery port 26, each recovery pipeline 21 is provided with a valve body 27 for independently controlling the on-off of the corresponding recovery pipeline 21, and each valve body 27 is connected with a controller 91 through signals so as to control the on-off of each valve body 27.
Thus, the cutter still adopts the traditional form; the negative pressure collecting box 53 can still adopt a fan with smaller power, so that the influence of noise and the like on the use comfort of operators is reduced; during the use, through the switching of each valve body 27, open in proper order alone, can form sufficient negative pressure suction back at solitary tealeaves recovery hole 20, make the fresh tea leaf of collecting in tealeaves collecting vat 17 can flow, and be inhaled corresponding tealeaves recovery hole 20 nearby, avoid piling up in tealeaves collecting vat 17, effective timely carries out the recovery of the fresh tea leaf, further ensure the quality of the fresh tea leaf. In practice, the negative pressure collecting tank 53 is provided with a plurality of fans for supplying air to the outside, so that the negative pressure can be controlled by the number of the opened fans.
Referring to fig. 14 and 15, each valve body 27 is uniformly arranged on the first sectional recycling control assembly 22, the first sectional recycling control assembly 22 includes a channel base 23, the channel base 23 is provided with recycling channels 24 corresponding to the tea recycling holes 20 in number, each recycling channel 21 is connected with one end of the recycling channel 24 one by one, the other ends of all the recycling channels 24 are connected with the total recycling port 26, and the total recycling port 26 is communicated with an inlet at the upper end of the negative pressure collecting box 53 through a flexible pipeline (not shown in the figure); the valve bodies 27 are connected to the channel base body 23 and control the on-off of the recovery channels 24 one by one; the channel base 23 is connected to the cutter assembly 1.
In this way, the valve bodies 27 are uniformly arranged on the first segment recovery control assembly 22 and integrally connected to the cutting knife assembly 1, so that the integration can be improved, the structural design is more compact, and the operation and the use are convenient.
Wherein, the valve body 27 comprises a recovery motor 28, and the recovery motor 28 is fixedly connected to the channel base body 23; a chute 25 is vertically arranged in the middle of the recovery channel 24 on the channel base 23, a valve plate 29 is arranged in the chute 25 in a sliding manner, one end of the valve plate 29 is a closed end 30, and the other end of the valve plate 29 is a communication end 31 with a through hole 32; the output end of the recovery motor 28 is in threaded connection with the valve plate 29 through a screw 33 so as to drive the valve plate 29 to slide in the sliding groove 25 in a reciprocating manner through the rotation of the screw 33; the controller 91 controls and connects the recovery motors 28.
Thus, a specific structure form of the channel base body 23 and the valve body 27 is provided, and the structure is simple and reliable to use.
Referring to fig. 11-13, the lower cutter 2 and the upper cutter 3 are slidably mounted in the first cutter base 5, two cutter driving motors 7 are disposed in the first cutter base 5 for driving the lower cutter 2 and the upper cutter 3, respectively, the first cutter base 5 is connected to the base 11, one end of the base 11 in the length direction corresponds to the tea leaf collecting tank 17 and has a rotation extending portion (not shown) and is rotatably connected to the rotation base 16 through the rotation extending portion, the axis of the rotation extending portion corresponds to the length direction of the tea leaf collecting tank 17, i.e., the front-back direction of the gate-shaped base frame 50, and a rotation motor (not shown) is disposed in the rotation base 16 for driving the rotation extending portion. The base seat 11 comprises a bottom plate 12 and a front end plate 13 and a rear end plate 14, two ends of the bottom plate 12 are vertically protruded in the same direction, the rotating extension part is arranged on the outer side of the rear end plate 14, and the first cutter seat 5 is arranged between the front end plate 13 and the rear end plate 14 and connected to the bottom plate 12; the first cutter seat 5 comprises a web plate 9 and two wing plates 10 which are connected to the web plate 9 and are parallel and opposite to each other, the lower cutter 2 and the upper cutter 3 are slidably arranged between the two wing plates 10, the parts of the lower cutter 2 and the upper cutter 3 extending out of the two wing plates 10 are provided with sawtooth-shaped cutting teeth facing outwards, and the cutting teeth face towards the inner side of the gate-shaped base frame 50; the medial surface of pterygoid lamina 10 has the cavity just the cavity extends along the length direction of pterygoid lamina 10, has step arch 4 and step arch 4 respectively on the one side that lower cutter 2 and last cutter 3 carried on the back mutually and falls into in the cavity of corresponding pterygoid lamina 10 in order to avoid deviating from. More specifically, the first cutter holder 5 comprises a cutter mounting section 8 and a motor mounting section 6, and the lower cutter 2 and the upper cutter 3 are slidably mounted in the cutter mounting section 8, namely the web 9 and the two wing plates 10; cutting knife driving motor 7 is installed in motor installation section 6, motor installation section 6 is located the one end of cutting knife installation section 8, motor installation section 6 has been seted up with 10 opening opposite direction's of both wings direction motor installation cavity so that install cutting knife driving motor 7, the one end of lower cutting knife 2 and last cutting knife 3 extends to in the motor installation section 6 and is connected with cutting knife driving motor 7 drive that corresponds, can be friction or rack and pinion connection, it is concrete unlimited, cutting knife installation section 8's the other end is uncovered form so that insert installation cutting knife 2 and last cutting knife 3 down, and back on installation connection to base member 11's bottom plate 12, seal by front end plate 13. In this embodiment, in order to ensure the stable and accurate installation of the first cutter seat 5 on the base seat 11, two sides of the bottom plate 12 are further provided with a protection plate 15 in a protruding manner, so as to enclose the first cutter seat 5 therein.
