CN209268045U - A kind of Famous High-quality Tea intelligence both arms tea picking machine - 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

A kind of Famous High-quality Tea intelligence both arms tea picking machine

Technical field

The invention belongs to agricultural machinery technological field more particularly to a kind of Famous High-quality Tea intelligence both arms tea picking machines.

Background technique

Tealeaves is one of China Important Economic crop, is the important way of vast mountain area especially central and west regions increasing peasant income Diameter is the mainstay of tea area rural economy.According to statistics, the whole nation has 10 production tea provinces, 300 counties Duo Gechancha (city) by tea industry It is classified as the pillar industry of agricultural.However in recent years, a large amount of to coastal and city with the adjustment of the industrial structure and rural laborer Second and third industry transfer of town, China's tealeaves " adopting work famine " grow in intensity, and famous green tea adopts work shortage, loses and adopt seriously.It is estimated that Only Zhejiang Province picks labour's notch at recruitment peak more than 500,000 people, the costs Continued such as picking expenses of labour.There is part tea Due to lacking enough tea picking works, a large amount of tealeaves stay can not adopt down in time in the tree for leaf enterprise, and it is insufficient that some even adopts lower part 1/10th, cause resource serious waste.Since tealeaves can not be adopted down in time, tea-enterprise benefit variation is not only resulted in, Resulting in tea-enterprise, middle tea garden management also further increases the production cost of tealeaves, therefore without return in this year Labor cost increases the important bottleneck for having become and restricting tea industry top bar again, plays to entire tealeaves industry vital It influences.

China's tealeaves benefit mostlys come from Famous High-quality Tea and high grade tea.Wherein, Famous High-quality Tea refers to one leaf of a bud or a bud Two leaves are that raw material is fabricated to quality preferably tealeaves.Since Famous High-quality Tea standard of plucking is excessively tender, by the machinery of current non-selectivity It is very difficult for changing Softening to pick the fresh tea leaves under adopting by normal size and separate.

Since current more common tea picking machine is all blade reciprocation type tea picking machine, this loom can only be edge in picking Crown surface some height, the bud-leaf above the edge of a knife is all adopted down, and can not differentiate this bud-leaf picked be simple bud, Even three or four leaf of a bud or old leaf of one bud, one leaf, two leaves and a bud, but it is all mixed in together, so as to cause Famous High-quality Tea original The size of material mixes, or even because has old leaf and stalk to be mingled in interior and tealeaves finished product is caused thick old taste occur, to significantly drop The quality and price of low Famous High-quality Tea.Current people in the industry is also continuously improving tea picking machine, so that it adapts to Famous High-quality Tea Raw material picking.But these improvement have focused largely on following three aspects: long blade is such as changed to short and small by the 1) change of blade length Blade, to improve its flexibility ratio；2) height adjustment for changing the edge of a knife, allows it to raise as far as possible, avoided as far as possible by mature leaf It adopts into wherein；3) gasoline engine driving is changed to lithium battery driving, to mitigate the weight of picking machine, improves its mobility.But this three A aspect all or based on blade reciprocation type picks principle, is still the problem of can't resolve non-selectivity.Although imaging at present Head identification aspect also has more research, but since the color consistency of tealeaves young sprout is preferable, color contrast is smaller, so Correct identification aspect efficiency is lower.Even simultaneously identify, the three-dimensional localization of picking hands be still it is very difficult and slow, from reality Border production application is had got long long way to go.

Summary of the invention

In order to overcome technical problem present in background technique, the object of the present invention is to provide it is a kind of it is flexible, with " intelligent recognition+filament cutting+wind suction integrate leaf " as a kind of Famous High-quality Tea intelligence both arms tea picking machine of core, can be really achieved intelligently, Quickly, good picking effect, quality material needed for obtaining Famous High-quality Tea.

