CN116965239A - Detachable hanging rail type double-arm-coordinated famous tea picking device and tea picking method thereof - Google Patents

Abstract

The invention discloses a detachable hanging rail type double-arm cooperative famous tea picking device and a tea picking method thereof. The support devices in the support rail device are arranged in a plurality of equidistant manner, and two rail assemblies are arranged on two adjacent support devices; the trunk track device is provided with two symmetrically arranged trunk track devices at intervals; the driving wheel, the driven wheel I, the driven wheel II and the driven wheel III in the support rail trolley form a rolling friction pair with a corresponding square rail I or a corresponding bearing rail; a driving gear, a driven gear and a corresponding rack in the main rail trolley form a gear pair, and a driven wheel II, a driven wheel III and a corresponding square rail III form a rolling friction pair; the collaborative picking device is arranged on the support rail trolley. According to the invention, the main track device and the branch track device are arranged to replace ground filling tracks, so that the tea picking track is optimized, the occupied area is small, and the damage rate to the tea garden land is low; according to the invention, picking work is performed through the two arranged end picking actuators, so that the tea picking efficiency is improved.

Description

Detachable hanging rail type double-arm-coordinated famous tea picking device and tea picking method thereof

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to a detachable hanging rail type double-arm cooperative famous tea picking device and a tea picking method thereof.

Background

Tea plays an indispensable role in the daily life of people as a traditional drink inherited in China for thousands of years. Under the background of the national culture and the coming age, the tea culture is greatly pushed so that the yield of the traditional manual tea picking operation cannot meet the increasing tea drinking requirements of people. With the continuous growth of science and technology in China, the mechanization degree of agricultural production is also increasing. However, in the field of famous tea picking, manual picking is still mainly used. In order to realize transformation upgrading of tea planting industry, part of tea gardens are matched with a tea-picking machine for use by arranging ground paving type tracks, but the ground paving type tracks are large in damage to soil and inconvenient for tea farmers to cultivate and maintain tea trees. In addition, most picking machines typically use a single end for tea extraction, which is inefficient. Therefore, in order to reduce the land damage rate of the tea garden, the picking track needs to be optimized, and a famous tea picking device capable of achieving efficient picking is designed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a detachable hanging rail type double-arm cooperative famous tea picking device and a tea picking method thereof.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention discloses a detachable hanging rail type double-arm cooperative famous tea picking device which comprises a branch rail device, a main rail trolley, a branch rail trolley and a cooperative picking device.

The support rail device comprises a supporting device and a rail assembly; the support device is provided with a plurality of support components which are equidistantly arranged, the support device consists of n support components which are arranged along the axial spacing, and n is more than or equal to 3; the first supporting component comprises a lower supporting column, an upper supporting column and a first inclined supporting column, wherein the lower supporting column is detachably fixed at the lower end of the upper supporting column, and the first inclined supporting column and the lower supporting column are fixed in a relative inclined manner; the track assembly consists of n-1 square track I which are horizontally and at intervals, and the square track I is a hollow pipe; the track assembly is provided with two track assemblies which are arranged at intervals, the two track assemblies are arranged on the two adjacent supporting devices, the two ends of each square track I in each track assembly can be detachably fixed at the upper ends of a group of two adjacent upper supporting columns in the corresponding supporting device, and one opposite ends of the two adjacent square tracks in each track assembly are attached.

The trunk track device comprises a second supporting component and a second square track; the second square track is provided with m horizontal and spaced m which is more than or equal to 3, and the second support component is provided with m+1 support components which are axially spaced; the second supporting component comprises a long upright post and a second inclined bearing post, and the second inclined bearing post and the long upright post are fixed in a relative inclined manner; the upper ends of the long upright posts of every two adjacent support assemblies II are detachably fixed with the two ends of one square rail II, and the opposite ends of every two adjacent square rails II are attached. The trunk track devices are provided with two symmetrically arranged at intervals, and racks are fixed on the upper end face and the lower end face of each square track II in one trunk track device.

The support rail trolley comprises a support rail frame, a driven wheel set I and a driving wheel set I; one end of the rail support is provided with a first driving wheel set, the other end of the rail support is provided with a first driven wheel set which is arranged at intervals, and the rail support is also provided with a depth camera. The driving wheel set I comprises an outer wheel frame I, a connecting shaft I, a driving wheel and a driven wheel I; the outer wheel frame I is fixed with the rail supporting frame; the connecting shaft I and the upper end of the outer wheel frame I which are horizontally arranged form a revolute pair and are driven by a driving piece; the driving wheel is fixed on the first connecting shaft; two connecting shafts II which are parallel to the connecting shafts I and are arranged at intervals are fixed at the lower end of the outer wheel frame, and a driven wheel I is hinged to each connecting shaft II. The driven wheel group I comprises an outer wheel frame II, a driven wheel II and a driven wheel III; the second outer wheel frame is fixed with the rail supporting frame; and four connecting shafts III which are horizontally parallel and are in rectangular distribution are fixed on the outer wheel frame II, driven wheels II are hinged on the two connecting shafts III positioned above, and driven wheels III are hinged on the two connecting shafts III positioned below.