The tea leaf collecting groove 17 is U-shaped, the upper end of the tea leaf collecting groove is open, the two ends of the tea leaf collecting groove in the length direction are closed, the tea leaf recovery hole 20 penetrates through a bottom wall 19 of the tea leaf collecting groove 17, and the tea leaf collecting groove 17 is connected with the first cutter seat 5 or the base seat 11 through a side wall 18. The channel base 23 can be fixedly connected to the first cutter head 5 or the base seat 11, preferably with the tea collection gutter 17 and the channel base 23 both being connected to the first cutter head 5 or the base seat 11, so as to be detachable integrally with the first cutter head 5 or separately therefrom.
The cutting and collecting device 59 preferably symmetrically uses two sets of the same structure when in use, is respectively connected below the transverse sliding component 56 through the rotating base 16, moves in opposite directions during cutting, respectively cuts and collects fresh tea leaves on the half side of the tea tree fluffy surface 501, the notch of the tea collecting tank 17 inclines upwards, and the fresh tea leaves after cutting can smoothly fall into the tea collecting tank 17.
Referring to fig. 16-18 again, the traveling mechanism 60 includes two roller assemblies 61 disposed at the bottom end of the side frame 51 at intervals in the front-back direction, the rolling direction of the two roller assemblies 61 is the same as the front-back direction of the gate-type base frame 50, the roller assemblies 61 include roller bodies 62 rotatably connected below the side frame 51, the axial direction of the roller bodies 62 corresponds to the left-right direction of the gate-type base frame 50, two circles of traveling members 70 are convexly disposed on the outer circumferential surface of the roller bodies 62, the two circles of traveling members 70 are disposed at intervals along the axial direction of the roller bodies 62, and each circle of traveling member 70 includes a plurality of hydraulic traveling rods 71 uniformly distributed in the circumferential direction and capable of radially extending and retracting along the roller bodies 62; the hydraulic walking rods 71 of each circle of walking members 70 are driven by an independent hydraulic system to be connected and synchronously extend and retract.
Thus, because the width of the gate-type base frame 50 cannot be adjusted, two groups of walking members 70 are arranged on the roller body 62 of the walking mechanism 60 at intervals in the axial direction, and the hydraulic walking rods 71 of each group of walking members 70 are driven by an independent hydraulic system to be connected and synchronously extend and retract; when in use, in combination with the purpose of stable walking on the ground, please refer to fig. 4 again, the hydraulic walking rods 71 of the two groups of walking members 70 at the outer side or the inner side of the whole device can be simultaneously selected to extend out for contacting the furrows 601 for walking, thereby achieving the effect of span adjustment; the hydraulic walking rods 71 of the walking piece 70 at the inner side of one side frame 51 and the walking piece 70 at the outer side of the other side frame 51 can also be selected to extend, so that the left and right positions of the portal pedestal 50 and the middle tea tree 500 can be adjusted to be adaptive; the hydraulic walking rods 71 of the proper walking members 70 on the two sides of the whole device are selected to extend or retract, and the device can be adapted to the use scenes that the heights of the furrows 601 on the two sides of the ridge 600 on the slope are different and the shapes of the furrows 601 are irregular, so that the device is flexible to use. The problem that the travelling mechanism of the existing tea harvester cannot meet the use requirements of the actual conditions of furrows is avoided, the adaptability is better, and the stability and the quality of harvested fresh tea leaves can be improved.
