CN209268045U - An intelligent double-arm tea picking machine for famous and high-quality tea - Google Patents

Abstract

A kind of Famous High-quality Tea intelligence both arms tea picking machine, belongs to agricultural machinery technological field.Including picker, collection leaf device and control device, it is characterised in that: the picker includes 2 picking heads and 2 groups of scalable mechanical arms；The picking head includes the base body that external form is in dustpan shape, steel wheel with groove is arranged in base body, it is equipped with an annular wire rope in the groove of steel wheel, drives steel wheel operating to drive annular wire rope high-speed mobile to realize bud being cut in a manner of wire cutting slightly high-speed motor.The utility model realizes the ecosystem of bud-leaf in Famous High-quality Tea Mechaniaed harvest, bud-leaf size optionalization, picking process intelligence, picking rate high efficiency.

Description

An intelligent double-arm tea picking machine for famous and high-quality tea

technical field

The invention belongs to the technical field of agricultural machinery, and in particular relates to an intelligent double-arm tea picking machine for famous and high-quality tea.

Background technique

Tea is one of the important economic crops in my country. It is an important way to increase the income of farmers in the vast mountainous areas, especially in the central and western regions, and is an important pillar of the rural economy in tea areas. According to statistics, 10 tea-producing provinces and more than 300 tea-producing counties (cities) across the country have listed the tea industry as a pillar industry of agriculture. However, in recent years, with the adjustment of the industrial structure and the transfer of a large number of rural labor force to the secondary and tertiary industries in coastal areas and cities, my country's "shortage of tea picking workers" has intensified. It is estimated that only Zhejiang Province has a labor shortage of more than 500,000 people during the peak employment period, and the cost of picking labor costs continues to rise. Due to the lack of sufficient tea picking workers in some tea enterprises, a large amount of tea leaves were left on the trees and could not be picked in time, and some even picked less than one-tenth of the part, resulting in a serious waste of resources. Because the tea cannot be harvested in time, it not only leads to the deterioration of the profits of the tea enterprises, but also leads to the lack of return for the tea garden management of the tea enterprises in this year, and further increases the production cost of the tea. Therefore, the increase in labor costs has become a constraint on the tea industry. The important bottleneck of stepping up to the next level has a vital impact on the entire tea industry.

my country's tea benefits mainly come from famous tea and high-quality tea. Among them, famous and high-quality tea refers to the tea with better quality made from one bud and one leaf or one bud and two leaves as raw materials. Because the plucking standard of famous and high-quality tea is too tender, it is very difficult to pluck and separate the fresh tea leaves picked according to the standard size by the current non-selective mechanized picking method.

Since the currently more common tea picking machines are all blade reciprocating tea picking machines, this kind of machine can only pick all the buds and leaves above the knife edge along a certain height of the tree crown when picking, and cannot distinguish the picked tea leaves. The buds and leaves are single buds, one bud and one leaf, one bud and two leaves, or even one bud with three or four leaves or old leaves, but they are all mixed together, resulting in mixed sizes of famous and high-quality tea raw materials. The mixed leaves and stems will cause the finished tea to have a rough and old taste, which will significantly reduce the quality and price of famous tea. People in the industry are also constantly improving the tea picking machine so that it can adapt to the raw material picking of famous and high-quality tea. However, most of these improvements focus on the following three aspects: 1) Changes in the length of the blade, such as changing the long blade to a short blade, to improve its flexibility; Avoid picking mature leaves into it; 3) Change gasoline engine drive to lithium battery drive to reduce the weight of the picker and improve its mobility. But these three aspects are still based on the principle of blade reciprocating picking, which still cannot solve the problem of non-selectivity. Although there have been many researches on camera recognition, the efficiency of correct recognition is low because the color consistency of tea shoots is relatively good and the color contrast is small. At the same time, even if it is recognized, the three-dimensional positioning of the picking hand is still very difficult and slow, and there is still a long way to go before the actual production application.

Contents of the invention

In order to overcome the technical problems existing in the background technology, the object of the present invention is to provide a flexible and maneuverable intelligent dual-arm tea picking machine for famous and high-quality tea with the core of "intelligent identification + thin wire cutting + wind suction leaf collection". It can really achieve intelligent, fast and high-quality picking effect, and obtain the high-quality materials needed for famous and high-quality tea.