The main rail trolley comprises a main rail frame, a driving wheel set II, a driven wheel set II, a height leveling device and a leveling frame. One end of the main rail frame is provided with a driving wheel set II, and the other end of the main rail frame is provided with two driven wheel sets II which are arranged at intervals. And compared with the driving wheel set I and the driven wheel set I, the driving wheel set II and the driven wheel set II only replace the driving wheel in the driving wheel set II with driving gears, the driven wheel set I is replaced with driven gears, other structures are completely consistent, and the outer wheel frame I of the driving wheel set II and the outer wheel frame II of the driven wheel set II are fixed with the main rail frame. The main rail frame is provided with a height leveling device at two ends of the leveling frame, and the height leveling device comprises an adjusting arm, a nut block and an adjusting screw; the adjusting arms are provided with four diamond-shaped adjusting arms, the lower ends of the two adjusting arms are hinged with the main rail frame, the upper ends of the two adjusting arms are respectively hinged with the two nut blocks, the upper ends of the other two adjusting arms are respectively hinged with the leveling frame, and the lower ends of the other two adjusting arms are respectively hinged with the two nut blocks; the two nut blocks and the threaded sections at the two ends of the adjusting screw rod which are horizontally arranged form threaded pairs respectively, and the threads of the threaded sections at the two ends of the adjusting screw rod are opposite in screwing direction. The two ends of the leveling frame are fixed with bearing rails which are hollow pipes; each bearing rail is embedded with a guide rod, and each guide rod and the corresponding bearing rail form a sliding pair and are driven by an electric push rod.

The collaborative picking device comprises an XYZ three-axis moving device, an end picking actuator and a negative pressure temporary storage device; the XYZ three-axis moving device comprises a Z-axis sliding table module, a Y-axis sliding table module and an X-axis sliding table module. The two X-axis sliding table modules which are horizontally parallel and are arranged at intervals are arranged on the support rail frame and drive the two Y-axis sliding table modules which are horizontally parallel and are arranged at intervals to translate along the direction parallel to the X-axis sliding table modules; the two Y-axis sliding table modules drive the two vertically arranged Z-axis sliding table modules to translate along the direction perpendicular to the X-axis sliding table modules respectively; each Z-axis sliding table module drives an end picking actuator and a negative pressure temporary storage device to synchronously move along the vertical direction.

Preferably, a first track connecting piece is fixed on each of the two upper support columns located at the outer end position in the supporting device, and a first track connecting piece is fixed on each of the upper support columns located at the middle position, and each first track connecting piece is detachably fixed with the corresponding first square track.

Preferably, two opposite upper support columns in each two adjacent support devices are detachably fixed with two ends of one transverse distance adjusting rod.

Preferably, each two adjacent lower support columns in the support device are detachably fixed with two ends of one longitudinal distance-adjusting rod.

More preferably, the two ends of the longitudinal distance-adjusting rod are threaded sections, and the two ends of the longitudinal distance-adjusting rod penetrate through one through hole formed in the corresponding two lower support columns and are fixed with the two lower support columns through nuts.

Preferably, two long upright posts positioned at the outer end position in the main track device are respectively fixed with a second track connecting piece, each long upright post positioned at the middle position is respectively fixed with a second track connecting piece, and each second track connecting piece is detachably fixed with a corresponding second square track.

Preferably, the driving piece comprises a connecting shaft IV, a rotating motor and a chain transmission mechanism, wherein the connecting shaft IV is parallel to the connecting shaft I, forms a revolute pair with the outer wheel frame I, is connected with the connecting shaft I through the chain transmission mechanism, is fixed on the outer wheel frame I, and is connected with the connecting shaft IV through a gear pair.

Preferably, the first outer wheel frame is fixed with one end of a first universal joint coupling, and the other end of the first universal joint coupling is fixed with the rail supporting frame or the main rail frame; the outer wheel frame II is fixed with one end of the universal joint coupling II, and the other end of the universal joint coupling II is fixed with the support rail frame or the main rail frame.

Preferably, the first linear guide rail of the X-axis sliding table module is fixed on the support rail frame; two ends of the linear guide rail of each Y-axis sliding table module are fixed with two sliding blocks I opposite to each other on the two X-axis sliding table modules; the second sliding block of the Z-axis sliding table module is fixed with the third sliding block of the corresponding Y-axis sliding table module; the end picking actuator and the negative pressure temporary storage device are fixed on the linear guide rail III of the corresponding Z-axis sliding table module.

The invention discloses a tea picking method of a detachable hanging rail type double-arm cooperative famous tea picking device, which comprises the following steps:

step one, installing two main track devices on a main road of a tea garden, installing supporting devices at the middle position of each row of tea ridges and at the outer positions of the two rows of tea ridges at the outermost side, and installing two track components on a first supporting device and a second supporting device respectively; then, the main rail trolley is arranged on two opposite square rails II in two main rail devices, a driving gear and each driven gear are meshed with racks on the upper end face and the lower end face of the corresponding square rail II, and a driven wheel II and a driven wheel III of the driven wheel group are contacted with the upper end face and the lower end face of the corresponding square rail II; and then the support rail trolley is arranged on the main rail trolley, the driving wheel and the driven wheel I are contacted with the upper end face and the lower end face of one bearing rail, and the driven wheel II and the driven wheel III of the driven wheel group I are contacted with the upper end face and the lower end face of the other bearing rail.

And step two, driving members of the driving wheel sets drive corresponding connecting shafts to drive driving gears to rotate, the driving gears are meshed with corresponding racks, and then the main rail frame is driven to move, and each driven gear is meshed with the corresponding rack until the main rail frame moves to the state that two receiving rails are aligned with two rail assemblies.