Continuing to refer to fig. 18, the hydraulic system includes an oil cavity 63 formed in the roller body 62, the oil cavity 63 is located at the center of a corresponding circle of hydraulic traveling rods 71, the oil cavity 63 is communicated with a plurality of radial oil channels 64 formed in a radial direction of the roller body 62 in a penetrating manner, the plurality of radial oil channels 64 correspond to the corresponding circle of hydraulic traveling rods 71 one by one, and the inner ends of the hydraulic traveling rods 71 are slidably connected in the radial oil channels 64; the outer end of the radial oil passage 64 is closed, and the inner end of the hydraulic walking rod 71 is provided with a convex edge matched with the closed end so as to prevent the hydraulic walking rod 71 from falling off; the centers of two end faces of the roller body 62 are respectively provided with a wheel shaft 66 in a protruding manner, the wheel shaft 66 is internally provided with an axial oil channel 67, the axial oil channel 67 extends towards the roller body 62 to be communicated with an oil cavity 63 at the corresponding end, and a wheel side arm 81 is movably sleeved on the wheel shaft 66 through a circle of groove 68 so as to be connected with the side frame 51 through the wheel side arm 81; the bottom wall of the circle of groove 68 is provided with a circle of oil passing ring groove 69, the oil passing ring groove 69 is communicated with the axial oil passage 67 at the corresponding end through an oil hole, a side arm oil path (not shown in the figure) is arranged in the wheel side arm 81, one end of the side arm oil path is communicated with the oil passing ring groove 69, and the other end of the side arm oil path is externally connected with an oil pipe 85. And a stop valve 82 is arranged on the side arm oil way. The outer end of the axial oil passage 67 penetrates the axle 66 and is sealingly connected with an oil pressure sensor 83.
Thus, the independent control of the two groups of walking members 70 on the roller body 62 is facilitated, and the synchronous extension and retraction of the hydraulic walking rods 71 of each group of walking members 70 are respectively realized.
A buffer pressure spring 65 is compressed between the inner end of the hydraulic traveling rod 71 and the inner end of the radial oil passage 64.
This improves the shock absorbing performance of the hydraulic travel lever 71 during use.
Referring to fig. 2, the wheel side arms 81 at the two ends of the roller body 62 are connected to the side frames 51 through wheel bases 84, the wheel bases 84 are in an inverted U shape and include a web plate and two wing plates, the web plate is fixedly connected to the lower surfaces of the side frames 51, the two wing plates extend downward, and the wheel side arms 81 at the two ends of the roller body 62 are respectively connected to the two wing plates in a vertically sliding manner. The wheel side arm 81 can slide vertically relative to the wing plate, and can be driven by a motor in a gear and rack mode, the embodiment is in a hydraulic driving mode, a sliding cavity (not shown in the figure) is formed in the wing plate, the upper part of the wheel side arm 81 is connected in the sliding cavity in a sliding mode, and the other end of the side arm oil way is communicated with the sliding cavity; a base oil path (not shown) is formed in the wheel base 84, one end of the base oil path is communicated with the sliding cavity, and the other end of the base oil path is externally connected with an oil pipe 85. A stop valve and an oil pressure sensor can be arranged on the base oil circuit.
Thus, the height of the gate-shaped base frame 50 can be further conveniently adjusted through the vertical sliding of the wheel side arm 81 relative to the wheel base 84, and the use is convenient.
Referring to fig. 2 and 21, the oil pipe 85 is connected to the output port of the oil pump 86, and the suction end of the oil pump 86 is connected to the oil tank 87 through the floating filter; the oil tank 87 is fixedly connected to the lower surface of the side frame 51 and is positioned between the front roller assembly 61 and the rear roller assembly 61; the floating filter is positioned in the oil tank 87 and comprises a floating body 88, the lower end of the floating body 88 is connected with a hollow oil absorption hemisphere 89, a plurality of filtering holes are formed in the wall of the oil absorption hemisphere 89, and the suction end of the oil pump 86 extends into the oil absorption hemisphere 89.
Therefore, the connection of the oil supply route of the hydraulic system is convenient to realize, the cleanness of oil supply is ensured, and the use flexibility and the service life of the travelling mechanism 60 are improved. When in use, the independent oil pump 86 and the stop valve 82 are in signal connection with the controller 91 so as to respectively control the extension and contraction of the hydraulic walking rod 71 of each circle of walking members 70.
Referring to fig. 16-20, a circle of linkage members 73 is further protruded between the two circles of walking members 70 on the outer circumferential surface of the roller body 62; the circle of linkage members 73 comprises a plurality of linkage rods 74 which are uniformly distributed in the circumferential direction and can stretch and retract along the radial direction of the roller body 62, the number of the linkage rods 74 of the circle of linkage members 73 is equal to that of the hydraulic walking rods 71 of each circle of walking members 70, and two sides of each linkage rod 74 are respectively provided with one hydraulic walking rod 71 correspondingly; the linkage rod 74 is provided with a linkage device 76 for connecting the hydraulic walking rods 71 at the two sides; after the linkage rod 74 is connected with the hydraulic walking rods 71 on the two sides through the linkage device 76, the hydraulic walking rods 71 on the two sides are synchronously stretched and contracted with the linkage rod 74, the free ends of the hydraulic walking rods 71 on the two sides are flush, and the free end of the linkage rod 74 is not higher than the free ends of the walking rods on the two sides.