The present invention realizes through following technical scheme:

An intelligent double-arm tea picking machine for famous and high-quality tea, including a picking device, a leaf collecting device and a control device, is characterized in that: the picking device includes 2 picking heads and 2 sets of retractable mechanical arms; the picking head includes a shape Dustpan-shaped base body, the base body includes a rectangular bottom plate, left and right side panels, a back panel and an upper cover; the middle part of the upper cover is provided with a wind collecting hood, the top of the wind collecting hood and the leaf collecting device Fixed connection; the front end of the bottom plate is provided with two left and right steel wheel shafts passing through the bottom plate, and the upper and lower ends of the steel wheel shaft are provided with fixing strips to fix them on the base body; the two steel wheel shafts above the bottom plate Steel wheels with grooves are arranged respectively, one of the steel wheel shafts is also provided with a high-speed motor for driving the steel wheel to rotate, and a ring-shaped steel wire rope is set in the grooves of the two steel wheels, and the high-speed motor drives the steel wheel to run Thereby driving the circular steel wire rope to move at high speed to realize the cutting of the bud tip by wire cutting; the front end of the upper cover plate is provided with a camera for bud tip positioning and height identification; the base body is also equipped with a telescopic mechanical arm for connecting The fixed stake; the other end of the telescopic mechanical arm is connected with the control device.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: a leaf-collecting baffle is arranged in the cavity of the base body, and the left and right sides of the leaf-collecting baffle are respectively connected to the base body. The left and right side panels are fixedly connected, the front end is fixedly connected to the front part of the bottom plate, and the rear end is fixedly connected to the top of the back panel, so as to form a leaf collecting air duct between the leaf collecting baffle and the upper cover.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the leaf-collecting baffle is provided with two pieces, including a front baffle located between two steel wheels, and the front baffle is locked by male and female buckles. Connected tailgate; the front part of the steel wheel and the wire rope in front are located outside the base body, and the rear part of the steel wheel and the steel wire rope at the rear are located inside the base body.

The above-mentioned intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the telescopic mechanical arm is provided with a bidirectional motor for realizing left and right rotation and up and down movement of the telescopic mechanical arm and a stepping motor for front and rear telescopic movement.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the leaf collecting device is mainly composed of a telescopic leaf collecting air duct, a vortex fan, a collection air duct and a leaf collecting box, and the vortex fan It is arranged on the pipe wall of the retractable leaf-collecting air pipe, and the leaf-collecting air pipe is provided with an exhaust net near the collecting air pipe; the telescopic leaf-collecting air pipe is provided with two, and its front ends are respectively connected to a picking head, and the The end is fixedly connected with the collecting air duct.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the control device includes a transport system for realizing the advancement of the tea picking machine, and a carrying platform is set above the transport system; There is a balance device to keep the carrying platform horizontal; the lifting rod is fixedly connected to the carrying platform; a power generation device, a battery unit, an image information processing and picking control system and a wire-controlled operator are also arranged on the carrying platform; the lifting rod and The retractable mechanical arm is flexibly connected.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the transportation system consists of two pairs of front and rear driving wheels, a crawler belt on the left and right sides, four driving wheel support frames, and four driving wheel carrying platforms. composition.

The intelligent two-arm tea picking machine for famous and high-quality tea is characterized in that: the balance device is a gyro balancer.

The intelligent two-arm tea picking machine for famous and high-quality tea is characterized in that: the length of the rectangular bottom plate is 10 cm, and the width is 8 cm.

The intelligent double-arm tea picking machine for famous and high-quality tea is characterized in that: the cross-sectional diameter of the annular steel wire rope is 0.3 mm.