Step three, manually rotating or reversing the two adjusting screws positively to drive the two nut blocks to move oppositely or reversely, and driving the corresponding end of the leveling frame to ascend or descend by the two nut blocks through each adjusting arm so as to drive the corresponding bearing rail to ascend or descend until the two bearing rails are completely aligned with the two rail assemblies; and then the two electric push rods push the two guide rods to extend out of the inner cavities of the corresponding bearing rails and extend into the inner cavities of the corresponding square rails I in the two rail assemblies, and the main rail trolley and the support rail device are in butt joint.

And step four, driving pieces of the driving wheel group I drive corresponding connecting shafts to drive driving wheels to rotate positively, rolling friction force between the driving wheels and corresponding receiving tracks drives the rail supporting frame to move, and the rail supporting frame moves from the rail supporting trolley to the two track assemblies until the rail supporting frame moves to one end, far away from the main track device, of the two track assemblies.

Step five, driving two tail end picking actuators to respectively move to the positions of two target bud heads according to the positions of all the target bud heads in the current region of the track trolley fed back by the depth camera by the XYZ three-axis moving device; then the two end picking actuators pick the two target bud heads off; then the two negative pressure temporary storage devices temporarily store the picked two target bud heads.

Step six, repeating the step five until the picking and temporary storage work of all the target bud heads in the current area of the track trolley is completed; and then the driving piece of the driving wheel group I drives the corresponding connecting shaft to drive the driving wheel to rotate reversely, and the track frame advances towards the direction close to the main track device until the track frame advances to the next area where picking work is not performed.

And step seven, repeating the step six until the picking and temporary storage of all the target bud heads between the two track assemblies are completed. When the idle square rail is arranged in one rail component far away from the tea ridge which is not picked in the working process, the idle square rail is detached and is arranged on two adjacent upper support columns which are close to the main rail device and have mounting positions in the next idle supporting device.

Step eight, driving a corresponding connecting shaft to drive a driving wheel to continuously rotate reversely by a driving piece of a driving wheel group I, and moving the rail supporting frame from two square rails I to two bearing rails until the rail supporting frame completely moves to the two bearing rails; then the two electric push rods drive the two guide rods to retract to the inner cavities of the corresponding bearing rails, and the main rail trolley is disconnected with the support rail device.

And step nine, driving the driving piece of the driving wheel set II to drive the driving gear to continue to rotate by the corresponding connecting shaft so as to drive the main rail frame to continue to advance, and simultaneously detaching the remaining square rail I in the rail component far away from the tea ridge which is not picked up, and installing the square rail I on two adjacent upper support columns with the remaining installation positions in the next idle supporting device until the main rail frame advances to the position that the two bearing rails are approximately aligned with the two rail components.

And step ten, repeating the steps three to nine until picking of the target bud heads in all the tea ridges is completed. And finally, the support rail trolley, the main rail trolley, the rail components, the upper support columns of the support devices and the main rail devices are disassembled.

The beneficial effects of the invention are as follows:

1. according to the invention, the main track device and the branch track devices are arranged to replace ground filling tracks, so that the tea-leaf picking track is optimized, compared with the ground filling tracks, the main track device and the branch track devices have small occupied area and small damage rate to the tea garden land, meanwhile, the upper support columns and the lower support columns of the support devices in the branch track devices can be detachably fixed, the main track device and the upper support columns can be detached during non-tea-leaf picking, and nursing work such as pruning of tea trees during non-tea-leaf picking is facilitated; furthermore, the collaborative picking device is provided with the two tail end picking actuators and the two negative pressure temporary storage devices, the two tail end picking actuators simultaneously perform picking work, the two negative pressure temporary storage devices simultaneously perform temporary storage work, and the tea picking efficiency is improved.

2. The height leveling device is arranged in the invention, the inclination angle of the leveling frame can be adjusted through the height leveling device, so that under the condition that a small height difference exists between two adjacent track assemblies caused by the road condition of a tea garden in the actual installation process, the two bearing tracks can be pre-aligned with the two track assemblies, the two bearing tracks and the two track assemblies can be accurately butted through the guide rod, the main rail trolley and the branch rail device can be butted, the branch rail trolley can adapt to the tea garden with less gentle ground, and can switch and walk on the branch rail device and the main rail device, and therefore, the tea picking task of tea ridges in different rows is realized.

3. The first square rails in the rail assemblies are detachable, and the positions of the two rail assemblies can be changed by a method of cross disassembling and installing the first square rails under the condition that the movement of the support rail trolley is not affected in the working process, so that the tea picking tasks of different rows of tea ridges are realized, the number of support rails is saved, and the cost is saved.

4. The first universal joint coupling and the second universal joint coupling are arranged on the support rail trolley and the main rail trolley, so that the support rail trolley and the main rail trolley adapt to non-absolute linear tracks generated by engineering errors in the running process, and the stability of the support rail trolley and the main rail trolley in the running process is ensured.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention in operation;

FIG. 2 is a second schematic diagram of the structure of the present invention in operation;

FIG. 3 is a schematic diagram of a third embodiment of the present invention in operation;

FIG. 4 is a schematic view of the track assembly and corresponding support apparatus of the present invention;

FIG. 5 is a schematic view of the structure of the support device of the present invention with the support post removed, wherein the support device is located in the middle of the ridge;

FIG. 6 is a schematic diagram of a backbone track apparatus according to the present invention;

FIG. 7 is a schematic view of the structure of the track trolley of the present invention;

FIG. 8 is a schematic diagram of a first driving wheel set according to the present invention;

FIG. 9 is a schematic diagram of a driven wheel set I or a driven wheel set II according to the present invention;

FIG. 10 is a schematic view of the structure of the primary rail car of the present invention;

FIG. 11 is a schematic view of the cooperative picking apparatus of the present invention;

fig. 12 is a path diagram of the invention in operation.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, 2 and 3, the detachable hanging rail type double-arm cooperative famous tea picking device comprises a support rail device 1, a support rail trolley 2, a cooperative picking device 3, a main rail device 4 and a main rail trolley 5.