Therefore, when the furrows are relatively regular, the linkage rods 74 can be used for driving the hydraulic walking rods 71 on the two sides to synchronously extend and retract, the hydraulic walking rods work together to land, the contact area is larger, and the running is more stable. Particularly, when the device is used, the device travels in furrows, and other times, such as the moving process, also has a use scene of traveling on a flat road, the linkage rod 74 is used for driving the hydraulic walking rods 71 at two sides to synchronously move and be in an extending state, the wheel diameter is larger, the traveling on the flat road is more stable and faster, and correspondingly, the door-shaped base frame 50 is provided with a power source for driving the roller body 62 to rotate. Even if the equipment is dragged or pushed when in use, the larger wheel diameter can also ensure that the number of turns is less when the equipment travels the same distance, thereby reducing the abrasion consumption and prolonging the service life.
Please refer to fig. 19 and fig. 20, wherein a telescopic driving motor is fixedly arranged in the linkage rod 74, an output of the telescopic driving motor is connected to a driving screw 75, the linkage rod 74 is square sleeve-shaped, an inner end of the linkage rod 74 is slidably inserted into a corresponding sliding slot formed on the roller body 62, the driving screw 75 is coaxially located in the linkage rod 74, and an inner end of the driving screw 75 is in threaded connection with a corresponding internal threaded hole formed on the roller body 62; the linkage device 76 comprises two linkage lock pins 77 which penetrate through the side wall of the free end of the linkage rod 74 in a sliding manner, the outer ends of the two linkage lock pins 77 face the hydraulic walking rods 71 on the two sides of the linkage rod 74 respectively, and the side walls of the hydraulic walking rods 71 are provided with counter bores 72 matched with the linkage lock pins 77; the inner end of the linkage lock pin 77 is provided with a circle of convex edge protruding along the radial direction, a spiral compression spring 78 is sleeved on the linkage lock pin 77, and the spiral compression spring 78 is compressed between the inner wall of the linkage rod 74 and the convex edge at the inner end of the linkage lock pin 77; the free end of the linkage rod 74 is connected with a sealed cover 79, the inner side of the sealed cover 79 is connected with an elliptical shaft 80 through a motor (not shown in the figure) which is fixedly connected, the elliptical shaft 80 is positioned between the two linkage lock pins 77, and the inner ends of the two linkage lock pins 77 are abutted with the elliptical shaft 80 under the action of a helical compression spring 78 so as to control the extension and retraction of the linkage lock pins 77 through the rotation of the elliptical shaft 80.
Thus, the linkage is convenient to realize, and the telescopic motion of the linkage rod 74 is stable; when the device is used, the motors are all in signal connection with the controller 91, the hydraulic system does not work, when the device walks, after the hydraulic walking rods 71 on the two sides are compressed and leveled, the controller 91 controls the linkage rod 74 to be also leveled with the hydraulic walking rods 71 on the two sides (or the linkage rod 74 is naturally leveled with the hydraulic walking rods 71 on the two sides by abutting of the limiting steps and the roller body 62), at the moment, the outer ends of the two linkage lock pins 77 are just opposite to the counter bores 72 on the hydraulic walking rods 71 on the two sides, the controller 91 controls the elliptical shaft 80 to rotate through the corresponding motor until the long shaft axially corresponds to the two linkage lock pins 77, the two linkage lock pins 77 are outwards pushed out and inserted into the counter bores 72 on the hydraulic walking rods 71 on the corresponding sides, the connection between the linkage rod 74 and the hydraulic walking rods 71 is realized, and then the motor in the linkage rod 74 can uniformly drive the telescopic action. After the movement is performed for one circle, the connection between each linkage rod 74 and the hydraulic walking rods 71 at the two sides is completed. In practice, in order to ensure that the counter bore 72 of the hydraulic traveling rod 71 always faces inward, the hydraulic traveling rod 71 is also a square rod.
In the illustration of the embodiment, a fixing support is formed on the outer circumference of the roller body 62 corresponding to the linkage rod 74 and the hydraulic walking rod 71, so that the weight of the roller body 62 can be reduced.