The above-mentioned intelligent double-arm tea picking machine for famous and high-quality tea is mainly aimed at the labor shortage faced by the current picking of famous and high-quality tea, but the current reciprocating tea picking machine cannot really solve the problem of mechanized picking of famous and high-quality tea. The picking mechanical equipment and picking method with "intelligent identification + thin wire cutting + wind suction leaf collection" as the core can solve the uncontrollable length of the buds caused by the inability to select the current general-purpose blade reciprocating tea picking machines. Technical defects such as the base of the tip being torn at the cutting position and turning red. The invention realizes the original ecology of the buds and leaves in the mechanized picking of famous and high-quality tea, the size of the buds and leaves can be selected, the picking process is intelligent, and the picking speed is high-efficiency. Specifically, it has the following beneficial effects: (1) Single-line cutting and picking Instead of the original blade cutting back and forth, reducing the damage of buds and leaves. This patent uses a high-toughness ring-shaped steel wire rope installed on two steel wheels to replace the traditional blade. The steel wire rope rotates around the two steel wheels at high speed under the drive of a high-speed motor to form a cutting force. This linear cutting has fast cutting and thus It reduces the problem of the base of the bud tip being torn and turned red by the cutting position of the traditional blade, so the damage of the picked buds and leaves is less than that of the blade cutting, so that the quality of the fresh tea leaves is better; (2) with The vortex fan forms a negative wind pressure leaf collection instead of the blowing leaf collection of the traditional tea picking machine. The picked buds and leaves will be quickly sucked into the leaf collection box, which further reduces the impact and friction between the picked bud tips. At the same time, due to the wind will It is quickly blown out from the exhaust net located in the middle and rear of the leaf-collecting air duct, so that the picked buds and leaves will not be continuously blown by the wind, so that the freshness of the picked raw materials is better; (3) The picking head is small in size, Divided into left and right, it has good flexibility, fast positioning and high picking efficiency. It is possible to pick a single tea row at the same time or to pick two adjacent tea rows in parallel. (4) The leaf-collecting baffle increases the wind pressure and increases the suction effect of new shoots; Cutting damage. (5) The picking head is equipped with a positioning and height recognition camera to determine the position and height of the nearest bud tip and realize precise cutting according to the length of the bud tip. The efficiency is high, the bud tip is cut completely and the quality is good.

Description of drawings

Fig. 1 is the top view structural representation of picking head of the present invention;

Fig. 2 is the looking up structure schematic diagram of picking head of the present invention;

Fig. 3 is a schematic structural view of Fig. 1 after removing the wind collecting hood and the upper cover;

Fig. 4 is a schematic structural view of Fig. 3 after the leaf-collecting baffle is removed;

Fig. 5 is a schematic view of the side structure of the picking head of the present invention;

Fig. 6 is the schematic diagram of the cross-sectional structure of the measuring surface of the picking head of the present invention;

Fig. 7 is a structural representation of the present invention;

Fig. 8 is a schematic structural view of the transport system of the present invention;

In the figure: 1-picking head; 1-1-1-bottom plate, 1-1-2-side plate, 1-1-3-back plate; 1-1-4-upper cover plate; 1-2-set Wind cover; 1-3-steel wheel shaft; 1-4-fixing bar; 1-5-steel wheel; 1-6-high-speed motor; 1-7-wire rope; 1-8-camera; 1-9-leaf block Plate; 1-9-1-front baffle; 1-9-2-rear baffle; 1-10-fixed pile; 2-1-retractable leaf collecting duct; 2-2-vortex fan; 2- 3-Collection air duct; 2-4-Exhaust net; 2-5-Leaf collecting box; 3-1-Transportation system; 3-1-1-Drive wheel; 3-1-2-Crawler belt; 3-1 -3-support frame; 3-1-4-carrying platform; 3-1-5-wire control operator; 3-2-balance device; 3-3-carrying platform; 3-4-generating device; 3-5 Battery unit; 3-6-image information processing and picking control system; 3-7-lifting rod; 4-extensible mechanical arm; 4-1-bidirectional motor; 4-2-stepping motor.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The present invention designs an intelligent double-arm tea picking machine for famous and high-quality tea (as shown in Figure 1-8), which mainly includes three modules: a picking device, a leaf collecting device and a control device. Wherein: the picking device includes two picking heads 1, the rear sides of the two picking heads are respectively connected with a group of telescopic mechanical arms 4, and the top of the two picking heads is connected with the leaf collecting device; Dustpan-shaped base body, each base body includes a rectangular base plate 1-1-1, two side plates 1-1-2 on the left and right, a back plate 1-1-3 and an upper cover Plate 1-1-4; a cavity is provided in the middle of the upper cover plate, the inner side of the upper cover plate is sealed and connected with the wind collecting hood 1-2, and the top of the wind collecting hood is fixedly connected with the leaf collecting device; the bottom plate 1-1-1 The front end of the steel wheel shaft is provided with two left and right steel wheel shafts 1-3 that pass through the base plate, and the upper and lower ends of the steel wheel shaft are provided with fixing bars 1-4 that are fixed on the base body, that is, each steel wheel shaft is provided with 2 fixing strips; steel wheels 1-5 with grooves are arranged on the two steel wheel shafts above the bottom plate respectively. The diameter of the steel wheels is preferably 2cm and the outer diameter has a groove with a depth of 1mm; one of the steel wheel shafts There is also a high-speed motor 1-6 for driving the steel wheel to rotate, and a ring-shaped steel wire rope 1-7 is arranged in the groove of the two steel wheels, and the high-speed motor drives the steel wheel to run so as to drive the ring-shaped wire rope to move at a high speed to realize the bud slightly. The cross-section of the ring wire rope 1-7 is circular, the optimum diameter is 0.3mm, and it is made of high-toughness metal material; Recognized cameras 1-8; cameras 1-8 can be 1 or 2, when it is set to 1, the camera is best set at the midpoint of the front end of the upper cover, when it is set to 2, the camera is best set on the top Both sides of the midpoint of the front end of the cover plate are symmetrically distributed; the base body 1-1 is also provided with fixed piles 1-10 for connecting the telescopic mechanical arm. In order to obtain a more stable fixing effect, the fixed piles are the best Set 2; the other end of the telescopic arm is connected to the control device.