As shown in fig. 4 and 5, the dry track set 1 includes a support device and a track assembly; the support device is provided with a plurality of support assemblies which are equidistantly arranged, and consists of three support assemblies which are arranged along the axial spacing; the first support assembly comprises a lower support column 16, an upper support column 17 and a first inclined support column 23, wherein the lower support column 16 is detachably fixed at the lower end of the upper support column 17, the first inclined support column 23 and the lower support column 16 are fixed in a relative inclined manner, and the first inclined support column 23 is used for increasing the stability of the lower support column 16; the track assembly consists of two square tracks I19 which are horizontally arranged at intervals, and the square tracks I19 are hollow pipes; the track assemblies are provided with two arranged at intervals, the two track assemblies are arranged on the two adjacent supporting devices, two ends of each square track I19 in each track assembly can be detachably fixed at the upper ends of a group of two adjacent upper supporting columns 17 in the corresponding supporting device, and one opposite ends of the two square track I19 in each track assembly are attached.

As shown in fig. 6, the trunk track device 4 comprises a second support component and a second square track 6; the second square track 6 is provided with three horizontal and spaced-apart support assemblies, and the second square track is provided with four support assemblies which are axially spaced-apart; the second supporting component comprises a long upright post 8 and a second inclined bearing post 10, and the second inclined bearing post 10 is fixed relative to the long upright post 8 in an inclined manner and is used for improving the stability of the long upright post 8; the upper ends of the long upright posts 8 of every two adjacent support assemblies II are detachably fixed with the two ends of one square rail II 6, and the opposite ends of every two adjacent square rails II 6 are attached. The trunk track devices 4 are provided with two symmetrically arranged at intervals, and the upper end face and the lower end face of each square track two 6 in one trunk track device 4 are both fixed with racks 11.

As shown in fig. 7, the track trolley 2 comprises a track frame 12, a driven wheel group one 13 and a driving wheel group one 14; one end of the rail support 12 is provided with a driving wheel set I14, the other end of the rail support 12 is provided with two driven wheel sets I13 which are arranged at intervals, the rail support 12 is also provided with a depth camera 15, and the depth camera 15 is used for identifying target bud heads. As shown in fig. 8, the driving wheel set 14 includes an outer wheel frame 43, a connecting shaft 45, a driving wheel and a driven wheel 52; the first outer wheel frame 43 is fixed with the rail supporting frame 12; the upper ends of the connecting shaft I45 and the outer wheel frame I43 which are horizontally arranged form a revolute pair and are driven by a driving piece; the driving wheel is fixed on the first connecting shaft 45; two connecting shafts II 53 which are parallel to the connecting shaft I45 and are arranged at intervals are fixed at the lower end of the outer wheel frame I43, and a driven wheel I52 is hinged on each connecting shaft II 53. As shown in fig. 9, the driven wheel group 13 includes an outer wheel frame two 38, a driven wheel two 39 and a driven wheel three 42; the second outer wheel frame 38 is fixed with the rail support 12; four connecting shafts III 37 which are horizontally parallel and are in rectangular distribution are fixed on the outer wheel frame II 38, driven wheels II 39 are hinged on the two connecting shafts III 37 positioned above, and driven wheels III 42 are hinged on the two connecting shafts III 37 positioned below.

As shown in fig. 10, the main rail car 5 includes a main rail frame 24, a driving wheel group two 28, a driven wheel group two 31, a height leveling device and a leveling frame. One end of the main rail frame 24 is provided with a driving wheel set II 28, and the other end is provided with two driven wheel sets II 31 which are arranged at intervals. Compared with the first driving wheel set 14 and the first driven wheel set 31, the second driving wheel set 28 and the second driven wheel set 31 only replace the driving wheel in the second driving wheel set 28 with the driving gear, the first driven wheel 52 with the driven gear, other structures are completely consistent, and the first outer wheel frame 43 in the second driving wheel set and the second outer wheel frame 38 in the second driven wheel set are fixed with the main rail frame. The main rail frame 24 is provided with a height leveling device at two ends of the leveling frame, and the height leveling device comprises an adjusting arm 27, a nut block 32 and an adjusting screw 34; the adjusting arms 27 are provided with four diamond-shaped adjusting arms, wherein the lower ends of the two adjusting arms 27 are hinged with the main rail frame 24, the upper ends of the two adjusting arms 27 are respectively hinged with the two nut blocks 32, the upper ends of the other two adjusting arms 27 are respectively hinged with the leveling frame, and the lower ends of the other two adjusting arms 27 are respectively hinged with the two nut blocks 32; the two nut blocks 32 and the threaded sections at the two ends of the adjusting screw 34 which are horizontally arranged form threaded pairs respectively, and the threads of the threaded sections at the two ends of the adjusting screw 34 are opposite in screwing direction. The two ends of the leveling frame are fixed with bearing rails 25, and the bearing rails 25 are hollow pipes; each receiving rail 25 is embedded with a guide rod 29, and each guide rod 29 and the corresponding receiving rail 25 form a sliding pair and are driven by an electric push rod 30.