Example two
Referring to fig. 21-25, the second embodiment differs from the first embodiment in that a cutting and collecting device 59 of another structure is provided, the cutting and collecting device 59 of the second embodiment also includes a cutter assembly and a tea leaf collecting groove 17 corresponding to the cutter assembly in the length direction, the cutter assembly includes a plurality of rotary cutters 34 arranged at intervals in the length direction, one end of each rotary cutter 34 is synchronously and rotatably connected to a driving shaft (not shown) to cut tea leaves through the free end thereof when rotating along with the driving shaft; a plurality of tea leaf recovery holes 20 are formed in the wall of the tea leaf collecting tank 17 at intervals along the length direction thereof, three tea leaf recovery holes 20 are illustrated in the embodiment, the tea leaf recovery holes 20 are connected with a second sectional recovery control assembly 37, the second sectional recovery control assembly 37 comprises a flow dividing bin, the flow dividing bin comprises a circle of side walls 18 and a sealing plate 38 which is connected to one end of the side walls 18 in a sealing mode, and the other end of the side walls 18 is connected with a sealing cover 42 with a recovery port 43 in a sealing mode so as to be connected with a negative pressure collecting tank 53 through the recovery port 43; the sealing plate 38 is provided with vent holes 39 corresponding to the tea leaf recovery holes 20 in number, the vent holes 39 are circumferentially arranged on the sealing plate 38 at intervals, and the tea leaf recovery holes 20 are respectively connected with the vent holes 39 one by one through recovery pipelines 21; the outer side of the sealing plate 38 is connected with a rotary motor 28, an output shaft of the rotary motor 28 penetrates through the sealing plate 38 and is synchronously connected with a flow distribution plate 40 attached to the inner side of the sealing plate 38 in a rotating manner, the flow distribution plate 40 covers all the vent holes 39, and a flow distribution hole 41 corresponding to any vent hole 39 penetrates through the flow distribution plate 40; the rotary motor 28 is signally connected to the controller 91 to control the rotation of the diverter plate 40 and thus the opening and closing of the vent holes 39.
In the second embodiment, the cutting mode of the rotary cutter 34 is adopted, compared with the traditional reciprocating saw-toothed cutting blade mode, the cutting range of the cutter is larger, and the position of a shearing cutting opening formed at the corresponding part of the rotary cutter 34 and the cutter assembly can be closer to the tea collecting tank 17, so that tea leaves can fall into the tea collecting tank 17 conveniently; the negative pressure collecting box 53 can still adopt a fan with lower power, so that the influence of noise and the like on the use comfort of operators is reduced; when the tea leaf collecting device is used, the diversion holes 41 correspond to the vent holes 39 respectively through rotation of the diversion plate 40, switching of the tea leaf recovery holes 20 is achieved, negative pressure is communicated independently and sequentially, sufficient negative pressure suction force can be formed in a single tea leaf recovery hole 20, fresh tea leaves collected in the tea leaf collecting groove 17 can flow up and are sucked into the corresponding tea leaf recovery hole 20 nearby, stacking in the tea leaf collecting groove 17 is avoided, and the same effect as that of the tea leaf collecting groove 17 is achieved.
Please refer to fig. 23 and fig. 24, wherein the plurality of rotary cutters 34 are installed in a second cutter seat 35, a driving motor (not shown) for driving each rotary cutter 34 is installed in the second cutter seat 35, and an output end of the driving motor is in transmission connection with the driving shaft. During implementation, one driving motor may be connected to each rotary cutting knife 34 (driving shaft) through a transmission system, or each rotary cutting knife 34 may be directly connected by a one-to-one driving motor, which is not limited specifically. The rotation tracks of the rotary cutters 34 are located on the same plane, the second cutter base 35 is provided with a yielding groove 36 for yielding the rotary cutters 34, the plane is parallel to the depth direction of the tea leaf collecting groove 17, the yielding groove 36 is perpendicular to the driving shaft, the free end of the rotary cutter 34 extends out of the yielding groove 36 and faces the inner side of the door-shaped base frame 50, a shearing cutting opening is formed between one side edge of the opening edge of the rotary cutter 34 and the notch of the corresponding side yielding groove 36, and the cutting action of tea leaves is realized; the second cutter seat 35 is connected to the base seat 11, one end of the base seat 11 in the length direction corresponds to the tea collecting tank 17, and the other end in the length direction has a rotation extending portion (not shown in the figure) and is rotatably connected to the rotation base 16 through the rotation extending portion, the axis of the rotation extending portion corresponds to the length direction of the tea collecting tank 17, and a rotation motor (not shown in the figure) for driving the rotation extending portion is arranged in the rotation base 16. Base member seat 11 includes bottom plate 12 and the perpendicular bellied front end plate 13 in bottom plate 12 both ends syntropy and back end plate 14, rotate the outside that back end plate 14 was located to the extension, second cutter seat 35 is located between front end plate 13 and the back end plate 14, and the one side that carries on the back with the groove 36 of stepping down on the second cutter seat 35 is connected on bottom plate 12. In order to ensure the mounting stability and accuracy of the second cutter seat 35 on the base seat 11, guard plates 15 are further protruded from two sides of the bottom plate 12, and the second cutter seat 35 is enclosed therein.