Preferably, the cavity of the base body 1-1 is provided with a leaf-collecting baffle 1-9, and the left and right sides of the leaf-collecting baffle are respectively fixedly connected to the left and right side plates of the base body, The front end of the leaf-collecting baffle is fixedly connected to the front of the base plate (it is best to leave 1-2 cm in front of the base plate, see Figure 3), and the rear end of the leaf-collecting baffle is fixedly connected to the top of the rear back plate, so that the leaf-collecting baffle and the A leaf-collecting air duct is formed between the upper cover plates 1-1-4. The leaf-collecting baffle 1-9 is preferably provided with two pieces, including a front baffle 1-9-1 located between the two steel wheels, and a rear baffle 1-9-2 connected to the front baffle through male and female buckles; The front part of the steel wheel and the steel wire rope in front are located at the outside of the base body, and the rear part of the steel wheel and the steel wire rope at the rear are located at the inside of the base body. The function of these two baffles is to increase the wind pressure, increase the suction effect of new shoots, and improve the efficiency of leaf collection. The other function is to prevent secondary cutting damage to the picked new shoots by the steel wire rope on the rear side. As a preference, preferably 1/3 of the steel wheel is outside the base body, so as to ensure that the steel wire rope will not be blocked by the base 1-3 when cutting buds and leaves at high speed, and the cut buds and leaves can fall on the bottom plate of the base And set leaf baffle, will not fall. The thickness of the rectangular bottom plate can be 0.3cm, the length of the long side is 10cm, and the length of the short side is 8cm.

The telescopic mechanical arm 4 is provided with a two-way motor 4-1 for realizing the left and right rotation and up and down movement of the telescopic mechanical arm and a stepping motor 4-2 for front and rear telescopic movement, thereby realizing the flexible up, down, left and right of the picking head. move.

The designed leaf collecting device of the present invention mainly consists of telescopic leaf collecting air duct 2-1 (diameter 6cm), vortex fan 2-2, collecting air duct 2-3 and leaf collecting box 2-5 (size is : length 50cm*width 30cm*height 50cm), the vortex fan 2-2 is arranged on the pipe wall of the telescopic leaf-collecting air duct 2-1, and the leaf-collecting air duct is provided near the collection air duct 2-3 Exhaust net 2-4; the telescopic leaf-collecting air duct 2-1 is provided with two pieces, the front ends of which are respectively connected with a picking head 1, and the ends of which are fixedly connected with the collecting air duct 2-3. Negative pressure is formed in the wind collecting hood 1-2 through the vortex fan, so that the picked bud tips are sucked into the retractable leaf collecting air duct from the leaf collecting baffle, and then enter the leaf collecting box 2-5, and the vortex fan 2-2 The generated wind is quickly discharged from the exhaust net 2-4, so as not to affect the wind pressure at the leaf collecting mouth, and also reduces the risk of continuous wind blowing of new shoots picked in the leaf collecting box, and keeps the freshness of the shoots.