As shown in fig. 11, the cooperative picking apparatus 3 includes an XYZ three-axis moving apparatus, an end picking actuator 60, and a negative pressure temporary storage apparatus 61; the XYZ three-axis moving device includes a Z-axis slide table module 59, a Y-axis slide table module 63, and an X-axis slide table module 65. The two X-axis sliding table modules 65 which are horizontally parallel and are arranged at intervals are arranged on the support rail frame 12, and the two Y-axis sliding table modules 63 which are horizontally parallel and are arranged at intervals are driven to translate along the direction parallel to the X-axis sliding table modules 65; the two Y-axis sliding table modules 63 drive the two vertically arranged Z-axis sliding table modules 59 to respectively translate along the direction perpendicular to the X-axis sliding table module 65; each Z-axis slide module 59 drives an end picking actuator 60 and a negative pressure temporary storage device 61 to move synchronously in the vertical direction. Wherein, negative pressure temporary storage device can be designed according to the dust catcher structure.

As a preferred embodiment, two upper support columns 17 at the outer end position in the supporting device are respectively fixed with a first rail connecting piece 18, and two upper support columns 17 at the middle position are respectively fixed with two first rail connecting pieces 18, and each first rail connecting piece 18 is detachably fixed with a corresponding first square rail 19.

As a preferred embodiment, the first bearing diagonal member 23 is secured to the lower support column 16 by the first bearing diagonal member 21.

As a preferred embodiment, two upper support columns 17 of each two adjacent support devices are detachably fixed to two ends of a transverse distance-adjusting rod 20, and the transverse distance-adjusting rod 20 is used for increasing stability between the two corresponding support devices.

As a preferred embodiment, each two adjacent lower support columns 16 of the support device are detachably fixed to two ends of a longitudinal distance adjusting rod 22, and the longitudinal distance adjusting rod 22 is used for increasing the stability of the corresponding support device.

More preferably, the two ends of the longitudinal distance-adjusting rod 22 are threaded sections, the two ends of the longitudinal distance-adjusting rod 22 pass through one through hole formed on the corresponding two lower support columns 16 and are fixed with the two lower support columns 16 through nuts, the distance between the corresponding two lower support columns 16 can be adjusted by adjusting the fixing positions of the nuts at the two ends of the longitudinal distance-adjusting rod 22, and then the square first rails 19 with different lengths can be replaced to adapt to tea ridges with different lengths.

As a preferred embodiment, two rail connectors 7 are fixed on two long columns 8 at the outer end positions of the main rail device 4, two rail connectors 7 are fixed on two long columns 8 at the middle positions, and each rail connector 7 is detachably fixed with a corresponding square rail 6.

As a preferred embodiment, the second bearing diagonal member 10 is secured to the long upright 8 by the second bearing diagonal member 9.

As a preferred embodiment, the driving member includes a fourth connecting shaft 49, a rotary motor 51 and a chain transmission mechanism, the fourth connecting shaft 49 is disposed parallel to the first connecting shaft 45, forms a revolute pair with the first outer wheel frame 43, and is connected to the first connecting shaft 45 through the chain transmission mechanism, the housing of the rotary motor 51 is fixed to the first outer wheel frame 43, and the output shaft of the rotary motor 51 is connected to the fourth connecting shaft 49 through a gear pair.

More preferably, the chain drive mechanism includes a driven sprocket 44, a chain 46 and a drive sprocket 50, the driven sprocket 44 and the drive sprocket 50 being fixed to the connecting shafts one 45 and four 49 and connected by the chain 46.

As a preferred embodiment, one end of the first driving wheel set or the second driving wheel set of the two connecting shafts 53 is fixed to the first outer wheel frame 43, the other end is fixed to two ends of the first connecting rod, and the first connecting rod is fixed to the first outer wheel frame 43 through the second connecting rod 54.

As a preferred embodiment, the outer wheel frame one 43 is fixed to one end of the universal joint coupling one 48 by the fixing rod one 47, and the other end of the universal joint coupling one 48 is fixed to the railcar frame 12 or the main railcar frame 24; the second outer wheel frame 38 is fixed with one end of a second universal joint coupling 40 through a second fixing rod 41, and the other end of the second universal joint coupling 40 is fixed with the rail frame 12 or the main rail frame 24; the first and second universal joint couplings 48 and 40 are used to adapt the stock rail trolley 2 or the main rail trolley 5 to non-absolute straight-line trajectories generated by engineering errors during travel.

As a preferred embodiment, two adjusting arms 27 in each height leveling device are hinged to a base 33, the base 33 is fixed on the main rail frame 24, the other two adjusting arms 27 are hinged to fixing blocks, the fixing blocks are fixed to a receiving plate 26 through connecting bolts 35, and the receiving plate 26 is fixed on the leveling frame.

As a preferred embodiment, an adjustment handle 36 is secured to the adjustment screw 34.

As a preferred embodiment, the linear rail I55 of the X-axis slipway module 65 is fixed to the track frame 12; two ends of a linear guide rail II 64 of each Y-axis sliding table module 63 are fixed with two sliding blocks I56 opposite to each other on two X-axis sliding table modules 65; the second sliding block 58 of the Z-axis sliding table module 59 is fixed with the third sliding block of the corresponding Y-axis sliding table module 63; the end picking actuator 60 and the negative pressure temporary storage device 61 are fixed on the three linear guide rails 57 of the corresponding Z-axis sliding table module 59.

The electric push rod 30, the X-axis sliding table module 65, the Y-axis sliding table module 63 and the Z-axis sliding table module 59 are respectively driven by a first servo motor, a driving motor, a linear motor 62 and a second servo motor 66, which are all controlled by a controller, and a signal output end of the depth camera 15 is connected with the controller.