The present invention is achieved through the following technical solutions:

A kind of Famous High-quality Tea intelligence both arms tea picking machine, 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 pedestal sheet that external form is in dustpan shape Body, the base body include rectangle bottom plate, left and right side plate, postnotum and upper cover plate；The middle part of upper cover plate is equipped with collection wind Cover, wind-collecting cover top are fixedly connected with collection leaf device；The front end of the bottom plate is equipped with left and right two steel wheel axis across bottom plate, The upper and lower side of steel wheel axis is equipped with the fixed strip being fixed on base body；Match respectively on two steel wheel axis above bottom plate It closes and steel wheel with groove is set, wherein being additionally provided with the high-speed motor for driving the steel wheel to rotate, two steel on a steel wheel axis It is equipped with an annular wire rope in the groove of wheel, drives steel wheel operating to drive annular wire rope height by high-speed motor Speed is mobile to realize bud being cut in a manner of wire cutting slightly；Upper cover front edge of board is equipped with slightly to be positioned and level identification for bud Camera；The spud pile for connecting scalable mechanical arm is additionally provided on the base body；Scalable mechanical arm it is another End is connected with control device.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: collection is equipped in the cavity of the base body The left and right side of leaf baffle, the collection leaf baffle is fixedly connected with the left and right side plate of base body respectively, front end and pan front It is fixedly connected, is fixedly connected at the top of rear end and postnotum, realize and form a collection leaf wind between collection leaf baffle and upper cover plate Road.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the collection leaf baffle is equipped with two pieces, including position Front apron between two steel wheels, the rear baffle snapped connection with front apron by male and female；The front of steel wheel and the steel in front Cord is located on the outside of base body, and the rear portion of steel wheel and the wirerope at rear are located on the inside of base body.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the scalable mechanical arm, which is equipped with, to be realized The reversing motor and elastic stepper motor that scalable mechanical arm is rotated left and right and moved up and down.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the collection leaf device is mainly by scalable collection Leaf air hose, vortex fan collect air hose and leaf collecting box composition, and the tube wall of scalable collection leaf air hose is arranged in the vortex fan On, collection leaf air hose is close to be collected at air hose equipped with air exhausting net；The scalable collection leaf air hose is equipped with 2, and front end is separately connected One picking head, end are fixedly connected with air hose is collected.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the control device includes realizing tea picking machine Carrying platform is arranged in the migration system of traveling, migration system top；Being equipped between migration system and carrying platform makes carrying platform Keep horizontal balancing device；Elevating lever is fixedly connected on the carrying platform；Power generator, electric power storage are additionally provided on carrying platform Pond unit, Image Information Processing and picking control system and X-by-Wire device；The elevating lever and scalable mechanical arm activity connect It connects.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the migration system is by the driving of two pairs of front and back Wheel, each crawler belt in left and right, four driving wheeling supporting frames, four four part of driving wheel carrying platform compositions.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the balancing device is gyroscopic equilibrium instrument.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: a length of 10cm of the rectangle bottom plate, it is wide For 8cm.

A kind of Famous High-quality Tea intelligence both arms tea picking machine, it is characterised in that: the cross-sectional diameter of the annular wire rope For 0.3mm.

A kind of above-mentioned Famous High-quality Tea intelligence both arms tea picking machine is faced artificial tight mainly for the picking of current Famous High-quality Tea Scarce but current round trip formula tea picking machine can not really solve the problems, such as the Mechaniaed harvest of Famous High-quality Tea again, invent a kind of flexible machine It is dynamic, equipped with the picking mechanical that " intelligent recognition+filament cutting+wind, which is inhaled, integrate leaf " is core and Softening, so that solution is worked as Preceding general blade reciprocation type tea picking machine can not it is selective caused by bud slightly length be unable to control, bud tip base portion is by cutting position The technological deficiencies such as torn and reddened.The present invention realizes the ecosystem of bud-leaf in Famous High-quality Tea Mechaniaed harvest, bud-leaf size Optionalization, picking process are intelligent, picking rate is efficient, specifically have the following beneficial effects: that (1) is cut with single line The mode of picking replaces original blade to cut back and forth, reduces the damage of bud-leaf.This patent uses one and is mounted on two High tenacity annular wire rope on a steel wheel replaces conventional blades, and wirerope is under the drive of high-speed motor around two steel wheel height Speed rotation, forms cutting force, and there is this linear incision cutting to be cut fastly to reduce bud tip base portion existing for conventional blades The problem of position is torn and reddened is cut, therefore its bud-leaf damage picked is smaller than the loss that blade is cut, to make tea The quality of fresh leaf is more preferably；(2) the blowing collection leaf that negative wind pressure collection leaf replaces traditional tea picking machine is formed with vortex fan, the bud-leaf under adopting It can be inhaled into leaf collecting box rapidly, the shock and friction between the picking bud tip be further reduced, simultaneously as wind can be rapidly from position It is blown out in the air exhausting net of Yu Jiye air hose pipeline middle and back, and picking bud-leaf will not be continued by wind, to make to pick The freshness of raw material is more preferable；(3) picking head is small in size, is divided into left and right two, and flexible property is good, positioning is fast, and picking efficiency is high. The picking of single tea row can be carried out simultaneously or carries out two adjacent tea rows simultaneously picking parallel.(4) collection leaf baffle increases wind Pressure, increases the suction belt effect of young sprout；On the other hand, the wirerope barrier at steel wheel rear is avoided in the lower section of collection leaf baffle Young sprout under adopting is damaged by secondary cut.(5) picking head is equipped with positioning and level identification camera, to determine distance most Close bud position slightly and height simultaneously realize accurate cutting according to the length of bud slightly, and high-efficient, bud is slightly cut completely, high-quality.