Therefore, the structure is compact, and the assembly and disassembly are convenient. The notch of the abdicating groove 36 of the rotary cutter 34 and the second cutter seat 35 forms a shearing cutting opening, is close to the tea collecting groove 17, is basically adjacent to the notch of the tea collecting groove 17, facilitates the fresh tea leaves after cutting to fall into the tea collecting groove 17, and avoids scattering.
The tea collection trough 17 is connected to a second knife base 35 or base 11 via side walls 18. When in use, two sets of the second cutting and collecting device 59 can be symmetrically used.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. A tea leaf harvesting machine comprises a gate-type base frame, wherein the gate-type base frame comprises two side frames which are respectively positioned on the left side and the right side and are oppositely arranged in parallel and a top plate connected between the upper ends of the two side frames; the two side frames are respectively connected with a negative pressure collecting box, the bottom ends of the two side frames are respectively connected with a traveling mechanism, and a liftable vertical sliding assembly is connected below the top plate; the method is characterized in that: two transverse sliding assemblies capable of sliding left and right are connected to the vertical sliding assembly at intervals left and right, and the transverse sliding assemblies are positioned below the vertical sliding assemblies; the two transverse sliding assemblies are correspondingly connected with a rotating base through a transverse moving fine adjustment assembly and a vertical moving fine adjustment assembly, and the rotating base is positioned below the transverse sliding assemblies; the rotating base is rotatably connected with a cutting and collecting device; the cutting and collecting device comprises a cutting knife assembly, the cutting knife assembly extends along the front and back directions of the door-shaped base frame, the rear end of the cutting knife assembly is rotatably connected with the rotating base, the rotating axis corresponds to the front and back directions of the door-shaped base frame, a rotating motor for driving the cutting knife assembly to rotate is arranged in the rotating base, and the cutting acting direction of the cutting knife assembly faces towards the inner side of the door-shaped base frame, so that the two cutting knife assemblies can respectively cut the corresponding half sides of the tea tree canopy surface;
still be equipped with a plurality of cameras on the door type bed frame so that gather the graphical information of the fluffy face of tea tree, controller on a plurality of camera signal connection door type bed frames still is equipped with the power on the door type bed frame.
2. The tea leaf harvester of claim 1, wherein: the cutting and collecting device also comprises a tea collecting groove with the length direction corresponding to the cutting knife assembly, the tea collecting groove is arranged adjacent to the cutting knife assembly and is positioned above the cutting knife assembly, and the notch of the tea collecting groove faces to the direction corresponding to the cutting action direction of the cutting knife assembly so as to receive tea cut by the cutting knife assembly; the tea collecting grooves on the same side are communicated with the negative pressure collecting box.
3. A tea leaf harvester according to claim 2, wherein: the cutting knife assembly comprises a lower cutting knife and an upper cutting knife which relatively reciprocate; a plurality of tea leaf recovery holes are arranged on the wall of the tea leaf collecting tank at intervals along the length direction of the tea leaf collecting tank, each tea leaf recovery hole is externally connected with a recovery pipeline one by one, the free ends of the recovery pipelines are communicated with the main recovery port in a unified manner and are connected with the negative pressure collecting tank through the main recovery port, and each recovery pipeline is provided with a valve body for independently controlling the on-off of the corresponding recovery pipeline; the controller controls the connecting valve body, the vertical sliding assembly, the transverse moving fine-tuning assembly, the vertical moving fine-tuning assembly and the rotating motor.
4. A tea leaf harvester according to claim 3, wherein: the valve bodies are uniformly arranged on the segmented recovery control assembly, the segmented recovery control assembly comprises a channel base body, the channel base body is provided with recovery channels, the number of the recovery channels corresponds to that of the tea recovery holes, each recovery channel is connected with one end of each recovery channel in a one-to-one mode, and the other ends of all the recovery channels are connected with the total recovery port; each valve body is connected to the channel base body and controls the on-off of each recovery channel one by one;
the valve body comprises a recovery motor which is fixedly connected to the channel base body; a chute is vertically formed in the middle of the recovery channel on the channel base body, a valve plate is arranged in the chute in a sliding mode, one end of the valve plate is a closed end, and the other end of the valve plate is a communication end with a through hole; the output end of the recovery motor is in threaded connection with the valve plate through a screw rod so as to drive the valve plate to slide in the sliding groove in a reciprocating manner through the rotation of the screw rod;
the lower cutting knife and the upper cutting knife are slidably arranged in the cutting knife seat, two cutting knife driving motors which respectively drive the lower cutting knife and the upper cutting knife are arranged in the cutting knife seat, the cutting knife seat is connected to the base seat, and one end of the base seat in the length direction is provided with a rotating extension part and is rotatably connected with the rotating base through the rotating extension part;
the base body seat comprises a bottom plate, a front end plate and a rear end plate, wherein the two ends of the bottom plate are vertically protruded; the cutter seat comprises a web plate and two wing plates which are connected to the web plate in a parallel and right-to-right mode, the lower cutting knife and the upper cutting knife are slidably mounted between the two wing plates, the concave cavity is formed in the inner side face of each wing plate, the concave cavity extends along the length direction of each wing plate, and the lower cutting knife and the upper cutting knife are arranged on the opposite sides of the lower cutting knife and the upper cutting knife in a protruding mode respectively, and the step protrusions fall into the concave cavities of the corresponding wing plates to avoid falling off.