The invention discloses a tea picking method of a detachable hanging rail type double-arm cooperative famous tea picking device, which comprises the following steps:

step one, two main track devices 4 are arranged on a main road of a tea garden, supporting devices are arranged at the middle position of each row of tea ridges and at the outer positions of the two rows of tea ridges at the outermost side, and two track components are respectively arranged on a first supporting device and a second supporting device; then the main rail trolley 5 is arranged on two opposite square rails II 6 in two main rail devices 4, a driving gear and each driven gear are meshed with racks 11 on the upper end face and the lower end face of the corresponding square rails II 6, and driven wheels II and driven wheels III of the driven wheel group II are contacted with the upper end face and the lower end face of the corresponding square rails II 6; and then the support rail trolley 2 is arranged on the main rail trolley 5, the driving wheel and the driven wheel I52 are contacted with the upper end face and the lower end face of one bearing rail, and the driven wheel II and the driven wheel III of the driven wheel group I are contacted with the upper end face and the lower end face of the other bearing rail.

The driving member of the driving wheel set two 28 drives the corresponding connecting shaft one 45 to drive the driving gear to rotate, the driving gear is meshed with the corresponding rack 11, and then the main rail frame 24 is driven to move, and each driven gear is meshed with the corresponding rack 11 until the main rail frame 24 moves to the state that two receiving rails are aligned with two rail assemblies.

Step three, manually rotating or reversing the two adjusting screws 34 forward or backward so as to drive the two nut blocks 32 to move in opposite directions or in opposite directions, wherein the two nut blocks 32 drive the corresponding end of the leveling frame to ascend or descend through each adjusting arm 27 so as to drive the corresponding bearing rail 25 to ascend or descend until the two bearing rails 25 are completely aligned with the two rail assemblies; then, the two electric push rods 30 push the two guide rods 29 to extend out of the inner cavities of the corresponding receiving rails 25 and extend into the inner cavities of the corresponding square rails 19 in the two rail assemblies, and the main rail trolley 5 and the branch rail device 1 are in butt joint.

Step four, the driving piece of the driving wheel group one 14 drives the corresponding connecting shaft one 45 to drive the driving wheel to rotate positively, rolling friction force between the driving wheel and the corresponding bearing track drives the rail supporting frame 12 to travel, and the rail supporting frame 12 moves from the rail supporting trolley 2 to the two track assemblies until the rail supporting frame 12 moves to one end, far away from the main track device 4, of the two track assemblies, as shown in a part 1 and a part 5 in fig. 12.

Step five, according to the positions of all the target bud heads in the current area of the track trolley 2 fed back by the depth camera 15, the XYZ three-axis moving device drives the two tail end picking actuators 60 to respectively move to the positions of the two target bud heads; the two end picking actuators 60 then pick the two target bud heads off; then, the two negative pressure temporary storage devices 61 temporarily store the picked two target buds.

Step six, repeating the step five until the picking and temporary storage work of all the target bud heads in the current area of the track trolley 2 is completed; the driving member of the driving wheel set 14 drives the corresponding connecting shaft 45 to drive the driving wheel to rotate reversely, and the track frame 12 moves towards the main track device 4 until the track frame 12 moves to the next area where picking is not performed, as shown in part 2 in fig. 12.

And step seven, repeating the step six until the picking and temporary storage of all the target bud heads between the two track assemblies are completed. When the idle square rail I19 exists in one rail component far away from the tea ridge which is not subjected to picking work in the working process, the idle square rail I19 is detached and is installed on two adjacent upper support columns 17 which are close to the main rail device 4 and have installation positions in the next idle supporting device, as shown in a part 3 in fig. 12.

Step eight, the driving piece of the driving wheel set I14 drives the corresponding connecting shaft I45 to drive the driving wheel to continuously rotate reversely, and the rail support 12 moves from the two square rails I19 to the two bearing rails until the rail support 12 completely moves to the two bearing rails; then, the two electric push rods 30 drive the two guide rods 29 to retract into the inner cavities of the corresponding receiving rails 25, and the main rail trolley 5 is disconnected from the supporting rail device 1.

Step nine, as shown in part 4 in fig. 12, the driving member of the driving wheel set two 28 drives the corresponding connecting shaft one 45 to drive the driving gear to continue rotating, and further drive the main rail frame 24 to continue traveling, and meanwhile, the remaining square rail one 19 in the rail assembly far from the tea ridge not subjected to picking operation is detached and mounted on the adjacent two upper support columns 17 with the remaining mounting positions in the next free supporting device until the main rail frame 24 travels until the two receiving rails are in close alignment with the two rail assemblies.

And step ten, repeating the steps three to nine until picking of the target bud heads in all the tea ridges is completed. Finally, the support rail trolley 2, the main rail trolley 5, the rail components, the upper support columns 17 of the support devices and the main rail devices are disassembled.

The lower support column of each first support component is lower than the lowest pruning height of tea trees, so that nursing work such as pruning of tea trees is facilitated during non-tea picking, and each upper support column is installed on the corresponding lower support column before the next tea picking work.