Detailed description of the invention

Fig. 1 is the overlooking structure diagram of picking head of the present invention；

Fig. 2 is the present invention looks up structural representation of picking head of the present invention；

Fig. 3 is that Fig. 1 unloads the structural schematic diagram after wind-collecting cover and upper cover plate；

Fig. 4 is that Fig. 3 unloads the structural schematic diagram after next part leaf baffle；

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

Fig. 6 is the survey face schematic cross-sectional view of picking head of the present invention；

Fig. 7 is structural schematic diagram of the invention；

Fig. 8 is the structural schematic diagram of migration system of the present invention；

In figure: 1- picking head；1-1-1- bottom plate, 1-1-2- side plate, 1-1-3- postnotum；1-1-4- upper cover plate；1-2- collection Fan housing；1-3- steel wheel axis；1-4- fixed strip；1-5- steel wheel；1-6- high-speed motor；1-7- wirerope；1-8- camera；1-9- collection Leaf baffle；1-9-1- front apron；1-9-2- rear baffle；1-10- spud pile；The scalable collection Ye Fengguan of 2-1-；2-2- vortex fan； 2-3- collects air hose；2-4- air exhausting net；2-5- leaf collecting box；3-1- migration system；3-1-1- driving wheel；3-1-2- crawler belt；3-1- 3- support frame；3-1-4- carrying platform；3-1-5- X-by-Wire device；3-2- balancing device；3-3- carrying platform；3-4- power generation dress It sets；3-5 battery unit；3-6- Image Information Processing and picking control system；3-7- elevating lever；The scalable mechanical arm of 4-；4- 1- reversing motor；4-2- stepper motor.

Specific embodiment

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

The present invention devises a kind of Famous High-quality Tea intelligence both arms tea picking machine (such as Fig. 1-8), mainly includes picker, collection leaf dress It sets and the big module of control device three.Wherein: picker includes including two picking heads 1, and the rear side of two picking heads respectively connects The top of one group of scalable mechanical arm 4, two picking heads is connected with collection leaf device；The picking head includes external form in dustpan shape Base body, each base body includes one piece of rectangle bottom plate 1-1-1, left and right totally two pieces of side plate 1-1-2, after one piece Backboard 1-1-3 and one piece of upper cover plate 1-1-4；The middle part of upper cover plate is equipped with cavity, connects on the inside of upper cover plate with wind-collecting cover 1-2 sealing It connects, is fixedly connected at the top of wind-collecting cover with collection leaf device；The front end of the bottom plate 1-1-1 is equipped with left and right two steel across bottom plate Wheel shaft 1-3, the upper and lower side of steel wheel axis are equipped with the fixed strip 1-4 being fixed on base body, are i.e. set on every steel wheel axis There are 2 fixed strips；Setting steel wheel 1-5 with groove is respectively cooperating on two steel wheel axis above bottom plate, the diameter of steel wheel is best For 2cm and outer diameter has the groove of deep 1mm；The high-speed motor for driving the steel wheel to rotate wherein is additionally provided on a steel wheel axis 1-6 is equipped with an annular wire rope 1-7 in the groove of two steel wheels, drives steel wheel operating to band by high-speed motor Dynamic annular wire rope high-speed mobile realizes bud being cut in a manner of wire cutting slightly, the cross section of annular wire rope 1-7 For circle, optimum diameter 0.3mm is made by high-toughness metal material；Upper cover front edge of board be equipped with slightly position for bud and The camera 1-8 of level identification；Camera 1-8 can be 1 or 2, and when being set as 1, camera is preferably disposed on upper cover The midpoint of front edge of board, when being set as 2, camera is preferably disposed on the midpoint two sides of upper cover front edge of board, is symmetric；Institute The spud pile 1-10 being additionally provided on base body 1-1 for connecting scalable mechanical arm is stated, in order to obtain more firm fixed effect Fruit, spud pile are preferably provided 2；The other end of scalable mechanical arm is connected with control device.