5. A tea leaf harvester according to claim 2, wherein: the cutting knife assembly comprises a plurality of rotary cutting knives arranged at intervals along the length direction, and one ends of the rotary cutting knives are synchronously and rotatably connected to the driving shaft so as to cut tea leaves through free ends of the rotary cutting knives when the rotary cutting knives rotate along with the driving shaft;
the wall of the tea collecting tank is provided with a plurality of tea recovery holes at intervals along the length direction, the tea recovery holes are connected with a segmented recovery control assembly, the segmented recovery control assembly comprises a flow distribution bin, the flow distribution bin comprises a circle of side wall and a sealing plate connected to one end of the side wall in a sealing mode, and the other end of the side wall is connected with a sealing cover with a main recovery port in a sealing mode and is connected with a negative pressure collecting box through the main recovery port; the sealing plate is provided with through holes corresponding to the tea leaf recovery holes in number, the through holes are circumferentially arranged on the sealing plate at intervals, and the tea leaf recovery holes are respectively connected with the through holes in a one-to-one manner through pipelines; the outer side of the sealing plate is connected with a rotary motor, an output shaft of the rotary motor penetrates through the sealing plate and is synchronously connected with a flow distribution plate attached to the inner side of the sealing plate in a rotating mode, the flow distribution plate covers all the through holes, and a flow distribution hole corresponding to any one through hole is formed in the flow distribution plate in a penetrating mode; the controller is connected with the rotary motor, the vertical sliding assembly, the transverse moving fine-tuning assembly, the vertical moving fine-tuning assembly and the rotary motor in a controlling mode.
6. The tea leaf harvester of claim 5, wherein: the cutting knife seat is internally provided with a driving motor for driving each rotary cutting knife, the output end of the driving motor is in transmission connection with the driving shaft, the rotating tracks of the rotary cutting knives are positioned on the same plane, the cutting knife seat is provided with a abdicating groove for the rotary abdicating of the rotary cutting knife, and the free ends of the rotary cutting knives extend out of the abdicating groove; the cutting knife seat is connected to the base seat, and one end of the base seat in the length direction is provided with a rotating extension part and is rotatably connected with the rotating base through the rotating extension part;
the base member seat includes bottom plate and the perpendicular bellied front end plate in bottom plate both ends and back end plate, rotate the outside that the back end plate was located to the extension, the cutter seat is located between front end plate and the back end plate, and the one side with the groove of stepping down back on the cutter seat is connected on the bottom plate, and the both sides of bottom plate still are protruding respectively to be equipped with the backplate and enclose the cutter seat and establish between it.
7. A tea leaf harvester according to claim 4 or 6, wherein: the cross-section of tealeaves collecting vat is U-shaped and length direction's both ends are sealed, and the bottom wall of seting up in the tealeaves collecting vat is run through to tealeaves recovery hole, and the tealeaves collecting vat links to each other with cutting blade holder or base member seat through the lateral wall.
8. A tea harvesting machine according to any one of claims 1 to 6, wherein: the travelling mechanism comprises two roller assemblies which are spaced from each other front and back, each roller assembly comprises a roller body, the axial direction of each roller body corresponds to the left and right direction of the door-shaped base frame, two circles of travelling parts are arranged on the outer circumferential surface of each roller body in a protruding mode, the two circles of travelling parts are arranged at intervals along the axial direction of each roller body, and each circle of travelling part comprises a plurality of hydraulic travelling rods which are uniformly distributed in the circumferential direction and can stretch out and draw back along the radial direction of each roller body;
the hydraulic walking rods of each circle of walking parts are driven by an independent hydraulic system to be connected and synchronously extend and retract.