Claims (10)

1. Can dismantle excellent tea-leaf picker of hanging rail formula both arms cooperation, including branch rail set, trunk rail set and main rail dolly, its characterized in that: the device also comprises a track trolley and a collaborative picking device; the support rail device comprises a supporting device and a rail assembly; the support device is provided with a plurality of support components which are equidistantly arranged, the support device consists of n support components which are arranged along the axial spacing, and n is more than or equal to 3; the first supporting component comprises a lower supporting column, an upper supporting column and a first inclined supporting column, wherein the lower supporting column is detachably fixed at the lower end of the upper supporting column, and the first inclined supporting column and the lower supporting column are fixed in a relative inclined manner; the track assembly consists of n-1 square track I which are horizontally and at intervals, and the square track I is a hollow pipe; the two track assemblies are arranged at intervals and are arranged on two adjacent supporting devices, two ends of each square track I in each track assembly are detachably fixed at the upper ends of a group of two adjacent upper supporting columns in the corresponding supporting device, and one opposite end of each square track I in each track assembly is attached;

the trunk track device comprises a second supporting component and a second square track; the second square track is provided with m horizontal and spaced m which is more than or equal to 3, and the second support component is provided with m+1 support components which are axially spaced; the second supporting component comprises a long upright post and a second inclined bearing post, and the second inclined bearing post and the long upright post are fixed in a relative inclined manner; the upper ends of the long upright posts of every two adjacent support assemblies II are detachably fixed with the two ends of one square rail II, and the opposite ends of every two adjacent square rails II are attached; the two main track devices are arranged at intervals and symmetrically, and racks are fixed on the upper end face and the lower end face of each square track II in one main track device;

the support rail trolley comprises a support rail frame, a driven wheel set I and a driving wheel set I; one end of the rail support is provided with a first driving wheel set, the other end of the rail support is provided with two first driven wheel sets which are arranged at intervals, and the rail support is also provided with a depth camera; the driving wheel set I comprises an outer wheel frame I, a connecting shaft I, a driving wheel and a driven wheel I; the outer wheel frame I is fixed with the rail supporting frame; the connecting shaft I and the upper end of the outer wheel frame I which are horizontally arranged form a revolute pair and are driven by a driving piece; the driving wheel is fixed on the first connecting shaft; two connecting shafts II which are parallel to the connecting shafts I and are arranged at intervals are fixed at the lower end of the outer wheel frame, and a driven wheel I is hinged to each connecting shaft II; the driven wheel group I comprises an outer wheel frame II, a driven wheel II and a driven wheel III; the second outer wheel frame is fixed with the rail supporting frame; four connecting shafts III which are horizontally parallel and are in rectangular distribution are fixed on the outer wheel frame II, driven wheels II are hinged on the two connecting shafts III positioned above, and driven wheels III are hinged on the two connecting shafts III positioned below;

the main rail trolley comprises a main rail frame, a driving wheel set II, a driven wheel set II, a height leveling device and a leveling frame; one end of the main rail frame is provided with a driving wheel set II, and the other end of the main rail frame is provided with two driven wheel sets II which are arranged at intervals; compared with the driving wheel set I and the driven wheel set I, the driving wheel set II and the driven wheel set II only change the driving wheel in the driving wheel set II into driving gears, the driven wheel set I into driven gears, other structures are completely consistent, and the outer wheel frame I of the driving wheel set II and the outer wheel frame II of the driven wheel set II are fixed with the main rail frame; the main rail frame is provided with a height leveling device at two ends of the leveling frame, and the height leveling device comprises an adjusting arm, a nut block and an adjusting screw; the adjusting arms are provided with four diamond-shaped adjusting arms, the lower ends of the two adjusting arms are hinged with the main rail frame, the upper ends of the two adjusting arms are respectively hinged with the two nut blocks, the upper ends of the other two adjusting arms are respectively hinged with the leveling frame, and the lower ends of the other two adjusting arms are respectively hinged with the two nut blocks; the two nut blocks and the threaded sections at the two ends of the adjusting screw rod which are horizontally arranged form threaded pairs respectively, and the threaded directions of the threaded sections at the two ends of the adjusting screw rod are opposite; the two ends of the leveling frame are fixed with bearing rails which are hollow pipes; each bearing rail is embedded with a guide rod, and each guide rod and the corresponding bearing rail form a sliding pair and are driven by an electric push rod;

the collaborative picking device comprises an XYZ three-axis moving device, an end picking actuator and a negative pressure temporary storage device; the XYZ three-axis moving device comprises a Z-axis sliding table module, a Y-axis sliding table module and an X-axis sliding table module; the two X-axis sliding table modules which are horizontally parallel and are arranged at intervals are arranged on the support rail frame and drive the two Y-axis sliding table modules which are horizontally parallel and are arranged at intervals to translate along the direction parallel to the X-axis sliding table modules; the two Y-axis sliding table modules drive the two vertically arranged Z-axis sliding table modules to translate along the direction perpendicular to the X-axis sliding table modules respectively; each Z-axis sliding table module drives an end picking actuator and a negative pressure temporary storage device to synchronously move along the vertical direction.

2. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: two upper support columns positioned at the outer end positions in the supporting device are respectively fixed with a first track connecting piece, and each upper support column positioned at the middle position is respectively fixed with a first track connecting piece which is detachably fixed with a corresponding first square track.

3. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: and two opposite upper support columns in each two adjacent support devices are detachably fixed with two ends of one transverse distance-adjusting rod.

4. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: and every two adjacent lower support columns in the support device are detachably fixed with two ends of one longitudinal distance-adjusting rod.

5. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 4, which is characterized in that: the two ends of the longitudinal distance-adjusting rod are threaded sections, penetrate through one through hole formed in the corresponding two lower support columns, and are fixed with the two lower support columns through nuts.

6. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: two long upright posts positioned at the outer end position in the main track device are respectively fixed with a second track connecting piece, each long upright post positioned at the middle position is respectively fixed with a second track connecting piece, and each second track connecting piece is detachably fixed with a corresponding second square track.

7. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: the driving piece comprises a connecting shaft IV, a rotating motor and a chain transmission mechanism, wherein the connecting shaft IV is parallel to the connecting shaft I, forms a revolute pair with the outer wheel frame I and is connected with the connecting shaft I through the chain transmission mechanism, the rotating motor shell is fixed on the outer wheel frame I, and an output shaft of the rotating motor is connected with the connecting shaft IV through a gear pair.

8. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: the outer wheel frame I is fixed with one end of the universal joint coupling I, and the other end of the universal joint coupling I is fixed with the rail support or the main rail frame; the outer wheel frame II is fixed with one end of the universal joint coupling II, and the other end of the universal joint coupling II is fixed with the support rail frame or the main rail frame.

9. The detachable hanger rail type double-arm collaborative famous tea picking device according to claim 1, which is characterized in that: the first linear guide rail of the X-axis sliding table module is fixed on the support rail frame; two ends of the linear guide rail of each Y-axis sliding table module are fixed with two sliding blocks I opposite to each other on the two X-axis sliding table modules; the second sliding block of the Z-axis sliding table module is fixed with the third sliding block of the corresponding Y-axis sliding table module; the end picking actuator and the negative pressure temporary storage device are fixed on the linear guide rail III of the corresponding Z-axis sliding table module.

10. A method of harvesting a famous tea-leaf picking device co-operating with a detachable hanger rail according to any one of claims 1 to 9, wherein: the method comprises the following steps:

step one, installing two main track devices on a main road of a tea garden, installing supporting devices at the middle position of each row of tea ridges and at the outer positions of the two rows of tea ridges at the outermost side, and installing two track components on a first supporting device and a second supporting device respectively; then, the main rail trolley is arranged on two opposite square rails II in two main rail devices, a driving gear and each driven gear are meshed with racks on the upper end face and the lower end face of the corresponding square rail II, and a driven wheel II and a driven wheel III of the driven wheel group are contacted with the upper end face and the lower end face of the corresponding square rail II; then the support rail trolley is arranged on the main rail trolley, the driving wheel and the driven wheel I are contacted with the upper end face and the lower end face of one bearing rail, and the driven wheel II and the driven wheel III of the driven wheel group I are contacted with the upper end face and the lower end face of the other bearing rail;

step two, driving pieces of the driving wheel group II drive corresponding connecting shafts to drive driving gears to rotate, the driving gears are meshed with corresponding racks, and then the main rail frame is driven to move, and each driven gear is meshed with the corresponding rack until the main rail frame moves to the state that two bearing rails are aligned with two rail components;

step three, manually rotating or reversing the two adjusting screws positively to drive the two nut blocks to move oppositely or reversely, and driving the corresponding end of the leveling frame to ascend or descend by the two nut blocks through each adjusting arm so as to drive the corresponding bearing rail to ascend or descend until the two bearing rails are completely aligned with the two rail assemblies; then the two electric push rods push the two guide rods to extend out of the inner cavities of the corresponding bearing rails and extend into the inner cavities of the corresponding square rails I in the two rail assemblies, and the main rail trolley and the support rail device are in butt joint;

driving parts of the driving wheel sets I drive corresponding connecting shafts to drive driving wheels to rotate positively, rolling friction force between the driving wheels and corresponding receiving tracks drives a rail supporting frame to move, and the rail supporting frame moves from the rail supporting trolley to the two track assemblies until the rail supporting frame moves to one end, far away from a main track device, of the two track assemblies;

step five, driving two tail end picking actuators to respectively move to the positions of two target bud heads according to the positions of all the target bud heads in the current region of the track trolley fed back by the depth camera by the XYZ three-axis moving device; then the two end picking actuators pick the two target bud heads off; then the two picked target bud heads are temporarily stored by the two negative pressure temporary storage devices;

step six, repeating the step five until the picking and temporary storage work of all the target bud heads in the current area of the track trolley is completed; then the driving piece of the driving wheel group I drives the corresponding connecting shaft to drive the driving wheel to rotate reversely, and the track frame advances towards the direction close to the main track device until the track frame advances to the next area where picking work is not performed;

step seven, repeating the step six until picking and temporary storage of all target bud heads between the two track assemblies are completed; when an idle square rail is arranged in one rail component far away from the tea ridge which is not subjected to picking work in the working process, the idle square rail is detached and is arranged on two adjacent upper support columns which are close to the main rail device and have mounting positions in the next idle support device;

step eight, driving a corresponding connecting shaft to drive a driving wheel to continuously rotate reversely by a driving piece of a driving wheel group I, and moving the rail supporting frame from two square rails I to two bearing rails until the rail supporting frame completely moves to the two bearing rails; then the two electric push rods drive the two guide rods to retract to the inner cavities of the corresponding bearing rails, and the main rail trolley is disconnected with the branch rail device;

step nine, driving the driving piece of the driving wheel set II to drive the driving gear to continue rotating by the corresponding connecting shaft so as to drive the main rail frame to continue advancing, and simultaneously detaching the remaining square rail I in the rail component far away from the tea ridge which is not picked up, and installing the square rail I on the adjacent two upper support columns with the remaining installation positions in the next idle supporting device until the main rail frame advances to the position that the two bearing rails are approximately aligned with the two rail components;

step ten, repeating the steps three to nine until picking of the target bud heads in all the tea ridges is completed; and finally, the support rail trolley, the main rail trolley, the rail components, the upper support columns of the support devices and the main rail devices are disassembled.