Preferably, collection leaf baffle 1-9 is equipped in the cavity of the base body 1-1, the left and right side of the collection leaf baffle It is fixedly connected respectively with the left and right side plate of base body, (pan front preferably vacates 1- with pan front for collection leaf baffle front end 2cm is shown in Fig. 3) it is fixedly connected, collect and be fixedly connected at the top of leaf baffle rear end and postnotum, is realized in collection leaf baffle and upper cover plate A collection Ye Fengdao is formed between 1-1-4.Collection leaf baffle 1-9 is preferably provided two pieces, including the front being located between two steel wheels Plate 1-9-1, the rear baffle 1-9-2 snapped connection with front apron by male and female；The front of steel wheel and the wirerope in front are located at base Seat outer body, the rear portion of steel wheel and the wirerope at rear are located on the inside of base body.The effect of this two block baffle first is that in order to Wind pressure can be increased, the suction belt effect of young sprout is increased, improves collection leaf efficiency, another effect is the wirerope of rear side in order to prevent Secondary cut damage to the young sprout under adopting.Preferably, steel wheel is preferably formed with 1/3 position on the outside of base body, to guarantee Wirerope runs at high speed will not be stopped when cutting bud-leaf by pedestal 1-3, and the bud-leaf under cutting can fall in pedestal bottom plate sum aggregate leaf On baffle, do not fall out.The thickness of rectangle bottom plate can be 0.3cm, a length of 10cm of long side, the long 8cm of short side.

The scalable mechanical arm 4 is equipped with the reversing motor 4- for realizing that scalable mechanical arm is rotated left and right and moved up and down 1 and elastic stepper motor 4-2, to realize that the upper and lower, left and right of picking head are flexibly moved.

Collection leaf device designed by the present invention, mainly by scalable collection leaf air hose 2-1(bore 6cm), vortex fan 2- 2, collect air hose 2-3 and leaf collecting box 2-5(size dimension are as follows: long 50cm* wide 30cm* high 50cm) it constitutes, the vortex fan 2-2 It is arranged on the tube wall of scalable collection leaf air hose 2-1, collection leaf air hose is close to be collected at air hose 2-3 equipped with air exhausting net 2-4；It is described can Flexible collection leaf air hose 2-1 is equipped with 2, and front end is separately connected a picking head 1, and end is fixedly connected with air hose 2-3 is collected. Negative pressure is formed in wind-collecting cover 1-2 by vortex fan, the bud tip picked is made to suck scalable collection leaf wind from collection leaf baffle Pipe, and then enter leaf collecting box 2-5, the wind that vortex fan 2-2 is generated quickly is discharged from air exhausting net 2-4, to not influence Ji Yekou Wind pressure, decrease in leaf collecting box pick young sprout continue wind blown risk, maintain the freshness of the bud tip.

Control device designed by the present invention, the migration system 3-1 to advance including realizing tea picking machine, migration system top are set Carrying platform 3-3 is set, is mainly made of one block of steel plate；Being equipped between migration system and carrying platform keeps carrying platform holding horizontal Balancing device 3-2；Elevating lever 3-7(is fixedly connected on the carrying platform 3-3 for adjusting the height of picker, height 80cm)；Power generator 3-4, battery unit 3-5, Image Information Processing and picking control system are additionally provided on carrying platform 3-3 3-6 and X-by-Wire device 3-1-5；Elevating lever 3-7 is flexibly connected with scalable mechanical arm 4.Power generator 3-4 is mainly tea picking machine Picker provide power source；Battery unit 3-5 be mainly used for the high-speed motor 1-6 to tea picking machine, camera 1-8, The drive motor of vortex fan 2-2, Image Information Processing and four picker control system 3-6, tea picking machine driving wheel 3-1-1 And the equipment such as X-by-Wire device 3-1-5 provide electric power.Image Information Processing and picker control system 3-6 mainly include video Information processing system, picking head positioning and highly regulated system, tea picking machine direction of motion signal processing system composition, wherein for The positioning and height control of picking head are equipped with manual operation mode and two kinds of automatic control mode, and tea picking machine can close under artificial mode Close camera 1-8 and the control to corresponding control motor, the front and rear, left and right of picking head and upper and lower movement can by operator with Meaning control；The position for automatically controlling lower picking head is (double by two motors of controlled level in scalable mechanical arm 4 and up and down direction It is controlled to motor 4-1 and stepper motor 4-2).