The control device designed in the present invention includes a moving system 3-1 for realizing the advancement of the tea picking machine, a bearing platform 3-3 is arranged above the moving system, and is mainly composed of a steel plate; A balance device 3-2 for maintaining the level of the carrying platform; a lifting rod 3-7 is fixedly connected to the carrying platform 3-3 (for adjusting the height of the picking device, the height is 80cm); a power generating device is also installed on the carrying platform 3-3 3-4, storage battery unit 3-5, image information processing and picking control system 3-6 and wire-controlled manipulator 3-1-5; The power generation device 3-4 mainly provides the power source for the picking device of the tea picking machine; the storage battery unit 3-5 is mainly used for the high-speed motor 1-6 of the tea picking machine, the camera 1-8, the vortex fan 2-2, the image information Processing and picking device control system 3-6, the driving motors of the four drive wheels 3-1-1 of the tea picking machine and the wire-controlled manipulator 3-1-5 and other equipment provide power. Image information processing and picking device control system 3-6 mainly consists of video information processing system, picking head positioning and height control system, tea picking machine movement direction signal processing system, among which there is a manual operation mode for picking head positioning and height control In the manual mode, the tea picking machine will turn off the cameras 1-8 and control the corresponding control motors, and the front and rear, left and right, and up and down movements of the picking head can be controlled by the operator at will; the position of the picking head under automatic control It is controlled by two motors (two-way motor 4-1 and stepping motor 4-2) that control the horizontal and up-down directions in the telescopic mechanical arm 4.

As a preference: the body length of the control device of the tea picking machine is 80cm (not including the picking equipment and the retractable mechanical arm), the width is 50cm, and the height is 60cm (not including the height of the lifting rod). It is supported by double crawlers, of which the width of a single crawler is 20cm, the gap between the two crawlers is 10cm, the total width between the two crawlers is 50cm, the length of the contact part between the two crawlers and the ground is 50cm, and the height between the upper and lower rows of the crawlers is 20cm, thus improving It ensures the accessibility and applicability of the equipment in various tea gardens.

As a preference, the above-mentioned transport system 3-1 consists of two pairs of drive wheels 3-1-1 at the front and rear, a crawler belt 3-1-2 at the left and right, four drive wheel support frames 3-1-3, and four drive wheel carrying platforms. 3-1-4 consists of four parts to control any steering and improve the passing capacity. The front and rear movement and steering of the tea picking machine are all controlled by the wire control operator 3-1-5; the balance device 3-2 is mainly equipped with a gyroscope Balancer, the concrete structure of gyro balancer can refer to prior art, so that tea-picking machine can be adapted to plucking in slope tea garden.

This patent applies the cutting force formed by the steel wire rope running at high speed to tea picking for the first time to replace the original blade back and forth cutting, thereby reducing the damage of buds and leaves. The method of single-line cutting and picking is used to replace the original blade back and forth cutting, and the damage of the picked buds and leaves is less than that of blade cutting.

The method of leaf collection by air suction replaces the method of leaf collection by blowing commonly used by current tea pickers. This method can reduce the accumulation and wear between leaves, and also reduce the time for fresh leaves to be exposed to the wind, and reduce the impact between buds and leaves. It is more conducive to maintaining the freshness of the buds; at the same time, because the wind will quickly blow out from the air outlet net located in the middle of the leaf collection pipeline, and the buds and leaves will enter the leaf collection box in the form of free fall after losing the wind suction. In this way, the picked buds and leaves will not be continuously blown by the wind, thereby maintaining the normal water content of the leaves, and making the freshness of the picked raw materials better.

The position and three-dimensional characteristics of the picked buds and leaves can be quickly judged by the positioning and height recognition camera, and the height of the buds can be calculated, and the height of the picking head can be determined by image information processing and picking control system feedback to the retractable robotic arm installed with the cutting and picking head Afterwards, cut and pick the bud tips, the buds are slightly intact, and use the suction pipe to suck away the picked new shoots in an instant. This intelligent tea picking machine is composed of two picking heads, which can work simultaneously in the same row, and can also pick in two adjacent rows at the same time, with fast picking speed and high efficiency.