9. A tea harvester according to claim 8, wherein: the hydraulic system comprises an oil cavity arranged in the roller body, the oil cavity is positioned in the center of the corresponding circle of hydraulic walking rods, the oil cavity is communicated with a plurality of radial oil ducts which are arranged in a radial penetrating manner along the roller body, the plurality of radial oil ducts correspond to the corresponding circle of hydraulic walking rods one by one, and the inner ends of the hydraulic walking rods are connected in the radial oil ducts in a sliding manner;
the centers of two end faces of the roller body are respectively provided with a wheel shaft in a protruding mode, an axial oil duct is arranged in each wheel shaft and extends towards the roller body to be communicated with an oil cavity at the corresponding end, and a wheel side arm is movably sleeved on each wheel shaft through a circle of groove and connected with the side frame through the wheel side arm; the bottom wall of the circle of groove is provided with a circle of oil passing ring groove, the oil passing ring groove is communicated with the axial oil duct through an oil hole, a side arm oil way is arranged in a side arm of the wheel, one end of the side arm oil way is communicated with the oil passing ring groove, and the other end of the side arm oil way is externally connected with an oil pipe; the oil pipe is connected with an oil pump, and the suction end of the oil pump is connected with an oil tank through a floating filter; the oil tank is fixedly connected to the lower surface of the side frame and is positioned between the front roller assembly and the rear roller assembly;
the floating filter is positioned in the oil tank and comprises a floating body, the lower end of the floating body is connected with a hollow oil absorption hemisphere, the wall of the oil absorption hemisphere is provided with a plurality of filtering holes, and the suction end of the oil pump extends into the oil absorption hemisphere.
10. The tea leaf harvester of claim 8, wherein: a circle of linkage part is convexly arranged between the two circles of walking parts on the outer circumferential surface of the roller body; the ring of linkage pieces comprise a plurality of linkage rods which are uniformly distributed in the circumferential direction and can stretch out and draw back along the radial direction of the roller body, and two sides of each linkage rod are respectively and correspondingly provided with a hydraulic walking rod; the linkage rod is provided with a linkage device for connecting the hydraulic walking rods on the two sides of the linkage rod;
after the linkage rod is connected with the hydraulic walking rods on the two sides of the linkage rod through the linkage device, the linkage rod can drive the hydraulic walking rods on the two sides of the linkage rod to synchronously extend and retract, the free ends of the hydraulic walking rods on the two sides are flush, and the free end of the linkage rod is not higher than the free ends of the walking rods on the two sides;
a telescopic driving motor is fixedly arranged in the linkage rod, the output of the telescopic driving motor is connected with a driving screw rod, the linkage rod is in a square sleeve shape, the inner end of the linkage rod can be slidably inserted into a corresponding sliding groove formed in the roller body, the driving screw rod is positioned in the linkage rod and coaxial with the linkage rod, and the inner end of the driving screw rod is in threaded connection with a corresponding internal thread hole formed in the roller body;
the linkage device comprises two linkage lock pins which penetrate through the side wall of the free end of the linkage rod in a sliding manner, the outer ends of the two linkage lock pins respectively face the hydraulic walking rods on the two sides of the linkage rod, and counter bores matched with the linkage lock pins are formed in the hydraulic walking rods; the inner end of the linkage lock pin is provided with a convex edge, a spiral pressure spring is sleeved on the linkage lock pin and compressed between the inner wall of the linkage rod and the convex edge at the inner end of the linkage lock pin; the free end of the linkage rod is connected with a sealed cover, the inner side of the sealed cover is connected with an elliptical shaft through a motor drive which is fixedly connected, the elliptical shaft is located between the two linkage lock pins, and the inner ends of the two linkage lock pins are in butt joint with the elliptical shaft under the action force of the helical compression spring so as to control the stretching of the linkage lock pins through the rotation of the elliptical shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210828023.6A CN115088476A (en) | 2022-07-13 | 2022-07-13 | Tea leaf harvesting machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210828023.6A CN115088476A (en) | 2022-07-13 | 2022-07-13 | Tea leaf harvesting machine |
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| CN115088476A true CN115088476A (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210828023.6A Pending CN115088476A (en) | 2022-07-13 | 2022-07-13 | Tea leaf harvesting machine |
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| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
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| CN111567216A (en) * | 2020-05-20 | 2020-08-25 | 湖州职业技术学院 | Three-dimensional coordinate automatic tea picking robot |
| CN212544658U (en) * | 2020-05-20 | 2021-02-19 | 湖州职业技术学院 | Tea harvesting and screening mechanism |
| CN113243202A (en) * | 2021-06-03 | 2021-08-13 | 刘振国 | Automatic change tealeaves harvester |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103999635A (en) * | 2014-05-21 | 2014-08-27 | 浙江工业大学 | Intelligent automatic cutting type tea-leaf picker based on machine vision and working method |
| CN204217482U (en) * | 2014-11-20 | 2015-03-25 | 何国忠 | Single ridge tea picking |
| CN204244737U (en) * | 2014-11-20 | 2015-04-08 | 何国忠 | Two ridges tea picking |
| JP2018064543A (en) * | 2016-10-22 | 2018-04-26 | 正成 山畑 | Tea mower |
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