As preferred: the fuselage length of tea picking machine control device is that 80cm(does not include seed harvester and scalable machinery Arm), width 50cm, height 60cm(do not include elevating lever height).It is double crawler belts support, wherein single crawler belt wide 20cm, two A crawler belt gap 10cm, outside beam overall is 50cm between two crawler belts, and two crawler belts and ground contact portion length are 50cm, crawler belt The height between row is 20cm up and down, to improve passability and applicability of the equipment in various tea places.

Preferably, above-mentioned migration system 3-1 is by two pairs of front and back driving wheel 3-1-1, left and right each crawler belt 3-1-2, four A driving wheeling supporting frame 3-1-3, four tetra- part driving wheel carrying platform 3-1-4 compositions, with any course changing control of energy and promotion Handling capacity, the back-and-forth motion and steering of tea picking machine are controlled by X-by-Wire device 3-1-5；Balancing device 3-2 is mainly installed Gyroscopic equilibrium instrument, the specific structure of gyroscopic equilibrium instrument can refer to the prior art, so that tea picking functional adaptation sloping fields tea garden is picked.

The cutting force formed with the wirerope to run at high speed is applied in tea picking original to replace by this patent for the first time Blade cut back and forth, to reduce the damage of bud-leaf.Replace original blade round-trip in a manner of single line cutting picking Cutting, the bud-leaf damage picked are smaller than the loss that blade is cut.

The blowing collection leaf mode generallyd use in such a way that wind inhales collection leaf instead of current tea picking machine, which can reduce leaf Accumulation and abrasion between piece, at the same decrease fresh leaf the wind time, reduce the shock and friction between bud-leaf, be more advantageous to Keep the freshness of the bud tip；Simultaneously because wind can be blown out from the Air outlet net for being located at collection leaf pipeline middle section rapidly, and bud-leaf is losing It is entered in leaf collecting box in the form of freely falling body after going wind suction, and picking bud-leaf will not be continued by wind, thus The normal moisture content of blade is maintained, and keeps the freshness for picking raw material more preferable.

Position and the three-dimensional feature that picking bud-leaf is quickly judged by positioning and level identification camera, calculate and sprout slightly Highly, and by Image Information Processing and picking control system the scalable mechanical arm for feeding back to installation cutting picking head, will adopt The bud tip is picked in cutting after plucking the altitude location of head, and bud is slightly complete, and siphons away the young sprout under adopting with aspiration channel moment.This intelligence is adopted Tea machine is made of two picking heads, can be carried out double picking heads in same row and be worked at the same time, can also pick simultaneously, adopt in adjacent rows It is fast to pluck speed, it is high-efficient.

Requirement and picking optimum period of the tea picking machine to tree crown: the tree crown in equipment requirement picking tea place is advisable with horizontal tree crown；When Picking bud-leaf young sprout is adopted when accounting for the 70-80% of the bud tip in tree body with a bud one, two leaves or when bud tip average height is 4.5-5cm It plucks to pick optimum period.Due to using this kind of cutting mode, it is ensured that notch is flat and smooth, to notch will not be caused to redden.Together When blade conventional at present is considerably shorter than due to picking head cutting line, it is alternative high so flexible when cutting, to mention The high percentage of head rice of the bud tip adopts Famous High-quality Tea intelligence pair designed by the phase present invention suitable under the premise of meeting tree crown requirement Arm tea picking machine, the bud tip percentage of head rice of picking is 98% or more, and its bud tip percentage of head rice picked exists with common blade type tea picking machine 35-60%.Further investigation reveals that the bud tip of main one bud of local tea variety, one leaf is probably in 4cm or so, a bud two in Zhejiang area The bud tip height of leaf is probably in 5cm or so, therefore, can be set according to the fresh leaf standard of tea making and the corresponding height of the adopted bud tip Surely the height of picking bud slightly, therefore the uniformity of the bud tip, uniformity are substantially better than the tea picking machine of current routine.Such as the picking of setting Bud tip height is 4cm, then the bud tip height under adopting is able to maintain in 4cm substantially, therefore ensure that the uniformity of Famous High-quality Tea raw material With uniformity.

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).