Requirements of the tea picking machine for the canopy and the appropriate time for picking: the equipment requires that the canopy of the tea garden should be picked horizontally; when picking new buds and leaves, one bud and one or two leaves account for 70-80% of the buds on the tree, or the buds Picking when the average height of shoots is 4.5-5cm is the right time for picking. Due to the adoption of this cutting method, the incision can be guaranteed to be flat and smooth, so as not to cause the incision to become red. At the same time, because the cutting line of the picking head is significantly shorter than the current conventional blade, it is flexible and has high selectivity during cutting, thereby improving the complete rate of bud tips. The intelligent double-arm tea picking machine designed for famous tea has a complete rate of more than 98% of the picked buds, while the integrity rate of the picked buds with ordinary blade tea picking machines is 35-60%. After investigation, it was found that in the Zhejiang area, the bud tip of the main tea varieties with one bud and one leaf is about 4cm, and the height of the bud tip of one bud and two leaves is about 5cm. The height of the picking buds is set according to the corresponding height of the bud tips, so the uniformity and uniformity of the bud tips are obviously better than the current conventional tea picking machines. If the height of the picked shoots is set to be 4cm, the height of the picked shoots can basically be maintained at 4cm, thus ensuring the uniformity and uniformity of the famous tea raw materials.

Claims (4)

1. a kind of Famous High-quality Tea intelligence both arms tea picking machine, including picker, collection leaf device and control device, it is characterised in that: institute Stating picker includes 2 picking heads (1) and 2 groups of scalable mechanical arms (4)；The picking head includes the base that external form is in dustpan shape Seat ontology, the base body includes rectangle bottom plate (1-1-1), left and right side plate (1-1-2), postnotum (1-1-3) and upper cover Plate (1-1-4)；The middle part of upper cover plate (1-1-4) is equipped with wind-collecting cover (1-2), is fixedly connected at the top of wind-collecting cover with collection leaf device；Institute The front end of bottom plate is stated equipped with left and right two steel wheel axis (1-3) across bottom plate, the upper and lower side of steel wheel axis, which is equipped with, to be fixed in Fixed strip (1-4) on base body；Setting steel wheel (1-5) with groove is respectively cooperating on two steel wheel axis above bottom plate, The high-speed motor (1-6) for driving the steel wheel to rotate, cooperation in the groove of two steel wheels are wherein additionally provided on a steel wheel axis One annular wire rope (1-7) is set, steel wheel operating is driven to drive annular wire rope high-speed mobile real by high-speed motor Existing bud being cut in a manner of wire cutting slightly；The upper cover plate front end (1-1-4) is equipped with slightly to be positioned and level identification for bud Camera (1-8)；The spud pile (1-10) for connecting scalable mechanical arm is additionally provided on the base body；Scalable machine The other end of tool arm is connected with control device.

2. a kind of Famous High-quality Tea intelligence both arms tea picking machine according to claim 1, it is characterised in that: the sky of the base body Intracavitary to be equipped with collection leaf baffle (1-9), the left and right side of the collection leaf baffle is fixedly connected with the left and right side plate of base body respectively, The front end of collection leaf baffle is fixedly connected with the front bottom plate (1-1-1), is fixedly connected at the top of rear end and postnotum (1-1-3), real A collection Ye Fengdao is formed between collection leaf baffle and upper cover plate (1-1-4) now.

3. a kind of Famous High-quality Tea intelligence both arms tea picking machine according to claim 1, it is characterised in that: the collection leaf device is main By scalable collection Ye Fengguan (2-1), vortex fan (2-2), collect air hose (2-3) and leaf collecting box (2-5) is constituted, the whirlwind On the tube wall of scalable collection Ye Fengguan (2-1), collection leaf air hose is close to be collected at air hose (2-3) equipped with air draft for machine (2-2) setting Net (2-4)；The scalable collection Ye Fengguan (2-1) is equipped with 2, and front end is separately connected a picking head, end with collect Air hose is fixedly connected.

4. a kind of Famous High-quality Tea intelligence both arms tea picking machine according to claim 1, it is characterised in that: the control device includes It realizes the migration system (3-1) that tea picking machine is advanced, carrying platform (3-3) is set above migration system；Migration system and carrying are flat The balancing device (3-2) for making carrying platform holding level is equipped between platform；Elevating lever is fixedly connected on the carrying platform (3-3) (3-7)；Power generator (3-4), battery unit (3-5), Image Information Processing and picking control are additionally provided on carrying platform (3-3) System (3-6) processed and X-by-Wire device (3-1-5)；The elevating lever (3-7) is flexibly connected with scalable mechanical arm (4).